CN105000200A - Flexible misjudgment preventing butt joint rod with signal feedback - Google Patents
Flexible misjudgment preventing butt joint rod with signal feedback Download PDFInfo
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- CN105000200A CN105000200A CN201510441609.7A CN201510441609A CN105000200A CN 105000200 A CN105000200 A CN 105000200A CN 201510441609 A CN201510441609 A CN 201510441609A CN 105000200 A CN105000200 A CN 105000200A
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- butt joint
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Abstract
The invention discloses a flexible misjudgment preventing butt joint rod with signal feedback. The butt joint rod comprises an outer rod, an inner rod, a Hall proximity switch, a spherical head, an electromagnet switch, a mounting rack and an adapter. During butt joint, the flexible rod can generate appropriate flexible deformation under the auxiliary effect of a passive part guide cone of a butt joint mechanism, so that the flexible rod can be well adapted to the process of butt joint, and the influence generated by the position deviation of two spacecrafts on the process of butt joint during butt joint is reduced. The butt joint rod adopts a rod-in-rod structure; before the butt joint rod is locked, the outer rod and the inner rod can generate appropriate deformation so as to reduce the influence of position deviation; when the butt joint rod is locked, the inner rod can make relative motion along an axis with the outer rod, namely the inner rod can stretch out along the axis, so that a locking state is relieved. The Hall proximity switch is arranged at the top end of the flexible rod; during butt joint, only when the butt joint is finished, and the relative distance of the Hall proximity switch and a magnetic cylinder (passive part) is smaller than 10mm, feedback signals can be generated, so that the locking misjudgment is avoided, and the passive end is guaranteed to be passive.
Description
Technical field
The present invention relates to a kind of flexible docking bar, specifically refer to a kind of anti-erroneous judgement band signal feedback flexible docking bar be applied in docking mechanism.
Background technology
Along with the raising of space technology and the expansion of application demand, due to the restriction of carrying capacity, large space facility cannot once launch, and therefore assembles more and more urgent with the demand of docking in-orbit to spacecraft.Utilize docking mechanism, can at Space configuration large space facility, carry out complex space operation.Docking mechanism can set up machinery, electric and other functions connection between spacecraft, has and repeatedly repeats to catch, connect and separation function, and can meet requirements such as connecting rear intensity, rigidity and leak tightness.
Docking mechanism is made up of two parts usually, is called A end and passive part, and be arranged on respectively on two spacecrafts, A end mechanism is comparatively complicated, and passive part mechanism is relatively simple.
When two spacecraft relativenesses meet docking initial condition (IC), and docking mechanism receives when catching instruction, and docking mechanism A end stretches out to passive part, then corrected, rigidifying, locking, and feedback lock signal.Relative pose relation after locking between two spacecrafts is uniquely determined, and meets Joint strenght, rigidity requirement.After two spacecrafts realize mechanical connection, circuit, fluid path and gas circuit are connected automatically therebetween.
Because spacecraft is in quick condition in-orbit, have relative attitude and position deviation between two spacecrafts, the effect of docking mechanism is overcome this deviation and set up mechanical connection.In fact, often clash into " firmly " of two spacecrafts in docking acquisition procedure, this " firmly " is unfavorable for the enforcement of catching.So in order to complete the reliable docking operation repeated, the mission critical of docking mechanism realizes " soft " to catch under certain pose more or less terms.In early stage acquisition procedure, usually adopt hard hit to hit and catch, be aided with spring damping mechanism and reduce the impact of clashing into, system is comparatively complicated, and effect is undesirable.
In addition, leading to due to passive part produces as passive, need signal feedback device layout at docking mechanism A end, high requirement is proposed to the design of the locking signal positioner of initiative part, especially when the docking facilities of A end is bar class, because arrangement space is limited, so the design difficulty of signal feedback device is very big.Existing signal feedback device adopts the signal feedback devices such as contact switch, location switch, proximity switch usually, and these signal feedback devices very easily produce erroneous judgement in bar class docking mechanism.
Summary of the invention
Technology of the present invention deal with problems for: overcome the deficiencies in the prior art, for the small-sized docking mechanism in space to Problems existing in extension bar and signal feedback device design, propose the flexible docking bar of a kind of anti-erroneous judgement band signal feedback.
The technical solution used in the present invention is:
A flexible docking bar for anti-erroneous judgement band signal feedback, comprising: outer bar, interior bar, proximity Hall switch, bulb, electro-magnet switch, erecting frame, the first adapter and the second adapter; Electro-magnet switch comprises electromagnet casing and is positioned at the electromagnet push-rod of electromagnet casing inside;
Outer bar comprise the first rigid section, the first compliant section, spacing section, the second compliant section, the second rigid section and the 3rd rigid section; First rigid section, the first compliant section, spacing section, the second compliant section, being fixedly connected sequentially between the second rigid section and the 3rd rigid section is integrated;
Outer bar and interior bar composition pipe nested structure, it is inner that interior bar is positioned at outer bar, and one end of outer bar is linked together by adapter and erecting frame, and electromagnet casing is fixedly connected on erecting frame, and the electromagnet push-rod of its inside and one end of interior bar are connected; The other end of interior bar is fixed together by the second adapter and proximity Hall switch, and the other end of proximity Hall switch is equipped with bulb, and bulb is positioned at the outside of outer bar;
The entirety that electromagnet push-rod, interior bar, the second adapter, proximity Hall switch and bulb are formed slides axially relative to outer bar, the second adapter has slide block, matches, for spacing with the chute of the 3rd rigid section inside.
Described first compliant section and the second compliant section are the bellows of steel wire net.
Described first rigid section, spacing section, the second rigid section and the 3rd rigid section be rigid tubular structure.
Described interior bar is the semi-rigid bar of hollow structure, and material is polytetrafluoroethylene.
The signal wire (SW) of proximity Hall switch is installed in described interior bar inside.
The total length of the first compliant section, spacing section and the second compliant section is 1/2 ~ 2/3 of outer bar total length.
The beneficial effect that the present invention compared with prior art brings is:
1. the present invention proposes a kind of flexible docking bar for docking mechanism, during docking can there is suitable plastic deformation in rods under the booster action of docking mechanism passive part guide cone, can better docking operation be adapted to, reduce in docking operation two spacecraft pose deviations to the impact of docking operation.
2. the present invention proposes a kind of flexible docking bar for docking mechanism, be bar loop bar structure to extension bar, before locking can there is suitably distortion with the impact reducing pose deviation in outer bar and interior bar, during unblock, interior bar can with outer bar along axis generation relative motion, namely in, bar can stretch out along axis, unlock state, simple and reliable for structure.
3. the present invention proposes a kind of flexible docking bar of anti-erroneous judgement band signal feedback, proximity Hall switch is provided with on the top of rods, all can not there is signal feedback in the position except magnetic cylinder that in docking operation, proximity Hall switch touches passive part, only after to access digit, the relative distance of proximity Hall switch and passive part magnetic cylinder just has feedback signal when being less than 10mm, spread out of by the signal wire (SW) of interior bar inside, prevent the erroneous judgement of locking, and ensure that Partner is passive.
Accompanying drawing explanation
Fig. 1 is flexible docking bar three-dimensional structure schematic diagram of the present invention;
Fig. 2 is flexible docking bar three-dimensional structure cutaway view of the present invention;
Fig. 3 is that in flexible docking bar of the present invention, bar stretches out cutaway view;
Fig. 4 is use procedure schematic diagram of the present invention;
Detailed description of the invention
The present invention proposes the spacecraft flexible docking bar of a kind of band signal feedback, achieves flexibility on the one hand and catches, can produce certain deformation, reduce the requirement of two spacecraft pose tolerances, increase the probability successfully docked extension bar in acquisition procedure; Solve on the other hand, at A end, the difficult problem that signal feedback device easily produces erroneous judgement is installed.
The invention discloses a kind of flexible docking bar of anti-erroneous judgement band signal feedback, as depicted in figs. 1 and 2, comprising: outer bar 1, interior bar 2, proximity Hall switch 3, bulb 4, electro-magnet switch 5, erecting frame 6, first adapter 7 and the second adapter 8; Electro-magnet switch 5 comprises electromagnet casing 501 and is positioned at the electromagnet push-rod 502 of electromagnet casing 501 inside;
Outer bar 1 comprises the first rigid section 101, first compliant section 102, spacing section 103, the second compliant section 104, second rigid section 105 and the 3rd rigid section 106; First rigid section 101, first compliant section 102, spacing section 103, being fixedly connected sequentially between the second compliant section 104, second rigid section 105 and the 3rd rigid section 106 is integrated, centre can be connected by welding manner.
Described first compliant section 102 and the second compliant section 104 are the bellows of steel wire net, and this structure has certain flexibility, bears pulling force in the axial direction by wire net.First rigid section 101, spacing section 103, the second rigid section 105 and the 3rd rigid section 106 be rigid tubular structure.The total length of the first compliant section 102, spacing section 103 and the second compliant section 104 is 1/2 ~ 2/3 of outer bar 1 total length, through the checking of lot of experiments, emulation, prove that such length ratio can make flexible docking bar of the present invention play optimal effectiveness in Technique in Rendezvous and Docking process, both can not be out of shape too large, also can not elastic deformation deficiency.
Described interior bar 2 is the semi-rigid bar of hollow structure, and suitable plastic deformation can occur, and material is polytetrafluoroethylene.The signal wire (SW) of proximity Hall switch 3 is installed in interior bar 2 inside.In docking operation proximity Hall switch touch 3 contact docking passive part positions except magnetic cylinder all can not there is signal feedback, only after to access digit, the relative distance of proximity Hall switch and passive part magnetic cylinder just has feedback signal when being less than 10mm, spread out of by the signal wire (SW) of interior bar inside, prevent the erroneous judgement of locking, and ensure that Partner is passive
Outer bar 1 and interior bar 2 form pipe nested structure, it is inner that interior bar 2 is positioned at outer bar 1, one end of outer bar 1 is linked together by adapter 7 and erecting frame 6, and electromagnet casing 501 is fixedly connected on erecting frame 6, and the electromagnet push-rod 502 of its inside is connected with one end of interior bar 2; The other end of interior bar 2 is fixed together with proximity Hall switch 3 by the second adapter 8, and the other end of proximity Hall switch 3 is equipped with bulb 4, and bulb 4 is positioned at the outside of outer bar 1;
Described outer bar 1 and interior bar 2 fabricate block have certain flexibility, around axis, suitable distortion can occur.In docking operation there is suitably distortion to adapt to pose deviation in rods under the booster action of guide cone, guarantees that the bulb 4 on rods top can be repeated lock locking.
Can there is relative motion with outer bar 1 along axis in described interior bar 2, namely, bar can stretch out along axis, as shown in Figure 3, provides the power of release by electro-magnet switch 5.
The entirety that electromagnet push-rod 502, interior bar 2, second adapter 8, proximity Hall switch 3 and bulb 4 are formed slides axially relative to outer bar 1, the second adapter 8 has slide block, matches, for spacing with the chute of the 3rd rigid section 106 inside.
Described proximity Hall switch 3 is the binistors made according to Hall effect principle, using permanent magnet or magnetizer as the noncontacting switch of triggering medium, accepted the signal of magnetic line of force by Hall effect element, after amplification, shaping, control the break-make of output state.
A kind of flexible docking bar implementation process in use of anti-erroneous judgement band signal feedback is described below in conjunction with Fig. 4.The spacecraft flexible docking bar of a kind of band signal feedback of the present invention is arranged on the A end of docking mechanism, the passive part of docking mechanism forms by docking cone 9 and repeating latch mechanism 10, the function of docking cone 9 is that enter position and the attitude accepted in flexible docking pole pair termination process is corrected, realized by the distortion of flexible docking bar self, repeating latch mechanism 10 is a kind of driven members, after the bulb of rods head stretches into into, there are the locking and unlocking two kinds of functions, its locking is all realized by the triggering of docking mechanism A end with the realization of unlocking function, namely triggered by flexible docking bar in the present invention.
In docking operation, flexible docking bar stretches out to passive part, bulb 4 enters docking cone 9, due to the pose deviation of A end and passive part, the axis of rods can not overlap completely with the axis docking cone 9, and now suitable flexural deformation can occur rods, guarantees that bulb 4 enters the rear portion of docking cone 9, trigger repetition latch mechanism 10 and embrace bulb 4, realize the locking of A end and passive part.After locking, the relative distance that proximity Hall switch 3 and passive part repeat the magnetic cylinder locked is less than 10mm, and locking signal feeds back to docking mechanism A end by proximity Hall switch 3.The relative distance that proximity Hall switch 3 and passive part repeat the magnetic cylinder locked is realized by the structure design of A end and passive part; erroneous judgement after can effectively preventing A end and passive part from locking, guarantees that the signal that proximity Hall switch 3 feeds back is correct locking signal.
When needs unlock, in rods of the present invention, the mutually external bar of bar 21 produces axial relative displacement, promotes interior bar 2 stretch out by electromagnet push-rod 502, as shown in Figure 3, again triggers and repeats latch mechanism 10, remove the lock-out state to bulb 4.
An outstanding advantages of the present invention is the passive design achieving docking mechanism passive part, the Trigger Function unlocked and lock is designed at A end, the spacecraft flexible docking bar being embodied in a kind of band signal feedback in this patent is novel bar loop bar result, interior bar 2 and outer bar 1 can be simultaneously protruding, and can occur bending and deformation around the axis of bar the pose deviation adapting to A end and passive part, realize A end and trigger locking, next is that interior bar 2 can move by external bar 1 mutually, realize A end and trigger unblock, this design reduces the design difficulty of passive part, and ensure that the zero-power demand of passive part without electric energy or other energy.
Claims (6)
1. a flexible docking bar for anti-erroneous judgement band signal feedback, is characterized in that comprising: outer bar (1), interior bar (2), proximity Hall switch (3), bulb (4), electro-magnet switch (5), erecting frame (6), the first adapter (7) and the second adapter (8); Electro-magnet switch (5) comprises electromagnet casing (501) and is positioned at the inner electromagnet push-rod (502) of electromagnet casing (501);
Outer bar (1) comprises the first rigid section (101), the first compliant section (102), spacing section (103), the second compliant section (104), the second rigid section (105) and the 3rd rigid section (106); First rigid section (101), the first compliant section (102), spacing section (103), the second compliant section (104), being fixedly connected sequentially between the second rigid section (105) and the 3rd rigid section (106) is integrated;
Outer bar (1) and interior bar (2) composition pipe nested structure, it is inner that interior bar (2) is positioned at outer bar (1), one end of outer bar (1) is linked together by adapter (7) and erecting frame (6), electromagnet casing (501) is fixedly connected on erecting frame (6), and the electromagnet push-rod (502) of its inside and one end of interior bar (2) are connected; The other end of interior bar (2) is fixed together by the second adapter (8) and proximity Hall switch (3), the other end of proximity Hall switch (3) is equipped with bulb (4), and bulb (4) is positioned at the outside of outer bar (1);
The entirety that electromagnet push-rod (502), interior bar (2), the second adapter (8), proximity Hall switch (3) and bulb (4) are formed slides axially relative to outer bar (1), (8) have slide block to second adapter, the chute inner with the 3rd rigid section (106) matches, for spacing.
2., according to the flexible docking bar of a kind of anti-erroneous judgement band signal feedback described in claim 1, it is characterized in that: described first compliant section (102) and the second compliant section (104) are the bellows of steel wire net.
3., according to the flexible docking bar of a kind of anti-erroneous judgement band signal feedback described in claim 1, it is characterized in that: described first rigid section (101), spacing section (103), the second rigid section (105) and the 3rd rigid section (106) are rigid tubular structure.
4., according to the flexible docking bar of a kind of anti-erroneous judgement band signal feedback described in claim 1, it is characterized in that: the semi-rigid bar that described interior bar (2) is hollow structure, material is polytetrafluoroethylene.
5. the flexible docking bar of a kind of anti-erroneous judgement band signal feedback according to claim 1, is characterized in that: the signal wire (SW) of proximity Hall switch (3) is installed in described interior bar (2) inside.
6. the flexible docking bar of a kind of anti-erroneous judgement band signal feedback according to claim 1, is characterized in that: the total length of the first compliant section (102), spacing section (103) and the second compliant section (104) is 1/2 ~ 2/3 of outer bar (1) total length.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510441609.7A CN105000200B (en) | 2015-07-24 | 2015-07-24 | A kind of flexible docking bar of anti-erroneous judgement band signal feedback |
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| CN201510441609.7A CN105000200B (en) | 2015-07-24 | 2015-07-24 | A kind of flexible docking bar of anti-erroneous judgement band signal feedback |
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| CN105000200A true CN105000200A (en) | 2015-10-28 |
| CN105000200B CN105000200B (en) | 2016-09-21 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105292524A (en) * | 2015-11-20 | 2016-02-03 | 成都尔珏科技有限公司 | Externally-expanding gradual-change inflatable docking unit used for outer space |
| CN105947234A (en) * | 2016-05-09 | 2016-09-21 | 北京空间飞行器总体设计部 | Connecting mechanism adaptable to cabin deformation |
| CN107039844A (en) * | 2017-05-27 | 2017-08-11 | 厦门大学 | Towards the flexible docking device of intelligent vehicle recharging |
| CN107215485A (en) * | 2017-05-31 | 2017-09-29 | 北京空间飞行器总体设计部 | A kind of passive triggering locking device |
| CN110002011A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of spacecraft module flexible docking mechanism |
| CN110758778A (en) * | 2019-11-22 | 2020-02-07 | 沈阳航天新光集团有限公司 | Control method for on-orbit docking and separating mechanism of spacecraft |
| CN115610713A (en) * | 2022-12-19 | 2023-01-17 | 哈尔滨工业大学 | In-orbit docking device and docking system for spacecraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105292524A (en) * | 2015-11-20 | 2016-02-03 | 成都尔珏科技有限公司 | Externally-expanding gradual-change inflatable docking unit used for outer space |
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| CN107215485B (en) * | 2017-05-31 | 2019-07-12 | 北京空间飞行器总体设计部 | A kind of passive triggering locking device |
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| CN110758778A (en) * | 2019-11-22 | 2020-02-07 | 沈阳航天新光集团有限公司 | Control method for on-orbit docking and separating mechanism of spacecraft |
| CN110758778B (en) * | 2019-11-22 | 2022-11-22 | 沈阳航天新光集团有限公司 | Control method for on-orbit docking and separating mechanism of spacecraft |
| CN115610713A (en) * | 2022-12-19 | 2023-01-17 | 哈尔滨工业大学 | In-orbit docking device and docking system for spacecraft |
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