CN105474786B - The soft odd test docking mechanism of a kind of small-sized weak collision - Google Patents
The soft odd test docking mechanism of a kind of small-sized weak collisionInfo
- Publication number
- CN105474786B CN105474786B CN201110015404.4A CN201110015404A CN105474786B CN 105474786 B CN105474786 B CN 105474786B CN 201110015404 A CN201110015404 A CN 201110015404A CN 105474786 B CN105474786 B CN 105474786B
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- China
- Prior art keywords
- flexible axle
- release mechanism
- electromagnetic type
- type release
- spherical head
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Abstract
A kind of small-sized weak collision cable type docking mechanism: it is characterized in that, this device comprises: be installed on and propulsion device catches locking separation device, comprise the assembly that is rigidly connected that capture buffer assembly is identical with two, be installed on the Structural lock on engine-off flight device and electromagnetic type release mechanism, described capture buffer assembly comprises flexible axle spherical head [101], preloaded spring [102], spring spool [103], flexible axle [104], preload stop ball block [105], cam limit block [106], drive end housing [107], motor and retarder [108], feed screw nut driver train [109], electromagnetic type release mechanism A [110], the axis of guide [111], guide runner [112], end face housing [113], be rigidly connected assembly by spherical head [114], axle [115], electromagnetic type release mechanism B [116], flexible axle sleeve [117] forms, Partner comprises housing [201], Structural lock A [202], electromagnetic type release mechanism C [203], electromagnetic type release mechanism D [204], Structural lock B [205].<pb pnum="1" />
Description
Technical field
The present invention relates to a kind of docking mechanism, particularly one small-sized weak collision cable type docking mechanism.
Technical background
Docking mechanism is mainly used in space industry, realizes the catching of two aircraft, locks, is separated release.
At present, the general more complicated of device similar both at home and abroad, mostly has larger capture range and buffer capacity, is adapted at catching between the large space vehicle of quality comparation, docks separation.Abroad for the Space Docking Mechanism of microsatellite, be mostly in conceptual phase, and generally have the driving device of a set of more complicated, make mechanism's more complicated, quality comparatively large, and poor universality, can not be repeatedly multiplexing.
Do not find explanation or the report of technology similar to the present invention at present, not yet collect similar data both at home and abroad yet.
Summary of the invention
The problems such as impact force is large, complex structure, quality are comparatively large, poor universality are caught in order to what solve prior art.The object of the present invention is to provide the docking mechanism being applicable to microsatellite and docking in-orbit.This device is caught according to the MICROGRAVITY ENVIRONMENT UTILIZATION flexible axle in space, thus avoids rigid collision when catching, and reaches the object of little force trapping collision.Simultaneously while catching unblock, be rigidly connected, make that this equipment mechanism is simple, quality light, better to the conformability of space environment.In addition, this docking mechanism has stronger commonality, can adapt to the application demand of microsatellite.
In order to reach foregoing invention object, the present invention is to provide a kind of small-sized weak collision cable type docking mechanism for the technical scheme that its technical matters of solution adopts, it is characterized in that, this device comprises: be installed on and propulsion device catches locking separation device, comprise the assembly that is rigidly connected that capture buffer assembly is identical with two, be installed on the Structural lock on engine-off flight device and electromagnetic type release mechanism, described capture buffer assembly comprises flexible axle spherical head 101, preloaded spring 102, spring spool 103, flexible axle 104, preload stop ball block 105, cam limit block 106, drive end housing 107, motor and retarder 108, feed screw nut driver train 109, electromagnetic type release mechanism A110, the axis of guide 111, guide runner 112, end face housing 113, wherein said flexible axle spherical head 101 links together with one end of flexible axle 104, flexible axle sleeve 117 is sleeved on flexible axle 104, preloaded spring 102 is enclosed within flexible axle sleeve 117 outside and is connected with flexible axle, cam limit block 106 is arranged on end face housing 113 towards flexible axle spherical head once, and be resisted against on flexible axle sleeve 117, preloading stop ball block 105 is arranged in flexible axle sleeve 117, cam limit block 106 can be made to rotate, drive end housing 107 is fixed in end face housing 113 and flexible axle spherical head 101 opposition side, flexible axle sleeve 117 outer cover shock mount sleeve 103, flexible axle is through end face housing 113, its other end is connected with feed screw nut driver train 109, feed screw nut driver train 109 is connected with the output of motor and retarder, the other end of flexible axle also arranges electromagnetic type release mechanism A110, it is inner that the axis of guide 111 is arranged on described drive end housing 107, parallel with flexible axle, the axis of guide 111 has guide runner 112, the assembly that is rigidly connected is made up of spherical head 114, axle 115, electromagnetic type release mechanism B116, flexible axle sleeve 117, spherical head 114 is connected to one end of axle 115, the other end of axle 115 arranges electromagnetic type release mechanism B116, and described two assemblies that are rigidly connected are fixed on the two ends of end face housing 113, Partner comprises housing 201, Structural lock A202, electromagnetic type release mechanism C203, electromagnetic type release mechanism D204, Structural lock B205, Electromagnetic Solution latch mechanism C203 is arranged in housing 201, be arranged on the rear end of Electromagnetic Solution latch mechanism C203, Structural lock B205 is arranged on the rear end of electromagnetic type release mechanism D, described housing 201, the structure that Structural lock 202 and electromagnetic type release mechanism C203 form is two, corresponding with two assemblies that are rigidly connected respectively.
Described flexible axle spherical head 101 and flexible axle 104 are pushed out to preparation docking location by feed screw nut driver train 109 driving effect by initial position by motor and retarder 108, and then realize and the catching of Structural lock B205 on engine-off flight device.
Described flexible axle 104 and flexible axle spherical head 101 catch rear motor with Structural lock B205 and driver train is retracted, and realizes being rigidly connected with Structural lock A202 by spherical head 114.
Realizing in the process caught and strain, spring spool 103 under the effect of Partner housing 201 to left movement, make the pressure increase of preloaded spring 102 to setting value, after being rigidly connected, flexible axle 104 moves right under the effect of electromagnetic type release mechanism A110 simultaneously, realize the unblock of flexible axle spherical head 101 and Structural lock B205, then flexible axle 104 and flexible axle spherical head 101 retract under the effect of motor and driver train, preload stop ball block 105 and make cam limit block 106 clickwise, eliminate the Mechanism Clearance after being rigidly connected.
Flexible axle 104 is to left movement under the effect of electromagnetic type release mechanism A110, and flexible axle 104 resets.
After being rigidly connected, after docking mission completes, axle 115 is released to the right by electromagnetic type release mechanism B116, and realize the unblock with Structural lock A202, preloaded spring 102 provides the separating force of two aircraft, realizes being separated.
The present invention is a kind of small-sized weak collision cable type docking mechanism, and the satisfied propulsion device of 3 ~ 4t level docks requirement with the target aircraft of 0.2 ~ 0.5t level.Solve the problems such as prior art impact force is large, quality is large, achieve the beneficial effects such as reliability is high, mechanism is simple.
A kind of small-sized weak collision cable type docking mechanism of the present invention, can be unlocked catching locking and being rigidly connected by drive end electromagnetic type release mechanism after realization is caught and is rigidly connected; Also can be unlocked catching locking and being rigidly connected by Partner electromagnetic type release mechanism, both backup each other.Meanwhile, utilize flexible axle to catch, achieve the beneficial effects such as impact force is little, reliability is high, structure is simple, quality is light.
Accompanying drawing explanation
Fig. 1 is the structural representation of the initial position of a kind of small-sized weak collision cable type docking mechanism of the present invention;
Fig. 2 is a kind of small-sized weak collision cable type docking mechanism trapped state schematic diagram of the present invention;
Fig. 3 is that a kind of small-sized weak collision cable type docking mechanism of the present invention is rigidly connected view;
Fig. 4 is Structural lock structural representation.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description is carried out to the present invention:
One of the present invention small-sized weak collision cable type docking mechanism, it is characterized in that, this device comprises: be installed on and propulsion device catches locking separation device, comprise the assembly that is rigidly connected that capture buffer assembly is identical with two, be installed on the Structural lock on engine-off flight device and electromagnetic type release mechanism, described capture buffer assembly comprises flexible axle spherical head 101, preloaded spring 102, spring spool 103, flexible axle 104, preload stop ball block 105, cam limit block 106, drive end housing 107, motor and retarder 108, feed screw nut driver train 109, electromagnetic type release mechanism A110, the axis of guide 111, guide runner 112, end face housing 113, wherein said flexible axle spherical head 101 links together with one end of flexible axle 104, flexible axle sleeve 117 is sleeved on flexible axle 104, preloaded spring 102 is enclosed within flexible axle sleeve 117 outside and is connected with flexible axle, cam limit block 106 is arranged on end face housing 113 towards flexible axle spherical head once, and be resisted against on flexible axle sleeve 117, preloading stop ball block 105 is arranged in flexible axle sleeve 117, cam limit block 106 can be made to rotate, drive end housing 107 is fixed in end face housing 113 and flexible axle spherical head 101 opposition side, flexible axle sleeve 117 outer cover shock mount sleeve 103, flexible axle is through end face housing 113, its other end is connected with feed screw nut driver train 109, feed screw nut driver train 109 is connected with the output of motor and retarder, the other end of flexible axle also arranges electromagnetic type release mechanism A110, it is inner that the axis of guide 111 is arranged on described drive end housing 107, parallel with flexible axle, the axis of guide 111 has guide runner 112, the assembly that is rigidly connected is made up of spherical head 114, axle 115, electromagnetic type release mechanism B116, flexible axle sleeve 117, spherical head 114 is connected to one end of axle 115, the other end of axle 115 arranges electromagnetic type release mechanism B116, and described two assemblies that are rigidly connected are fixed on the two ends of end face housing 113, Partner comprises housing 201, Structural lock A202, electromagnetic type release mechanism C203, electromagnetic type release mechanism D204, Structural lock B205, Electromagnetic Solution latch mechanism C203 is arranged in housing 201, be arranged on the rear end of Electromagnetic Solution latch mechanism C203, Structural lock B205 is arranged on the rear end of electromagnetic type release mechanism D, described housing 201, the structure that Structural lock 202 and electromagnetic type release mechanism C203 form is two, corresponding with two assemblies that are rigidly connected respectively.
Described flexible axle spherical head 101 and flexible axle 104 are pushed out to preparation docking location by feed screw nut driver train 109 driving effect by initial position by motor and retarder 108, and then realize and the catching of Structural lock B205 on engine-off flight device.
Described flexible axle 104 and flexible axle spherical head 101 catch rear motor with Structural lock B205 and driver train is retracted, and realizes being rigidly connected with Structural lock A202 by spherical head 114.
Realizing in the process caught and strain, spring spool 103 under the effect of Partner housing 201 to left movement, make the pressure increase of preloaded spring 102 to setting value, after being rigidly connected, flexible axle 104 moves right under the effect of electromagnetic type release mechanism A110 simultaneously, realize the unblock of flexible axle spherical head 101 and Structural lock B205, then flexible axle 104 and flexible axle spherical head 101 retract under the effect of motor and driver train, preload stop ball block 105 and make cam limit block 106 clickwise, eliminate the Mechanism Clearance after being rigidly connected.Make mechanism achieve failure-free to be rigidly connected.
Flexible axle 104 is to left movement under the effect of electromagnetic type release mechanism A110, and flexible axle 104 resets.
After being rigidly connected, after docking mission completes, axle 115 is released to the right by electromagnetic type release mechanism B116, and realize the unblock with Structural lock A202, preloaded spring 102 provides the separating force of two aircraft, realizes being separated.
When unlocking function simultaneously on propulsion device lost efficacy, engine-off flight device realizes unlocking by electromagnetic type release mechanism C203, electromagnetic type release mechanism D204.
Fig. 4 is Structural lock structural representation, and Structural lock is made up of dead bolt 2021, extension spring 2022, position limiting slide block 2024, unblock spring 2023.When flexible axle 104 and flexible axle spherical head 101 move to dead bolt 2021 direction, dead bolt 2021 and position limiting slide block 2024 press down by flexible axle spherical head 101, dead bolt 2021 clickwise, when rotating to an angle, dead bolt 2021 is locked in latched position by position limiting slide block 2024, also achieves and the catching of flexible axle spherical head 101 simultaneously.Drive end is unlocked and is then released downwards by flexible axle 104 by electromagnetic type release mechanism, and position limiting slide block 2024 is moved downward, and dead bolt 2021 is conter clockwise spinning reduction under the effect of extension spring 2022, realizes unlocking.Partner is unlocked and is then moved downward by position limiting slide block 2024 by electromagnetic type release mechanism, realizes unlocking.
Above-mentioned visible, docking mechanism of the present invention, both can catch locking between the small aircraft of implementation space, and can realize again its release and be separated.Utilize flexible axle to catch, catch to realize little impact force.Main Partner backups each other both unlocking, and improves the reliability of device.Use a set of driver train to realize catching locking and unlocking, reduce mechanism's quality.Achieve little impact force, quality is little, reliability is high beneficial effect.
Claims (6)
1. a small-sized weak collision cable type docking mechanism: it is characterized in that, this device comprises:
Be installed on and propulsion device catches locking separation device, comprise the assembly that is rigidly connected that capture buffer assembly is identical with two;
Be installed on the Structural lock on engine-off flight device and electromagnetic type release mechanism;
Described capture buffer assembly comprises flexible axle spherical head [101], preloaded spring [102], spring spool [103], flexible axle [104], preload stop ball block [105], cam limit block [106], drive end housing [107], motor and retarder [108], feed screw nut driver train [109], electromagnetic type release mechanism A [110], the axis of guide [111], guide runner [112], end face housing [113], wherein said flexible axle spherical head [101] links together with one end of flexible axle [104], flexible axle sleeve [117] is sleeved on flexible axle [104], it is outside that preloaded spring [102] is enclosed within flexible axle sleeve [117], and be positioned between flexible axle sleeve [117] and spring spool [103], cam limit block [106] is arranged on the side of end face housing [113] towards flexible axle spherical head, and be resisted against on flexible axle sleeve [117], preloading stop ball block [105] is arranged in flexible axle sleeve [117], cam limit block [106] can be made to rotate, drive end housing [107] is fixed in end face housing [113] and flexible axle spherical head [101] opposition side, flexible axle sleeve [117] outer cover shock mount sleeve [103], flexible axle is through end face housing [113], its other end is connected with feed screw nut driver train [109], feed screw nut driver train [109] is connected with the output of motor and retarder, the other end of flexible axle also arranges electromagnetic type release mechanism A [110], it is inner that the axis of guide [111] is arranged on described drive end housing [107], parallel with flexible axle, the axis of guide [111] has guide runner [112],
The assembly that is rigidly connected is made up of spherical head [114], axle [115], electromagnetic type release mechanism B [116], spherical head [114] is connected to one end of axle [115], the other end of axle [115] arranges electromagnetic type release mechanism B [116], and described two assemblies that are rigidly connected are fixed on the two ends of end face housing [113];
Partner comprises housing [201], Structural lock A [202], electromagnetic type release mechanism C [203], electromagnetic type release mechanism D [204], Structural lock B [205]; Electromagnetic type release mechanism C [203] is arranged in housing [201], be arranged on the rear end of electromagnetic type release mechanism C [203], Structural lock B [205] is arranged on the rear end of electromagnetic type release mechanism D, described housing [201], the structure that Structural lock A [202] and electromagnetic type release mechanism C [203] forms is two, corresponding with two assemblies that are rigidly connected respectively.
2. small-sized weak collision cable type docking mechanism according to claim 1, it is characterized in that: described flexible axle spherical head [101] and flexible axle [104] are pushed out to preparation docking location by feed screw nut driver train [109] driving effect by initial position by motor and retarder [108], and then realize and the catching of Structural lock B [205] on engine-off flight device.
3. small-sized weak collision cable type docking mechanism according to claim 1, it is characterized in that: described flexible axle [104] and flexible axle spherical head [101] catch rear motor with Structural lock B [205] and driver train is retracted, and realizes being rigidly connected with Structural lock A [202] by spherical head [114].
4. small-sized weak collision cable type docking mechanism according to claim 1, it is characterized in that: realizing in the process caught and strain, spring spool [103] under the effect of Partner housing [201] to left movement, make the pressure increase of preloaded spring [102] to setting value, after being rigidly connected, flexible axle [104] moves right under the effect of electromagnetic type release mechanism A [110] simultaneously, realize the unblock of flexible axle spherical head [101] and Structural lock B [205], then flexible axle [104] and flexible axle spherical head [101] retract under the effect of motor and driver train, preload stop ball block [105] and make cam limit block [106] clickwise, eliminate the Mechanism Clearance after being rigidly connected.
5. small-sized weak collision cable type docking mechanism according to claim 1, is characterized in that: flexible axle [104] is to left movement under the effect of electromagnetic type release mechanism A [110], and flexible axle [104] resets.
6. small-sized weak collision cable type docking mechanism according to claim 1, it is characterized in that: after being rigidly connected, after docking mission completes, axle [115] is released to the right by electromagnetic type release mechanism B [116], realize the unblock with Structural lock A [202], preloaded spring [102] provides the separating force of two aircraft, realizes being separated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110015404.4A CN105474786B (en) | 2011-12-14 | 2011-12-14 | The soft odd test docking mechanism of a kind of small-sized weak collision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110015404.4A CN105474786B (en) | 2011-12-14 | 2011-12-14 | The soft odd test docking mechanism of a kind of small-sized weak collision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105474786B true CN105474786B (en) | 2014-09-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110015404.4A Expired - Fee Related CN105474786B (en) | 2011-12-14 | 2011-12-14 | The soft odd test docking mechanism of a kind of small-sized weak collision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105474786B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717418A (en) * | 2020-07-21 | 2020-09-29 | 哈尔滨工业大学 | Semi-active control type planet vehicle docking system and docking method |
-
2011
- 2011-12-14 CN CN201110015404.4A patent/CN105474786B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717418A (en) * | 2020-07-21 | 2020-09-29 | 哈尔滨工业大学 | Semi-active control type planet vehicle docking system and docking method |
| CN111717418B (en) * | 2020-07-21 | 2023-09-19 | 哈尔滨工业大学 | Semi-active control type planet car docking system and docking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR03 | Grant of secret patent right | ||
| GRSP | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted | ||
| DCSP | Declassification of secret patent | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140903 Termination date: 20181214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |