CN106586039A - Spatial anti-error capturing and docking device - Google Patents
Spatial anti-error capturing and docking device Download PDFInfo
- Publication number
- CN106586039A CN106586039A CN201611155485.7A CN201611155485A CN106586039A CN 106586039 A CN106586039 A CN 106586039A CN 201611155485 A CN201611155485 A CN 201611155485A CN 106586039 A CN106586039 A CN 106586039A
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- satellite
- assembly
- bar
- level extension
- extension assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 45
- 230000000712 assembly Effects 0.000 claims description 40
- 238000000429 assembly Methods 0.000 claims description 40
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 238000007373 indentation Methods 0.000 claims description 11
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000004821 Contact adhesive Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention relates to the field of satellite capturing and docking, in particular to a spatial anti-error capturing and docking device. The spatial anti-error capturing and docking device comprises a satellite, satellite base components, primary extending components, secondary extending components, tertiary extending components and capture rods. Each satellite base component is fixedly mounted on the outer surface at one end of the satellite; each primary extending component is fixedly mounted in the corresponding satellite base component; each secondary extending component is fixedly mounted in the corresponding primary extending component; each tertiary extending component is fixedly mounted in the corresponding secondary extending component; each capture rod is fixedly mounted in the corresponding tertiary extending component. Each satellite base is in an annular structure, two ends of each satellite base are provided with cylindrical grooves, and two solenoids are fixedly mounted in the corresponding cylindrical grooves respectively. Master rods are fixedly and axially mounted in the solenoids, and master rod springs are axially mounted in the master rods. The spatial anti-error capturing and docking device has advantages that the requirement of satellite docking is greatly simplified, efficiency is improved, and rapid satellite docking within a certain error and whole conical angle range is allowed.
Description
Technical field
The present invention relates to a kind of acquiring satellite and the field of docking, the anti-error trapping docking facilities in particularly a kind of space.
Background technology
Docking between existing satellite or aircraft, needs the attitude for carrying out complexity using optical instrument and sensor etc. to adjust
It is whole, so that the little error between aircraft is docked.Structure is relatively complicated, and occupancy volume weight is larger, is unsatisfactory for satellite little
The application demand of type.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art, there is provided a kind of anti-error trapping in space is to tipping
Put, enormously simplify the docking demand of satellite, improve efficiency, it is allowed to which the satellite in the range of certain error and full cone angle is quickly right
Connect.
The above-mentioned purpose of the present invention is achieved by following technical solution：
A kind of anti-error trapping docking facilities in space, including satellite, satellite base assembly, one-level extension assembly, two grades prolong
Stretch component, three-level extension assembly and capture bar；Wherein, satellite base assembly is fixedly mounted on the outer surface of satellite one end；One-level
Extension assembly is fixedly mounted on the inside of satellite base assembly；Two grades of extension assemblies are fixedly mounted on the interior of one-level extension assembly
Portion；Three-level extension assembly is fixedly mounted on the inside of two grades of extension assemblies；Capture bar is fixedly mounted on the interior of three-level extension assembly
Portion.
In a kind of above-mentioned anti-error trapping docking facilities in space, described one-level extension assembly, two grades of extension assemblies, three
Level extension assembly is hollow cylindrical structure, and capture bar is cylindrical structural；One-level extension assembly is wrapped in two grades of extension assemblies
Outer wall；Two grades of extension assemblies are wrapped in the outer wall of three-level extension assembly；Three-level extension assembly is wrapped in the outer wall of capture bar；One
Level extension assembly can be axially extending and be collapsible into satellite base assembly；Two grades of extension assemblies can axially extending and indentation one-level
Extension assembly；Three-level extension assembly can axially extending and two grades of extension assemblies of indentation；Capture bar can axially extending and indentation
Three-level extension assembly.
In a kind of above-mentioned anti-error trapping docking facilities in space, when one-level extension assembly, two grades of extension assemblies, three-levels are prolonged
Stretch component and capture bar when being indentation state, one-level extension assembly, two grades of extension assemblies, three-level extension assemblies and capture bars
End face is generally aligned in the same plane with satellite base assembly.
In a kind of above-mentioned anti-error trapping docking facilities in space, described satellite base assembly include satellite pedestal, 2
Line bag, female bar and female bar spring；Its Satellite pedestal is loop configuration, and the two ends of satellite pedestal are provided with cylindrical groove；2 lines
Bag is respectively and fixedly installed in cylindrical groove；Female bar is axially fixed the inside for installing online bag；Female bar spring is installed vertically
In the inside of female bar.
In a kind of above-mentioned anti-error trapping docking facilities in space, 2 described line bags are hollow cylindrical structure, satellite
The outer wall of the online bag of cylindrical groove inwall parcel of pedestal.
In a kind of above-mentioned anti-error trapping docking facilities in space, described female bar is hollow cylindrical structure；Line bag
Inwall is wrapped in the outer wall of female bar, and female bar spring is fixedly mounted in the through hole of female bar.
In a kind of above-mentioned anti-error trapping docking facilities in space, one-level extension assembly, two grades of extension assemblies and three-level are prolonged
Stretch that modular construction form is identical with satellite base assembly, inside is the structure that rod member coordinates with spring.
In a kind of above-mentioned anti-error trapping docking facilities in space, the line of 2 line bags is in annular satellite pedestal
Heart point.
In a kind of above-mentioned anti-error trapping docking facilities in space, satellite capture docking operation is：When satellite is undocked, one
Level extension assembly, two grades of extension assemblies, three-level extension assembly and capture bars are shunk in the inside of satellite base assembly, female bar spring
In compressive state；When two satellites are up to predetermined docking distance and when being docked, one-level extension assembly, two grades of extension assemblies,
Three-level extension assembly and capture bar are fully extended under spring force effect；Then the line bag in satellite base assembly is powered,
Realize becoming one-level extension assembly, two grades of extension assemblies, three-level extension assembly and capture bars with magnetic electric magnet；Two
The mutual adhesive of opposite polarity at intersatellite capture bar top, realizes the seizure docking of two satellites.
In a kind of above-mentioned anti-error trapping docking facilities in space, the series of the extension assembly according to actually dock away from
From can be increased or be reduced.
The present invention has the advantage that compared with prior art：
(1) arresting structure of the present invention as a result of electromagnetic drive type guide bar, it is possible to achieve remote satellite from
Main capture, the engagement range for comparing traditional approach is greatly improved；
(2) present invention has larger improvement in terms of allowable error docking, can allow in satellite drift interior in a big way
In the case of, complete the acquisition procedure of satellite；
(3) what the present invention took is to capture and dock integrative-structure, compares traditional structure and (is divided into capture and docks two moulds
Block), volume and space are saved, reduce docking complexity.
Description of the drawings
Fig. 1 is the outline drawing of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is satellite base assembly structure chart；
Fig. 4 is initial makeup location schematic diagram of the present invention；
Fig. 5 is working state schematic representation of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail with specific embodiment：
Outline drawing is illustrated in figure 1, as seen from the figure, a kind of anti-error trapping docking facilities in space, including satellite 1, satellite
Base assembly 2,3, two grades of extension assemblies 4 of one-level extension assembly, three-level extension assembly 5 and capture bar 6；Wherein, satellite pedestal group
Part 2 is fixedly mounted on the outer surface of the one end of satellite 1；One-level extension assembly 3 is fixedly mounted on the inside of satellite base assembly 2；Two
Level extension assembly 4 is fixedly mounted on the inside of one-level extension assembly 3；Three-level extension assembly 5 is fixedly mounted on two grades of extension assemblies 4
Inside；Capture bar 6 is fixedly mounted on the inside of three-level extension assembly 5.The series of the extension assembly is according to actually docking
Distance can be increased or be reduced.
Internal structure schematic diagram is illustrated in figure 2, as seen from the figure, 3, two grades of extension assemblies 4, three-level of one-level extension assembly prolong
It is hollow cylindrical structure to stretch component 5, and capture bar 6 is cylindrical structural；One-level extension assembly 3 is wrapped in two grades of extension assemblies 4
Outer wall；Two grades of extension assemblies 4 are wrapped in the outer wall of three-level extension assembly 5；Three-level extension assembly 5 is wrapped in the outer of capture bar 6
Wall；One-level extension assembly 3 can be axially extending and be collapsible into satellite base assembly 2；Two grades of extension assemblies 4 can it is axially extending and
Indentation one-level extension assembly 3；Three-level extension assembly 5 can axially extending and two grades of extension assemblies 4 of indentation；Capture bar 6 can be along axle
To extended and retracted three-level extension assembly 5.
When 3, two grades of extension assemblies 4 of one-level extension assembly, three-level extension assembly 5 and capture bar 6 are indentation state, one
The end face and satellite base assembly 2 of level 3, two grades of extension assemblies 4 of extension assembly, three-level extension assembly 5 and capture bar 6 is located at same
Plane.
Satellite base assembly structure chart is illustrated in figure 3, as seen from the figure, satellite base assembly 2 includes satellite pedestal 7,2
Line bag 8, female bar 9 and female bar spring 10；Its Satellite pedestal 7 is loop configuration, and the two ends of satellite pedestal 7 are provided with cylinder
Groove；2 line bags 8 are respectively and fixedly installed in cylindrical groove；Female bar 9 is axially fixed the inside for installing online bag 8；Female bar spring
10 inside for being axially mounted to female bar 9.
Wherein, 2 line bags 8 are hollow cylindrical structure, outside the online bag 8 of cylindrical groove inwall parcel of satellite pedestal 7
Wall, and the line of 2 line bags 8 is through the central point of annular satellite pedestal 7.
Female bar 9 is hollow cylindrical structure；The inwall of line bag 8 is wrapped in the outer wall of female bar 9, and female bar spring 10 is fixedly mounted
In the through hole of female bar 9.
3, two grades of extension assemblies 4, versions of three-level extension assembly 5 of one-level extension assembly are identical with satellite base assembly 2,
Inside is the structure that rod member coordinates with spring.
Satellite capture docking operation is：Initial makeup location schematic diagram is illustrated in figure 4, as seen from the figure, satellite is undocked
When, 3, two grades of extension assemblies 4 of one-level extension assembly, three-level extension assembly 5 and capture bar 6 are shunk in satellite base assembly 2
Portion, female bar spring 10 is in compressive state；
Working state schematic representation is illustrated in figure 5, as seen from the figure, when two satellites are up to predetermined docking distance and docked
When, 3, two grades of extension assemblies 4 of one-level extension assembly, three-level extension assembly 5 and capture bar 6 are stretched completely under spring force effect
Go out；Then the line bag 8 in satellite base assembly 2 is powered, 3, two grades of extension assemblies 4, three-level of one-level extension assembly are prolonged in realization
Stretch component 5 and capture bar 6 becomes with magnetic electric magnet；Opposite polarity at two intersatellite tops of capture bar 6 is mutual
Adhesive, realizes the seizure docking of two satellites.
After the completion of the contact adhesive of capture bar 6 of two satellites, continue to be powered, according to minimum energy principle, bar group can be produced
The raw active force for reclaiming, and then realize that the distance between two satellites are close to, until satellite reaches locked position, it is complete by locking mechanism
Into locking function.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (10)
1. anti-error trapping docking facilities in a kind of space, it is characterised in that：Including satellite (1), satellite base assembly (2), one-level
Extension assembly (3), two grades of extension assemblies (4), three-level extension assembly (5) and captures bar (6)；Wherein, satellite base assembly (2) is solid
Dingan County is mounted in the outer surface of satellite (1) one end；One-level extension assembly (3) is fixedly mounted on the inside of satellite base assembly (2)；Two
Level extension assembly (4) is fixedly mounted on the inside of one-level extension assembly (3)；Three-level extension assembly (5) is fixedly mounted on two grades and prolongs
Stretch the inside of component (4)；Capture bar (6) is fixedly mounted on the inside of three-level extension assembly (5).
2. anti-error trapping docking facilities in a kind of space according to claim 1, it is characterised in that：Described one-level extends
Component (3), two grades of extension assemblies (4), three-level extension assemblies (5) are hollow cylindrical structure, and capture bar (6) is cylinder knot
Structure；One-level extension assembly (3) is wrapped in the outer wall of two grades of extension assemblies (4)；Two grades of extension assemblies (4) are wrapped in three-level extension group
The outer wall of part (5)；Three-level extension assembly (5) is wrapped in the outer wall of capture bar (6)；One-level extension assembly (3) can be axially extending
Be collapsible into satellite base assembly (2)；Two grades of extension assemblies (4) can axially extending and indentation one-level extension assembly (3)；Three-level
Extension assembly (5) can axially extending and two grades of extension assemblies (4) of indentation；Capture bar (6) can axially extending and indentation three-level
Extension assembly (5).
3. anti-error trapping docking facilities in a kind of space according to claim 2, it is characterised in that：When one-level extension assembly
(3) when, two grades of extension assemblies (4), three-level extension assembly (5) and captures bar (6) are indentation state, one-level extension assembly (3),
The end face and satellite base assembly (2) of two grades of extension assemblies (4), three-level extension assembly (5) and captures bar (6) is positioned at same flat
Face.
4. anti-error trapping docking facilities in a kind of space according to claim 3, it is characterised in that：Described satellite pedestal
Component (2) includes satellite pedestal (7), 2 line bags (8), female bar (9) and female bars spring (10)；Its Satellite pedestal (7) is annular
Structure, the two ends of satellite pedestal (7) are provided with cylindrical groove；2 line bags (8) are respectively and fixedly installed in cylindrical groove；Female bar
(9) it is axially fixed the inside for installing online bag (8)；Female bar spring (10) is axially mounted to the inside of female bar (9).
5. anti-error trapping docking facilities in a kind of space according to claim 4, it is characterised in that：2 described line bags
(8) it is hollow cylindrical structure, the outer wall of the online bag (8) of cylindrical groove inwall parcel of satellite pedestal (7).
6. anti-error trapping docking facilities in a kind of space according to claim 5, it is characterised in that：Described female bar (9)
For hollow cylindrical structure；The inwall of line bag (8) is wrapped in the outer wall of female bar (9), and female bar spring (10) is fixedly mounted on female bar
(9) in through hole.
7. anti-error trapping docking facilities in a kind of space according to claim 6, it is characterised in that：One-level extension assembly
(3), two grades of extension assemblies (4) and three-level extension assembly (5) version are identical with satellite base assembly (2), and inside is bar
The structure that part coordinates with spring.
8. anti-error trapping docking facilities in a kind of space according to claim 4, it is characterised in that：The company of 2 line bags (8)
Central point of the line through annular satellite pedestal (7).
9. the anti-error trapping docking facilities in a kind of space according to one of claim 1-8, it is characterised in that：Satellite capture
Docking operation is：When satellite is undocked, one-level extension assembly (3), two grades of extension assemblies (4), three-level extension assembly (5) and captures
Bar (6) is shunk in the inside of satellite base assembly (2), and female bar spring (10) is in compressive state；When two satellites are up to predetermined right
When connecing distance and being docked, one-level extension assembly (3), two grades of extension assemblies (4), three-level extension assembly (5) and captures bar (6)
It is fully extended under spring force effect；Then the line bag (8) in satellite base assembly (2) is powered, realization extends one-level
Component (3), two grades of extension assemblies (4), three-level extension assembly (5) and captures bar (6) become with magnetic electric magnet；Two are defended
The mutual adhesive of opposite polarity at capture bar (6) top between star, realizes the seizure docking of two satellites.
10. anti-error trapping docking facilities in a kind of space according to claim 9, it is characterised in that：The extension assembly
Series can be increased or reduced according to actually docking distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611155485.7A CN106586039B (en) | 2016-12-14 | 2016-12-14 | A kind of anti-error trapping docking facilities in space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611155485.7A CN106586039B (en) | 2016-12-14 | 2016-12-14 | A kind of anti-error trapping docking facilities in space |
Publications (2)
| Publication Number | Publication Date |
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| CN106586039A true CN106586039A (en) | 2017-04-26 |
| CN106586039B CN106586039B (en) | 2019-07-09 |
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| CN201611155485.7A Active CN106586039B (en) | 2016-12-14 | 2016-12-14 | A kind of anti-error trapping docking facilities in space |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213898A (en) * | 2018-01-12 | 2018-06-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of in-orbit assembling docking facilities |
| CN109398767A (en) * | 2018-12-14 | 2019-03-01 | 哈尔滨工业大学 | A kind of electromagnetism docking facilities and method based on high-speed motor |
| CN113682485A (en) * | 2021-10-20 | 2021-11-23 | 四川迅联达智能科技有限公司 | Cascade assembly and aircraft precise positioning device and method |
| CN113738895A (en) * | 2021-10-11 | 2021-12-03 | 东光阀门(温州)有限公司 | Five-eccentric butterfly valve and air tightness detection device thereof |
| CN114212281A (en) * | 2021-12-10 | 2022-03-22 | 哈尔滨工业大学 | Electromagnetic-triggered repeated connection and separation release device for primary and secondary satellites and working method of electromagnetic-triggered repeated connection and separation release device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213898A (en) * | 2018-01-12 | 2018-06-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of in-orbit assembling docking facilities |
| CN109398767A (en) * | 2018-12-14 | 2019-03-01 | 哈尔滨工业大学 | A kind of electromagnetism docking facilities and method based on high-speed motor |
| CN109398767B (en) * | 2018-12-14 | 2021-07-27 | 哈尔滨工业大学 | Electromagnetic docking device and method based on high-speed motor |
| CN113738895A (en) * | 2021-10-11 | 2021-12-03 | 东光阀门(温州)有限公司 | Five-eccentric butterfly valve and air tightness detection device thereof |
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| CN114212281A (en) * | 2021-12-10 | 2022-03-22 | 哈尔滨工业大学 | Electromagnetic-triggered repeated connection and separation release device for primary and secondary satellites and working method of electromagnetic-triggered repeated connection and separation release device |
| CN114212281B (en) * | 2021-12-10 | 2023-04-18 | 哈尔滨工业大学 | Electromagnetic-triggered repeated connection and separation release device for primary and secondary satellites and working method of electromagnetic-triggered repeated connection and separation release device |
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| Publication number | Publication date |
|---|---|
| CN106586039B (en) | 2019-07-09 |
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