CN107089349A - Rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking - Google Patents
Rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking Download PDFInfo
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- CN107089349A CN107089349A CN201710270772.0A CN201710270772A CN107089349A CN 107089349 A CN107089349 A CN 107089349A CN 201710270772 A CN201710270772 A CN 201710270772A CN 107089349 A CN107089349 A CN 107089349A
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- 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
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Abstract
Rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking, the present apparatus are arranged on micro-nano satellite, and two micro-nano satellites of guiding are accurately docked, comprising：Active mating mechanism, one end is tubaeform, and inside drives active mating tooth spiral to turn provided with permagnetic synchronous motor and a circle active mating tooth, permagnetic synchronous motor；Passive docking mechanism, main body is in truncated cone-shaped, is matched with the tubaeform port of the active mating mechanism, and inside is provided with a passive opposing teeth of circle；After active mating mechanism and the docking of passive docking mechanism, active mating tooth and the engagement of passive opposing teeth, when permagnetic synchronous motor works, active mating mechanism and passive docking mechanism are rotated against.Small volume of the present invention, light weight, reliability are high, can apply on micro-nano satellite, make micro-nano satellite realize one-dimensional rotation.Many micro-nano satellites freely dock the configuration conversion that assembly is realized after combination, complete the splicing and superposition of observation visual field, are advantageously implemented micro-nano satellite multi-angle earth observation.
Description
Technical field
The present invention relates to space technology field, and in particular to rotatable micro-nano satellite electromagnetism docking facilities after one kind docking
And docking calculation.
Background technology
With developing rapidly for China's aerospace industry, satellite technology is obtained in fields such as industry, agricultural, scientific research, military affairs
Extensive use, in recent years, by micro-nano satellite small volume, cost it is low, it is with short production cycle the features such as, micro-nano satellite becomes the world
The primary study object of each big country, the micro-nano satellite quantity of transmitting is also rising year by year.The Technique in Rendezvous and Docking of Large Spacecraft
Technology comparative maturity, and the SPACE RENDEZVOUS AND DOCKING TECHNIQUE of micro-nano satellite does not have also in the world at present also in conceptual phase
There is the docking realized and micro-nano satellite is carried out in space, some countries of US and European are all carrying out the intersection pair of micro-nano satellite
Task study is connect, substantial amounts of human and material resources, financial resources have been put into.China has also put into the sky that substantial amounts of energy solves micro-nano satellite
Between spacecrafts rendezvous technical barrier, this will bring tremendous breakthrough for the micro-nano satellite technology of China.
But very immature currently used for the miniature docking facilities of micro-nano satellite, key difficulties are how docking facilities are done
Tried one's best low and high reliability to miniaturization, power consumption.
The content of the invention
It is an object of the invention to provide rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking.
Small volume, light weight, reliability are high, can generally apply on various micro-nano satellites, and can be realized after micro-nano satellite docking
One-dimensional rotation, many micro-nano satellites freely dock the configuration conversion that assembly is realized after combination, so as to complete to observe the spelling of visual field
Connect and be superimposed with beneficial to micro-nano satellite multi-angle earth observation.
Rotatable micro-nano satellite electromagnetism docking facilities after one kind docking, on micro-nano satellite, guide two micro-nanos
Satellite is accurately docked, comprising：
Active mating mechanism, one end is tubaeform, and inside is provided with permagnetic synchronous motor and a circle active mating tooth, permanent magnet synchronous electric
Machine drives active mating tooth spiral to turn；
Passive docking mechanism, main body is in truncated cone-shaped, is matched with the tubaeform port of the active mating mechanism, and inside is provided with one
Enclose passive opposing teeth；
After the active mating mechanism and the docking of passive docking mechanism, active mating tooth and the engagement of passive opposing teeth, when permanent magnetism is same
When walking motor work, active mating mechanism and passive docking mechanism are rotated against.
Rotatable micro-nano satellite electromagnetism docking facilities after a kind of above-mentioned docking, wherein, described active mating mechanism
Specifically include：
Active firm banking, cylindrical shape, opening upwards are provided with active mating tooth, flange, flange are arranged at bottom along the circle of opening one inner side
It is provided with installation screw；
Active guide cylinder, tubaeform, small end at active firm banking opening with being rigidly connected；
Inside active firm banking from the bottom to top, active mating axle, active controller, forever are set gradually by the principle of center alignment
Magnetic-synchro motor, active rotation axle, active electromagnet.
Rotatable micro-nano satellite electromagnetism docking facilities after a kind of above-mentioned docking, wherein：
Active mating axle, inner hollow, hollow space is provided with active controller, and one end of active mating axle is rigidly connected actively admittedly
Determine base, other end connection permagnetic synchronous motor；
Active controller, is electrically connected with permagnetic synchronous motor；
Active electromagnet, bottom center is provided with circular hole；
Active rotation axle, one end is connected with the other end of the permagnetic synchronous motor；The other end is embedded in the active electromagnet
In circular hole, and keep being fixedly connected in an interference fit.
Rotatable micro-nano satellite electromagnetism docking facilities after a kind of above-mentioned docking, wherein, described passive docking mechanism
Specifically include：
Passive guide cylinder, truncated cone-shaped, inner hollow, its appearance and size and the flare portion of the active guide cylinder coincide；
Passive firm banking, is arranged at passive guide cylinder bottom, is rigidly connected with passive guide cylinder, and provided with installation screw；
Inside passive guide cylinder from the bottom to top, passive abutment shaft is set gradually, by movement controller, locking by the principle of center alignment
Release device, passive rotary shaft, by motor magnet.
Rotatable micro-nano satellite electromagnetism docking facilities after a kind of above-mentioned docking, wherein：
Passive abutment shaft, one end is fixedly connected with passive firm banking, and the other end is connected with by movement controller；
Locking releasing device, main body is cylindrical, and passive opposing teeth, its geomery and the master are provided with along the circle of top edge one
Dynamic opposing teeth coincide, and provided with pin flexible in the horizontal direction on the inside of locking releasing device top edge, is locked when pin stretches out
The tight active mating tooth and the passive opposing teeth, locking releasing device upper surface are provided with travel switch, and free state is pass
Disconnected state, is turned on during pressing；
By motor magnet, bottom center is provided with circular hole；
Passive rotary shaft, one end is connected with by movement controller, and the other end is embedded in the bottom surface circular hole by motor magnet, and with
The mode of interference fit keeps being fixedly connected.
Rotatable micro-nano satellite docking, rotation and method for releasing, include following part after one kind docking：
S1, the guiding by the passive docking mechanism in the active mating mechanism and another satellite on a satellite and control are realized
Docking and locking；
Permagnetic synchronous motor work in S2, active mating mechanism, two satellites of driving are rotated against；
Passive docking mechanism unblock in active mating mechanism and another satellite on S3, a satellite, two satellite separation.
Rotatable micro-nano satellite docking, rotation and method for releasing after a kind of above-mentioned docking, wherein, docking calculation is included
Following steps：
S11, Relative Navigation and control system guiding under, make two micro-nano satellites move closer to, the active on a satellite is right
Passive docking mechanism on connection mechanism and another satellite is tentatively docked；
S12, when on the active electromagnet in active mating mechanism and passive docking mechanism by motor magnet spacing from less than 5cm
When, active electromagnet and be powered by motor magnet, order both attract each other；
S13, under the guiding of active guide cylinder and passive guide cylinder, active mating tooth and passive opposing teeth continue close to until nibbling
Close, the travel switch of locking releasing device upper surface is turned on by pressing, is formed and is arrived bit flag；
S14, by movement controller receive it is described perform locking action to control locking releasing device after bit flag, pin stretches out, order
Active mating mechanism and the locking of passive docking mechanism；
S15, active electromagnet and powered off by motor magnet, complete docking.
Rotatable micro-nano satellite docking, rotation and method for releasing after a kind of above-mentioned docking, wherein, rotation is comprising following
Step：
S21, active controller send rotation instruction to permagnetic synchronous motor；
S22, permagnetic synchronous motor produce driving force, by active rotation axle, active mating tooth, passive opposing teeth and passive rotary shaft
Transmit successively, two satellite relative angles of driving produce change.
Rotatable micro-nano satellite docking, rotation and method for releasing after a kind of above-mentioned docking, wherein, release is comprising following
Step：
S31, unlock instruction sent by movement controller；
S32, locking releasing device complete unblock release movement, and pin is retracted in locking releasing device；
S33, active controller and active electromagnet is made respectively and be powered by motor magnet by movement controller, make both mutual exclusions, from
And make two satellites be gradually disengaged；
S34, the travel switch of locking releasing device upper surface disconnect, and return to normal；
S35, active electromagnet and powered off respectively by motor magnet, separation is completed.
The present invention has the advantages that compared with prior art：
First, the present invention is coordinated by the guide cylinder of tubaeform and truncated cone-shaped in docking operation and is oriented to and is positioned, during docking
It can be engaged by opposing teeth, so as to autonomous calibration, accurate docking under certain initial position and angular deviation.
2nd, the present invention there is small volume, it is light weight, low in energy consumption, meet the demand of micro-nano satellite, compared to large-scale
For spacecraft launching site mechanism, cost is substantially reduced.
3rd, relative angle can be changed by docking mechanism rotation after two micro-nano satellite docking, helps to change assembly
Configuration, possess stronger task dexterity.
Brief description of the drawings
Fig. 1 is the shaft side figure of active mating mechanism；
Fig. 2 is the top view of active mating mechanism；
Fig. 3 is the sectional view of active mating mechanism；
Fig. 4 is the axonometric drawing of passive docking mechanism；
Fig. 5 is the top view of passive docking mechanism；
Fig. 6 is the sectional view of passive docking mechanism；
Schematic diagram when Fig. 7 is active mating mechanism and the docking of passive docking mechanism.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in fig. 7, rotatable micro-nano satellite electromagnetism docking facilities after a kind of docking, on micro-nano satellite, are used
In guiding two micro-nano satellites accurately to dock, active mating mechanism 24 and passive docking mechanism 25 are mainly included.Active mating machine
The one end of structure 24 is tubaeform, and inside is provided with the circle active mating of permagnetic synchronous motor 8 and one tooth 4, and permagnetic synchronous motor 8 is actively controlled
The control of device 9 processed, produces turning moment during work, drive active mating tooth 4 to rotate.The passive main body of docking mechanism 25 is round platform
Shape, matches with the tubaeform port of the active mating mechanism 24, and inside is provided with a passive opposing teeth 11 of circle.Active mating machine
After structure 24 and passive docking mechanism 25 are docked, active mating tooth 4 and passive opposing teeth 11 are engaged, when permagnetic synchronous motor 8 works
When, active mating mechanism 24 and passive docking mechanism 25 can be rotated against.
As shown in Figures 1 and 2, active mating mechanism 24 includes active firm banking 1 and the two large divisions of active guide cylinder 3.
Active firm banking 1 is cylindrical shape, and opening upwards are provided with active mating tooth 4, flange, flange are arranged at bottom along the circle of opening one inner side
It is provided with installation screw；Active guide cylinder 3 is tubaeform, and small end is actively fixed with being rigidly connected at the opening of active firm banking 1
Inside base 1 from the bottom to top, active mating axle 10, active controller 9, permanent magnet synchronous electric are set gradually by the principle of center alignment
Machine 8, active rotation axle 7, active electromagnet 6.
As shown in figure 3, the parts annexation inside active firm banking 1 is as follows：The inner hollow of active mating axle 10,
Hollow space is provided with active controller 9, and one end of active mating axle 10 is rigidly connected active firm banking 1, and the other end is connected forever
Magnetic-synchro motor 8.Active controller 9, is electrically connected with permagnetic synchronous motor 8.Active electromagnet 6, bottom center is provided with circular hole.
Active rotation axle 7, one end is connected with the other end of the permagnetic synchronous motor 8；The other end is embedded in the circle of the active electromagnet 6
Kong Zhong, and keep being fixedly connected in an interference fit.
As shown in Figures 4 and 5, passive docking mechanism 25 includes passive guide cylinder 12 and the 14 liang big portion of passive firm banking
Point.Passive guide cylinder 12 is truncated cone-shaped, and inner hollow, its appearance and size and the flare portion of the active guide cylinder 3 coincide.
Passive firm banking 14, is arranged at the bottom of passive guide cylinder 12, is rigidly connected with passive guide cylinder 12, and provided with installation spiral shell
Hole.Wherein, the various ways such as mode connects for screw, welding can be taken by being rigidly connected, to strengthen its overall performance.Adopted in the present embodiment
With the mode of monoblock cast, passive firm banking 14 is linked together with passive guide cylinder 12.
Inside passive guide cylinder 12 from the bottom to top, passive abutment shaft 19, passive control are set gradually by the principle of center alignment
Device 20 processed, locking releasing device 16, passive rotary shaft 21, by motor magnet 17.
As shown in fig. 6, the parts annexation inside passive firm banking 14 is as follows：Passive one end of abutment shaft 19 and quilt
Dynamic firm banking 14 is fixedly connected, and the other end is connected with by movement controller 20.Locking releasing device 16, main body is cylindrical, edge
The circle of top edge one is provided with passive opposing teeth 11, and its geomery coincide with the active mating tooth 4, and both can tightly engage.
The upper surface of locking releasing device 16 sets travel switch 22, is off state during free state, active mating mechanism 24 and passive right
Travel switch pressing conducting, is used as forming bit flag after connection mechanism 25 is docked in place.This is received by movement controller 20
Locking action is performed after mark.Provided with pin 23 flexible in the horizontal direction, pin on the inside of the top edge of locking releasing device 16
23 are controlled by by movement controller 20, and the active mating tooth 4 and the passive opposing teeth 11 are locked during stretching, is unlocked during retraction.
By motor magnet 17, bottom center is provided with circular hole.Passive rotary shaft 21, one end is connected with by movement controller 20, other end insertion
In the bottom surface circular hole by motor magnet 17, and keep being fixedly connected in an interference fit.
Rotatable micro-nano satellite docking, rotation and method for releasing, include following part after one kind docking：
S1, guiding and control by the passive docking mechanism 25 in the active mating mechanism 24 and another satellite on a satellite
Achieve a butt joint and lock；
Permagnetic synchronous motor 8 in S2, active mating mechanism 24 is worked, and two satellites of driving are rotated against；
The passive docking mechanism 25 in active mating mechanism 24 and another satellite on S3, a satellite is unlocked, two satellites point
From.
Two micro-nano satellites are close to each other and as follows the step of docking：
Under S11, the Relative Navigation on satellite and control system guiding, two micro-nano satellites are moved closer to, on a satellite
Active mating mechanism 24 and another satellite on passive docking mechanism 25 tentatively dock, at the beginning of the small end for making passive docking mechanism 25
Stepping enters tubaeform one end of active docking mechanism 24；
S12, when on the active electromagnet 6 in active mating mechanism 24 and passive docking mechanism 25 by distance between motor magnet 17
During less than 5cm, active controller 9 and active electromagnet 6 is made respectively and be powered by motor magnet 17 by movement controller 20 so that two
Larger attraction is produced between satellite, accelerates two stars to approach；
S13, under the guiding of active guide cylinder 3 and passive guide cylinder 12, active mating tooth 4 and passive opposing teeth 11 continue close
Until the pressing conducting of travel switch 22 on engagement, passive guide cylinder 12, forms and arrives bit flag；
S14, by movement controller 20 receive it is described perform locking action to control locking releasing device 16 after bit flag, pin 23 is stretched
Go out, make active mating mechanism 24 and passive docking mechanism 25 lock, that is, two micro-nano satellites are relatively fixed；
S15, active controller 9 and controlled active electromagnet 6 respectively and powered off by motor magnet 17 by movement controller 20, complete pair
Connect.
Rotate two satellites, change satellite and satellite over the ground relative angle the step of it is as follows：
S21, active controller 9 send rotation instruction to permagnetic synchronous motor 8；
S22, permagnetic synchronous motor 8 produce driving force, and driving active rotation axle 7 rotates, by active rotation axle 7, active mating tooth
4th, passive opposing teeth 11 and passive rotary shaft 21 transmit this turning moment successively, and two satellite relative angles of driving produce change.
The step of two micro-nano satellites of interlocking discharge is as follows：
S31, unlock instruction to locking releasing device 16 sent by movement controller 20；
S32, locking releasing device 16 complete unblock release movement, and pin 23 is retracted in locking releasing device 16；
S33, active controller 9 and active electromagnet 6 is made respectively and be powered by motor magnet 17 by movement controller 20, make both mutual
Reprimand, so as to make two satellites be gradually disengaged；
After S34, two satellite separation, the travel switch 22 of the upper surface of locking releasing device 16 is upspring, and disconnects electrical connection, recovers normal
Open state；
S35, active controller 9 and active electromagnet 6 is made respectively and powered off by motor magnet 17 by movement controller 20, separated
Into.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. rotatable micro-nano satellite electromagnetism docking facilities after one kind docking, on micro-nano satellite, two micro-nanos of guiding are defended
Star is accurately docked, it is characterised in that included：
Active mating mechanism（24）, one end is tubaeform, and inside is provided with permagnetic synchronous motor（8）With a circle active mating tooth（4）,
Permagnetic synchronous motor（8）Drive active mating tooth（4）Rotation；
Passive docking mechanism（25）, main body is in truncated cone-shaped, with the active mating mechanism（24）Tubaeform port match, it is interior
Portion is provided with a passive opposing teeth of circle（11）；
The active mating mechanism（24）With passive docking mechanism（25）After docking, active mating tooth（4）With passive opposing teeth
（11）Engagement, works as permagnetic synchronous motor（8）During work, active mating mechanism（24）With passive docking mechanism（25）Rotate against.
2. rotatable micro-nano satellite electromagnetism docking facilities after a kind of docking as claimed in claim 1, it is characterised in that described
Active mating mechanism（24）Specifically include：
Active firm banking（1）, cylindrical shape, opening upwards, along the circle of opening one inner side provided with active mating tooth（4）, bottom has convex
Edge, flange is provided with installation screw；
Active guide cylinder（3）, tubaeform, small end and active firm banking（1）It is rigidly connected at opening；
Active firm banking（1）Inside from the bottom to top, active mating axle is set gradually by the principle of center alignment（10）, actively control
Device processed（9）, permagnetic synchronous motor（8）, active rotation axle（7）, active electromagnet（6）.
3. rotatable micro-nano satellite electromagnetism docking facilities after a kind of docking as claimed in claim 2, it is characterised in that：
Active mating axle（10）, inner hollow, hollow space is provided with active controller（9）, active mating axle（10）One end it is firm
Property connection active firm banking（1）, other end connection permagnetic synchronous motor（8）；
Active controller（9）, with permagnetic synchronous motor（8）It is electrically connected with；
Active electromagnet（6）, bottom center is provided with circular hole；
Active rotation axle（7）, one end and the permagnetic synchronous motor（8）The other end connection；The other end is embedded in the active electricity
Magnet（6）Circular hole in, and in an interference fit keep be fixedly connected.
4. rotatable micro-nano satellite electromagnetism docking facilities after a kind of docking as claimed in claim 1, it is characterised in that described
Passive docking mechanism（25）Specifically include：
Passive guide cylinder（12）, truncated cone-shaped, inner hollow, its appearance and size and the active guide cylinder（3）Flare portion
It coincide；
Passive firm banking（14）, it is arranged at passive guide cylinder（12）Bottom, with passive guide cylinder（12）It is rigidly connected, and is provided with
Installation screw；
Passive guide cylinder（12）Inside from the bottom to top, passive abutment shaft is set gradually by the principle of center alignment（19）, passive control
Device processed（20）, locking releasing device（16）, passive rotary shaft（21）, by motor magnet（17）.
5. rotatable micro-nano satellite electromagnetism docking facilities after a kind of docking as claimed in claim 4, it is characterised in that：
Passive abutment shaft（19）, one end and passive firm banking（14）Be fixedly connected, the other end with by movement controller（20）Connection；
Locking releasing device（16）, main body is cylindrical, and passive opposing teeth is provided with along the circle of top edge one（11）, its geomery
With the active mating tooth（4）It coincide, locking releasing device（16）Provided with pin flexible in the horizontal direction on the inside of top edge
（23）, work as pin（23）The active mating tooth is locked during stretching（4）With the passive opposing teeth（11）, locking releasing device
（16）Upper surface is provided with travel switch（22）, free state is off state, is turned on during pressing；
By motor magnet（17）, bottom center is provided with circular hole；
Passive rotary shaft（21）, one end with by movement controller（20）Connection, other end insertion is described by motor magnet（17）Bottom
In the circular hole of face, and keep being fixedly connected in an interference fit.
6. rotatable micro-nano satellite docking, rotation and method for releasing after one kind docking, it is characterised in that include following part：
S1, pass through the active mating mechanism on a satellite（24）With the passive docking mechanism on another satellite（25）Guiding and
Control is achieved a butt joint and locked；
S2, active mating mechanism（24）In permagnetic synchronous motor（8）Work, two satellites of driving are rotated against；
Active mating mechanism on S3, a satellite（24）With the passive docking mechanism on another satellite（25）Unblock, two are defended
Star is separated.
7. rotatable micro-nano satellite docking, rotation and method for releasing after a kind of docking as claimed in claim 6, its feature exist
In docking calculation is comprised the steps of：
S11, Relative Navigation and control system guiding under, make two micro-nano satellites move closer to, the active on a satellite is right
Connection mechanism（24）With the passive docking mechanism on another satellite（25）Preliminary docking；
S12, when active mating mechanism（24）On active electromagnet（6）With passive docking mechanism（25）On by motor magnet
（17）Between distance be less than 5cm when, active electromagnet（6）With by motor magnet（17）It is powered, both orders attract each other；
S13, in active guide cylinder（3）With passive guide cylinder（12）Guiding under, active mating tooth（4）With passive opposing teeth（11）
Continue close to until engagement, passive guide cylinder（12）On travel switch（22）Pressing conducting, forms and arrives bit flag；
S14, by movement controller（20）Receive described to controlling locking releasing device after bit flag（16）Perform locking action, pin
（23）Stretch out, make active mating mechanism（24）With passive docking mechanism（25）Locking；
S15, active electromagnet（6）With by motor magnet（17）Power-off, completes docking.
8. rotatable micro-nano satellite docking, rotation and method for releasing after a kind of docking as claimed in claim 6, its feature exist
In rotation is comprised the steps of：
S21, active controller（9）To permagnetic synchronous motor（8）Send rotation instruction；
S22, permagnetic synchronous motor（8）Driving force is produced, by active rotation axle（7）, active mating tooth（4）, passive opposing teeth
（11）With passive rotary shaft（21）Transmit successively, two satellite relative angles of driving produce change.
9. rotatable micro-nano satellite docking, rotation and method for releasing after a kind of docking as claimed in claim 6, its feature exist
In release is comprised the steps of：
S31, by movement controller（20）Send unlock instruction；
S32, locking releasing device（16）Complete unblock release movement；
S33, active controller（9）With by movement controller（20）Active electromagnet is made respectively（6）With by motor magnet（17）It is powered,
Make both mutual exclusions, so as to make two satellites be gradually disengaged；
After S34, two satellite separation, locking releasing device（16）The travel switch of upper surface（22）Disconnect, return to normal；
S35, active electromagnet（6）With by motor magnet（17）Power off respectively, separation is completed.
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| CN109466808A (en) * | 2018-12-14 | 2019-03-15 | 哈尔滨工业大学 | A kind of electromagnetism docking facilities and method based on linear motor |
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| CN109625339A (en) * | 2018-12-29 | 2019-04-16 | 西北工业大学 | A kind of micro-nano satellite separator of controllable rotating angular speed |
| CN109625339B (en) * | 2018-12-29 | 2022-04-15 | 西北工业大学 | Micro-nano satellite separation device capable of controlling rotation angular velocity |
| CN110027731A (en) * | 2019-05-29 | 2019-07-19 | 上海微小卫星工程中心 | A kind of electromagnetism docking facilities suitable for microsatellite |
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| CN111806733B (en) * | 2020-07-13 | 2021-11-09 | 中北大学 | Locking and unlocking device for satellite butt joint |
| CN114403684A (en) * | 2021-12-21 | 2022-04-29 | 安徽晶创电子科技有限公司 | Effectual juice extractor keeps warm |
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Application publication date: 20170825 |