CN108639390B - Pneumatic control type auxiliary butt joint device and pneumatic control type auxiliary butt joint method of satellite - Google Patents
Pneumatic control type auxiliary butt joint device and pneumatic control type auxiliary butt joint method of satellite Download PDFInfo
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- CN108639390B CN108639390B CN201810407529.3A CN201810407529A CN108639390B CN 108639390 B CN108639390 B CN 108639390B CN 201810407529 A CN201810407529 A CN 201810407529A CN 108639390 B CN108639390 B CN 108639390B
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- 210000001503 joint Anatomy 0.000 title claims description 26
- 238000003032 molecular docking Methods 0.000 claims abstract description 110
- 238000007789 sealing Methods 0.000 claims abstract description 46
- 206010061258 Joint lock Diseases 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000009423 ventilation Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000004904 shortening Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 4
- 230000036544 posture Effects 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 14
- 108091092878 Microsatellite Proteins 0.000 description 6
- 210000004712 air sac Anatomy 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Abstract
The invention discloses a pneumatic control type auxiliary docking device and a pneumatic control type auxiliary docking method of a satellite, which are used for satellite auxiliary docking capture and comprise an inflatable docking lock head, an air bag structure and a mounting base, wherein the inflatable docking lock head is used for carrying out flexible guidance in the satellite docking process and carrying out docking locking through inflation and expansion; the inflatable butt joint lock head is connected to the first end of the air bag structure in a sealing mode, and the mounting base is connected to the second end of the air bag structure in a sealing mode. According to the pneumatic control type auxiliary docking device, the inflation pressure and the inflation quantity of different areas in the air bag structure loaded on the service satellite are controlled, so that the shape and the posture of the air bag structure are controlled to change, the inflatable docking lock head is driven to move and is inserted into the engine nozzle of the target satellite to achieve flexible capture, and therefore the tolerance capability of the docking capture position and the angle is strong.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a pneumatic control type auxiliary butt joint device. In addition, the invention also relates to a pneumatic control type auxiliary docking method of the satellite by adopting the pneumatic control type auxiliary docking device.
Background
The on-orbit service of the spacecraft relates to aspects of on-orbit refueling and service life prolonging, maintenance assembly and upgrading, debris removal, auxiliary orbital transfer and the like, and one key technology is to realize autonomous docking and capturing of the spacecraft through an auxiliary docking device.
The existing auxiliary docking device is of various types, the telescopic rod type auxiliary docking device sends the expandable mechanism into the nozzle of a target satellite engine by extending double rods, shortens the double rods to enable the service satellite to gradually approach the target satellite, and captures a satellite and arrow docking ring on the target satellite by a locking mechanism to complete locking, and the position and angle tolerance capability of the telescopic rod type auxiliary docking device is poor, and the requirements on position and attitude control accuracy are high because the service satellite moves to the proper position of the target satellite and keeps the proper attitude before the double rods are extended out; the mechanical arm type auxiliary docking device is tracked by a movable mechanical arm and inserted into a nozzle of a target satellite engine, and the stability of a service satellite is influenced in the moving process of the mechanical arm under the space weightless environment, so that when the service satellite is a microsatellite with lighter weight, the influence of the movement of the mechanical arm is more obvious; the flying net type auxiliary docking device and the spear type auxiliary docking device are both used for capturing a target satellite and transferring the target satellite to an appointed orbit, are only suitable for orbit transfer, and cannot be used for maintaining or filling fuel for the target satellite.
Disclosure of Invention
The invention provides a pneumatic control type auxiliary butt joint device, which aims to solve the technical problem that the existing auxiliary butt joint device is poor in butt joint position and angle tolerance.
The invention provides a pneumatic control type auxiliary docking device, which is used for satellite auxiliary docking capture and comprises an inflatable docking lock head, an air bag structure and a mounting base, wherein the inflatable docking lock head is used for carrying out flexible guidance in the satellite docking process and carrying out docking locking through inflation expansion; inflatable butt joint tapered end sealing connection is in the first end of gasbag structure, and mounting base sealing connection is in the second end of gasbag structure.
Furthermore, the air bag structure adopts a single-section air bag body; or the air bag structure adopts a plurality of single-section air bag bodies which are connected end to end in a sealing way to form an air bag assembly.
Furthermore, the inflatable docking lock head comprises a soft ball head and a lock head installation clamping groove, wherein the soft ball head is used for locking through inflation when entering the throat part of the satellite spray pipe or the inside of the docking cone, and the lock head installation clamping groove is used for being in sealing connection with the air bag structure; the outer surface of the front end of the soft ball head is a spherical surface for flexible guiding, an air inlet channel for air inlet is arranged in the soft ball head, and the air inlet channel is opened towards the lock mounting clamping groove and communicated to the inner cavity of the air bag structure.
Furthermore, the single-section air bag body is provided with a central channel which is arranged on the central axis of the single-section air bag body and used for laying an inflation pipeline and respectively inflating and deflating the inflatable butt-joint lock head and the single-section air bag body through the inflation pipeline, and an independent air bag cavity which is arranged along the axial direction of the single-section air bag body and used for adjusting the posture of the single-section air bag body through inflation; a plurality of independent gasbag chambeies encircle outside central channel and arrange along the equidistant of single section gasbag body circumference, through the all-round gesture regulation of the cooperation of aerifing or exitting of a plurality of independent gasbag chambeies in order to realize whole single section gasbag body.
Furthermore, the single-section air bag body is also provided with a limit structure which is hooped outside the single-section air bag body along the circumferential direction of the single-section air bag body and is used for dividing the independent air bag cavity into a plurality of air bag units and forming the axial support of the single-section air bag body; a plurality of limit structures are arranged at equal intervals along the axial direction of the single-section air bag body, and the corresponding independent air bag cavity is divided into a plurality of communicated air bag units.
Furthermore, the two ends of the single-section air bag body are provided with air bag mounting clamping grooves for sealing connection.
Furthermore, a connecting and sealing device which is used for sealing connection and forming a one-way communication ventilation channel is arranged between the inflatable butt joint lock head and the air bag structure, between the single-section air bag body and between the air bag structure and the mounting base.
Furthermore, the connecting and sealing device comprises a male head which is arranged at the air inlet end and is jointed and connected with the air inlet end for unidirectionally conveying air to the air inlet end, and a female head which is arranged at the closed end and is jointed and connected with the closed end for preventing the air from reversely flowing; a ventilation gasket is arranged in the male head in a close fit manner, and an air inlet pipeline channel matched with the independent air bag cavity of the single-section air bag body and a central through hole matched with the central channel of the single-section air bag body are formed in the ventilation gasket; a closed gasket is arranged in the female head in a clinging manner, and is provided with an air inlet blind hole matched with an independent air bag cavity of the single-section air bag body, a central assembly hole matched with a central channel of the single-section air bag body and a pipe groove positioned between the air inlet blind hole and the central assembly hole; the male head is in inserting fit with the female head, the corresponding ventilating gaskets are attached to the airtight gaskets, and the air inlet pipeline channels are buckled with the air inlet blind holes in a one-to-one correspondence mode.
Furthermore, the mounting base is connected with a plurality of air supply pipes used for conveying air into the pneumatic control type auxiliary butt joint device; the air supply pipe passes through the mounting base, the central channel of each single-section air bag body, the central assembly hole and the central through hole of each connecting sealing device and is communicated to the air inlet pipeline channel to form an inflation control system of the inflatable butt joint lock head; the multiple air supply pipes penetrate through the mounting base, the central channel of each single-section air bag body and the connecting sealing device and are communicated to each independent air bag cavity through each pipe groove respectively, so that an independent inflation control system of each independent air bag cavity of each single-section air bag body is formed.
According to another aspect of the present invention, there is also provided a pneumatic control type auxiliary docking method for a satellite, including the steps of: the service satellite moves to the vicinity of the target satellite; the angle of the air bag structure is adjusted by respectively inflating or deflating different areas in each single-section air bag body so that the inflatable butt joint lock head extends into an engine nozzle of a target satellite; inflating the inflatable docking lock head to enable the inflatable docking lock head to be expanded and clamped in the throat part of the jet pipe of the engine so as to realize the preliminary connection between the service satellite and the target satellite; the locking mechanism of the service satellite is enabled to be over against the satellite-rocket docking ring of the target satellite by respectively inflating or deflating different areas in each single-section air bag body to adjust the relative position and posture between the service satellite and the target satellite; shortening the distance between the service satellite and the target satellite, and opening a locking mechanism of the service satellite to lock the target satellite; after the service satellite and the target satellite are locked, the inflatable butt joint lock head and the air bag structure are deflated, and the inflatable butt joint lock head and the air bag structure are retracted to complete the butt joint of the satellite.
The invention has the following beneficial effects:
according to the pneumatic control type auxiliary docking device, the inflation pressure and the inflation quantity of different areas in the air bag structure loaded on the service satellite are controlled, so that the appearance posture change of the air bag structure is controlled to realize the flexible capturing of the service satellite on the target satellite, the air bag structure drives the inflatable docking lock head to move and is inserted into an engine nozzle of the target satellite to realize the primary connection of the service satellite and the target satellite, and therefore the tolerance capacity of the docking capturing position and the angle is high; because the movement adjustment and the target satellite capturing action of the whole pneumatic control type auxiliary docking device are realized by adopting the flexible movement of the air bag structure in an inflation mode, the stability of a service satellite and a target satellite cannot be influenced in the process of capturing and docking the target satellite by the light air bag structure, and the device is suitable for capturing and docking the microsatellite; the inflatable docking lock head is inserted into an engine nozzle of a target satellite to be inflated and expanded to realize docking and locking with the target satellite, and the position relation of the service satellite relative to the target satellite is flexibly adjusted through the airbag structure, so that the docking lock head is applicable to maintenance or fuel filling and orbit transfer of the target satellite; after the service satellite and the target satellite are in butt joint and locked, the inflatable butt joint lock head is contracted through deflation to release the locking of the auxiliary part, the structure is simple, and the unlocking is convenient.
According to the pneumatic control type auxiliary docking method for the satellite, after the service satellite moves to the vicinity of the target satellite, the shape attitude change of the airbag structure is controlled by controlling the inflation pressure and the inflation quantity of different areas in the airbag structure loaded on the service satellite so as to realize the flexible capture of the service satellite on the target satellite; the inflatable docking lock head is driven to move by controlling the movement of the air bag structure and is inserted into the engine spray pipe of the target satellite, and is clamped in the engine spray pipe of the target satellite by the inflation of the inflatable docking lock head, so that the initial connection between the service satellite and the target satellite is realized, the service satellite does not need to be controlled to be close to the target satellite and the attitude is kept, and the capturing device is opposite to the engine spray pipe of the target satellite, so that the tolerance capability of the docking capturing position and the angle is strong; after the initial connection, the postures of the service satellite and the target satellite are adjusted to ensure that the locking mechanism of the service satellite is in butt joint with the satellite-rocket butt joint ring of the target satellite for locking, and because the airbag is light and handy in structure, the stability of the satellite is not influenced in the adjustment process, and the adjustment accuracy is ensured; after the butt joint and the locking, the inflatable butt joint lock head is contracted by pumping out the gas in the inflatable butt joint lock head, and the inflatable butt joint lock head is pumped out from an engine spray pipe of the service satellite by pumping out the gas in the airbag structure to be contracted, so that the butt joint of the satellite is completed.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of an air-controlled auxiliary docking device according to a preferred embodiment of the present invention;
FIG. 2 is a schematic longitudinal sectional view of a single-segment balloon body according to a preferred embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a single-segment balloon body according to a preferred embodiment of the present invention;
FIG. 4 is an exploded view of the construction of the joint sealing device according to the preferred embodiment of the present invention;
fig. 5 is a schematic flow chart of a pneumatic control type auxiliary docking method for a satellite according to a preferred embodiment of the present invention.
Illustration of the drawings:
1. an inflatable butt-joint lock head; 2. a single section balloon body; 3. mounting a base; 4. an airbag module; 5. connecting a sealing device; 6. a service satellite; 7. a target satellite; 21. a central channel; 22. an independent balloon lumen; 23. a limiting structure; 24. an airbag unit; 25. the air bag is provided with a clamping groove; 51. a male head; 52. a female head; 53. a venting gasket; 54. sealing the gasket; 531. an air inlet pipeline passage; 532. a central through hole; 541. a blind air inlet hole; 542. a central assembly hole; 543. and (4) a pipe groove.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
Fig. 1 is a schematic structural view of an air-controlled auxiliary docking device according to a preferred embodiment of the present invention; FIG. 2 is a schematic longitudinal sectional view of a single-segment balloon body according to a preferred embodiment of the present invention; FIG. 3 is a schematic cross-sectional view of a single-segment balloon body according to a preferred embodiment of the present invention; FIG. 4 is an exploded view of the construction of the joint sealing device according to the preferred embodiment of the present invention; fig. 5 is a schematic flow chart of a pneumatic control type auxiliary docking method for a satellite according to a preferred embodiment of the present invention.
As shown in fig. 1-5, the pneumatic control type auxiliary docking device of the present embodiment is used for satellite auxiliary docking capture, and includes an inflatable docking lock 1 for flexible guidance during satellite docking and docking locking through inflation, an airbag structure for adjusting posture through inflation to different directions, and a mounting base 3 for mechanical connection with a satellite body; inflatable butt joint tapered end 1 sealing connection is in the first end of gasbag structure, and mounting base 3 sealing connection is in the second end of gasbag structure. The pneumatic control type auxiliary docking device controls the change of the shape and the posture of the air bag structure by controlling the inflation pressure and the inflation quantity of different areas in the air bag structure loaded on the service satellite 6 so as to realize the flexible capture of the service satellite 6 to the target satellite 7. The inflatable docking lock head 1 is driven by the airbag structure to move and is inserted into an engine nozzle of the target satellite 7 to realize the primary connection of the service satellite 6 and the target satellite 7, so that the tolerance capability of the docking capturing position and the angle is strong. Because the movement adjustment of the whole pneumatic control type auxiliary docking device and the capturing action of the target satellite 7 are realized by adopting the flexible movement of the airbag structure in an inflating mode, the stability of the service satellite 6 and the target satellite 7 cannot be influenced by the light airbag structure in the process of capturing and docking the target satellite 7, and the pneumatic control type auxiliary docking device is suitable for capturing and docking the microsatellites; the inflatable docking lock head 1 is inserted into an engine nozzle of the target satellite 7 to be inflated and expanded to realize docking and locking with the target satellite 7, and the position relation of the service satellite 6 relative to the target satellite 7 is flexibly adjusted through the airbag structure, so that the docking lock head is suitable for maintaining or filling fuel and transferring an orbit to the target satellite 7; after the task is finished, the inflatable butt joint lock head 1 is contracted through deflation to release the locking of the auxiliary part, the structure is simple, and the unlocking is convenient.
The air bag structure adopts a single-section air bag body 2. Or the air bag structure adopts a plurality of single-section air bag bodies 2 which are connected end to end in a sealing way to form an air bag component 4. In this embodiment, three single-section airbag bodies 2 are connected end to end in a sealing manner to form an airbag module 4. The number of the single-section air bag bodies 2 is selected according to specific application conditions such as the distance between the service satellite 6 and the target satellite 7, the size of the service satellite 6 and the target satellite 7, and the like. The air bag component 4 has more movement postures and stronger controllability by respectively adjusting the inflation quantity and the inflation pressure in different directions in the plurality of single-section air bag bodies 2.
The inflatable docking lock head 1 comprises a soft ball head and a lock head installation clamping groove, wherein the soft ball head is used for locking through inflation when entering the throat part of a satellite spray pipe or the inside of a docking cone, and the lock head installation clamping groove is used for being in sealing connection with an air bag structure. The outer surface of the front end of the soft ball head is a spherical surface for flexible guiding, an air inlet channel for air inlet is arranged in the soft ball head, and the air inlet channel is communicated to the inner cavity of the air bag structure towards the direction of the lock mounting clamping groove. An inflation pipeline of the soft ball head penetrates through the inner cavity of the air bag component 4 and enters the air inlet channel so as to control the inflation and deflation of the soft ball head. Wherein, the soft ball head can be in the shape of sphere, ellipse or cone. In this embodiment, the soft ball head is spherical. The expansion volume is larger after the gas with the same amount is flushed into the air in a relative oval or conical shape, and the locking is more stable. The spherical structure adopts the spherical surface to guide, can be suitable for the channels of different inner cavity structures, and can automatically center and align the butt joint center. In another embodiment, the air inlet channel of the soft ball head is arranged at one side of the bottom end of the inflatable butt joint lock head 1, and the inflation pipeline is in sealed connection with the air inlet channel to control inflation and deflation of the soft ball head.
The single-section air bag body 2 is provided with a central channel 21 which is arranged on the axial line of the single-section air bag body 2 and is used for laying an inflation pipeline and respectively inflating and deflating the inflatable butt-joint lock head 1 and the single-section air bag body 2 through the inflation pipeline, and an independent air bag cavity 22 which is arranged along the axial direction of the single-section air bag body 2 and is used for adjusting the posture of the single-section air bag body 2 through inflation. A plurality of independent air bag cavities 22 surround the central channel 21 and are arranged along the circumference of the single-section air bag body 2 at equal intervals. The omnibearing posture adjustment of the whole single-section air bag body 2 is realized through the inflation or deflation coordination of a plurality of independent air bag cavities 22. The independent air sac cavity 22 is axially communicated along the single-section air sac body 2; and/or the central passage 21 is axially through the single-section balloon body 2. In this embodiment, the independent air bag cavity 22 is communicated along the single section air bag body 2 in one direction, and the top end is closed. The central passage 21 is axially through the single-section balloon body 2. The central passage 21 is used for penetrating the air inlet pipeline and reducing the weight of the single-section air bag body 2, and the stability of the micro-satellite cannot be influenced when the micro-satellite is placed, captured and butted. The number of independent air sac cavities 22 can be selected from two, three, four, five or more according to the adjustment of the required movement posture. In this embodiment, three independent air bag cavities 22 surround the central passage 21 and are arranged at equal intervals along the circumference of the single-section air bag body 2. The individual balloon chambers 22 may be fan-shaped cylinders, wave cylinders, or other curved cylinders. The curved surface is attached to the surface of the single-section air bag cavity, so that the uniform stress of the cavity after the independent air bag cavity 22 is inflated and expanded is facilitated. In this embodiment, the individual balloon chambers 22 are sector-shaped cylinders. The fan-shaped cylinder shape enables the independent air bag cavity 22 to expand along the radial direction of the single-section air bag body 2 and not expand along other directions relative to the cylinder shape, the wave cylinder shape or other curved surface cylinder shapes, and the control of the movement of the single-section air bag body 2 along the radial direction is facilitated.
The single-section air bag body 2 is also provided with a limiting structure 23 which is hooped outside the single-section air bag body 2 along the circumferential direction of the single-section air bag body 2 and is used for dividing the independent air bag cavity 22 into a plurality of air bag units 24 and forming the axial support of the single-section air bag body 2. The plurality of limiting structures 23 are arranged at equal intervals along the axial direction of the single-section air bag body 2, and the corresponding independent air bag cavity 22 is divided into a plurality of air bag units 24 communicated in series. When the independent airbag cavity 22 is inflated, the amount of gas in the airbag unit 24 closest to the air inlet end is the largest, and the gas is extruded to the airbag unit 24 above after being expanded to a certain degree. The single airbag is advanced in a predetermined direction by mutual pressing of the plurality of airbag units 24. The limiting structure 23 is made of a material which is not easy to deform. Optionally, the limiting structure 23 is a limiting ring sleeved on the single-section airbag body 2. The spacing structure 23 is provided at a spacing rod or spacing layer between the air-bag units 24. The expansion degree of the single air bag unit 24 is limited through the limiting structure 23, and the phenomenon that the expansion degree of the single air bag unit 24 is too large, and the single-section air bag body 2 cannot advance according to the preset direction due to the fact that gas stays in the single air bag unit 24 and cannot enter other air bag units 24 is avoided. In this embodiment, the single-section airbag body 2 divides the independent airbag cavity 22 into six airbag units 24 connected in series through five limiting structures 23. The airbag unit 24 has a fan-shaped cylindrical shape. Wherein, fan-shaped is 60 degrees, and three independent gasbag chamber 22 interval 60 degrees arrange along single section gasbag body 2 circumference, and the interval is even, makes the motion of single section gasbag body 2 more stable controllable.
And air bag mounting clamping grooves 25 for sealing connection are formed at two ends of the single section of the air bag body 2. And a connecting and sealing device 5 which is used for sealing connection and forming a one-way communication ventilation channel is arranged between the inflatable butt joint lock head 1 and the air bag structure, between the single-section air bag body 2 and between the air bag structure and the mounting base 3. One of the connecting sealing device 5 is connected with the lock mounting slot of the inflatable butt lock 1 in a clamping manner and tightly attached, and the air-closed end is connected with the air bag mounting slot 25 at the upper end of the single-section air bag body 2 in a clamping manner. Wherein the ventilation end of the other connecting and sealing device 5 is clamped and tightly attached with the air bag mounting clamping groove 25 at the lower end of the single-section air bag body 2, and the gas-closed end is clamped and connected with the air bag mounting clamping groove 25 at the upper end of the single-section air bag body 2. The other air-vent end of the connecting and sealing device 5 is clamped and tightly attached with the air bag mounting clamping groove 25 at the lower end of the single-section air bag body 2, and the air-close end is fixedly connected with the upper end of the mounting base 3.
The connecting and sealing device 5 comprises a male head 51 which is arranged at the air inlet end and is jointed and connected with the air inlet end for one-way gas delivery to the air inlet end, and a female head 52 which is arranged at the closed end and is jointed and connected with the closed end for preventing gas from flowing reversely. A ventilation gasket 53 is closely arranged in the male head 51, and an air inlet pipeline channel 531 matched with the independent air bag cavity 22 of the single-section air bag body 2 and a central through hole 532 matched with the central channel 21 of the single-section air bag body 2 are arranged on the ventilation gasket 53. A closed gasket 54 is closely arranged in the female head 52, and an air inlet blind hole 541 matched with the independent air bag cavity 22 of the single-section air bag body 2, a central assembly hole 542 matched with the central channel 21 of the single-section air bag body 2 and a pipe groove 543 between the air inlet blind hole 541 and the central assembly hole 542 are formed in the closed gasket 54. The male head 51 is matched with the female head 52 in an inserting manner, the corresponding ventilating gaskets 53 are attached to the sealing gaskets 54, and the air inlet pipeline channels 531 are correspondingly buckled with the air inlet blind holes 541 one by one. After the single-section air bag body 2 is connected with the single-section air bag body 2 through the connecting and sealing device 5, the male head 51 is clamped in the air bag mounting clamping groove 25 at the lower end of the single-section air bag body 2. The vent gasket 53 is attached to the lower end surface of the single-unit airbag body 2. The air inlet of the independent airbag chamber 22 is opposed to the air inlet line passage 531 of the vent gasket 53. The female head 52 is clamped in the air bag mounting clamping groove 25 at the upper end of the single-section air bag body 2. In use, the air inlet pipeline passes through the central assembly hole 542 and is placed in the pipe groove 543, so that the pipe orifice faces the air inlet blind hole 541, and therefore air enters the independent air bag cavity 22 through the air inlet pipeline channel 531. The inflatable butt joint lock head 1, the single-section air bag body 2 and the mounting base 3 can be connected with each other through a corrugated joint, a convex ring joint or a threaded joint. Although the mutual connection through the corrugated joint, the convex ring joint or the threaded joint can ensure that gas at the joint is not leaked, the gas reversely flows into other single-section gas bags 2, so that the motion control of the gas bag structure is inaccurate. The inflatable butt-joint lock head 1, the single-section air bag body 2 and the mounting base 3 can also be connected by matching a corrugated joint, a convex ring joint or a threaded joint with the ventilation gasket 53 and the closed gasket 54, so that the gas does not flow reversely.
The mounting base 3 is connected with a plurality of air supply pipes for supplying air into the pneumatic control type auxiliary butt joint device. The air supply pipe passes through the mounting base 3, the central channel 21 of each single-section air bag body 2, the central assembly hole 542 and the central through hole 532 of each connecting sealing device 5 and is communicated to the air inlet pipeline channel 531 to form an inflation control system of the inflatable butt joint lock head 1; a plurality of air supply pipes pass through the mounting base 3, the central channel 21 of each single-section airbag body 2 and the connecting sealing device 5 and are respectively communicated to each independent airbag cavity 22 through each pipe groove 543, so that an independent inflation control system of each independent airbag cavity 22 of each single-section airbag body 2 is formed. Wherein the air pipe is clamped between the pipe groove 543 and the ventilation pad 53. The pipe orifice faces the blind air inlet hole 541. Or the air feed pipe is extended into the independent air bladder chamber 22 through the pipe groove 543 and the air intake line passage 531. The air supply pipe is tightly locked in the pipe groove 543 by the air-permeable packing 53. Ensuring good sealing performance. In this embodiment, ten air inlet pipes for charging and discharging nine independent air bag chambers 22 are inserted into the mounting base 3. Wherein the three air inlet pipes respectively control the air inflation and deflation of the three independent air bag cavities 22 of the single-section air bag body 2 at the lowest part through the pipe groove 543 and the central assembly hole 542. The other three air inlet pipes penetrate through the central channel 21 of the single-section air bag body 2 at the lowest part and the connecting sealing device 5 to respectively control the air inflation and air deflation of three independent air bag cavities 22 of the single-section air bag body 2 at the upper part. And three air inlet pipes are used for respectively controlling the air inflation and air deflation of the three independent air bag cavities 22 of the uppermost single-section air bag body 2 in the same way. The remaining air inlet pipe passes through the central channels 21 of the three single-section air bag bodies 2 and the connecting sealing device 5 to control the inflation and deflation of the soft ball head.
As shown in fig. 5, the pneumatic control type auxiliary docking method for a satellite according to this embodiment, which uses the pneumatic control type auxiliary docking apparatus, includes the following steps: the serving satellite 6 moves to the vicinity of the target satellite 7; the angle of the air bag structure is adjusted by respectively inflating or deflating different areas in each single-section air bag body 2 so that the inflatable butt joint lock head 1 extends into an engine nozzle of a target satellite 7; inflating the inflatable docking lock head 1 to enable the inflatable docking lock head 1 to be expanded and clamped in the throat of the jet pipe of the engine jet pipe, so as to realize the preliminary connection between the service satellite 6 and the target satellite 7; the relative position and posture between the service satellite 6 and the target satellite 7 are adjusted by respectively inflating or deflating different areas in each single-section air bag body 2, so that the locking mechanism of the service satellite 6 is over against the satellite-rocket docking ring of the target satellite 7; shortening the distance between the service satellite 6 and the target satellite 7, and opening a locking mechanism of the service satellite 6 to lock the target satellite 7; after the service satellite 6 and the target satellite 7 are locked, the inflatable docking lock head 1 and the airbag structure are deflated, and the inflatable docking lock head 1 and the airbag structure are retracted to complete docking of the satellites. According to the pneumatic control type auxiliary docking method for the satellite, the service satellite 6 moves to the position near the target satellite 7, the service satellite 6 and the target satellite 7 are connected through the pneumatic control type auxiliary docking device, then the postures of the service satellite 6 and the target satellite 7 are adjusted to complete docking, before docking, the service satellite 6 does not need to be controlled to be close to the target satellite 7 and the posture is kept, so that the capturing device is opposite to the engine jet pipe of the target satellite 7, and therefore the tolerance capability of docking capturing positions and angles is high.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
according to the pneumatic control type auxiliary docking device, the inflation pressure and the inflation quantity of different areas in the air bag structure loaded on the service satellite are controlled, so that the appearance posture change of the air bag structure is controlled to realize the flexible capturing of the service satellite on the target satellite, the air bag structure drives the inflatable docking lock head to move and is inserted into an engine nozzle of the target satellite to realize the primary connection of the service satellite and the target satellite, and therefore the tolerance capacity of the docking capturing position and the angle is high; because the movement adjustment and the target satellite capturing action of the whole pneumatic control type auxiliary docking device are realized by adopting the flexible movement of the air bag structure in an inflation mode, the stability of a service satellite and a target satellite cannot be influenced in the process of capturing and docking the target satellite by the light air bag structure, and the device is suitable for capturing and docking the microsatellite; the inflatable docking lock head is inserted into an engine nozzle of a target satellite to be inflated and expanded to realize docking and locking with the target satellite, and the position relation of the service satellite relative to the target satellite is flexibly adjusted through the airbag structure, so that the docking lock head is applicable to maintenance or fuel filling and orbit transfer of the target satellite; after the service satellite and the target satellite are in butt joint and locked, the inflatable butt joint lock head is contracted through deflation to release the locking of the auxiliary part, the structure is simple, and the unlocking is convenient.
According to the pneumatic control type auxiliary docking method for the satellite, after the service satellite moves to the vicinity of the target satellite, the shape attitude change of the airbag structure is controlled by controlling the inflation pressure and the inflation quantity of different areas in the airbag structure loaded on the service satellite so as to realize the flexible capture of the service satellite on the target satellite; the inflatable docking lock head is driven to move by controlling the movement of the air bag structure and is inserted into the engine spray pipe of the target satellite, and is clamped in the engine spray pipe of the target satellite by the inflation of the inflatable docking lock head, so that the initial connection between the service satellite and the target satellite is realized, the service satellite does not need to be controlled to be close to the target satellite and the attitude is kept, and the capturing device is opposite to the engine spray pipe of the target satellite, so that the tolerance capability of the docking capturing position and the angle is strong; after the initial connection, the postures of the service satellite and the target satellite are adjusted to ensure that the locking mechanism of the service satellite is in butt joint with the satellite-rocket butt joint ring of the target satellite for locking, and because the airbag is light and handy in structure, the stability of the satellite is not influenced in the adjustment process, and the adjustment accuracy is ensured; after the butt joint and the locking, the inflatable butt joint lock head is contracted by pumping out the gas in the inflatable butt joint lock head, and the inflatable butt joint lock head is pumped out from an engine spray pipe of the service satellite by pumping out the gas in the airbag structure to be contracted, so that the butt joint of the satellite is completed.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A pneumatic control type auxiliary docking device is used for satellite auxiliary docking capture and is characterized in that,
the device comprises an inflatable docking lock head (1) which is used for carrying out flexible guidance in the satellite docking process and carrying out docking locking through inflation expansion, an air bag structure which is used for adjusting the posture through inflation to different directions and a mounting base (3) which is used for being mechanically connected with a satellite star body;
the inflatable butt joint lock head (1) is connected to the first end of the air bag structure in a sealing mode, and the mounting base (3) is connected to the second end of the air bag structure in a sealing mode;
the air bag structure adopts a single-section air bag body (2); or
The air bag structure adopts a plurality of single-section air bag bodies (2), and the single-section air bag bodies (2) are connected end to end in a sealing manner to form an air bag assembly (4);
the inflatable butt joint lock head (1) comprises a soft ball head and a lock head installation clamping groove, wherein the soft ball head is used for locking through inflation when entering the throat part of the satellite spray pipe or the inside of the butt joint cone, and the lock head installation clamping groove is used for being in sealing connection with the air bag structure;
the outer surface of the front end of the soft ball head is a spherical surface for flexible guiding, an air inlet channel for air inlet is arranged in the soft ball head, and the air inlet channel is opened towards the lock mounting clamping groove and communicated to the inner cavity of the air bag structure;
the single-section air bag body (2) is provided with a central channel (21) which is arranged on the axis of the single-section air bag body (2) and used for laying an inflation pipeline and respectively inflating and deflating the inflatable butt-joint lock head (1) and the single-section air bag body (2) through the inflation pipeline, and an independent air bag cavity (22) which is arranged along the axial direction of the single-section air bag body (2) and used for adjusting the posture of the single-section air bag body (2) through inflation;
a plurality of independent gasbag chamber (22) encircle outside central channel (21) and follow the equidistant arrangement of single section gasbag body (2) circumference, it is through a plurality of the inflation or the cooperation of exitting of independent gasbag chamber (22) coordinate in order to realize whole the all-round posture of single section gasbag body (2) is adjusted.
2. An air-controlled auxiliary docking device according to claim 1,
the single-section air bag body (2) is further provided with a limiting structure (23) which is hooped outside the single-section air bag body (2) along the circumferential direction of the single-section air bag body (2) and is used for dividing the independent air bag cavity (22) into a plurality of air bag units (24) and forming axial support of the single-section air bag body (2);
the plurality of limiting structures (23) are arranged along the axial direction of the single-section air bag body (2) at equal intervals, and the corresponding independent air bag cavity (22) is divided into a plurality of air bag units (24) communicated in series.
3. An air-controlled auxiliary docking device according to claim 2,
and air bag mounting clamping grooves (25) for sealing connection are formed at two ends of the single-section air bag body (2).
4. An air-controlled auxiliary docking device according to any one of claims 1 to 3,
and a connecting and sealing device (5) for sealing connection and forming a one-way communication ventilation channel is arranged at least one of the inflatable butt joint lock head (1) and the air bag structure, the single-section air bag body (2) and the air bag structure and the mounting base (3).
5. An air-controlled auxiliary docking device according to claim 4,
the connecting and sealing device (5) comprises a male head (51) which is arranged at the air inlet end and is jointed and connected with the air inlet end for unidirectionally conveying air to the air inlet end, and a female head (52) which is arranged at the closed end and is jointed and connected with the closed end for preventing the air from reversely flowing;
a ventilation gasket (53) is closely arranged in the male head (51), and an air inlet pipeline channel (531) matched with the independent air bag cavity (22) of the single-section air bag body (2) and a central through hole (532) matched with the central channel (21) of the single-section air bag body (2) are formed in the ventilation gasket (53);
a closed gasket (54) is closely distributed in the female head (52), and an air inlet blind hole (541) matched with the independent air bag cavity (22) of the single-section air bag body (2), a central assembly hole (542) matched with the central channel (21) of the single-section air bag body (2) and a pipe groove (543) positioned between the air inlet blind hole (541) and the central assembly hole (542) are formed in the closed gasket (54);
the male head (51) is in plug-in fit with the female head (52), the corresponding ventilating gasket (53) is attached to the sealing gasket (54), and the air inlet pipeline channels (531) are correspondingly buckled with the air inlet blind holes (541) one by one.
6. An air-controlled auxiliary docking device according to claim 5,
the mounting base (3) is connected with a plurality of air supply pipes used for conveying air into the pneumatic control type auxiliary butt joint device;
an air supply pipe penetrates through the mounting base (3), the central channel (21) of each single-section air bag body (2), the central assembly hole (542) of each connecting sealing device (5) and the central through hole (532) and is communicated to the air inlet pipeline channel (531), so that an inflation control system of the inflatable butt joint lock head (1) is formed;
many blast pipes pass through mounting base (3), each center channel (21) of the single section gasbag body (2) and connect sealing device (5) and respectively through each pipe slot (543) communicate to each independent gasbag chamber (22), in order to constitute each of the single section gasbag body (2) the independent control system that aerifys of independent gasbag chamber (22).
7. An air-controlled auxiliary docking method for a satellite, which adopts the air-controlled auxiliary docking device of any one of claims 1 to 6,
the method is characterized by comprising the following steps:
the service satellite (6) moves to the vicinity of the target satellite (7);
the angle of the air bag structure is adjusted by respectively inflating or deflating different areas in each single-section air bag body (2) so that the inflatable butt joint lock head (1) extends into an engine nozzle of a target satellite (7);
inflating the inflatable docking lock head (1) to enable the inflatable docking lock head (1) to be expanded and clamped in the throat of the jet pipe of the engine jet pipe, so that the primary connection between the service satellite (6) and the target satellite (7) is realized;
the relative position and posture between the service satellite (6) and the target satellite (7) are adjusted by respectively inflating or deflating different areas in each single-section air bag body (2), so that the locking mechanism of the service satellite (6) is over against the satellite-rocket butt joint ring of the target satellite;
shortening the distance between the service satellite (6) and the target satellite (7), and opening a locking mechanism of the service satellite (6) to lock the target satellite (7);
after the service satellite (6) and the target satellite (7) are locked, the inflatable docking lock head (1) and the air bag structure are deflated, and the inflatable docking lock head (1) and the air bag structure are retracted to complete docking of the satellites.
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| CN110125934B (en) * | 2019-05-10 | 2020-10-16 | 中国人民解放军军事科学院国防科技创新研究院 | Method for correcting kinematic model of soft mechanical arm |
| CN113274263A (en) * | 2021-05-28 | 2021-08-20 | 谢亚楠 | A rehabilitation and nursing device for department of neurology |
| CN115072011B (en) * | 2022-06-28 | 2023-04-14 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
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| US20030183726A1 (en) * | 2002-03-27 | 2003-10-02 | Lounge John M. | Space cargo delivery apparatus |
| JP2005119541A (en) * | 2003-10-17 | 2005-05-12 | Japan Aerospace Exploration Agency | Inflatable tube |
| CN104149991B (en) * | 2014-08-06 | 2016-02-24 | 哈尔滨工业大学 | A kind of space vehicle controllable inflation launches hold-down arm inner bag |
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