CN109050992B - Docking type multi-module cooperative flexible taper rod type docking mechanism and working method thereof - Google Patents
Docking type multi-module cooperative flexible taper rod type docking mechanism and working method thereof Download PDFInfo
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Abstract
The invention provides a docking type multi-module cooperative flexible taper rod type docking mechanism and a working method thereof. The invention has small volume, simple system and modularized design, avoids the influence of the conventional collision type docking mechanism on the system stability by utilizing the flexible docking technology, and improves the docking reliability and safety.
Description
Technical Field
The invention belongs to the technical field of spacecraft docking, and particularly relates to a docking type multi-module cooperative flexible taper rod type docking mechanism and a working method thereof.
Background
With the rapid development of the aerospace industry in the new century, a large number of spacecrafts facing various task requirements are successively developed and launched by various countries, the structure and the composition of the spacecrafts are increasingly complex, the performance and the technical level are continuously improved, and the on-orbit docking task requirements of the spacecrafts are increasingly increased. Successful rendezvous docking of two spacecraft is a prerequisite for successful execution of most on-orbit service tasks.
The spacecraft rendezvous and docking technology refers to a technology that two spacecrafts meet on a space orbit and are structurally connected into a whole, and belongs to docking type docking of an in-orbit non-sealed cooperation target through a docking process realized by an active aircraft and a docking aircraft under the assistance of a mechanical arm.
The traditional docking mechanism has the problems of large docking mechanism mass, large collision energy, complex system and limited adaptability in the docking process of a large star or spacecraft, and the problems can be avoided through the multi-module cooperative flexible taper rod type docking mechanism. The method has wide application prospect in the construction, maintenance and operation of on-orbit spacecraft service and space stations in the future.
Disclosure of Invention
In view of the above, the invention aims to provide a docking type multi-module cooperative flexible taper rod type docking mechanism and a working method thereof, wherein the low-disturbance flexible docking mechanism utilizes a flexible arm-a telescopic torque transmission flexible shaft, so that the influence of a conventional collision type docking mechanism on the system stability is avoided, the disturbance on a mechanical arm is particularly reduced, and the transmission is reliable; the high-reliability rotary bolt joint capture is realized, and a bolt joint capture lock is utilized, so that the structure size is small, the posture is smooth, and the butt joint reliability is high; the docking safety device has the advantages of being small in disturbance to the mechanical arm, low in buffering requirement and high in docking safety, simple in structure, easy to lighten and modularize, modular and universal potential.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a docking type multi-module cooperative flexible taper rod type docking mechanism comprises a plurality of driving ends which are uniformly arranged on a driving aircraft and a plurality of driven ends which are uniformly arranged on a docking aircraft, the active ends and the passive ends are arranged in a one-to-one correspondence manner, one active end and one passive end form a group of modules, the initial capture between the active aircraft and the docking aircraft is completed with the assistance of a mechanical arm, the passive end is in a conical structure, the driving end comprises a shell assembly, a driving assembly, a transmission assembly and a capturing locking and releasing assembly, the shell assembly is used for supporting and connecting the driving assembly, the transmission assembly and the capturing locking and releasing assembly, the driving component drives the transmission component and the capture locking and releasing component to realize linear reciprocating motion along the shell component, the capturing locking and releasing assembly comprises a driving motor and a threaded lock, and the driving motor drives the threaded lock to lock or release the driven end.
Furthermore, the passive end is of a flaring conical structure, the shape of the inner cavity of the passive end is a steep straight surface, a transition arc surface, a thread locking surface and a connecting surface from the flaring to the blind end in sequence, and the thread lock is matched with the thread locking surface.
Furthermore, the shell assembly comprises a guide sleeve, a first locking switch for posture correction, a second locking switch for butt-joint locking, a position capturing switch for controlling whether the driving motor is started or not, a positioning cone and a separating spring for separating and butt-joint positioning, wherein the positioning cone is sleeved at the front end of the guide sleeve, the separating spring is installed between the positioning cone and a flange plate arranged on the guide sleeve, the first locking switch is arranged on the front side of the second locking switch, the two locking switches are arranged on the flange plate, the passive end compresses the positioning cone during butt joint to enable the positioning cone to sequentially trigger the first locking switch and the second locking switch when the positioning cone compresses the separating spring, and the positioning cone is adapted to the flaring cone structure of the passive end.
Furthermore, drive assembly includes by motor drive's electric putter, transmission assembly is the flexible arm of setting in guide sleeve, flexible arm include first connecting plate, second connecting plate, spring and limit for distance rope, first connecting plate and second connecting plate pass through the limit for distance rope and connect, the spring housing establish between first connecting plate and second connecting plate, electric putter and first connecting plate fixed connection, the second connecting plate with catch the locking and releasing subassembly and be connected.
Furthermore, driving motor set up in the inner chamber of mount pad, driving motor's output shaft is worn out the inner chamber of mount pad and is connected with the thread lock, the mount pad set up in the guide sleeve, the mount pad one end and the second connecting plate fixed connection of keeping away from the thread lock, the position-catching switch set up a plurality ofly, and evenly set up in the circumference that the mount pad is close to thread lock one end.
Furthermore, a hemispherical gasket is arranged at the joint of the distance limiting rope and the first connecting plate and the joint of the distance limiting rope and the second connecting plate.
Furthermore, the thread lock is in a taper pipe shape, and the front end of the thread lock is in a semicircular shape.
Furthermore, the distance limiting rope is made of a steel wire rope or a Kevlar rope, and the spring is a spring with a rectangular section or a spring with a circular section.
Furthermore, the number of the active end and the number of the passive end are at least 4 respectively, and at least 4 groups of modules are formed.
A working method of a docking type multi-module cooperative flexible taper rod type docking mechanism comprises four steps of multi-point capture, active multi-point posture correction, multi-axis direct-acting type interface plugging and unplugging and two-star separation,
the multipoint capturing step specifically comprises the following steps: under the assistance of the mechanical arm, the active aircraft and the docking aircraft reach the initial pose condition, namely reach the capture domain,
during capturing, the four groups of modules operate synchronously, the driving end of each group of modules drives the electric push rod by using a motor, so that the flexible arm connected with the electric push rod drives the capturing lock release assembly to axially extend out along the guide sleeve, at the moment, a spring in the flexible arm bears a force, the motor is driven to drive the threaded lock to perform rotary motion, the threaded lock is contacted with the driven end, the flexible arm bends to adapt to the posture of the butt joint surface, and the threaded lock is guided to the threaded locking surface along the conical surface of the driven end to enter a capturing and locking stage;
because of the pose relation of the double-star butt joint surface, the four groups of active ends are contacted with the corresponding passive ends in sequence after being synchronously extended out, are respectively locked to the capturing switches through threads to be triggered, and respectively drive the motor and the electric push rod to stop moving;
the active multi-point attitude correction step specifically comprises: after capture and locking are completed, the two aircrafts are flexibly connected under the condition of an initial pose, because the butt joint lengths of multiple points are different, a starting motor reversely rotates to drive an electric push rod to pull back to drive a flexible arm to linearly retract along a guide sleeve, the butt joint length compensation of the multiple points is carried out, after the lengths of the multiple points are uniform, the electric push rod is synchronously started to enable the butt joint surfaces of the two aircrafts to gradually approach to the conical surfaces of a positioning cone and a driven end to be matched to complete initial positioning, the thrust of a separation spring is overcome until the positioning cones of four groups of modules all trigger respective first position locking switches, accurate positioning is completed, and the multi-point pose correction stage is;
the multi-axis direct-acting type interface plugging and unplugging steps are as follows: with the continuous pulling back of the electric push rod, the telecommunication energy information interfaces on the butt joint surfaces of the two aircrafts are directly connected in an inserting mode, the second locking switch is triggered by the positioning cone, the direct-acting locking is completed, the electric push rod stops driving, at the moment, the electric push rod motor keeps locking, the two aircrafts are stably locked, the transmission of telecommunication and other energy sources is realized, and the mechanical environment in the process of integrated flying is borne;
the two-star separation step specifically comprises the following steps: after two aircrafts complete supply, the motor drives the electric push rod and the separation spring to return force, the capture locking and releasing assembly slowly extends out along the guide sleeve, the positioning cone drives the driven end to directly move and separate along the guide sleeve, after the positioning cone triggers the first locking switch, the electric push rod stops moving, the driving motor reversely drives and unlocks, the thread lock is separated from the driven end, the separation spring pushes the positioning cone under the action of the return force, the positioning cone acts the thrust on the driven end, the driven end is separated from the driving end, and therefore the butt joint aircraft and the driving aircraft which are installed with the driven end are separated.
Compared with the prior art, the docking type multi-module cooperative flexible taper rod type docking mechanism has the following advantages:
the modular design can be adopted, appropriate parameter design can be carried out on the module layout, the number and the design parameters, the docking working condition under docking aircrafts of different models and configurations under the docking condition can be adapted, and the docking mechanism can shorten the development period and the research and development cost in future application due to the modularization.
The flexible arm is adopted in the butt joint process, the impact in the butt joint process is weakened, the generation of collision energy is reduced, the disturbance to the postures of the star body and the mechanical arm is reduced, and the stability and the safety in the butt joint process can be improved; and the escapement lock assembly is utilized in the capturing and butting stage, so that the disturbance to the mechanical arm is reduced, and the butting reliability and the compliance can be improved. Meanwhile, the separation spring is used for buffering and absorbing energy, and a buffering device is not separately arranged, so that the complexity of the system is reduced.
The docking type multi-module cooperative flexible taper rod type docking mechanism provided by the invention can be used for realizing capture, connection and separation of effective loads in the aspects of space rescue, docking assembly and expansion of spaceflight, recovery of retired spacecrafts and the like in the field of on-orbit service under the cooperation target of future spacecrafts.
In addition, in the process of building a space station in China, on-orbit replacement and connection of a large number of test spacecraft parts such as instrument and equipment are required to be transported from the ground, for example, in the processes of transferring exposed load materials of a cargo ship and transporting a standard cargo tank outside a cabin, in order to ensure the operation safety and reduce the control difficulty of a mechanical arm, the flexible docking mechanism has wide application scenes, can be mounted outside the standard cargo tank outside the exposed load and the cargo tank to be docked with a space station load platform, and can also be used for transporting and transferring a load at the end effector end of the mechanical arm.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment 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 diagram of a docking state of two stars using a docking type multi-module cooperative flexible taper rod docking mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a connection state between an active terminal and a passive terminal of one of the modules;
FIG. 3 is a schematic structural diagram of an active end;
FIG. 4 is a schematic structural view of the passive end;
fig. 5 is a schematic diagram of a flexible arm structure.
Description of reference numerals:
1-driving aircraft, 2-butt aircraft, 3-mechanical arm, 4-driving end, 5-driven end, 4-1-electric push rod, 4-2-guide sleeve, 4-3-flexible arm, 4-3-1-spherical gasket, 4-3-2-spring, 4-3-3-distance limiting rope, 4-3-4-second connecting plate, 4-3-5-first connecting plate, 4-4-driving motor, 4-5-screw lock, 4-6-second locking switch, 4-7-first locking switch, 4-8-capture switch, 4-9-separation spring and 4-10-positioning cone, 4-11-installation seat, 4-12-motor, 4-13-flange plate, 5-1-steep straight surface, 5-2-transition cambered surface, 5-3-thread locking surface and 5-4-connecting surface.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-5, a docking type multi-module cooperative flexible tapered rod docking mechanism comprises a plurality of driving ends 4 installed on a driving aircraft 1 and a plurality of driven ends 5 installed on a docking aircraft 2, wherein the driving ends 4 and the driven ends 5 are arranged in a one-to-one correspondence, one driving end 4 and one driven end 5 form a group of modules, initial capture between the driving aircraft 1 and the docking aircraft 2 is completed with the aid of an arm 3, the driven end 5 is in a tapered structure, the driving end 4 comprises a housing assembly, a driving assembly, a transmission assembly and a capture lock release assembly, the housing assembly is used for supporting and connecting the driving assembly, the transmission assembly and the capture lock release assembly, the driving assembly drives the transmission assembly and the capture lock release assembly to reciprocate linearly along the housing assembly, the capture lock release assembly comprises a driving motor 4-4 and a threaded lock 4-5, the driving motor 4-4 drives the screw lock 4-5 to lock or release the driven end 5.
The passive end 5 is of a flaring conical structure, the shape of the inner cavity surface of the passive end 5 sequentially comprises a steep inclined straight surface 5-1, a transition arc surface 5-2, a thread locking surface 5-3 and a connecting surface 5-4 from flaring to blind end, and the thread lock 4-5 is matched with the thread locking surface 5-3.
The shell assembly comprises a guide sleeve 4-2, a first locking switch 4-7 for posture correction, a second locking switch 4-6 for butt joint locking, a position capturing switch 4-8 for controlling whether the driving motor 4-4 is started or not, a positioning cone 4-10 and a separating spring 4-9 for separating and butt joint positioning, wherein the positioning cone 4-10 is sleeved at the front end of the guide sleeve 4-2, the separating spring 4-9 is installed between the positioning cone 4-10 and a flange plate 4-13 arranged on the guide sleeve 4-2, the first locking switch 4-7 is arranged at the front side of the second locking switch 4-6, the two locking switches are arranged on the flange plate 4-13, and the driven end 5 presses the positioning cone 4-10 during butt joint to enable the positioning cone 4-10 to compress the separating spring 4-9 and sequentially trigger the first locking switch 4-9 7 and a second position-locking switch 4-6, wherein the positioning cone 4-10 is adapted to the flaring cone structure of the passive end 5.
The driving component comprises an electric push rod 4-1 driven by a motor 4-12, the transmission component is a flexible arm 4-3 arranged in the guide sleeve 4-2, the flexible arm 4-3 comprises a first connecting plate 4-3-5, a second connecting plate 4-3-4, a spring 4-3-2 and a distance limiting rope 4-3-3, the first connecting plate 4-3-5 and the second connecting plate 4-3-4 are connected through a distance limiting rope 4-3-3, the spring 4-3-2 is sleeved between the first connecting plate 4-3-5 and the second connecting plate 4-3-4, the electric push rod 4-1 is fixedly connected with the first connecting plate 4-3-5, and the second connecting plate 4-3-4 is connected with the capturing locking and releasing assembly.
The driving motor 4-4 is arranged in an inner cavity of the mounting seat 4-11, an output shaft of the driving motor 4-4 penetrates through the inner cavity of the mounting seat 4-11 to be connected with the threaded lock 4-5, the mounting seat 4-11 is arranged in the guide sleeve 4-2, one end, far away from the threaded lock 4-5, of the mounting seat 4-11 is fixedly connected with the second connecting plate 4-3-4, the other end of the mounting seat is a free end, and the plurality of position-capturing switches 4-8 are uniformly arranged in the circumferential direction of one end, close to the threaded lock 4-5, of the mounting seat 4-11.
A hemispherical gasket 4-3-1 is arranged at the joint of the distance limiting rope 4-3-3 and the first connecting plate 4-3-5 and the second connecting plate 4-3-4.
The screw lock 4-5 is in a taper pipe shape, and the front end of the screw lock 4-5 is in a semicircular shape.
The distance limiting rope 4-3-3 is made of a steel wire rope or a Kevlar rope, and the spring 4-3-2 is a spring with a rectangular section or a spring with a circular section.
The active end 4 and the passive end 5 are at least respectively provided with 4, and at least 4 groups of modules are formed.
A working method of a docking type multi-module cooperative flexible taper rod type docking mechanism comprises four steps of multi-point capture, active multi-point posture correction, multi-axis direct-acting type interface plugging and unplugging and two-star separation,
the multipoint capturing step specifically comprises the following steps: under the assistance of the mechanical arm 3, the active aircraft 1 and the docking aircraft 2 reach the initial pose condition, namely reach the capture domain,
during capturing, the four groups of modules operate synchronously, the driving end 4 of each group of modules drives the electric push rod 4-1 by using the motor 4-12, so that the flexible arm 4-3 connected with the electric push rod 4-1 drives the capturing lock release assembly to axially extend along the guide sleeve 4-2, the spring 4-3-2 in the flexible arm 4-3 bears force at the moment, the motor 4-4 is driven to drive the threaded lock 4-5 to perform rotary motion, the threaded lock 4-5 is in contact with the driven end 5, the flexible arm 4-3 bends to adapt to the position of the butt joint surface, and the threaded lock 4-5 is guided to the position of the threaded lock joint surface 5-3 along the conical surface of the driven end 5 to enter a capturing and locking stage;
because of the pose relation of the double-star butt joint surface, the four groups of driving ends 4 are in contact with the corresponding driven ends 5 successively after being synchronously extended out, are respectively locked to the capturing switches 4-8 through threads to be triggered, and respectively drive the motors 4-4 and the electric push rods 4-1 to stop moving, in the process, the four groups of modules sequentially realize capturing and stopping actions according to pose conditions and contact sequences, and the capturing and locking stage is finished;
after the multipoint capturing is finished, the pose of the star body is further compensated and adjusted, in the process, the guidance approach and tolerance correction (pitching, rolling and yawing) among the star bodies enable interfaces of machines, electricity, letters, liquids and the like to meet the requirement of a docking area, and the active multipoint attitude correction specifically comprises the following steps: after capture and locking are completed, the two aircrafts are flexibly connected under the condition of an initial pose, because the butt joint lengths of multiple points are different, a starting motor 4-12 reversely rotates to drive an electric push rod 4-1 to pull back to drive a flexible arm 4-3 to linearly retract along a guide sleeve 4-2, the butt joint length compensation of the multiple points is carried out, after the lengths of the multiple points are unified, the electric push rod 4-1 is synchronously started to enable the butt joint surfaces of the two aircrafts to gradually approach to the conical surfaces of a positioning cone 4-10 and a driven end 5 to be matched to complete primary positioning, the thrust of a separation spring 4-9 is overcome until the positioning cones 4-10 of four groups of modules all trigger respective first locking switches 4-7, accurate positioning is completed, and the multi-point pose correction stage is;
in order to ensure that the interfaces of machine, electricity, letter, liquid and the like reach accurate and stable successful butt joint and safe separation on the position, multi-point direct-acting butt joint and separation need to be realized, and the multi-shaft direct-acting type interface plugging and unplugging steps specifically comprise: with the continuous pulling back of the electric push rod 4-1, the energy information interfaces such as telecom and the like on the butt joint surfaces of the two aircrafts are directly connected in an inserted mode until the positioning cone 4-10 triggers the second position locking switch 4-6, the direct-acting locking is completed, the electric push rod 4-1 stops driving, at the moment, the motor of the electric push rod 4-1 keeps locking, the two aircrafts are stably locked, the transmission of energy such as telecom and the like is realized, and the mechanical environment in the process of integrated flight is borne;
after interfaces such as telecommunication and the like are separated, certain separation speed and separation force are provided for two aircrafts by utilizing elastic potential energy, so that the two poses realize respective driving-away safety domains, and the two-satellite separation step specifically comprises the following steps: after the two aircrafts are replenished, the motor 4-12 drives the electric push rod 4-1 and the separation spring 4-9 to have restoring force under the dual action, the capture locking and releasing assembly slowly extends out along the guide sleeve 4-2, the positioning cone 4-10 drives the driven end 5 to be linearly separated along the guide sleeve 4-2, the cone 4-10 to be positioned triggers the first locking switch 4-7, the electric push rod 4-1 stops moving, the driving motor 4-4 reversely drives and unlocks, the threaded lock 4-5 is separated from the driven end 5, the separation spring 4-9 pushes the positioning cone 4-10 under the restoring force, the positioning cone 4-10 applies thrust to the driven end 5, the driven end 5 is separated from the driving end 4, and therefore the butt joint aircraft 2 provided with the driven end 5 is separated from the driving aircraft 1.
In the butt joint process, the number of the groups of the butt joint mechanism modules can be changed according to the needs, and the invention can use a plurality of modules in the implementation process; the electric push rod 4-1 can adopt other linear transmission mechanisms.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a flexible awl rod-type docking mechanism in coordination of formula of berthing multimode, its characterized in that: the device comprises a plurality of driving ends (4) arranged on a driving aircraft (1) and a plurality of driven ends (5) arranged on a docking aircraft (2), wherein the driving ends (4) and the driven ends (5) are arranged in a one-to-one correspondence manner, one driving end (4) and one driven end (5) form a group of modules, initial capture is completed between the driving aircraft (1) and the docking aircraft (2) under the assistance of a mechanical arm (3), the driven ends (5) are of a conical structure, the driving end (4) comprises a shell assembly, a driving assembly, a transmission assembly and a capture locking and unlocking assembly, the shell assembly is used for supporting and connecting the driving assembly, the transmission assembly and the capture locking and unlocking assembly, the driving assembly drives the transmission assembly and the capture locking and unlocking assembly to realize linear reciprocating motion along the shell assembly, and the capture locking and unlocking assembly comprises a driving motor (4-4) and a threaded lock (4-5), the driving motor (4-4) drives the thread lock (4-5) to lock or release the passive end (5);
the passive end (5) is of a flaring conical structure, the shape of the surface of the inner cavity of the passive end (5) sequentially comprises a steep inclined straight surface (5-1), a transition arc surface (5-2), a thread locking surface (5-3) and a connecting surface (5-4) from flaring to blind end, and the thread lock (4-5) is matched with the thread locking surface (5-3);
the shell assembly comprises a guide sleeve (4-2), a first locking switch (4-7) for posture correction, a second locking switch (4-6) for butt joint locking, a position capturing switch (4-8) for controlling whether a driving motor (4-4) is started or not, a positioning cone (4-10) and a separating spring (4-9) for separating and butt joint positioning, wherein the positioning cone (4-10) is sleeved at the front end of the guide sleeve (4-2), the separating spring (4-9) is installed between the positioning cone (4-10) and a flange plate (4-13) arranged on the guide sleeve (4-2), the first locking switch (4-7) is arranged on the front side of the second locking switch (4-6), and the two locking switches are arranged on the flange plate (4-13), during butt joint, the passive end (5) compresses the positioning cone (4-10) to enable the positioning cone (4-10) to sequentially trigger the first locking switch (4-7) and the second locking switch (4-6) when compressing the separation spring (4-9), and the positioning cone (4-10) is adapted to the flaring cone structure of the passive end (5).
2. The docking mechanism of claim 1, wherein the docking mechanism comprises: the driving assembly comprises an electric push rod (4-1) driven by a motor (4-12), the transmission assembly is a flexible arm (4-3) arranged in a guide sleeve (4-2), the flexible arm (4-3) comprises a first connecting plate (4-3-5), a second connecting plate (4-3-4), a spring (4-3-2) and a distance limiting rope (4-3-3), the first connecting plate (4-3-5) and the second connecting plate (4-3-4) are connected through the distance limiting rope (4-3-3), the spring (4-3-2) is sleeved between the first connecting plate (4-3-5) and the second connecting plate (4-3-4), and the electric push rod (4-1) and the first connecting plate (4-3-5) are fixedly connected And the second connecting plate (4-3-4) is connected with the capture locking and releasing assembly.
3. The docking mechanism of claim 2, wherein the docking mechanism comprises: the driving motor (4-4) is arranged in an inner cavity of the mounting seat (4-11), an output shaft of the driving motor (4-4) penetrates out of the inner cavity of the mounting seat (4-11) to be connected with the threaded lock (4-5), the mounting seat (4-11) is arranged in the guide sleeve (4-2), one end, far away from the threaded lock (4-5), of the mounting seat (4-11) is fixedly connected with the second connecting plate (4-3-4), the plurality of position capturing switches (4-8) are arranged, and are evenly arranged in the circumferential direction of one end, close to the threaded lock (4-5), of the mounting seat (4-11).
4. The docking mechanism of claim 3, wherein the docking mechanism comprises: and a hemispherical gasket (4-3-1) is arranged at the joint of the distance limiting rope (4-3-3) and the first connecting plate (4-3-5) and the second connecting plate (4-3-4).
5. The docking mechanism of claim 4, wherein the docking mechanism comprises: the thread lock (4-5) is in a taper pipe shape, and the front end of the thread lock (4-5) is semicircular.
6. The docking mechanism of claim 5, wherein the docking mechanism comprises: the distance limiting rope (4-3-3) is made of a steel wire rope or a Kevlar rope, and the spring (4-3-2) is a spring with a rectangular section or a spring with a circular section.
7. The docking mechanism of claim 6, wherein the docking mechanism comprises: the number of the active ends (4) and the number of the passive ends (5) are at least 4 respectively, and at least 4 groups of modules are formed.
8. The working method of the docking type multi-module cooperative flexible taper rod type docking mechanism according to claim 7, wherein: comprises four steps of multi-point capture, active multi-point posture correction, multi-axis direct-acting type interface plugging and unplugging and two-satellite separation,
the multipoint capturing step specifically comprises the following steps: under the assistance of the mechanical arm (3), the active aircraft (1) and the docking aircraft (2) reach an initial pose condition, namely reach a capture domain,
during capturing, the four groups of modules operate synchronously, the driving end (4) of each group of modules drives an electric push rod (4-1) by using a motor (4-12), so that a flexible arm (4-3) connected with the electric push rod (4-1) drives a capturing lock release assembly to axially extend along a guide sleeve (4-2), at the moment, a spring 4-3-2 in the flexible arm (4-3) bears a force, meanwhile, the driving motor (4-4) drives a threaded lock (4-5) to perform rotary motion, the threaded lock (4-5) is in contact with a driven end (5), the flexible arm (4-3) bends in pose to adapt to a butt joint surface, and the threaded lock (4-5) is guided to a threaded locking surface (5-3) along the conical surface of the driven end (5) to enter a capturing and locking stage;
because of the pose relation of the double-star butt joint surface, the four groups of driving ends (4) are in contact with the corresponding driven ends (5) successively after being synchronously extended out, and are respectively locked to the capturing switches (4-8) through threads to be triggered, and the driving motors (4-4) and the electric push rods (4-1) stop moving, in the process, the four groups of modules realize capture and stop actions successively according to pose conditions and contact sequence, and the capture and locking stage is finished;
the active multi-point attitude correction step specifically comprises: after capture and locking are completed, the two aircrafts are flexibly connected under the condition of an initial pose, because the butt joint lengths of multiple points are different, a starting motor (4-12) reversely rotates to drive an electric push rod (4-1) to pull back to drive a flexible arm (4-3) to linearly retract along a guide sleeve (4-2), the butt joint length compensation of the multiple points is carried out, after the lengths of the multiple points are unified, the electric push rod (4-1) is synchronously started to enable the butt joint surfaces of the two aircrafts to gradually approach to the conical surfaces of a positioning cone (4-10) and a passive end (5) to be matched to complete primary positioning, the thrust of a separation spring (4-9) is overcome until the positioning cones (4-10) of four groups of modules all trigger respective first locking switches (4-7), accurate positioning is completed, and the multi-point pose correction stage is finished;
the multi-axis direct-acting type interface plugging and unplugging steps are as follows: with the continuous pulling back of the electric push rod (4-1), the telecommunication energy information interfaces on the butt joint surfaces of the two aircrafts are directly connected, until the positioning cone (4-10) triggers the second position locking switch (4-6), the direct-acting locking is completed, the electric push rod (4-1) stops driving, at the moment, the motor of the electric push rod (4-1) keeps locking, the two aircrafts are stably locked, the transmission of energy sources such as telecommunication and the like is realized, and the mechanical environment in the process of co-body flight is borne;
the two-star separation step specifically comprises the following steps: after two aircrafts are replenished, the motor (4-12) drives the electric push rod (4-1) and the separation spring (4-9) to slowly extend out along the guide sleeve (4-2) under the dual action of restoring force, the positioning cone (4-10) drives the driven end (5) to directly move and separate along the guide sleeve (4-2), the to-be-positioned cone (4-10) triggers the first locking switch (4-7), the electric push rod (4-1) stops moving, the driving motor (4-4) reversely drives and unlocks, the thread lock (4-5) is separated from the driven end (5), the separation spring (4-9) pushes the positioning cone (4-10) under the action of the restoring force, the positioning cone (4-10) acts thrust on the driven end (5), and the driven end (5) is separated from the driving end (4), thereby completing the separation of the docking aircraft (2) provided with the passive end (5) and the active aircraft (1).
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| CN109774984B (en) * | 2019-02-25 | 2022-04-15 | 兰州空间技术物理研究所 | Docking device capable of continuously capturing and docking multi-specification objects |
| CN109941463B (en) * | 2019-02-27 | 2022-08-26 | 哈尔滨工业大学（威海） | Active-passive butt-joint locking type cell connection robot unit and using method thereof |
| CN111688955B (en) * | 2019-03-11 | 2022-03-22 | 哈尔滨工业大学 | Rotary T-shaped head type space butt joint locking and releasing mechanism |
| CN110002011B (en) * | 2019-04-18 | 2022-07-05 | 哈尔滨工业大学 | Flexible docking mechanism of spacecraft module |
| CN110294091A (en) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | A kind of carrying docking facilities between underwater research vehicle |
| CN111390872B (en) * | 2020-03-19 | 2022-06-03 | 上海航天控制技术研究所 | Double-arm cooperative flexible dragging and butt joint inverse operation method for extravehicular robot |
| CN111717418B (en) * | 2020-07-21 | 2023-09-19 | 哈尔滨工业大学 | Semi-active control type planet car docking system and docking method |
| CN114291303B (en) * | 2021-12-28 | 2024-04-09 | 哈尔滨工业大学 | Light simplified butt joint locking and releasing device and working method thereof |
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