CN109305393A - A kind of spacecraft holding claw formula capture lock - Google Patents
A kind of spacecraft holding claw formula capture lock Download PDFInfo
- Publication number
- CN109305393A CN109305393A CN201811221189.1A CN201811221189A CN109305393A CN 109305393 A CN109305393 A CN 109305393A CN 201811221189 A CN201811221189 A CN 201811221189A CN 109305393 A CN109305393 A CN 109305393A
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- matrix
- holding claw
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- cone
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- 210000000078 claw Anatomy 0.000 title claims abstract description 32
- 239000011159 matrix material Substances 0.000 claims abstract description 46
- 238000003032 molecular docking Methods 0.000 claims abstract description 22
- 230000013011 mating Effects 0.000 claims abstract description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000000926 separation method Methods 0.000 abstract description 3
- 230000035939 shock Effects 0.000 abstract description 3
- 239000000758 substrate Substances 0.000 abstract 1
- 229920003266 Leaf® Polymers 0.000 description 9
- 230000000694 effects Effects 0.000 description 2
- 241001404789 Smilax glabra Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
A kind of spacecraft holding claw formula capture lock, is related to spacecraft connection separation technology field.The present invention solves existing docking mechanism volume and weight is big, can not use on small space aircraft, and the problem that shock loading when it is to sending and receiving is larger.Matrix is cylinder-shaped and is fixed on active mating aircraft, electric cylinder is fixed in one end of matrix by end cap, it is affixed by flexible arm between connector and push rod, positioning tube is coaxially fixed in one end on matrix far from electric cylinder, locating cone coaxial package is on positioning tube, first spring is set on locating cone, and first spring both ends respectively on locating cone barb-like one end and substrate contact, when the open-shaped state of holding claw on two corpus unguis close to one end of flexible arm respectively with the first contact of incline plane on two briquettings, described armful of cone includes locating cover, connecting rod and rotary table section, when carrying out docking operation, it embraces and grabs locking rotary table section.
Description
Technical field
It is captured and is locked with holding claw formula the present invention relates to a kind of spacecraft, be related to spacecraft connection isolation technics neck
Domain.
Background technique
Spacecraft launching site refers to that two or more spacecrafts are attached in space flight, forms bigger boat
Its device complex, to reach specific task object.In docking operation, it is desirable that be accurately controlled the running track of spacecraft and right
The orientation of spacecraft manipulates, and is related to the complex technologies such as guidance, tracking and amendment course line.The U.S. early in the sixties in last century just
The research of spacecraft launching site technology is started.With the development of China's Aerospace Technology, more and more ground services are all to rely on
Spacecraft is completed.But every spacecraft entrained fuel in transmitting is limited, therefore significantly limits spacecraft
In-orbit life-span.Therefore research and develop that a kind of to can satisfy the spacecraft docking mechanism that the in-orbit resource of spacecraft is added be ten
Point it is necessary to.
Existing docking mechanism captures abundant small, volume and weight is big, therefore can not use on small space aircraft.And
Shock loading when it is docked is larger, if carrying out the in-orbit docking resource of spacecraft to add being that can not carry out using such mechanism
's.China is not also by being directed to the docking mechanism of small space aircraft at present, specifically for the in-orbit resource of small space aircraft
The docking mechanism added is almost blank.And important component of the lock as docking mechanism is captured, never by enough
Attention.
Summary of the invention
The present invention be it is big in order to solve existing docking mechanism volume and weight, can not make on small space aircraft
With, and the problem that shock loading when it is to sending and receiving is larger, and then provide a kind of spacecraft holding claw formula capture lock.
Used technical solution is the present invention to solve above-mentioned technical problem:
A kind of spacecraft is captured with holding claw formula to be locked, it includes electric cylinder, end cap, matrix, positioning tube, flexible arm, the
One spring, connector, holding claw, embraces cone, two spring leafs and two briquettings at locating cone, and matrix is cylinder-shaped and is fixed in actively
On docked flight device, electric cylinder is fixed in one end of matrix by end cap, and the push rod of electric cylinder is coaxially threaded through in matrix, even
Affixed by flexible arm between fitting and push rod, positioning tube is coaxially fixed in one end on matrix far from electric cylinder, the positioning
Cone is columnar structured and coaxial package on positioning tube, and the one end sidewall sections on locating cone far from matrix fall in what is turned up
Hook-shaped, the first spring is set on locating cone, and the both ends of the first spring respectively on locating cone barb-like one end and matrix
Contact, holding claw include two corpus unguis about the setting of matrix center axisymmetrical, the middle part of each corpus unguis company of being rotatably arranged on
On fitting, a spring leaf is each provided on two corpus unguis between the one end and connector of flexible arm, two briquettings close
It is fixed in matrix inner wall relatively in matrix center axis, and is machined with the first inclined-plane on each briquetting, the open-shaped state of holding claw
When two corpus unguis on close to flexible arm one end respectively with the first contact of incline plane on two briquettings, described armful cone include it is horn-like
Locating cover, connect with the coaxial affixed connecting rod of locating cover and being fixed in the rotary table section of boom end, when carrying out docking operation
When, it embraces and grabs locking rotary table section, and barb-like one end intimate contact of the inner wall of locating cover and locating cone.
Further, the connector includes connecting shaft, fixed plate and two shafts, and one end of connecting shaft and flexible arm are solid
It connects, fixed plate is vertically fixed in the other end of connecting shaft, and two corpus unguis pass through two shafts respectively and are rotatably connected in fixed plate.
Further, the one end on each corpus unguis far from flexible arm is in hook formation, and two corpus unguis are oppositely arranged.
It further, is the second inclined-plane, docking behaviour in an end face of rotary table section close on the corpus unguis one end of hook formation
When making, the cone match on second inclined-plane and rotary table section.
Further, one end on matrix far from electric cylinder is machined with outer, and the outer is flown against active mating
Device setting.
Further, the flexible arm includes flexible axle, the opposite guide posts for being fixed in flexible axle both ends of second spring and two,
Second spring coaxial package is on two guide posts and the both ends of second spring are affixed with two guide posts respectively.
Further, it is equipped on positioning tube about symmetrically arranged two level-one travel switches of center axis thereof and symmetrical
The two second level strokes switch being arranged, under the first spring non-compressed state, four travel switches be respectively positioned on matrix and locating cone it
Between, level-one travel switch and second level stroke switch are arranged side by side, and second level stroke switchs and is arranged close to matrix, level-one travel switch
It is arranged far from matrix.
The present invention has the effect that compared with prior art
Capture, the docking operation of passive docked flight device are carried out using locating cone, flexible arm, holding claw.Flexible arm makes
Impact when capture and docking cannot be transferred on active mating aircraft, greatly improve the in-orbit docking of spacecraft
Safety.The presence of locating cone makes under the relative positional accuracy requirement to active mating aircraft and passive docked flight device
Drop, reduces technical difficulty when spacecrafts rendezvous.
Detailed description of the invention
Fig. 1 is main cross-sectional schematic diagram of the invention.
Specific embodiment
Specific embodiment 1: embodiment is described with reference to Fig. 1, a kind of spacecraft holding claw formula capture lock, it
Including electric cylinder 1, end cap 2, matrix 3, positioning tube 4, flexible arm 5, the first spring 6, locating cone 7, connector 8, holding claw 9, embrace cone
10, two spring leafs 11 and two briquettings 12, matrix 3 are cylinder-shaped and are fixed on active mating aircraft 100, electric cylinder 1
One end of matrix 3 is fixed in by end cap 2, and the push rod 1-1 of electric cylinder 1 is coaxially threaded through in matrix 3, connector 8 and push rod
Affixed by flexible arm 5 between 1-1, positioning tube 4 is coaxially fixed in one end on matrix 3 far from electric cylinder 1, the locating cone 7
It is columnar structured and coaxial package on positioning tube 4, the one end sidewall sections on locating cone 7 far from matrix 3 are in turn up
Barb-like, the first spring 6 is set on locating cone 7, and the both ends of the first spring 6 respectively with barb-like one end on locating cone 7
And matrix 3 contacts, holding claw 9 includes about the symmetrically arranged two corpus unguis 9-1 of 3 central axis of matrix, the middle part of each corpus unguis 9-1
It is rotatably arranged on connector 8, is each provided with one between the one end and connector 8 of flexible arm 5 on two corpus unguis 9-1
A spring leaf 11, two briquettings 12 are fixed in 3 inner wall of matrix relatively about 3 central axis of matrix, and add on each briquetting 12
Work has the first inclined-plane 12-1, presses respectively with two on two corpus unguis 9-1 close to one end of flexible arm 5 when 9 open-shaped state of holding claw
The first inclined-plane 12-1 contact on block 12, described armful of cone 10 include horn-like locating cover 10-1 and locating cover 10-1 coaxially solid
The connecting rod 10-2 that the connects and rotary table section 10-3 for being fixed in the end connecting rod 10-2 is embraced when carrying out docking operation and is grabbed locking
Rotary table section 10-3, and barb-like one end intimate contact of the inner wall of locating cover 10-1 and locating cone 7.
Matrix 3 and end cap 2 form rack section, and electric cylinder 1 is servo electric jar 1, as straight driven portions, the electricity
Dynamic cylinder 1 is bolted on end cap 2.First spring 6, connector 8, holding claw 9, embraces 10, two briquettings 12 of cone at locating cone 7
And two spring leafs 11 constitute docking armful and grab part.After cone 10 is embraced in locking, electric cylinder 1 moves backward, obtains the first spring 6
Compression carries out energy reserve for separation.Locating cone 7 is installed on positioning tube 4, enables the free skating on positioning tube 4 of locating cone 7
It is dynamic.Two spring leafs 11 are √ shape, and are symmetrically fixed on connector 8.One side of spring leaf 11 fits in corpus unguis 9-1 always
The medial surface of one end, other time of the holding claw 9 in addition to grabbing and embracing cone 10 and unclamp armful cone 10 are in normally off.Pressure
Block 12 is installed on the inner cavity of matrix 3, possesses the first inclined-plane 12-1 with certain angle, when servo electric jar 1 by flexible arm 5 and
Docking, which is embraced, grabs part when pulling back, and under the action of the first inclined-plane 12-1 on briquetting 12, holding claw 9 can bend spring leaf 11 and will
Mouth opening is grabbed, cone 10 is embraced in release.Under the action of the first spring 6 and locating cone 7 will embrace cone 10 and with embrace cone 10 be connected it is passive
Docked flight device 101 pushes away active mating aircraft 100.Rotary table section 10-3, locating cover 10-1 energy can be embraced and be locked to holding claw 9
The cooperation of enough and locating cone 7 carries out the adjustment of passive 101 position of docked flight device and flight attitude.
It is very wide that the present invention tries out range, due to relating to corresponding mechanical interface, for the aircraft of different volumes weight,
It only needs to meet interface compatibility, the marshalling quantity of change capture lock and infield, can meet examination according to actual needs
With requiring.
The connector 8 includes one end and the flexibility of connecting shaft 8-1, fixed plate 8-2 and two shaft 8-3, connecting shaft 8-1
Arm 5 is affixed, and fixed plate 8-2 is vertically fixed in the other end of connecting shaft 8-1, and two corpus unguis 9-1 pass through two shaft 8-3 respectively and turn
It is dynamic to be connected on fixed plate 8-2.Spring leaf 11 and fixed plate 8-2 are fixed on connecting shaft 8-1, and fixed plate 8-2 is about connection
The central axis of axis 8-1 is symmetrical above and below to open up that there are two circular holes, and corresponding on two shafts 8-3, two corpus unguis 9-1 in installing
Axis hole is opened up to cooperate with shaft 8-3, corpus unguis 9-1 is rotated within a certain angle, even if holding claw 9 can be closed and open
Open certain angle.
One end on each corpus unguis 9-1 far from flexible arm 5 is in hook formation, and two corpus unguis 9-1 are oppositely arranged.
An end face in rotary table section 10-3 close on the corpus unguis 9-1 one end of hook formation is the second inclined-plane 9-11, docking
When operation, the cone match of the second inclined-plane 9-11 and rotary table section 10-3.
One end on matrix 3 far from electric cylinder 1 is machined with outer 3-1, and the outer 3-1 abuts active mating aircraft
100 settings.Guarantee that matrix 3 and the connection of active mating aircraft 100 are firm.
The flexible arm 5 includes flexible axle 5-1, second spring 5-2 and two opposite guide posts for being fixed in the both ends flexible axle 5-1
5-3, second spring 5-2 coaxial package is on two guide post 5-3 and the both ends of second spring 5-2 are solid with two guide post 5-3 respectively
It connects.One of guide post 5-3 is connected firmly with electric cylinder 1, another guide post 5-3 is connected firmly with connector 8, and second spring 5-2 is protected always
Hold compressive state.Flexible arm 5 and electric cylinder 1 are coaxially disposed.When electric cylinder 1 is mobile, it is able to drive flexible arm 5 and carries out accordingly
Movement.
It is equipped on positioning tube 4 about symmetrically arranged two level-one travel switches 13 of center axis thereof and symmetrically arranged
Two second level stroke switches 14, under 6 non-compressed state of the first spring, four travel switches be respectively positioned on matrix 3 and locating cone 7 it
Between, level-one travel switch 13 and second level stroke switch 14 are arranged side by side, and second level stroke switch 14 is arranged close to matrix 3, level-one
Travel switch 13 is arranged far from matrix 3.Two level-one travel switches 13 and two second level stroke switches 14 form electronic sensor portion
Point.After holding claw 9, which is caught, embraces cone 10, electric cylinder 1 will move backward, and passive docked flight device 101 is pulled to active mating flight
Device 100.When locating cone 7 touches level-one travel switch 13, i.e., docking is completed, and is able to carry out the exchange of resource and data.It is complete
After resource and data exchange, the continuation of electric cylinder 1 moves backward, when locating cone 7 touches second level stroke switch 14, due to pressure
The effect of block 12, holding claw 9 will be decontroled and embrace cone 10, and under the action of the first spring 6, passive docked flight device 101 is pushed away actively
Docked flight device 100.Electronic sensor part is that closed loop control is collectively formed with servo electric jar by level-one, second level stroke switch
System, since level-one, second level stroke switch respectively correspond, docking is completed, two crucial time points, two-stage are completed in separation
The signal that travel switch issues can not only control servo electric jar, preferably ground controller can also be helped to obtain
The state of two aircraft out.
Claims (7)
- It is locked 1. a kind of spacecraft is captured with holding claw formula, it is characterised in that: it includes electric cylinder (1), end cap (2), matrix (3), positioning tube (4), flexible arm (5), the first spring (6), locating cone (7), connector (8), holding claw (9), armful cone (10), two Spring leaf (11) and two briquettings (12), matrix (3) are cylinder-shaped and are fixed on active mating aircraft (100), electric cylinder (1) one end of matrix (3) is fixed in by end cap (2), and the push rod (1-1) of electric cylinder (1) is coaxially threaded through in matrix (3), Affixed by flexible arm (5) between connector (8) and push rod (1-1), positioning tube (4) is coaxially fixed on matrix (3) far from electricity The one end of dynamic cylinder (1), the locating cone (7) is columnar structured and coaxial package on positioning tube (4), remote on locating cone (7) One end sidewall sections from matrix (3) are barb-like in turning up, and the first spring (6) is set on locating cone (7), and the first bullet The both ends of spring (6) respectively on locating cone (7) barb-like one end and matrix (3) contact, holding claw (9) includes about matrix (3) Symmetrically arranged two corpus unguis (9-1) of central axis, the middle part of each corpus unguis (9-1) are rotatably arranged on connector (8), and two A spring leaf (11) is each provided between the one end and connector (8) of flexible arm (5) on a corpus unguis (9-1), two Briquetting (12) is fixed in matrix (3) inner wall relatively about matrix (3) central axis, and is machined with first on each briquetting (12) Inclined-plane (12-1), one end when holding claw (9) open-shaped state on two corpus unguis (9-1) close to flexible arm (5) are pressed with two respectively The first inclined-plane (12-1) contact on block (12), described armful of cone (10) includes horn-like locating cover (10-1) and locating cover (10-1) coaxial affixed connecting rod (10-2) and the rotary table section (10-3) for being fixed in the end connecting rod (10-2), when carrying out pair It when connecing operation, embraces and grabs locking rotary table section (10-3), and barb-like one end of the inner wall of locating cover (10-1) and locating cone (7) is continuously Gap contact.
- It is locked 2. a kind of spacecraft according to claim 1 is captured with holding claw formula, it is characterised in that: the connector It (8) include connecting shaft (8-1), fixed plate (8-2) and two shafts (8-3), one end and flexible arm (5) of connecting shaft (8-1) are solid It connects, fixed plate (8-2) is vertically fixed in the other end of connecting shaft (8-1), and two corpus unguis (9-1) pass through two shaft (8- respectively 3) it is rotatably connected on fixed plate (8-2).
- It is locked 3. a kind of spacecraft according to claim 1 or 2 is captured with holding claw formula, it is characterised in that: each corpus unguis One end on (9-1) far from flexible arm (5) is in hook formation, and two corpus unguis (9-1) are oppositely arranged.
- It is locked 4. a kind of spacecraft according to claim 3 is captured with holding claw formula, it is characterised in that: in hook formation It close to an end face of rotary table section (10-3) is the second inclined-plane (9-11) on corpus unguis (9-1) one end, when docking operation, this is second tiltedly The cone match in face (9-11) and rotary table section (10-3).
- It is locked 5. a kind of spacecraft according to claim 1,2 or 4 is captured with holding claw formula, it is characterised in that: matrix (3) Upper one end far from electric cylinder (1) is machined with outer (3-1), and the outer (3-1) is set against active mating aircraft (100) It sets.
- It is locked 6. a kind of spacecraft according to claim 5 is captured with holding claw formula, it is characterised in that: the flexible arm It (5) include flexible axle (5-1), the opposite guide posts (5-3) for being fixed in the both ends flexible axle (5-1) of second spring (5-2) and two, second Spring (5-2) coaxial package is on two guide posts (5-3) and the both ends of second spring (5-2) are solid with two guide posts (5-3) respectively It connects.
- 7. a kind of according to claim 1, spacecraft holding claw formula capture lock described in 2,4 or 6, it is characterised in that: positioning It is equipped on cylinder (4) about the symmetrically arranged two level-one travel switches (13) of center axis thereof and symmetrically arranged two second levels Travel switch (14), under the first spring (6) non-compressed state, four travel switches be respectively positioned on matrix (3) and locating cone (7) it Between, level-one travel switch (13) and second level stroke switch (14) are arranged side by side, and second level stroke switch (14) is set close to matrix (3) It sets, level-one travel switch (13) is arranged far from matrix (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811221189.1A CN109305393B (en) | 2018-10-19 | 2018-10-19 | Space aircraft is with embracing claw formula and catching lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811221189.1A CN109305393B (en) | 2018-10-19 | 2018-10-19 | Space aircraft is with embracing claw formula and catching lock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109305393A true CN109305393A (en) | 2019-02-05 |
| CN109305393B CN109305393B (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811221189.1A Active CN109305393B (en) | 2018-10-19 | 2018-10-19 | Space aircraft is with embracing claw formula and catching lock |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002011A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of spacecraft module flexible docking mechanism |
| 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 |
| CN110943323A (en) * | 2019-12-10 | 2020-03-31 | 哈尔滨工业大学 | Integrated interface device for mobile carrier |
| CN111332503A (en) * | 2020-03-10 | 2020-06-26 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN111361767A (en) * | 2020-03-17 | 2020-07-03 | 上海宇航系统工程研究所 | Ultra-light steel wire rope linkage type space docking mechanism |
| CN111422382A (en) * | 2020-03-30 | 2020-07-17 | 哈尔滨工业大学 | Connection and separation device based on memory alloy wire drive |
| CN113525727A (en) * | 2021-07-16 | 2021-10-22 | 北京精密机电控制设备研究所 | Wing front and rear edge large load butt-joint separation mechanism |
| CN114408228A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
| CN114408227A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | On-orbit low-impact docking system and method for spacecraft group |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002011A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of spacecraft module flexible docking 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 |
| CN110943323B (en) * | 2019-12-10 | 2021-03-12 | 哈尔滨工业大学 | Integrated interface device for mobile carrier |
| CN110943323A (en) * | 2019-12-10 | 2020-03-31 | 哈尔滨工业大学 | Integrated interface device for mobile carrier |
| CN111332503A (en) * | 2020-03-10 | 2020-06-26 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN111332503B (en) * | 2020-03-10 | 2021-07-02 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN111361767A (en) * | 2020-03-17 | 2020-07-03 | 上海宇航系统工程研究所 | Ultra-light steel wire rope linkage type space docking mechanism |
| CN111422382A (en) * | 2020-03-30 | 2020-07-17 | 哈尔滨工业大学 | Connection and separation device based on memory alloy wire drive |
| CN111422382B (en) * | 2020-03-30 | 2021-07-20 | 哈尔滨工业大学 | Connection and separation device based on memory alloy wire drive |
| CN113525727A (en) * | 2021-07-16 | 2021-10-22 | 北京精密机电控制设备研究所 | Wing front and rear edge large load butt-joint separation mechanism |
| CN114408228A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
| CN114408227A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | On-orbit low-impact docking system and method for spacecraft group |
| CN114408227B (en) * | 2022-02-15 | 2024-02-02 | 长沙天仪空间科技研究院有限公司 | On-orbit low-impact docking system and method for spacecraft group |
| CN114408228B (en) * | 2022-02-15 | 2024-02-27 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
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