CN109398767A - A kind of electromagnetism docking facilities and method based on high-speed motor - Google Patents
A kind of electromagnetism docking facilities and method based on high-speed motor Download PDFInfo
- Publication number
- CN109398767A CN109398767A CN201811539749.8A CN201811539749A CN109398767A CN 109398767 A CN109398767 A CN 109398767A CN 201811539749 A CN201811539749 A CN 201811539749A CN 109398767 A CN109398767 A CN 109398767A
- Authority
- CN
- China
- Prior art keywords
- arc
- shaped permanent
- permanent magnet
- speed motor
- docking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000000926 separation method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 13
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A kind of electromagnetism docking facilities and method based on high-speed motor belong to satellite electromagnetism docking field.The present invention is to solve the problems, such as existing satellites coupling device in the presence of structure is complicated, docking time is long, dynamic response is slow.Magnetic docking facilities of the invention are formed by matching the No.1 electromagnetic mechanism used with No. two electromagnetic mechanisms, include a high-speed motor in two electromagnetic mechanisms, drive butt plate using high-speed motor, realize docking between two satellite modules with separate.Docking between two satellite modules is realized by two butt plates, two groups of arc-shaped permanent magnets are arranged symmetrically on two butt plates, it is acted on using between two groups of arc-shaped permanent magnets to the heart, the radially aligned and circumferential alignment of two butt plates may be implemented, make docking facilities that there is certain autonomous capture and lock ability, the male and female face structure on butt plate realizes the mechanical guide of docking operation.The docking that the present invention is suitable for two satellites uses.
Description
Technical field
The invention belongs to satellite electromagnetism to dock field.
Background technique
Traditional satellites coupling or autonomous acquisition equipment utilize manipulator to realize more, exist structure is complicated, docking time is long,
The disadvantages of dynamic response is slow, it is difficult to meet increasingly complicated space application mission requirements.
Summary of the invention
The present invention is to solve existing satellites coupling device in the presence of structure is complicated, docking time is long, dynamic response is slow
Problem proposes a kind of electromagnetism docking facilities based on high-speed motor.
A kind of electromagnetism docking facilities based on high-speed motor of the present invention, it includes No.1 electromagnetic mechanism 1 and No. two
Electromagnetic mechanism 2；
No.1 electromagnetic mechanism 1 and No. two electromagnetic mechanisms 2 are located in two satellite modules of pre- docking,
By the docking of No.1 electromagnetic mechanism 1 and No. two electromagnetic mechanisms 2 with separate the docking for realizing two satellite modules and
Separation；
No.1 electromagnetic mechanism 1 includes No.1 butt plate 1-1, No.1 high-speed motor 1-2, No.1 lead screw 1-3 and rotation stop guiding
Slot 1-4；
Rotor and lead screw (1-3) cooperation of No.1 high-speed motor 1-2 constitutes ball screw arrangement；No.1 rotation stop guide groove 1-
4 are arranged in the end of No.1 lead screw 1-3, are acted on by the rotation stop of No.1 rotation stop guide groove 1-4, by No.1 high-speed motor 1-2's
Rotary motion is converted into the linear motion of No.1 lead screw 1-3；The head end of No.1 lead screw 1-3 is fixedly connected with No.1 butt plate 1-1；
No. two electromagnetic mechanisms 2 include No. two butt plate 2-1, splitter 2-2, No. two high-speed motor 2-3, No. two lead screw 2-4
With No. two rotation stop guide groove 2-5；
No. two butt plate 2-1 are fixedly connected with the frame of a satellite modules, and the center of No. two butt plate 2-1 is provided with logical
Hole；
The head end of No. two lead screw 2-4 is fixedly connected with splitter 2-2, and splitter 2-2 can under the drive of No. two lead screw 2-4
To stretch in No. two butt plate 2-1 centre bores；
The rotor and No. two lead screw 2-4 cooperation composition ball screw arrangements of No. two high-speed motor 2-3, No. two rotation stop guide grooves
The end of No. two lead screw 2-4 is arranged in 2-5, is acted on by the rotation stop of No. two rotation stop guide groove 2-5, by No. two high-speed motor 2-3
Rotary motion be converted into the linear motion of No. two lead screw 2-4；
No.1 butt plate 1-1 and No. two butt plate 2-1 pass through No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-
The adelphotaxy of 1-2 docks, and then realizes the docking of two satellite modules；
The No.1 arc-shaped permanent magnet 1-1-2 is arranged on No.1 butt plate 1-1, No. two arc-shaped permanent magnet 2-1-2 settings
On No. two butt plate 2-1；
Splitter 2-2 passes through No. two butt plate 2-1 centre bores under the drive of No. two lead screw 2-4, and splitter 2-2 withstands one
Number butt plate 1-1, overcomes the effect of suction between No.1 butt plate 1-1 and No. two butt plate 2-1, by No.1 butt plate 1-1 and
No. two butt plate 2-1 separation, realize the separation of two satellite modules.
It further, further include No.1 drive control device and No. two drive control devices；
No.1 drive control device, for driving No.1 high-speed motor 1-2, control No.1 high-speed motor 1-2 rotor rotation
Direction；
No. two drive control devices control No. two high-speed motor 2-3 rotor rotations for driving No. two high-speed motor 2-3
Direction.
Further, No.1 butt plate 1-1 includes conical surface positioning disk 1-1-1 and No.1 arc-shaped permanent magnet 1-1-2；In the conical surface
No.1 arc-shaped permanent magnet 1-1-2, the back aperture of conical surface positioning disk 1-1-1, No.1 silk are embedded on the interface of positioning disk 1-1-1
The head end of thick stick 1-3 is inserted into the hole at the back conical surface positioning disk 1-1-1；
No. two butt plate 2-1 include concave surface positioning disk 2-1-1 and No. two arc-shaped permanent magnet 2-1-2, in concave surface positioning disk 2-
No. two arc-shaped permanent magnet 2-1-2 are embedded on the interface of 1-1, the center of concave surface positioning disk 2-1-1 is provided with through-hole, splitter 2-2
Concave surface positioning disk 2-1-1 can be passed through by through-hole.
Further, it further includes No.1 retaining ring 1-1-3 and No. two retaining ring 2-1-3,
No.1 retaining ring 1-1-3 is used for will be including No.1 arc-shaped permanent magnet 1-1-2 gear；No. two retaining ring 2-1-3 are used for No. two
Including arc-shaped permanent magnet 2-1-2 gear.
Further, a cylindrical protrusions, the cylinder is respectively arranged in 4 apex angles of conical surface positioning disk 1-1-1 interface
The top surface of shape protrusion is the conical surface；
A cylindrical protrusions, the top surface of the cylindrical protrusions is respectively arranged in 4 apex angles of concave surface positioning disk 2-1-1 interface
For concave surface, the described concave surface with the conical surface for docking.
Electromagnetism docking facilities based on high-speed motor realize docking and separation method, the specific steps of this method are as follows:
Step 1: original state: there are certain axial positioning errors between two satellite modules；
Step 2: No.1 butt plate 1-1 stretches out: feedback signal depending on the relative position, No.1 drive control device drive No.1
The rotor of high-speed motor 1-2 rotates, and enables No.1 lead screw 1-3 stretch out the satellite modules docked in advance, to another docked in advance
Satellite modules are close, close to during, since No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 mutually inhale
Draw, is mutually butted No.1 butt plate 1-1 and No. two butt plate 2-1；
Step 3: the rotor of No.1 high-speed motor is reversed when No.1 butt plate 1-1 and No. two butt plate 2-1 is mutually butted
Rotation, No.1 lead screw 1-3 drive No.1 butt plate 1-1 to withdraw, while driving another satellite modules of the pre- docking close
One satellite modules, in the process, the connection of the power supply interface and information interface of two satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two high-speed motor 2-3 works
Make, No. two lead screw 2-4 push splitter 2-2 to stretch out, and overcome suction, two modules are separated, and then two are defended
The connection of the power supply interface and information interface of star module disconnects.
Electromagnetism docking facilities of the invention are formed by matching the No.1 electromagnetic mechanism used with No. two electromagnetic mechanisms, two electricity
Include a high-speed motor in magnetic mechanism, drives butt plate using high-speed motor, realize the docking between two satellite modules
With separate.Docking between two satellite modules is realized by two butt plates, and two groups of arcs are arranged symmetrically on two butt plates forever
Magnet acts on to the heart using between two groups of arc-shaped permanent magnets, the radially aligned and circumferential alignment of two butt plates may be implemented,
Make docking facilities that there is certain autonomous capture and lock ability, meanwhile, it is realized using the male and female face structure on butt plate to taking over
The mechanical guide of journey.
Electromagnetism docking facilities realize No.1 electromagnetic mechanism and No. two electromagnetic motors using the mutual attraction between arc-shaped permanent magnet
The docking of structure can produce interaction force in the case where two electromagnetic mechanisms do not contact.No.1 electromagnetic mechanism and No. two
Arc-shaped permanent magnet in electromagnetic mechanism can generate attraction and centripetal force under the conditions of certain initial radial location error, in conjunction with
Conical surface guiding, realizes the autoregistration of two modules.In view of between two electromagnetic mechanisms docking in advance there are initial position error and
Initial velocity error extends the capture range of calutron by the way of high-speed motor plus ball-screw.It realizes quick and precisely
Electromagnetism capture and satellites coupling.
Detailed description of the invention
Fig. 1 is a kind of overall construction drawing of the electromagnetism docking facilities based on high-speed motor described in specific embodiment one；
Fig. 2 is the structural schematic diagram of No.1 electromagnetic mechanism；
Fig. 3 is the structural schematic diagram of No.1 butt plate；
Fig. 4 is the structural schematic diagram of No. two electromagnetic mechanisms；
Fig. 5 is the structural schematic diagram of No. two butt plates；
Fig. 6 is two electromagnetic mechanism docking and isolated status diagram in specific embodiment ten；Wherein, Fig. 6 (a) is
Original state schematic diagram；Fig. 6 (b) is that No.1 butt plate stretches out status diagram；Fig. 6 (c) is the mated condition that butt plate A is withdrawn
Schematic diagram；Fig. 6 (d) is splitter stretching, two module seperated schematic diagrams；
Fig. 7 is the sectional view of two electromagnetic mechanism mated conditions in specific embodiment ten；Wherein, Fig. 7 (a) is initial shape
State schematic diagram；Fig. 7 (b) is that No.1 butt plate stretches out status diagram；Fig. 7 (c) is the mated condition signal that butt plate A is withdrawn
Figure；Fig. 7 (d) is splitter stretching, two module seperated schematic diagrams；
Fig. 8 is the magnetizing direction and polarity of the No.1 arc-shaped permanent magnet and No. two arc-shaped permanent magnets in specific embodiment six
Schematic diagram；
Fig. 9 is the magnetizing direction and polarity of the No.1 arc-shaped permanent magnet and No. two arc-shaped permanent magnets in specific embodiment eight
It is intended to；
Figure 10 is magnetizing direction and the pole of the No.1 arc-shaped permanent magnet and No. two arc-shaped permanent magnets in specific embodiment seven
Property be intended to；
Figure 11 is magnetizing direction and the pole of the No.1 arc-shaped permanent magnet and No. two arc-shaped permanent magnets in specific embodiment nine
Property be intended to.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching relevant art effect can fully understand and implement.This Shen
Please each feature in embodiment, can be combined with each other under the premise of not colliding, be formed by technical solution in this hair
Within bright protection scope.
Specific embodiment 1: illustrating present embodiment, a kind of base described in present embodiment below with reference to Fig. 1, Fig. 2 and figure
In the electromagnetism docking facilities of high-speed motor, including No.1 electromagnetic mechanism 1 and No. two electromagnetic mechanisms 2；
No.1 electromagnetic mechanism 1 and No. two electromagnetic mechanisms 2 are located in two satellite modules of pre- docking,
By the docking of No.1 electromagnetic mechanism 1 and No. two electromagnetic mechanisms 2 with separate the docking for realizing two satellite modules and
Separation；
No.1 electromagnetic mechanism 1 includes No.1 butt plate 1-1, No.1 high-speed motor 1-2, No.1 lead screw 1-3 and rotation stop guiding
Slot 1-4；
Rotor and lead screw (1-3) cooperation of No.1 high-speed motor 1-2 constitutes ball screw arrangement；No.1 rotation stop guide groove 1-
4 are arranged in the end of No.1 lead screw 1-3, are acted on by the rotation stop of No.1 rotation stop guide groove 1-4, by No.1 high-speed motor 1-2's
Rotary motion is converted into the linear motion of No.1 lead screw 1-3；The head end of No.1 lead screw 1-3 is fixedly connected with No.1 butt plate 1-1；
No. two electromagnetic mechanisms 2 include No. two butt plate 2-1, splitter 2-2, No. two high-speed motor 2-3, No. two lead screw 2-4
With No. two rotation stop guide groove 2-5；
No. two butt plate 2-1 are fixedly connected with the frame of a satellite modules, and the center of No. two butt plate 2-1 is provided with logical
Hole；
The head end of No. two lead screw 2-4 is fixedly connected with splitter 2-2, and splitter 2-2 can under the drive of No. two lead screw 2-4
To stretch in No. two butt plate 2-1 centre bores；
The rotor and No. two lead screw 2-4 cooperation composition ball screw arrangements of No. two high-speed motor 2-3, No. two rotation stop guide grooves
The end of No. two lead screw 2-4 is arranged in 2-5, is acted on by the rotation stop of No. two rotation stop guide groove 2-5, by No. two high-speed motor 2-3
Rotary motion be converted into the linear motion of No. two lead screw 2-4；
No.1 butt plate 1-1 and No. two butt plate 2-1 pass through No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-
The adelphotaxy of 1-2 docks, and then realizes the docking of two satellite modules；
The No.1 arc-shaped permanent magnet 1-1-2 is arranged on No.1 butt plate 1-1, No. two arc-shaped permanent magnet 2-1-2 settings
On No. two butt plate 2-1；
Splitter 2-2 passes through No. two butt plate 2-1 centre bores under the drive of No. two lead screw 2-4, and splitter 2-2 withstands one
Number butt plate 1-1, overcomes the effect of suction between No.1 butt plate 1-1 and No. two butt plate 2-1, by No.1 butt plate 1-1 and
No. two butt plate 2-1 separation, realize the separation of two satellite modules.
When two satellite modules (No.1 satellite modules and No. two satellite modules) existing radial position error, and there is axial position
When setting error, the process and autonomous acquisition procedure when only axial error are more close, and difference is only that how to eliminate radial direction
Location error.This docking mechanism corresponds between permanent magnet due to using arc-shaped permanent magnet structure inherently with certain to the heart
Property, therefore, when No.1 butt plate and No. two butt plates axially attract, radial position error will be also gradually reduced.Secondly, two
Disk center is docked using complementary cone structure, bootable butt plate completes docking.
Specific embodiment 2: present embodiment is to a kind of electricity based on high-speed motor described in specific embodiment one
Magnetic docking facilities are described further, and in present embodiment, it further includes No.1 drive control device and No. two drive control devices,
No.1 drive control device, for driving No.1 high-speed motor 1-2, control No.1 high-speed motor 1-2 rotor rotation
Direction；
No. two drive control devices control No. two high-speed motor 2-3 rotor rotations for driving No. two high-speed motor 2-3
Direction.
Specific embodiment 3: illustrating that present embodiment, present embodiment are to specific embodiment in conjunction with Fig. 3 and Fig. 5
A kind of electromagnetism docking facilities based on high-speed motor described in one or two are described further, in present embodiment, No.1 docking
Disk 1-1 includes conical surface positioning disk 1-1-1 and No.1 arc-shaped permanent magnet 1-1-2；It is embedded on the interface of conical surface positioning disk 1-1-1
No.1 arc-shaped permanent magnet 1-1-2, the back aperture of conical surface positioning disk 1-1-1, the head end of No.1 lead screw 1-3 are inserted into conical surface guiding
In the hole at the back disk 1-1-1；
No. two butt plate 2-1 include concave surface positioning disk 2-1-1 and No. two arc-shaped permanent magnet 2-1-2, in concave surface positioning disk 2-
No. two arc-shaped permanent magnet 2-1-2 are embedded on the interface of 1-1, the center of concave surface positioning disk 2-1-1 is provided with through-hole, splitter 2-2
Concave surface positioning disk 2-1-1 can be passed through by through-hole.
Specific embodiment 4: illustrating that present embodiment, present embodiment are to specific embodiment in conjunction with Fig. 3 and Fig. 5
A kind of electromagnetism docking facilities based on high-speed motor described in three are described further, it further includes No.1 retaining ring 1-1-3 and two
Number retaining ring 2-1-3；
The outside of No.1 arc-shaped permanent magnet 1-1-2 is arranged in No.1 retaining ring 1-1-3；No. two retaining ring 2-1-3 are arranged at No. two
The outside of arc-shaped permanent magnet 2-1-2.
Specific embodiment 5: illustrating that present embodiment, present embodiment are to specific embodiment in conjunction with Fig. 3 and Fig. 5
A kind of electromagnetism docking facilities based on high-speed motor described in three are described further, and 4 of conical surface positioning disk 1-1-1 interface
A cylindrical protrusions are respectively arranged in apex angle, and the top surface of the cylindrical protrusions is the conical surface；
A cylindrical protrusions, the top surface of the cylindrical protrusions is respectively arranged in 4 apex angles of concave surface positioning disk 2-1-1 interface
For concave surface, the described concave surface with the conical surface for docking.
Present embodiment is also provided with 4 groups of complementation cones in order to further enhance merging precision, in 4 apex angles of two butt plates
Face structure, it is ensured that the circumferential alignment precision between two butt plates.
Specific embodiment 6: illustrating present embodiment in conjunction with Fig. 8, present embodiment is to specific embodiment one
Or a kind of electromagnetism docking facilities based on high-speed motor described in three are described further, in present embodiment, No.1 arc is forever
Magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are made of N block arc-shaped permanent magnet, N > 1；
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are all made of axial charging, No.1 arc-shaped permanent magnet
The polarity of N block arc-shaped permanent magnet on 1-1-2 is all the same, the polarity of the N block arc-shaped permanent magnet on No. two arc-shaped permanent magnet 2-1-2
It is all the same, the polarity of the N block arc-shaped permanent magnet on No.1 arc-shaped permanent magnet 1-1-2 and the N block on No. two arc-shaped permanent magnet 2-1-2
The polarity of arc-shaped permanent magnet is opposite.
Specific embodiment 7: illustrating present embodiment in conjunction with Figure 10, present embodiment is to specific embodiment
A kind of electromagnetism docking facilities based on high-speed motor described in one or three are described further, in present embodiment, No.1 arc
Permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are made of N block arc-shaped permanent magnet, N > 1,
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are all made of radial magnetizing, No.1 arc-shaped permanent magnet
The radial magnetizing direction of N block arc-shaped permanent magnet on 1-1-2 is all the same, the N block arcuate permanent magnetic on No. two arc-shaped permanent magnet 2-1-2
The radial magnetizing direction of body is all the same, the radial magnetizing direction and two of the N block arc-shaped permanent magnet on No.1 arc-shaped permanent magnet 1-1-2
The radial magnetizing of N block arc-shaped permanent magnet on number arc-shaped permanent magnet 2-1-2 is contrary.
Specific embodiment 8: illustrating present embodiment in conjunction with Fig. 9, present embodiment is to specific embodiment one
Or a kind of electromagnetism docking facilities based on high-speed motor described in three are described further, in present embodiment, No.1 arc is forever
Magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are made of N block arc-shaped permanent magnet, and N > 1, N are even number；
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are all made of axial charging, No.1 arc-shaped permanent magnet
The upper polarity per two pieces of adjacent arc-shaped permanent magnets of 1-1-2 is on the contrary, per two pieces of adjacent arcs on No. two arc-shaped permanent magnet 2-1-2
The polarity of permanent magnet is on the contrary, arcuate permanent magnetic on No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 corresponding positions
Body polarity is opposite.
Specific embodiment 9: illustrating present embodiment in conjunction with Figure 11, present embodiment is to specific embodiment
A kind of electromagnetism docking facilities based on high-speed motor described in one or three are described further, in present embodiment, No.1 arc
Permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are made of N block arc-shaped permanent magnet, and N > 1, N are even number,
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are all made of radial magnetizing, No.1 arc-shaped permanent magnet
The upper radial magnetizing per two pieces of adjacent arc-shaped permanent magnets of 1-1-2 is contrary, per adjacent on No. two arc-shaped permanent magnet 2-1-2
The radial magnetizing of two pieces of arc-shaped permanent magnets is contrary, and No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 are corresponding
Arc-shaped permanent magnet polarity on position is opposite.
Specific embodiment 10: illustrating present embodiment in conjunction with Fig. 6 and Fig. 7, high-speed motor is based on described in present embodiment
Electromagnetism docking facilities realize docking and separation method, the specific steps of this method are as follows:
Step 1: original state: there are certain axial positioning errors between two satellite modules；
Step 2: No.1 butt plate 1-1 stretches out: feedback signal depending on the relative position, No.1 drive control device drive No.1
The rotor of high-speed motor 1-2 rotates, and enables No.1 lead screw 1-3 stretch out the satellite modules docked in advance, to another docked in advance
Satellite modules are close, close to during, since No.1 arc-shaped permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 mutually inhale
Draw, is mutually butted No.1 butt plate 1-1 and No. two butt plate 2-1；
Step 3: the rotor of No.1 high-speed motor is reversed when No.1 butt plate 1-1 and No. two butt plate 2-1 is mutually butted
Rotation, No.1 lead screw 1-3 drive No.1 butt plate 1-1 to withdraw, while driving another satellite modules of the pre- docking close
One satellite modules, in the process, the connection of the power supply interface and information interface of two satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two high-speed motor 2-3 works
Make, No. two lead screw 2-4 push splitter 2-2 to stretch out, and overcome suction, two modules are separated, and then two are defended
The connection of the power supply interface and information interface of star module disconnects.
In present embodiment, the precision of the docking operation of two satellite modules (No.1 satellite modules and No. two satellite modules)
By arc-shaped permanent magnet autoregistration characteristic and conical surface mechanical guide common guarantee.
Although disclosed herein embodiment it is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of electromagnetism docking facilities based on high-speed motor, which is characterized in that it includes No.1 electromagnetic mechanism (1) and No. two electricity
Magnetic mechanism (2)；
No.1 electromagnetic mechanism (1) and No. two electromagnetic mechanisms (2) are located in two satellite modules of pre- docking,
By the docking of No.1 electromagnetic mechanism (1) and No. two electromagnetic mechanisms (2) with separate the docking for realizing two satellite modules and
Separation；
No.1 electromagnetic mechanism (1) includes No.1 butt plate (1-1), No.1 high-speed motor (1-2), No.1 lead screw (1-3) and rotation stop
Guide groove (1-4)；
Rotor and lead screw (1-3) cooperation of No.1 high-speed motor (1-2) constitute ball screw arrangement；No.1 rotation stop guide groove (1-
4) setting is acted on, by No.1 high-speed motor in the end of No.1 lead screw (1-3) by the rotation stop of No.1 rotation stop guide groove (1-4)
The rotary motion of (1-2) is converted into the linear motion of No.1 lead screw (1-3)；The head end and No.1 butt plate of No.1 lead screw (1-3)
(1-1) is fixedly connected；
No. two electromagnetic mechanisms (2) include No. two butt plates (2-1), splitter (2-2), No. two high-speed motors (2-3), No. two lead screws
(2-4) and No. two rotation stop guide grooves (2-5)；
No. two butt plates (2-1) are fixedly connected with the frame of a satellite modules, and the center of No. two butt plates (2-1) is provided with logical
Hole；
The head end of No. two lead screws (2-4) is fixedly connected with splitter (2-2), drive of the splitter (2-2) in No. two lead screws (2-4)
Under can stretch in No. two butt plate (2-1) centre bores；
The rotor and No. two lead screw (2-4) cooperation composition ball screw arrangements of No. two high-speed motors (2-3), No. two rotation stop guide grooves
(2-5) setting is acted in the end of No. two lead screws (2-4) by the rotation stop of No. two rotation stop guide grooves (2-5), by No. two high speed electricity
The rotary motion of machine (2-3) is converted into the linear motion of No. two lead screws (2-4)；
No.1 butt plate (1-1) and No. two butt plates (2-1) pass through No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets
The adelphotaxy of (2-1-2) docks, and then realizes the docking of two satellite modules；
The No.1 arc-shaped permanent magnet (1-1-2) is arranged on No.1 butt plate (1-1), and No. two arc-shaped permanent magnets (2-1-2) set
It sets on No. two butt plates (2-1)；
Splitter (2-2) is under the drive of No. two lead screws (2-4) across No. two butt plate (2-1) centre bores, splitter (2-2) top
Live in No.1 butt plate (1-1) overcomes the effect of suction between No.1 butt plate (1-1) and No. two butt plates (2-1), by No.1 pair
Disk (1-1) and No. two butt plate (2-1) separation are connect, the separation of two satellite modules is realized.
2. a kind of electromagnetism docking facilities based on high-speed motor according to claim 1, which is characterized in that further include that No.1 is driven
Movement controller and No. two drive control devices,
No.1 drive control device, for driving No.1 high-speed motor (1-2), control No.1 high-speed motor (1-2) rotor rotation
Direction；
No. two drive control devices control No. two high-speed motor (2-3) rotor rotations for driving No. two high-speed motors (2-3)
Direction.
3. a kind of electromagnetism docking facilities based on high-speed motor according to claim 1 or claim 2, which is characterized in that No.1 docking
Disk (1-1) includes conical surface positioning disk (1-1-1) and No.1 arc-shaped permanent magnet (1-1-2)；In the docking of conical surface positioning disk (1-1-1)
It is embedded with No.1 arc-shaped permanent magnet (1-1-2) on face, the back aperture of conical surface positioning disk (1-1-1), the head end of No.1 lead screw (1-3)
It is inserted into the hole at the back conical surface positioning disk (1-1-1)；
No. two butt plates (2-1) include concave surface positioning disk (2-1-1) and No. two arc-shaped permanent magnets (2-1-2), in concave surface positioning disk
No. two arc-shaped permanent magnets (2-1-2) are embedded on the interface of (2-1-1), the center of concave surface positioning disk (2-1-1) is provided with through-hole, point
From column (2-2) concave surface positioning disk (2-1-1) can be passed through by through-hole.
4. a kind of electromagnetism docking facilities based on high-speed motor according to claim 3, which is characterized in that it further includes No.1
Retaining ring (1-1-3) and No. two retaining rings (2-1-3)；
No.1 retaining ring (1-1-3) is arranged in the outside of No.1 arc-shaped permanent magnet (1-1-2)；No. two retaining rings (2-1-3) are arranged two
The outside of number arc-shaped permanent magnet (2-1-2).
5. a kind of electromagnetism docking facilities based on high-speed motor according to claim 3, which is characterized in that conical surface positioning disk
A cylindrical protrusions are respectively arranged in 4 apex angles of (1-1-1) interface, and the top surface of the cylindrical protrusions is the conical surface；
A cylindrical protrusions are respectively arranged in 4 apex angles of concave surface positioning disk (2-1-1) interface, and the top surface of the cylindrical protrusions is
Concave surface, the described concave surface with the conical surface for docking.
6. according to claim 1 or a kind of 3 electromagnetism docking facilities based on high-speed motor, which is characterized in that No.1 arc
Permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are made of N block arc-shaped permanent magnet, N > 1；
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are all made of axial charging, No.1 arc-shaped permanent magnet
The polarity of N block arc-shaped permanent magnet on (1-1-2) is all the same, the N block arc-shaped permanent magnet on No. two arc-shaped permanent magnets (2-1-2)
Polarity is all the same, the polarity and No. two arc-shaped permanent magnet (2-1- of the N block arc-shaped permanent magnet on No.1 arc-shaped permanent magnet (1-1-2)
2) polarity of the N block arc-shaped permanent magnet on is opposite.
7. according to claim 1 or a kind of 3 electromagnetism docking facilities based on high-speed motor, which is characterized in that No.1 arc
Permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are made of N block arc-shaped permanent magnet, N > 1,
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are all made of radial magnetizing, No.1 arc-shaped permanent magnet
The radial magnetizing direction of N block arc-shaped permanent magnet on (1-1-2) is all the same, the N block arc on No. two arc-shaped permanent magnets (2-1-2)
The radial magnetizing direction of permanent magnet is all the same, the radial magnetizing side of the N block arc-shaped permanent magnet on No.1 arc-shaped permanent magnet (1-1-2)
To contrary with the radial magnetizing of N block arc-shaped permanent magnet on No. two arc-shaped permanent magnets (2-1-2).
8. according to claim 1 or a kind of 3 electromagnetism docking facilities based on high-speed motor, which is characterized in that No.1 arc
Permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are made of N block arc-shaped permanent magnet, and N > 1, N are even number；
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are all made of axial charging, No.1 arc-shaped permanent magnet
Polarity on (1-1-2) per two pieces of adjacent arc-shaped permanent magnets is on the contrary, per adjacent two pieces on No. two arc-shaped permanent magnets (2-1-2)
The polarity of arc-shaped permanent magnet is on the contrary, on No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnet (2-1-2) corresponding positions
Arc-shaped permanent magnet polarity is opposite.
9. according to claim 1 or a kind of 3 electromagnetism docking facilities based on high-speed motor, which is characterized in that No.1 arc
Permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are made of N block arc-shaped permanent magnet, and N > 1, N are even number,
N block arc-shaped permanent magnet is along the circumferential direction symmetrical, and the angle per two pieces of adjacent arc-shaped permanent magnet intervals is identical；
No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2) are all made of radial magnetizing, No.1 arc-shaped permanent magnet
Radial magnetizing on (1-1-2) per two pieces of adjacent arc-shaped permanent magnets is contrary, every phase on No. two arc-shaped permanent magnets (2-1-2)
The radial magnetizing of two pieces of adjacent arc-shaped permanent magnets is contrary, No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnet (2-
Arc-shaped permanent magnet polarity 1-2) on corresponding position is opposite.
10. the electromagnetism docking facilities based on high-speed motor realize docking and separation method, which is characterized in that the specific step of this method
Suddenly are as follows:
Step 1: original state: there are certain axial positioning errors between two satellite modules；
Step 2: No.1 butt plate (1-1) stretches out: feedback signal depending on the relative position, No.1 drive control device drive No.1 high
The rotor of speed motor (1-2) rotates, and No.1 lead screw (1-3) is enabled to stretch out the satellite modules docked in advance, another to what is docked in advance
A satellite modules are close, close to during, due to No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnets (2-1-2)
It attracts each other, is mutually butted No.1 butt plate (1-1) and No. two butt plates (2-1)；
Step 3: when No.1 butt plate (1-1) and No. two butt plates (2-1) are mutually butted, the rotor of No.1 high-speed motor (1-2)
It reversely rotates, No.1 lead screw (1-3) drives No.1 butt plate (1-1) to withdraw, while driving another satellite of the pre- docking
Module is close to one satellite modules, in the process, the connection of the power supply interface and information interface of two satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two high-speed motor (2-3) work,
No. two lead screws (2-4) push splitter (2-2) to stretch out, and overcome suction, two modules are separated, and then two are defended
The connection of the power supply interface and information interface of star module disconnects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811539749.8A CN109398767B (en) | 2018-12-14 | 2018-12-14 | Electromagnetic docking device and method based on high-speed motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811539749.8A CN109398767B (en) | 2018-12-14 | 2018-12-14 | Electromagnetic docking device and method based on high-speed motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109398767A true CN109398767A (en) | 2019-03-01 |
| CN109398767B CN109398767B (en) | 2021-07-27 |
Family
ID=65460313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811539749.8A Active CN109398767B (en) | 2018-12-14 | 2018-12-14 | Electromagnetic docking device and method based on high-speed motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109398767B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316403A (en) * | 2019-07-11 | 2019-10-11 | 航天东方红卫星有限公司 | A kind of gathering can in-orbit allosteric micro-nano satellite overturn control method |
| CN114313319A (en) * | 2021-12-06 | 2022-04-12 | 北京微纳星空科技有限公司 | Docking device and modular satellite |
| WO2023281282A1 (en) * | 2021-07-09 | 2023-01-12 | Astroscale Ltd | Docking structure |
| CN115892525A (en) * | 2023-01-09 | 2023-04-04 | 中国科学院微小卫星创新研究院 | Satellite, satellite module assembly and satellite module connecting piece |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5125601A (en) * | 1991-12-26 | 1992-06-30 | The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration | Payload retention device |
| WO2006068884A1 (en) * | 2004-12-20 | 2006-06-29 | Honeywell International Inc. | Geometrically encoded magnetic latch intercontact face |
| CN102774512A (en) * | 2012-06-11 | 2012-11-14 | 哈尔滨工业大学 | On-orbit docking method of non-contact modular spacecrafts and simulator implementing the method |
| CN103407586A (en) * | 2013-08-30 | 2013-11-27 | 中国人民解放军国防科学技术大学 | Electromagnetic butt joint system |
| CN106586039A (en) * | 2016-12-14 | 2017-04-26 | 中国航天时代电子公司 | Spatial anti-error capturing and docking device |
| CN107089349A (en) * | 2017-04-24 | 2017-08-25 | 上海航天控制技术研究所 | Rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking |
| CN107284698A (en) * | 2017-07-12 | 2017-10-24 | 江南大学 | A kind of cone-rod-type docking mechanism |
-
2018
- 2018-12-14 CN CN201811539749.8A patent/CN109398767B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5125601A (en) * | 1991-12-26 | 1992-06-30 | The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration | Payload retention device |
| WO2006068884A1 (en) * | 2004-12-20 | 2006-06-29 | Honeywell International Inc. | Geometrically encoded magnetic latch intercontact face |
| CN102774512A (en) * | 2012-06-11 | 2012-11-14 | 哈尔滨工业大学 | On-orbit docking method of non-contact modular spacecrafts and simulator implementing the method |
| CN103407586A (en) * | 2013-08-30 | 2013-11-27 | 中国人民解放军国防科学技术大学 | Electromagnetic butt joint system |
| CN106586039A (en) * | 2016-12-14 | 2017-04-26 | 中国航天时代电子公司 | Spatial anti-error capturing and docking device |
| CN107089349A (en) * | 2017-04-24 | 2017-08-25 | 上海航天控制技术研究所 | Rotatable micro-nano satellite electromagnetism docking facilities and docking calculation after one kind docking |
| CN107284698A (en) * | 2017-07-12 | 2017-10-24 | 江南大学 | A kind of cone-rod-type docking mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 黄剑斌 等: "对卫星柔性对接补加一体化机构建模与设计", 《空间控制技术与应用》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316403A (en) * | 2019-07-11 | 2019-10-11 | 航天东方红卫星有限公司 | A kind of gathering can in-orbit allosteric micro-nano satellite overturn control method |
| WO2023281282A1 (en) * | 2021-07-09 | 2023-01-12 | Astroscale Ltd | Docking structure |
| CN114313319A (en) * | 2021-12-06 | 2022-04-12 | 北京微纳星空科技有限公司 | Docking device and modular satellite |
| CN114313319B (en) * | 2021-12-06 | 2023-07-28 | 北京微纳星空科技有限公司 | Docking device and modularized satellite |
| CN115892525A (en) * | 2023-01-09 | 2023-04-04 | 中国科学院微小卫星创新研究院 | Satellite, satellite module assembly and satellite module connecting piece |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109398767B (en) | 2021-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109398767A (en) | A kind of electromagnetism docking facilities and method based on high-speed motor | |
| US11298933B2 (en) | Printing system and method including magnetic coupling device | |
| CN109466808B (en) | Electromagnetic docking device and method based on linear motor | |
| CN104465359A (en) | Spin treatment apparatus | |
| US10804789B2 (en) | Coaxial electromagnetic apparatus | |
| CN107086813B (en) | Inchworm type rotary piezoelectric driving platform | |
| CN106059386A (en) | Clamping controllable disc-shaped rotary type inertia piezoelectric actuator and actuation method | |
| EP2678925B1 (en) | Devices, systems, and methods for energy conversion | |
| CN109968007B (en) | Macro-micro manipulator spiral part assembling device based on active-passive cooperative compliance | |
| CN102891587A (en) | Non-contact magnetic transmission on-off synchronizer | |
| US9546069B2 (en) | Drive for electromechanical control of lines | |
| CN100999187B (en) | Eddy current speed reducing device | |
| JP5727079B1 (en) | Magnet drive mechanism | |
| CN210233053U (en) | Steering control mechanism of robot | |
| TWM548927U (en) | Double magnetically assisted electric device | |
| TWI616051B (en) | Double magnetic assisted electric device | |
| CN202772782U (en) | Non-contact magnetic transmission clutch synchronizing device | |
| CN107040105B (en) | Disk type motor | |
| TWI695566B (en) | Full-load electric device | |
| TW201739145A (en) | Electric motor structure comprising magnet sets, coil set and induced switch circuit | |
| CN108134545B (en) | Motor power supply control structure | |
| TW201637347A (en) | Electromotive force magnetic energy conversion device | |
| CN104135132A (en) | Stator fixing device of permanent magnet synchronous traction machine with outer rotor structure | |
| CN105024587A (en) | Magnetic engine | |
| CN109607049A (en) | A kind of transmission mechanism that turntable high speed plugs into, overturns, rejecting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |