CN109466808A - A kind of electromagnetism docking facilities and method based on linear motor - Google Patents
A kind of electromagnetism docking facilities and method based on linear motor Download PDFInfo
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- CN109466808A CN109466808A CN201811535622.9A CN201811535622A CN109466808A CN 109466808 A CN109466808 A CN 109466808A CN 201811535622 A CN201811535622 A CN 201811535622A CN 109466808 A CN109466808 A CN 109466808A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 72
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- 230000007246 mechanism Effects 0.000 claims description 36
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/645—Separators
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Abstract
A kind of electromagnetism docking facilities and method based on linear motor are related to satellite electromagnetism docking field.The present invention is to solve the problems, such as that existing satellites coupling apparatus structure is complicated, docking time is long, dynamic is corresponding slow.No.1 linear motor secondary, which is driven, pushes conical surface positioning disk to stretch to concave surface positioning disk, pass through attracting each other for No.1 arc-shaped permanent magnet and No. two arc-shaped permanent magnets, the conical surface of conical surface positioning disk and the concave surface of concave surface positioning disk is set to be docking together, to realize two satellite modules docking, No. two linear motor secondary, which are driven, pushes splitter to withstand conical surface positioning disk, overcome suction, the conical surface of conical surface positioning disk is separated with the concave surface of concave surface positioning disk, to realize two satellite modules separation.It for two satellite modules docking with separate.
Description
Technical field
The present invention relates to a kind of electromagnetism docking facilities and method based on linear motor.Belong to satellite electromagnetism docking 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 the problems, such as that existing satellites coupling apparatus structure is complicated, docking time is long, dynamic is corresponding slow.
A kind of electromagnetism docking facilities and method based on linear motor are now provided.
A kind of electromagnetism docking facilities based on linear motor, it includes 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, pass through No.1 electricity
The docking of magnetic mechanism 1 and No. two electromagnetic mechanisms 2 with separate the docking of two satellite modules of realization with separate；Two satellite modules point
It Wei not No.1 satellite modules and No. two satellite modules；
No.1 electromagnetic mechanism 1 includes No.1 butt plate 1-1 and No.1 linear motor, and No.1 butt plate 1-1 includes that the conical surface is led
To disk 1-1-1 and No.1 arc-shaped permanent magnet 1-1-2, No.1 linear motor includes No.1 linear electric motor primary 1-2 and No.1 straight line
Motor secondary 1-3,
No.1 arc-shaped permanent magnet 1-1-2 is embedded on the interface of conical surface positioning disk 1-1-1, conical surface positioning disk 1-1-1's
Back aperture, the primary 1-2 that No.1 linear motor secondary 1-3 passes through No.1 linear motor are inserted into hole and conical surface positioning disk 1-
1-1 connection,
No. two electromagnetic mechanisms 2 include No. two butt plate 2-1, No. two linear motors and splitter 2-2, No. two butt plate 2-1
Including concave surface positioning disk 2-1-1 and No. two arc-shaped permanent magnet 2-1-2, No. two linear motors include No. two linear electric motor primary 2-3
With No. two linear motor secondary 2-4,
No. two arc-shaped permanent magnet 2-1-2 are embedded on the interface of concave surface positioning disk 2-1-1, concave surface positioning disk 2-1-1's
Center is provided with through-hole, and No. two linear motor secondary 2-4 pass through No. two linear electric motor primary 2-3 and connect with splitter 2-2, splitter
2-2 can pass through concave surface positioning disk 2-1-1 by through-hole,
No.1 linear motor secondary 1-3, which is driven, pushes conical surface positioning disk 1-1-1 to stretch to concave surface positioning disk 2-1-1, passes through
No.1 arc-shaped permanent magnet 1-1-2's and No. two arc-shaped permanent magnet 2-1-2 attracts each other, make the conical surface of conical surface positioning disk 1-1-1 with
The concave surface of concave surface positioning disk 2-1-1 is docking together, to realize two satellite modules docking, No. two linear motor secondary 2-4
Be driven push splitter 2-2 withstand conical surface positioning disk 1-1-1, overcome suction, by the conical surface of conical surface positioning disk 1-1-1 with
The concave surface of concave surface positioning disk 2-1-1 separates, to realize two satellite modules separation.
Docking and separation method are realized according to a kind of electromagnetism docking facilities based on linear motor, and the method includes following
Step:
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 secondary 1-3 of linear motor stretches out No.1 satellite modules, close to No. two satellite modules, close to during, due to No.1 arc
Shape permanent magnet 1-1-2 attracts each other with No. two permanent magnets, is mutually butted No.1 butt plate 1-1 and No. two butt plate 2-1；
Step 3: once No.1 butt plate 1-1 and No. two butt plate 2-1 are mutually butted, No.1 linear motor counter motion,
No.1 butt plate 1-1 is withdrawn, while driving No. two satellite modules close to No.1 satellite modules, in the process, realizes two
The connection of the power supply interface and information interface of satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two linear motor work,
It drives splitter 2-2 to stretch out, overcomes suction, two modules are separated.
The invention has the benefit that
The electromagnetism docking facilities of the application are formed by matching the No.1 electromagnetic mechanism used with No. two electromagnetic mechanisms, two electricity
Include a linear motor in magnetic mechanism, drives butt plate using linear 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.
When two existing radial position errors of satellite modules, and when having axial positioning errors, the process with only it is axial accidentally
Autonomous acquisition procedure when poor is more close, and difference is only that how to eliminate radial position error.This docking mechanism is due to using
Arc-shaped permanent magnet structure corresponds to inherently with certain to disposition between permanent magnet, therefore, right in No.1 butt plate and No. two
Dish axle is connect to when attracting, radial position error will be also gradually reduced.Secondly, two docking disk center use complementary cone structure,
Bootable butt plate completes docking.In order to further enhance merging precision, 4 apex angles of two butt plates be also provided with 4 groups it is mutual
Mend cone structure, it is ensured that the circumferential alignment precision between two butt plates.
Linear motor has many advantages, such as that thrust density is high, dynamic response is fast, and electromagnetism docking facilities have dynamic response fast, right
The advantages such as precision height are connect, linear motor is applied and docks field with spatial electromagnetic, docking range can be greatly increased, when shortening docking
Between, it has a good application prospect.
Detailed description of the invention
Fig. 1 is a kind of overall construction drawing of the electromagnetism docking facilities based on linear motor 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 10；Fig. 6 (a) is indicated just
Beginning state；Fig. 6 (b) indicates that No.1 butt plate stretches out；Fig. 6 (c) indicates the mated condition that butt plate A is withdrawn；Fig. 6 (d) indicates to divide
It is stretched out from column, two module separation；
Fig. 7 is the sectional view of two electromagnetic mechanism mated conditions；
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 5；
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 7；
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 6
Property；
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 8
Property；
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of base described in present embodiment referring to figs. 1 to Fig. 5
In the electromagnetism docking facilities of linear motor, a kind of electromagnetism docking facilities based on linear motor, it includes 1 He of No.1 electromagnetic mechanism
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, pass through No.1 electricity
The docking of magnetic mechanism 1 and No. two electromagnetic mechanisms 2 with separate the docking of two satellite modules of realization with separate；Two satellite modules point
It Wei not No.1 satellite modules and No. two satellite modules；
No.1 electromagnetic mechanism 1 includes No.1 butt plate 1-1 and No.1 linear motor, and No.1 butt plate 1-1 includes that the conical surface is led
To disk 1-1-1 and No.1 arc-shaped permanent magnet 1-1-2, No.1 linear motor includes No.1 linear electric motor primary 1-2 and No.1 straight line
Motor secondary 1-3,
No.1 arc-shaped permanent magnet 1-1-2 is embedded on the interface of conical surface positioning disk 1-1-1, conical surface positioning disk 1-1-1's
Back aperture, the primary 1-2 that No.1 linear motor secondary 1-3 passes through No.1 linear motor are inserted into hole and conical surface positioning disk 1-
1-1 connection,
No. two electromagnetic mechanisms 2 include No. two butt plate 2-1, No. two linear motors and splitter 2-2, No. two butt plate 2-1
Including concave surface positioning disk 2-1-1 and No. two arc-shaped permanent magnet 2-1-2, No. two linear motors include No. two linear electric motor primary 2-3
With No. two linear motor secondary 2-4,
No. two arc-shaped permanent magnet 2-1-2 are embedded on the interface of concave surface positioning disk 2-1-1, concave surface positioning disk 2-1-1's
Center is provided with through-hole, and No. two linear motor secondary 2-4 pass through No. two linear electric motor primary 2-3 and connect with splitter 2-2, splitter
2-2 can pass through concave surface positioning disk 2-1-1 by through-hole,
No.1 linear motor secondary 1-3, which is driven, pushes conical surface positioning disk 1-1-1 to stretch to concave surface positioning disk 2-1-1, passes through
No.1 arc-shaped permanent magnet 1-1-2's and No. two arc-shaped permanent magnet 2-1-2 attracts each other, make the conical surface of conical surface positioning disk 1-1-1 with
The concave surface of concave surface positioning disk 2-1-1 is docking together, to realize two satellite modules docking, No. two linear motor secondary 2-4
Be driven push splitter 2-2 withstand conical surface positioning disk 1-1-1, overcome suction, by the conical surface of conical surface positioning disk 1-1-1 with
The concave surface of concave surface positioning disk 2-1-1 separates, to realize two satellite modules separation.
In present embodiment, conical surface positioning disk 1-1-1 is exposed at outside No.1 satellite modules, and No.1 linear electric motor primary 1-2
It is arranged in No.1 satellite modules with secondary 1-3；
Concave surface positioning disk 2-1-1 is in No. two satellite modules, and the disk of concave surface positioning disk 2-1-1 is located at No. two satellites
In module, the concave part of concave surface positioning disk 2-1-1 is exposed at outside No. two satellite modules；No.1 arc-shaped permanent magnet 1-1-2 and two
Number arc-shaped permanent magnet 2-1-2 attracts each other, and docks concave surface positioning disk 2-1-1 with conical surface positioning disk 1-1-1.
In addition, the conical surface bottom of conical surface positioning disk 1-1-1 is circumferentially slotted, No.1 arc-shaped permanent magnet 1-1-2 is embedded in the slot,
The concave surface of concave surface positioning disk 2-1-1 is circumferentially slotted, and No. two arc-shaped permanent magnet 2-1-2 are in the circumferential fluting of concave surface, No.1 arc
The sucking action of shape permanent magnet 1-1-2 and No. two arc-shaped permanent magnet 2-1-2 make conical surface positioning disk 1-1-1 and concave surface positioning disk 2-1-
1 docking.
In present embodiment, in order to realize the autonomous capture, locking and separation function of two satellite modules, No.1 electromagnetic motor
Structure and No. two electromagnetic mechanisms, which need to match, to be used.The autonomous capture of two satellite modules relies on the arc on two electromagnetic mechanisms forever
The realization that attracts each other of magnet.
Present invention mainly solves the problem of be satellite modules independently capture, lock and separate.
The electromagnetism docking facilities proposed realize pair of two satellite modules using the mutual attraction between arc-shaped permanent magnet
It connects, can produce interaction force in the case where two satellite modules do not contact.By optimization design, No.1 electromagnetic mechanism
Attraction and centripetal can be generated under the conditions of certain initial radial location error with the arc-shaped permanent magnet in No. two electromagnetic mechanisms
Power is oriented in conjunction with the conical surface, realizes the autoregistration of two satellite modules.
In order to enable splitter to pass through No. two butt plates, the center of No. two butt plates is provided with through-hole.
Specific embodiment 2: present embodiment is to a kind of electricity based on linear 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 linear motor secondary 1-3,
No. two drive control devices, for driving No. two linear motor secondary 2-4.
Specific embodiment 3: illustrating present embodiment referring to Fig. 3 and Fig. 5, present embodiment is to specific implementation
A kind of electromagnetism docking facilities based on linear motor described in mode one are described further, and in present embodiment, 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.
In present embodiment, the effect of No.1 retaining ring 1-1-3 and No. two retaining ring 2-1-3 are first is that protect permanent magnet, second is that subtracting
Active force needed for the separation of moonlet module, three are to provide certain docking damping, play buffer function.
Specific embodiment 4: illustrating present embodiment referring to Fig. 3 and Fig. 5, present embodiment is to specific implementation
A kind of electromagnetism docking facilities based on linear motor described in mode one are described further, in present embodiment, conical surface guiding
A cylindrical protrusions are respectively arranged in 4 apex angles of disk 1-1-1 interface, 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.
Specific embodiment 5: illustrating present embodiment referring to Fig. 8, present embodiment is to specific embodiment three
A kind of electromagnetism docking facilities based on linear motor are described further, in present embodiment, No.1 arc-shaped permanent magnet
1-1-2 and No. two arc-shaped permanent magnet 2-1-2 is 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 6: 0 illustrating present embodiment referring to Fig.1, present embodiment is to specific embodiment
A kind of electromagnetism docking facilities based on linear motor described in three are described further, in present embodiment, No.1 arcuate permanent magnetic
Body 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.
In present embodiment, the radial magnetizing direction of the N block arc-shaped permanent magnet on No.1 arc-shaped permanent magnet 1-1-2 with No. two
The radial magnetizing of N block arc-shaped permanent magnet on arc-shaped permanent magnet 2-1-2 is contrary, permanent magnet in No.1 butt plate it is radial to
It magnetizes outside or inwardly, the permanent magnet in No. two butt plates radially-inwardly or outward magnetizes.
Specific embodiment 7: illustrating present embodiment referring to Fig. 9, present embodiment is to specific embodiment three
A kind of electromagnetism docking facilities based on linear motor are described further, in present embodiment, No.1 arc-shaped permanent magnet
1-1-2 and No. two arc-shaped permanent magnet 2-1-2 is 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 8: 1 illustrating present embodiment referring to Fig.1, present embodiment is to specific embodiment
A kind of electromagnetism docking facilities based on linear motor described in three are described further, in present embodiment, No.1 arcuate permanent magnetic
Body 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 9: present embodiment is to a kind of electricity based on linear motor described in specific embodiment one
Magnetic docking facilities are described further, and in present embodiment, No.1 linear motor and No. two linear motors are cylindrical linear
Motor or flat plate type linear motor.
Specific embodiment 10: present embodiment is illustrated referring to figure 6 and figure 7, according to specific embodiment one
A kind of electromagnetism docking facilities based on linear motor realize docking and separation method, the described method comprises the following steps:
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 secondary 1-3 of linear motor stretches out No.1 satellite modules, close to No. two satellite modules, close to during, due to No.1 arc
Shape permanent magnet 1-1-2 attracts each other with No. two permanent magnets, is mutually butted No.1 butt plate 1-1 and No. two butt plate 2-1；
Step 3: once No.1 butt plate 1-1 and No. two butt plate 2-1 are mutually butted, No.1 linear motor counter motion,
No.1 butt plate 1-1 is withdrawn, while driving No. two satellite modules close to No.1 satellite modules, in the process, realizes two
The connection of the power supply interface and information interface of satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two linear motor work,
It drives splitter 2-2 to stretch out, overcomes suction, two modules are separated.
In present embodiment, the precision of docking operation is protected jointly by arc-shaped permanent magnet autoregistration characteristic and conical surface mechanical guide
Card.
Claims (10)
1. a kind of electromagnetism docking facilities based on linear 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, pass through No.1 electricity
The docking of magnetic mechanism (1) and No. two electromagnetic mechanisms (2) with separate the docking of two satellite modules of realization with separate；Two satellite moulds
Block is respectively No.1 satellite modules and No. two satellite modules；
No.1 electromagnetic mechanism (1) includes No.1 butt plate (1-1) and No.1 linear motor, and No.1 butt plate (1-1) includes the conical surface
Positioning disk (1-1-1) and No.1 arc-shaped permanent magnet (1-1-2), No.1 linear motor include No.1 linear electric motor primary (1-2) and
No.1 linear motor is secondary (1-3),
It is embedded with No.1 arc-shaped permanent magnet (1-1-2) on the interface of conical surface positioning disk (1-1-1), conical surface positioning disk (1-1-1)
Back aperture, the primary (1-2) that No.1 linear motor secondary (1-3) passes through No.1 linear motor is inserted into hole to be led with the conical surface
It is connected to disk (1-1-1),
No. two electromagnetic mechanisms (2) include No. two butt plates (2-1), No. two linear motors and splitter (2-2), No. two butt plates
(2-1) includes concave surface positioning disk (2-1-1) and No. two arc-shaped permanent magnets (2-1-2), and No. two linear motors include No. two straight-line electrics
Machine primary (2-3) and No. two linear motor secondary (2-4),
No. two arc-shaped permanent magnets (2-1-2), concave surface positioning disk (2-1-1) are embedded on the interface of concave surface positioning disk (2-1-1)
Center be provided with through-hole, No. two linear motor secondary (2-4) pass through No. two linear electric motor primaries (2-3) and splitter (2-2) even
It connecing, splitter (2-2) can pass through concave surface positioning disk (2-1-1) by through-hole,
No.1 linear motor secondary (1-3), which is driven, pushes conical surface positioning disk (1-1-1) to stretch to concave surface positioning disk (2-1-1), leads to
Attracting each other for No.1 arc-shaped permanent magnet (1-1-2) and No. two arc-shaped permanent magnet (2-1-2) is crossed, conical surface positioning disk (1-1-1) is made
The concave surface of the conical surface and concave surface positioning disk (2-1-1) be docking together, to realize two satellite modules docking, No. two straight-line electrics
Machine secondary (2-4), which is driven, pushes splitter (2-2) to withstand conical surface positioning disk (1-1-1), overcomes suction, the conical surface is oriented to
The conical surface of disk (1-1-1) is separated with the concave surface of concave surface positioning disk (2-1-1), to realize two satellite modules separation.
2. a kind of electromagnetism docking facilities based on linear motor according to claim 1, which is characterized in that it further includes No.1
Drive control device and No. two drive control devices,
No.1 drive control device, for driving No.1 linear motor secondary (1-3),
No. two drive control devices, for driving No. two linear motor secondary (2-4).
3. a kind of electromagnetism docking facilities based on linear motor according to claim 1, 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 used for will be including No.1 arc-shaped permanent magnet (1-1-2) gear；No. two retaining rings (2-1-3) are used for two
Including number arc-shaped permanent magnet (2-1-2) gear.
4. a kind of electromagnetism docking facilities based on linear motor according to claim 1, 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.
5. a kind of electromagnetism docking facilities based on linear motor according to claim 3, which is characterized in that No.1 arc is forever
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.
6. a kind of electromagnetism docking facilities based on linear motor according to claim 3, which is characterized in that No.1 arc is forever
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).
7. a kind of electromagnetism docking facilities based on linear motor according to claim 3, which is characterized in that No.1 arc is forever
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.
8. a kind of electromagnetism docking facilities based on linear motor according to claim 3, which is characterized in that No.1 arc is forever
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.
9. a kind of electromagnetism docking facilities based on linear motor according to claim 1, which is characterized in that No.1 straight-line electric
Machine and No. two linear motors are cylindrical linear or flat plate type linear motor.
10. a kind of electromagnetism docking facilities based on linear motor according to claim 1 realize docking and separation method,
It is characterized in that, the described method comprises the following steps:
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 straight
The secondary (1-3) of line motor stretches out No.1 satellite modules, close to No. two satellite modules, close to during, due to No.1 arc
Shape permanent magnet (1-1-2) attracts each other with No. two permanent magnets, keeps No.1 butt plate (1-1) and No. two butt plates (2-1) mutually right
It connects；
Step 3: once No.1 butt plate (1-1) and No. two butt plates (2-1) are mutually butted, No.1 linear motor counter motion,
No.1 butt plate (1-1) is withdrawn, while driving No. two satellite modules close to No.1 satellite modules, in the process, realizes two
The connection of the power supply interface and information interface of a satellite modules；
Step 4: the separation of two satellite modules: when two satellite modules need to separate, No. two linear motor work, driving
Splitter (2-2) stretches out, and overcomes suction, two modules are separated.
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