CN110316404B - Self-guiding large fault-tolerant isomorphic interface for spacecraft and use method thereof - Google Patents
Self-guiding large fault-tolerant isomorphic interface for spacecraft and use method thereof Download PDFInfo
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Abstract
The invention provides a self-guiding large-fault-tolerance isomorphic interface for a spacecraft and a using method thereof.A motor drives a worm gear to rotate through a worm gear key, the worm gear drives a support sleeve to rotate through the worm gear key, the support sleeve rotates to drive an inner rotary drum to rotate firstly, the movement of the inner rotary drum pushes out a guide plate through a guide plate drive rod, a guide plate push rod and a rotating pin which are meshed with each other, meanwhile, a locking positioning pin is pushed out by the support sleeve, the motor stops after the two reach limit stations, the interface is aligned, the motor is started again, the support sleeve drives a telescopic sleeve which is meshed with the support sleeve to move through the drive rod, and a connecting key clamps a concave part of a locking sleeve, thereby completing locking. The invention can realize self-guiding fault-tolerant docking when the initial docking deviation between spacecrafts is larger, and realize multi-angle docking under the condition of multi-surface docking; the interface has simple structure, large locking force and compact size, and can meet the requirements of high reliability and large fault-tolerant butt joint of the spacecraft; meanwhile, the control is simple, the energy consumption is low, and the actual task cost of spacecraft docking can be saved.
Description
Technical Field
The invention relates to the field of spacecraft docking, in particular to a spacecraft isomorphic interface.
Background
The modular spacecraft has the characteristics of low cost, high reliability, high flexibility and quick research and development period, and becomes the development trend of the spacecraft in the future. The interface is used for important tasks of physical connection and separation, communication, heat exchange and the like of the modular spacecraft, and is the key point of modular spacecraft research. With the increasing requirements of the future modularized spacecraft and space assembly technology on quick change, integration, universality, high reliability and large fault tolerance, the fully isomorphic docking interface with good universality and high integration becomes an important direction for the development of the future interface technology.
At present, the latest fully isomorphic integration Interface schemes, such as "Design and Qualification of a Multi-Functional Interface for Modular Satellite Systems (Martin Kortmanna, 2018)", "accept of active payload modules and end-effectors availability for standing Interface for Robotic management of payload in Functional Space interfaces (Marko jack, 2018)" and "Multi-Functional Interface for Flexibility and reconfiguration of Functional audio Space interfaces (Javier videos, 2018)", although they achieve electromechanical number heat integration, docking, fully isomorphic Interface and other functions, but they do not have the ability to control the initial ocular vision more than the current ocular vision, and therefore, they have to increase the accuracy of the docking robot arms, and therefore, they have to have a higher accuracy of the initial ocular vision, i.e. they need to control the ocular vision more than the current ocular vision 5 mm.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a self-guiding large fault-tolerant isomorphic interface for a spacecraft, and the self-guiding fault-tolerant docking can be realized when the initial deviation of the docking between the spacecrafts is large under the condition that a visual system is not matched.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a large fault tolerant self-steering homogeneous interface for spacecraft comprising: the device comprises a guide mechanism, a positioning mechanism, a locking mechanism, a transmission mechanism, a supporting seat and a motor; the guide mechanism comprises a guide taper hole, a guide plate connecting plate, a guide plate push rod, a guide plate driving rod, a rotating pin, an inner rotary drum, a locking thread group and a guide thread group; the positioning mechanism comprises a locking positioning pin, a positioning pin baffle plate and a fastening screw; the locking mechanism comprises a telescopic sleeve, a driving rod and a locking sleeve; the transmission mechanism comprises a worm wheel, a worm wheel key, a supporting sleeve and a transmission bolt group;
in the guide mechanism, a guide plate is connected to a guide conical hole through a guide plate connecting plate, the guide conical hole forms a circular ring, the guide plate is gathered to form a cone, conical hole pressure grooves are uniformly distributed on the lower surface of the circular ring, a concave step is formed on the lower surface of the circular ring, a guide conical hole positioning hole is positioned on a high plane of the step on the lower surface of the guide conical hole circular ring, and a plurality of connecting plate locking holes are uniformly distributed on each conical hole pressure groove; each guide plate is connected to a rotating pin through a guide plate push rod, the other end of the rotating pin is connected with a guide plate driving rod, the guide plates are fixed in a guide taper hole through a locking thread group and a guide thread group, the driving rod is meshed with a sliding groove of the inner rotary drum, the diameter of the inner rotary drum is smaller than that of the support sleeve and the telescopic sleeve, the inner rotary drum is positioned in the support sleeve and the telescopic sleeve, and the inner rotary drum is connected with the support sleeve through a transmission bolt group;
in the locking mechanism, the telescopic sleeve is a hollow cylinder, a section of the hollow cylinder is provided with a connecting key, the cross section of the connecting key is a trapezoidal section with a large front part and a small back part, the connecting key and a concave part on the back of the locking sleeve have the same section shape, a driving rod fixing hole is uniformly distributed on the inner wall of the telescopic sleeve, the connecting key is positioned behind the outer surface of the locking sleeve in an initial state, when two spacecrafts are butted by using a large fault-tolerant self-guiding isomorphic interface, the connecting key of the telescopic sleeve of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts extends along the axial direction, after a specified extending amount is reached, the connecting key starts to rotate in the end surface, when the connecting key rotates to be in a butting state with the concave part of the locking sleeve of the large fault-tolerant self-guiding isomorphic interface B for the spacecrafts, the connecting key retracts, the concave part is combined with the connecting key to realize locking, the driving rod is used for connecting the telescopic sleeve and the supporting sleeve, the supporting sleeve drives the driving rod through an inner slide way and an outer slide way of the driving rod, the driving rod is meshed with a driving rod fixing hole in the telescopic sleeve, so that the telescopic sleeve is driven to move by the supporting sleeve;
in the positioning mechanism, a locking positioning pin is positioned on the outer side surface of a locking sleeve, a positioning pin baffle is fixed on the inner side surface of the locking sleeve by a set screw, and the position of the positioning pin baffle corresponds to that of the locking positioning pin on the outer side surface;
in the transmission mechanism, a worm wheel surrounds the periphery of a support sleeve, a worm wheel key is arranged on the worm wheel, and a transmission bolt group is arranged on the outer plane of the support sleeve;
the motor is arranged on the supporting seat through the worm, and the supporting seat is vertically and fixedly connected with the plane of the locking sleeve, so that the connection between the motor and the transmission mechanism is realized; the supporting sleeve is connected with the inner rotary drum through the transmission bolt group, so that the connection of the transmission mechanism and the guide mechanism is realized; the guide taper hole is connected with the locking sleeve through a locking thread group, so that the connection of the guide mechanism and the locking mechanism is realized; the telescopic sleeve is positioned in the supporting sleeve and is connected with the supporting sleeve through the driving rod, so that the locking mechanism is connected with the transmission mechanism; the whole positioning mechanism is connected with the locking sleeve through the set screw and connected with the supporting sleeve through the locking positioning pin, so that the connection of the positioning mechanism is realized; the guide plate connecting plate is buckled in the taper hole pressing groove and is connected with the guide taper hole through the guide taper hole positioning hole and the guide thread group, and meanwhile, the guide plate connecting plate is connected with the guide plate through the rotating pin;
the guiding mechanism adopts a telescopic guiding plate principle, the curvature of a guiding plate contact surface is the same as that of a guiding section in a corresponding guiding taper hole, the guiding plate of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft gradually extends into the guiding taper hole of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft, when the curvatures of the actual contact surfaces of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft and the large fault-tolerant self-guiding isomorphic interface B for the spacecraft are unequal, a relative acting force is generated, and the guiding mechanical arm corrects the butt joint posture until the butting is completely carried out;
the guiding mechanism, the locking mechanism and the positioning mechanism of the large fault-tolerant self-guiding isomorphic interface for the spacecraft are uniformly driven by one motor; the transmission of the connector adopts a four-layer sliding chute sleeve form, the phase design of the sliding chutes allows the guide plate, the locking positioning pin and the telescopic sleeve to sequentially move in one interface butt joint movement period, and the motor controls three different movements, namely guiding, positioning and locking; the transmission mode is as follows: the guide plate driving rod is meshed with the inner rotary drum, the inner rotary drum is fixedly connected with the supporting sleeve, and the supporting sleeve controls the inner rotary drum to radially rotate; the locking positioning pin is engaged with the supporting sleeve, and the telescopic sleeve is engaged with the supporting sleeve and the locking sleeve through the driving rod; the supporting sleeve is fixedly connected with a worm wheel, and the motor drives the meshed worm to realize all movements of the interface.
The invention also provides a use method of the large fault-tolerant self-guided isomorphic interface for the spacecraft, which comprises the following steps:
the large fault-tolerant self-guiding isomorphic interface for the spacecraft is characterized in that the guide plate is completely retracted behind the guide taper hole in the initial state.
When the butt joint starts, the large fault-tolerant self-guiding isomorphic interfaces for the two spacecrafts are in an initial state, a motor of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts is controlled to drive a worm gear to rotate through a worm, the worm gear drives a supporting sleeve to rotate through a worm gear key, the supporting sleeve rotates to drive an inner rotary drum to rotate, the inner rotary drum moves to push out a guide plate through a guide plate driving rod, a guide plate push rod and a rotating pin which are meshed with each other, meanwhile, a locking positioning pin is pushed out by the supporting sleeve, and the motor stops after the locking positioning pin and the locking positioning pin both reach limit stations. At the moment, the matched mechanical arm with the force sensor aligns the spacecraft with the large fault-tolerant self-guiding isomorphic interface through force guidance. After the large fault-tolerant self-guiding isomorphic interface for the spacecraft is aligned, the motor is started again, the supporting sleeve drives the meshed telescopic sleeve to move through the driving rod, the driving rod is meshed with the locking sleeve simultaneously, the telescopic sleeve extends out firstly, then rotates and retracts, and the connecting key of the telescopic sleeve clamps the concave part of the locking sleeve of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft, so that locking is completed.
In the locking sleeve, the locking positioning holes are circular through holes and are uniformly distributed on the outer plane of the locking sleeve, the guiding taper hole locking holes are uniformly distributed on the concave stepped hole of the locking sleeve, the locking moving hole is a Y-shaped through hole and is uniformly distributed on the outer plane of the locking sleeve, and the locking sleeve sliding groove is an L-shaped sliding groove and is positioned on the side wall of the inner cylinder of the locking sleeve.
The utility model discloses a locking mechanism, including support sleeve, actuating lever slideway, the length of actuating lever slideway is decided by the maximum extension when the butt joint of telescope tube, the length of actuating lever slideway is decided by the deflector stretch-out time of guiding mechanism and positioning mechanism's locking locating pin stretch-out time decision outside the outer edge of the one end of cavity cylinder, be equipped with the locating pin spout on support sleeve's the lateral wall, actuating lever slideway and actuating lever slideway, the distance of locating pin spout apart from support sleeve's preceding terminal surface is decided by the length of locking locating pin, the actuating lever slideway is crossing perpendicularly with the actuating lever slideway, the length of actuating lever slideway is decided by the deflector stretch-out time of guiding mechanism and positioning mechanism's locking locating pin stretch-out time.
The guiding mechanism and the locking mechanism of the large fault-tolerant self-guiding isomorphic interface for the spacecraft are axially and centrally symmetrically distributed.
After the guide plate of the large fault-tolerant self-guiding isomorphic interface for the spacecraft is extended out and recovered, a circular hole with the diameter meeting the requirement of non-contact data transmission is reserved in the center of the guide plate and is used for non-contact data transmission of infrared and laser lamps.
The invention has the advantages that the self-guiding fault-tolerant docking can be realized when the initial docking deviation between the spacecrafts is larger, and the fully isomorphic design realizes the multi-angle docking under the condition of multi-surface docking; the interface has simple structure, large locking force and compact size, and can meet the requirements of high reliability and large fault-tolerant butt joint of the spacecraft; meanwhile, the control is simple, the energy consumption is low, and the actual task cost of spacecraft docking can be saved.
Drawings
FIG. 1 is a schematic front view of a three-dimensional structure according to the present invention.
FIG. 2 is a schematic view of the backside of the three-dimensional structure of the present invention.
Fig. 3 is a schematic three-dimensional structure diagram of the locking sleeve of the present invention.
Fig. 4 is a schematic diagram of a three-dimensional structure of a guide taper hole according to the present invention.
FIG. 5 is a schematic three-dimensional structure of the support sleeve of the present invention.
FIG. 6 is a schematic view of a four-layer chute sleeve and its connecting rods according to the present invention.
Fig. 7 is a schematic view of the guide mechanism of the present invention.
Fig. 8 is a schematic view of the telescopic sleeve of the present invention.
1-locking positioning pin, 2-locking sleeve, 3-guiding taper hole, 4-guiding plate, 5-guiding plate connecting plate, 6-worm wheel, 7-supporting sleeve, 8-worm, 9-worm wheel key, 10-telescopic sleeve, 11-guiding plate driving rod, 12-rotating pin, 13-guiding plate push rod, 14-motor, 15-inner drum, 16-driving rod, 17-positioning pin baffle, 18-set screw, 19-driving bolt group, 20-supporting seat, 21-locking thread group and 22-guiding thread group.
2-1 shows a locking positioning hole, 2-2 shows a guiding taper hole locking hole, 2-3 shows a locking sleeve sliding groove, 2-4 shows a locking moving hole, (2-5) shows a concave part, 3-1 shows a taper hole pressing groove, 3-2 shows a guiding section, 3-3 shows a guiding taper hole positioning hole, 3-4 shows a connecting plate locking hole, 7-1 shows a positioning pin sliding groove, 7-2 shows a driving rod inner sliding groove, 7-3 shows a driving rod outer sliding groove, 10-1 shows a driving rod fixing hole, and 10-2 shows a connecting key.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the drawings.
As shown in fig. 1 to 8, a large fault-tolerant self-steering homogeneous interface for a spacecraft includes: the device comprises a guide mechanism, a positioning mechanism, a locking mechanism, a transmission mechanism, a supporting seat (20) and a motor (14); wherein, guiding mechanism includes: the device comprises a guide taper hole (3), a guide plate (4), a guide plate connecting plate (5), a guide plate push rod (13), a guide plate driving rod (11), a rotating pin (12), an inner rotary drum (15), a locking thread group (21) and a guide thread group (22); the positioning mechanism includes: the locking device comprises a locking positioning pin (1), a positioning pin baffle plate (17) and a set screw (18); the locking mechanism includes: the telescopic sleeve (10), the driving rod (16) and the locking sleeve (2); the transmission mechanism includes: the worm gear (6), the worm (8), a worm gear key (9), a support sleeve (7) and a transmission bolt group (19).
In the guide mechanism, a guide plate (4) is connected to a guide taper hole (3) through a guide plate connecting plate (5), the guide taper hole (3) forms a circular ring, the guide plate (4) forms a cone after being gathered, the guide taper hole (3) is shown in a figure 4, (3-1) shows a taper hole pressure groove, (3-2) shows a guide cross section, (3-3) shows a guide taper hole positioning hole, and (3-4) shows a connecting plate locking hole, the taper hole pressure grooves are uniformly distributed on the lower surface of the circular ring, concave steps are formed on the lower surface of the circular ring, the guide taper hole positioning hole is located on the high plane of the steps on the lower surface of the guide taper hole circular ring, and a plurality of connecting plate locking holes are uniformly distributed on each taper hole pressure groove. Every deflector (4) is connected on rotating pin (12) through deflector push rod (13), deflector actuating lever (11) is connected to rotating pin (12) other one end, deflector (4) are fixed in direction taper hole (3) through locking thread group (21) and direction thread group (22), actuating lever (11) and the spout meshing of interior rotary drum (15), interior rotary drum (15) diameter is less than supporting sleeve (7) and telescope tube (10), and be located supporting sleeve (7) and telescope tube (10), be connected with supporting sleeve (7) through transmission bolt group (19).
In the locking mechanism, the telescopic sleeve (10) is a hollow cylinder, a connecting key (10-2) is arranged at one section of the hollow cylinder, the cross section of the connecting key (10-2) is a trapezoidal section with a large front part and a small rear part, the connecting key (10-2) and a concave part (2-5) at the back of the locking sleeve (2) have the same section shape, and driving rod fixing holes (10-1) are uniformly distributed in the inner wall of the telescopic sleeve (10). The locking principle is as follows: the initial state connecting key (10-2) is located behind the outer surface of the locking sleeve (2), when two spacecrafts are butted by the large fault-tolerant self-guiding isomorphic interface, the connecting key (10-2) of the telescopic sleeve (10) of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts extends out axially, after the specified extending amount is reached, the spacecraft starts to rotate in the end face, when the spacecraft rotates to be in a butting state with the concave part (2-5) of the locking sleeve (2) of the large fault-tolerant self-guiding isomorphic interface B for the spacecrafts, the spacecraft stops, the connecting key (10-2) retracts, and the concave part (2-5) and the connecting key (10-2) are combined to realize locking. The driving rod (16) is used for connecting the telescopic sleeve (10) and the supporting sleeve (7), the supporting sleeve (7) drives the driving rod (16) through the driving rod inner slide way (7-2) and the driving rod outer slide way (7-3), and the driving rod (16) is meshed with the driving rod fixing hole (10-1) in the telescopic sleeve (10), so that the telescopic sleeve (10) is driven by the supporting sleeve (7) to move.
In the positioning mechanism, a locking positioning pin (1) is positioned on the outer side surface of a locking sleeve (2), a positioning pin baffle plate (17) is fixed on the inner side surface of the locking sleeve (2) by a set screw (18), and the position of the positioning pin baffle plate corresponds to that of the locking positioning pin (1) on the outer side surface.
Among the drive mechanism, include: the worm wheel (6) surrounds the periphery of the supporting sleeve (7), a worm wheel key (9) is arranged on the worm wheel (6), and a transmission bolt group (19) is arranged on the outer plane of the supporting sleeve (7);
the motor (14) is arranged on the supporting seat (20) through the worm (8), and the supporting seat (20) is vertically and fixedly connected with the plane of the locking sleeve (2), so that the connection between the motor and the transmission mechanism is realized; the supporting sleeve (7) is connected with the inner rotary drum (15) through a transmission bolt group (19), so that the connection of a transmission mechanism and a guide mechanism is realized; the guide taper hole (3) is connected with the locking sleeve (2) through a locking thread group (21), so that the connection of the guide mechanism and the locking mechanism is realized; the telescopic sleeve (10) is positioned in the support sleeve (7) and is connected with the support sleeve through a driving rod (16), so that the locking mechanism is connected with the transmission mechanism; the whole positioning mechanism is connected with the locking sleeve (2) through a set screw (18) and is connected with the supporting sleeve (7) through a locking positioning pin (1), so that the connection of the positioning mechanism is realized; the guide plate connecting plate (5) is buckled and pressed in the taper hole pressing groove (3-1) and is connected with the guide taper hole (3) through the guide taper hole positioning hole (3-4) and the guide thread group (22), and meanwhile, the guide plate connecting plate (5) is connected with the guide plate (4) through the rotating pin (12).
The guiding mechanism of the isomorphic interface adopts the principle of a telescopic guide plate, and the curvature of the contact surface of the guide plate (4) is the same as that of the guide section (3-2) in the corresponding guide taper hole (3). Along with the guide plate (4) of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft gradually deepens into the guide taper hole (3) of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft, when the curvatures of the actual contact surfaces of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft and the actual contact surfaces of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft are unequal, a relative acting force is generated, and the mechanical arm is guided to correct the butt joint posture until the butt joint is completed.
The guiding mechanism is located at the innermost side of the large fault-tolerant self-guiding isomorphic interface for the spacecraft, the locking mechanism and the positioning mechanism are located at the periphery of the interface, the guiding mechanism and the locking mechanism are in axisymmetric and centrosymmetric distribution, and after the guide plate (4) is stretched out and recovered, a circular hole with the diameter meeting the requirement of non-contact data transmission is reserved in the center for non-contact data transmission.
The guiding mechanism, the locking mechanism and the positioning mechanism of the large fault-tolerant self-guiding isomorphic interface for the spacecraft are uniformly driven by one motor. The transmission of the connector is in a four-layer sliding groove sleeve form, the phase design of the sliding grooves allows the guide plate (4), the locking positioning pin (1) and the telescopic sleeve (10) to sequentially move in one interface butt joint movement period, and the motor controls three different movements, namely guiding, positioning and locking. The transmission mode is as follows: the guide plate driving rod (11) is meshed with the inner rotary drum (15), the inner rotary drum (15) is fixedly connected with the supporting sleeve (7), and the supporting sleeve (7) controls the inner rotary drum (15) to rotate in the radial direction; the locking positioning pin (1) is meshed with the supporting sleeve (7), and the telescopic sleeve (10) is meshed with the supporting sleeve (7) and the locking sleeve (2) through the driving rod (16); the supporting sleeve (7) is fixedly connected with the worm wheel (6), and the motor (14) drives the meshed worm (8) to realize all movements of the interface. The isomorphic interface, inner rotary drum, support sleeve, telescopic sleeve are rotating parts, the phase design of the sliding groove allows the guide plate, the locking positioning pin and the telescopic sleeve to move in sequence in one interface butt joint movement period.
The three-dimensional structure of the locking sleeve is shown in figure 3, (2-1) shows a locking positioning hole, (2-2) shows a guiding taper hole locking hole, (2-3) shows a locking sleeve sliding groove, and (2-4) shows a locking moving hole, wherein the locking positioning hole is a circular through hole and is uniformly distributed on the outer side plane of the locking sleeve, the guiding taper hole locking holes are uniformly distributed on the concave step hole of the locking sleeve, the locking moving hole is a Y-shaped through hole and is uniformly distributed on the outer side plane of the locking sleeve, and the locking sleeve sliding groove is an L-shaped sliding groove and is positioned on the side wall of the inner cylinder of the locking sleeve.
The supporting sleeve (7) is shown in fig. 5, wherein (7-1) represents a positioning pin sliding groove, (7-2) represents a driving rod inner sliding groove, and (7-3) represents a driving rod outer sliding groove, the supporting sleeve is a hollow cylinder, the outer edge of one end of the hollow cylinder protrudes outwards, the side wall of the supporting sleeve is provided with the positioning pin sliding groove, the driving rod inner sliding groove and the driving rod outer sliding groove, the distance between the positioning pin sliding groove (7-1) and the front end face (the end face close to the front face of the connector during assembly) of the supporting sleeve (7) is determined by the length of a locking positioning pin (1), the driving rod inner sliding groove (7-2) is vertically intersected with the driving rod outer sliding groove (7-3), the length of the driving rod inner sliding groove (7-2) is determined by the maximum extending amount during butt joint of the telescopic sleeve (10), and the length of the driving rod outer sliding groove (7-3) is determined by the extending time of a guide plate (4) of the guide mechanism and the locking positioning pin (3) of the positioning mechanism 1) And determining the extending time.
The use method of the large fault-tolerant self-steering isomorphic interface for the spacecraft comprises the following steps:
when the large fault-tolerant self-guiding isomorphic interface for the spacecraft is in an initial state, the guide plate (4) is completely retracted behind the guide taper hole (3).
When the butt joint is started, the large fault-tolerant self-guiding isomorphic interfaces for the two spacecrafts are in an initial state, a motor of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts is controlled to drive a worm wheel (6) to rotate through a worm wheel (8), the worm wheel (6) drives a supporting sleeve (7) to rotate through a worm wheel key (9), the supporting sleeve (7) rotates to drive an inner rotary drum (15) to rotate at first, the inner rotary drum (15) moves to push out a guide plate (4) through a guide plate driving rod (11), a guide plate push rod (13) and a rotating pin (12) which are meshed with each other, meanwhile, a locking positioning pin (1) is pushed out by the supporting sleeve (7), and the motor stops after the two reach limit stations. At the moment, the matched mechanical arm with the force sensor aligns the spacecraft with the large fault-tolerant self-guiding isomorphic interface through force guidance. After the large fault-tolerant self-guiding isomorphic interface for the spacecraft is aligned, the motor is started again, the supporting sleeve (7) drives the meshed telescopic sleeve (10) to move through the driving rod (16), the driving rod (16) is meshed with the locking sleeve (2) at the same time, the telescopic sleeve (10) firstly extends out and then rotates and then retracts, and the connecting key of the telescopic sleeve clamps the concave part (2-5) of the locking sleeve (2) of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft, so that locking is completed.
The isomorphic interface of the embodiment is provided with a large fault-tolerant guide mechanism, so that the design fault tolerance of +/-14 mm/10 degrees is realized in an interface space similar to the existing completely isomorphic interface, and the self-guide fault-tolerant butt joint when the initial butt joint deviation is large can be realized; the interface has simple structure, large locking force and compact size, and can meet the requirements of high reliability and large fault-tolerant butt joint of the spacecraft; meanwhile, the control is simple, the energy consumption is low, and the actual task cost of spacecraft docking can be saved.
Claims (6)
1. A self-steering large fault tolerant homogeneous interface for spacecraft, comprising: guiding mechanism, positioning mechanism, locking mechanism, drive mechanism, supporting seat and motor, its characterized in that:
the guide mechanism comprises a guide taper hole, a guide plate connecting plate, a guide plate push rod, a guide plate driving rod, a rotating pin, an inner rotary drum, a locking thread group and a guide thread group; the positioning mechanism comprises a locking positioning pin, a positioning pin baffle plate and a fastening screw; the locking mechanism comprises a telescopic sleeve, a driving rod and a locking sleeve; the transmission mechanism comprises a worm wheel, a worm wheel key, a supporting sleeve and a transmission bolt group;
in the guide mechanism, a guide plate is connected to a guide conical hole through a guide plate connecting plate, the guide conical hole forms a circular ring, the guide plate is gathered to form a cone, conical hole pressure grooves are uniformly distributed on the lower surface of the circular ring, a concave step is formed on the lower surface of the circular ring, a guide conical hole positioning hole is positioned on a high plane of the step on the lower surface of the guide conical hole circular ring, and a plurality of connecting plate locking holes are uniformly distributed on each conical hole pressure groove; each guide plate is connected to a rotating pin through a guide plate push rod, the other end of the rotating pin is connected with a guide plate driving rod, the guide plates are fixed to a guide taper hole through a locking thread group and a guide thread group, the driving rod is meshed with a sliding groove of the inner rotary drum, the diameter of the inner rotary drum is smaller than that of the support sleeve and the telescopic sleeve, the inner rotary drum is located in the support sleeve and the telescopic sleeve, and the inner rotary drum is connected with the support sleeve through a transmission bolt group;
in the locking mechanism, the telescopic sleeve is a hollow cylinder, a section of the hollow cylinder is provided with a connecting key, the cross section of the connecting key is a trapezoidal section with a large front part and a small back part, the connecting key and the concave part on the back of the locking sleeve have the same section shape, the driving rod fixing holes are uniformly distributed on the inner wall of the telescopic sleeve, the connecting key is positioned behind the outer surface of the locking sleeve in an initial state, when two spacecrafts are butted by using a large fault-tolerant self-guiding isomorphic interface, the connecting key of the telescopic sleeve of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts extends along the axial direction, after reaching a specified extension amount, the connecting key starts rotating in the end surface, when the connecting key rotates to be in a butting state with the concave part of the locking sleeve of the large fault-tolerant self-guiding isomorphic interface B for the spacecrafts, the connecting key retracts, the concave part is combined with the connecting key to realize locking, the driving rod is used for connecting the telescopic sleeve and the supporting sleeve, the supporting sleeve drives the driving rod through the driving rod inner slideway and the driving rod outer slideway, the driving rod is meshed with a driving rod fixing hole in the telescopic sleeve, so that the telescopic sleeve is driven to move by the supporting sleeve;
in the positioning mechanism, a locking positioning pin is positioned on the outer side surface of a locking sleeve, a positioning pin baffle is fixed on the inner side surface of the locking sleeve by a set screw, and the position of the positioning pin baffle corresponds to that of the locking positioning pin on the outer side surface;
in the transmission mechanism, a worm wheel surrounds the periphery of a support sleeve, a worm wheel key is arranged on the worm wheel, and a transmission bolt group is arranged on the outer plane of the support sleeve;
the motor is arranged on the supporting seat through the worm, and the supporting seat is vertically and fixedly connected with the plane of the locking sleeve, so that the connection between the motor and the transmission mechanism is realized; the supporting sleeve is connected with the inner rotary drum through the transmission bolt group, so that the connection of the transmission mechanism and the guide mechanism is realized; the guide taper hole is connected with the locking sleeve through a locking thread group, so that the connection of the guide mechanism and the locking mechanism is realized; the telescopic sleeve is positioned in the support sleeve and is connected with the support sleeve through the driving rod, so that the locking mechanism is connected with the transmission mechanism; the whole positioning mechanism is connected with the locking sleeve through a set screw and connected with the supporting sleeve through a locking positioning pin, so that the connection of the positioning mechanism is realized; the guide plate connecting plate is buckled in the taper hole pressing groove and is connected with the guide taper hole through the guide taper hole positioning hole and the guide thread group, and meanwhile, the guide plate connecting plate is connected with the guide plate through a rotating pin;
the guiding mechanism adopts a telescopic guiding plate principle, the curvature of a guiding plate contact surface is the same as that of a guiding section in a corresponding guiding taper hole, the guiding plate of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft gradually extends into the guiding taper hole of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft, when the curvatures of the actual contact surfaces of the large fault-tolerant self-guiding isomorphic interface A for the spacecraft and the large fault-tolerant self-guiding isomorphic interface B for the spacecraft are unequal, a relative acting force is generated, and the guiding mechanical arm corrects the butt joint posture until the butting is completely carried out;
the guiding mechanism, the locking mechanism and the positioning mechanism of the large fault-tolerant self-guiding isomorphic interface for the spacecraft are uniformly driven by one motor; the transmission of the connector adopts a four-layer sliding chute sleeve form, the phase design of the sliding chutes allows the guide plate, the locking positioning pin and the telescopic sleeve to sequentially move in one interface butt joint movement period, and the motor controls three different movements, namely guiding, positioning and locking; the transmission mode is as follows: the guide plate driving rod is meshed with the inner rotary drum, the inner rotary drum is fixedly connected with the supporting sleeve, and the supporting sleeve controls the inner rotary drum to radially rotate; the locking positioning pin is meshed with the supporting sleeve, and the telescopic sleeve is meshed with the supporting sleeve and the locking sleeve through the driving rod; the supporting sleeve is fixedly connected with a worm wheel, and the motor drives the meshed worm to realize all movements of the interface.
2. The self-guided large fault-tolerant homogeneous interface according to claim 1, wherein:
in the locking sleeve, the locking positioning holes are circular through holes and are uniformly distributed on the outer plane of the locking sleeve, the guiding taper hole locking holes are uniformly distributed on the concave stepped hole of the locking sleeve, the locking moving hole is a Y-shaped through hole and is uniformly distributed on the outer plane of the locking sleeve, and the locking sleeve sliding groove is an L-shaped sliding groove and is positioned on the side wall of the inner cylinder of the locking sleeve.
3. The self-guided large fault-tolerant homogeneous interface according to claim 1, wherein:
the utility model discloses a locking mechanism, including support sleeve, actuating lever slideway, the length of actuating lever slideway is decided by the maximum extension when the butt joint of telescope tube, the length of actuating lever slideway is decided by the deflector stretch-out time of guiding mechanism and positioning mechanism's locking locating pin stretch-out time decision outside the outer edge of the one end of cavity cylinder, be equipped with the locating pin spout on support sleeve's the lateral wall, actuating lever slideway and actuating lever slideway, the distance of locating pin spout apart from support sleeve's preceding terminal surface is decided by the length of locking locating pin, the actuating lever slideway is crossing perpendicularly with the actuating lever slideway, the length of actuating lever slideway is decided by the deflector stretch-out time of guiding mechanism and positioning mechanism's locking locating pin stretch-out time.
4. The self-guided large fault-tolerant isomorphic interface of claim 1 for a spacecraft comprises:
the guiding mechanism and the locking mechanism of the large fault-tolerant self-guiding isomorphic interface for the spacecraft are distributed in an axisymmetric and centrosymmetric manner.
5. The self-guided large fault-tolerant homogeneous interface according to claim 1, wherein:
after the guide plate of the large fault-tolerant self-guiding isomorphic interface for the spacecraft is extended out and recovered, a circular hole with the diameter meeting the requirement of non-contact data transmission is reserved in the center of the guide plate and is used for non-contact data transmission of infrared and laser lamps.
6. A method for using a self-guided large fault tolerant homogeneous interface for a spacecraft as claimed in claim 1, comprising the steps of:
the large fault-tolerant self-guiding isomorphic interface for the spacecraft is characterized in that a guide plate is completely retracted behind a guide taper hole in an initial state;
when the butt joint starts, the large fault-tolerant self-guiding isomorphic interfaces for the two spacecrafts are in an initial state, firstly, a motor of the large fault-tolerant self-guiding isomorphic interface A for the spacecrafts is controlled to drive a worm gear to rotate through a worm, the worm gear drives a supporting sleeve to rotate through a worm gear key, the supporting sleeve rotates to drive an inner rotary drum to rotate, the inner rotary drum moves to push out a guide plate through a guide plate driving rod, a guide plate push rod and a rotating pin which are meshed with each other, meanwhile, a locking positioning pin is pushed out by the supporting sleeve, and the motor stops after the locking positioning pin and the locking positioning pin both reach limit stations; at the moment, a matched mechanical arm with a force sensor aligns the large fault-tolerant self-guiding isomorphic interface for the spacecraft through force guidance; after the large fault-tolerant self-guiding isomorphic interface for the spacecraft is aligned, the motor is started again, the supporting sleeve drives the meshed telescopic sleeve to move through the driving rod, the driving rod is meshed with the locking sleeve simultaneously, the telescopic sleeve extends out firstly and then rotates and retracts, and the connecting key clamps the concave part of the locking sleeve of the large fault-tolerant self-guiding isomorphic interface B for the spacecraft so as to complete locking.
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| CN113291481B (en) * | 2021-05-17 | 2022-04-08 | 南京航空航天大学 | Aerial butt joint locking device of unmanned aerial vehicle cluster |
| CN113488811B (en) * | 2021-06-25 | 2022-03-29 | 中航光电科技股份有限公司 | Self-coupling all-neutral butt joint device and connector |
| CN113873797B (en) * | 2021-08-31 | 2023-05-09 | 北京空间飞行器总体设计部 | Standardized on-orbit replaceable unit electromechanical and thermal information integrated interface |
| CN114516430B (en) * | 2022-01-25 | 2023-07-25 | 上海卫星工程研究所 | Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite |
| CN114800603B (en) * | 2022-04-20 | 2023-09-05 | 中国人民解放军国防科技大学 | Chemical bond-like mechanical arm |
| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | Dynamic docking and recycling device for underwater vehicle with self-correction posture |
| CN115972139B (en) * | 2023-01-05 | 2023-08-15 | 哈尔滨工业大学 | Active and passive end isomorphic large-tolerance butt joint device |
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