CN111017271A - Spacecraft mooring mechanism - Google Patents
Spacecraft mooring mechanism Download PDFInfo
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- CN111017271A CN111017271A CN201911329269.3A CN201911329269A CN111017271A CN 111017271 A CN111017271 A CN 111017271A CN 201911329269 A CN201911329269 A CN 201911329269A CN 111017271 A CN111017271 A CN 111017271A
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- 238000003032 molecular docking Methods 0.000 description 11
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- 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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Abstract
The invention relates to a spacecraft berthing mechanism, which belongs to the field of space station cargo transportation; comprises an active end and a passive end; the driving end comprises a three-jaw connecting mechanism, a spring push rod separating mechanism, a ball screw transmission mechanism, a worm and gear self-locking mechanism, a driving end shell, a driving end electric interface, a push disc and a fixed disc; the passive end comprises a passive end shell, a passive end disc spring assembly, a passive end electric interface and a passive end guide orientation hole; the driving end is driven by the space manipulator to align to the driven end; the three-jaw connecting mechanism is rotated outwards to be opened; the active end continues to move to the passive end; until the active end electric interface is inserted into the passive end electric interface, until the plug-in is in place; 3 clamping jaws of the three-jaw connecting mechanism rotate inwards to be closed, and are locked and fixed; the invention can realize the mechanical connection between the carried goods and the space station under the assistance of the space mechanical arm, can stop the goods at the space station and can keep stable stop for a long time. When separation is required, low impact reliable separation is achieved.
Description
Technical Field
The invention belongs to the field of space station cargo transportation, and relates to a spacecraft mooring mechanism.
Background
With the development of aerospace technology in China, the establishment and development of space stations are important integration and embodiment of space technology. In the future, in the on-orbit flying period of the space station in China, space goods resources need to be supplied, ground materials need to be conveyed to the space station, and the space goods can be parked at the space station.
The space cargo is conveyed to a space preset area by the cargo ship, the space station mechanical arm is operated to pull out and transfer the pallet system to the space station, and the space station mechanical arm and the cabin body of the space station realize butt joint, docking and unlocking separation.
In the prior art, most of unmanned docking mechanisms applied to an on-rail are low-pretightening-force docking mechanisms (docking of two light spacecrafts can be completed without excessive pretightening force when the on-rail works), and along with on-rail deployment of large space facilities such as on-rail services and space stations, the requirements of large bearing and long-term locking are provided for the space docking mechanisms. In the prior art, due to the fact that the pretightening force is small, the bearing capacity after butt joint is completed cannot meet the requirement of large-scale spacecraft connection, and after the pretightening force is applied and locked, the problems of stress relaxation and mechanism creep caused by long-time locking are not solved in the prior art.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the spacecraft berthing mechanism can be used for realizing mechanical connection between a cargo and a space station under the assistance of a space mechanical arm, can berth the cargo at the space station and can stably berth for a long time. When separation is required, low impact reliable separation is achieved.
The technical scheme of the invention is as follows:
a spacecraft mooring mechanism comprises an active end and a passive end; the driving end comprises a three-jaw connecting mechanism, a spring push rod separating mechanism, a ball screw transmission mechanism, a worm and gear self-locking mechanism, a driving end shell, a driving end electric interface, a push disc and a fixed disc; the driving end shell is of a hollow cylinder structure; the worm and gear self-locking mechanism is arranged at the inner bottom end of the driving end shell; the ball screw transmission mechanism is arranged above the worm and gear self-locking mechanism and is in butt joint with the output end of the worm and gear self-locking mechanism; the push disc is a disc-shaped structure which is horizontally placed; the push disc is coaxially and fixedly connected with the ball screw transmission mechanism; the root part of the three-jaw connecting mechanism is fixedly arranged on the upper surface of the push disc; the three-jaw connecting mechanisms are uniformly distributed along the circumferential direction of the push disc; the top end of the three-jaw connecting mechanism extends out of the driving end shell; the fixed disc is arranged at the top of the driving end shell; and is positioned in the center of the three-jaw connecting mechanism; the driving end electric interface and the spring push rod separating mechanism are arranged on the upper surface of the fixed disc; the passive end comprises a passive end shell, a passive end disc spring assembly, a passive end electric interface and a passive end guide orientation hole; wherein, the passive end shell is a cylinder structure; the driven end disc spring assemblies are uniformly arranged on the outer wall of the driven end shell along the circumferential direction; the passive end electric interface and the passive end guide orientation hole are arranged on the axial lower end face of the passive end shell.
In the above spacecraft mooring mechanism, the active end further comprises a manually operated driving mechanism and a motor; the manual operation driving mechanism and the motor are both arranged at the inner bottom end of the driving end shell; the manual operation driving mechanism and the motor are respectively connected with the input end of the worm and gear self-locking mechanism; realize the self-locking mechanism of the manually driven worm gear or the motor driven worm gear.
In the above spacecraft mooring mechanism, the three-jaw connection mechanism comprises 3 clamping jaws; the 3 clamping jaws are uniformly arranged at the top of the pushing disc along the circumferential direction; the spring push rod separating mechanism comprises 3 spring push rods; the 3 spring push rods are uniformly arranged at the top end of the fixed disc along the circumferential direction; the active end electrical interface comprises 3 electrical pins; the fixing disc is uniformly arranged at the top end of the fixing disc along the circumferential direction; and 3 spring push rods and 3 electric pins are distributed in a staggered mode.
In the above spacecraft mooring mechanism, the passive end disc spring assembly comprises 3 disc springs; the 3 disc springs are uniformly arranged on the outer wall of the driven end shell along the circumferential direction; the positions of the 3 disc springs correspond to the positions of the 3 clamping jaws respectively; the passive end electric interface comprises 3 electric jacks; the 3 electric jacks are uniformly arranged at the axial bottom end of the driven end shell along the circumferential direction; the passive end guide orientation hole comprises 3 guide holes; the 3 guide holes are uniformly arranged at the axial bottom end of the driven end shell along the circumferential direction; the positions of the 3 electric jacks respectively correspond to the positions of the 3 electric pins; the positions of the 3 guide holes respectively correspond to the positions of the 3 spring push rods.
In the above spacecraft mooring mechanism, the motion process of the active end is as follows:
the worm and gear self-locking mechanism rotates under the drive of a manual operation driving mechanism or a motor; driving the ball screw transmission mechanism to move; the ball screw transmission mechanism drives the push disc to do translational motion in the vertical direction; when the push disc vertically moves upwards along with the ball screw transmission mechanism, the three-jaw connecting mechanism is opened by taking the connecting point of the three-jaw connecting mechanism and the push disc as an axial external rotation; when the push disc vertically moves downwards along with the ball screw transmission mechanism, the three-jaw connecting mechanism rotates and closes in the axial direction by taking the connecting point of the three-jaw connecting mechanism and the push disc as an axial direction, so that grasping is realized.
In a spacecraft mooring arrangement of the kind described above, said passive end is fixedly mounted to an outer wall of an external space station; the driving end is fixedly arranged on the outer wall of the external space pallet; the external space pallet is aligned to the external space station under the drive of the external space mechanical arm; and finally, the butt joint of the driving end and the driven end is realized.
In the above spacecraft mooring mechanism, the process of docking the active end and the passive end is as follows:
the driving end is aligned to the driven end under the drive of the external space mechanical arm; 3 clamping jaws of the three-jaw connecting mechanism are opened outwards in a rotating mode; the active end continues to move to the passive end; until 3 spring push rods of the spring push rod separation mechanism extend into 3 guide holes of the passive end guide orientation hole; the active end continues to move to the passive end; 3 electric pins of the active end electric interface are inserted into 3 electric sockets of the passive end electric interface until the electric sockets are in place, so that the circuits are communicated; 3 clamping jaws of the three-jaw connecting mechanism rotate inwards to be closed; the top inner wall of 3 clamping jaws compresses tightly 3 dish springs of passive end dish spring subassembly and realizes locking fixedly.
In the above spacecraft mooring mechanism, the clamping jaw is of an inverted L-shaped structure; when the clamping jaw is closed, the disc spring is compressed.
In the spacecraft mooring mechanism, the spring push rod does not deform when extending into the guide hole in the initial state; when the active end continues to move along the guide hole until the electric plug and the electric jack are inserted in place, the spring push rod is in a compressed state at the moment.
In the spacecraft mooring mechanism, when the active end is separated from the passive end, the three-jaw connecting mechanism is rotated outwards to be opened; the 3 dish springs that passive end dish spring subassembly was compressed tightly and the 3 spring push rod's that spring push rod separating mechanism was compressed tightly restoring force provide the separating force, realize the separation of initiative end and passive end.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention realizes the homologous design of unfolding, capturing, correcting and locking, the driving end utilizes a single motor to drive the ball screw transmission mechanism and drives the cam on the three-jaw type connecting mechanism, so that the gripper can realize the D-shaped motion track and can flexibly capture in a large range, and the disc spring assembly can provide good compensation and adjustment effects for the locking of the three grippers;
(2) after the driving end and the driven end are locked, a large bearing design can be realized through a worm and gear self-locking mechanism, a force transmission path design and a disc spring assembly, the pre-tightening load can reach 40kN, and meanwhile, the design scheme has a short force transmission path and a disc spring compensation link and can realize long-term locking on a rail;
(3) according to the driving end retractable installation interface, the structural size of the driving end needs to meet the requirement of reliable connection of a large load, and is limited by the radial envelope size of the emitter. Therefore, the driving end interface is designed to be a retractable installation interface, the radial envelope size of the pallet system is reduced while the requirement of connecting load is met, and the connecting rigidity of the pallet system and the space station is improved while the weight of the driving end is not changed;
(4) the three-jaw connecting mechanism can realize uniform stress by three-point connection, and has stable and reliable connection, simple structure and light weight; the paw motion is designed to be a grooved pulley type structure, the paw guide groove is an outward expansion type guide groove, and on the premise of the same axial size, larger paw expansion radial enveloping size can be realized;
(5) the application of the disc spring assembly effectively reduces the load impact when the pallet system is butted with the cabin body of the space station; after the disc spring assembly is compressed, the large elastic potential energy enables the pallet system and the space station cabin body to keep long-term effective tension, and long-term reliable connection of the pallet system is achieved; the use of the disc spring assembly enables the locked pallet system to resist external load impact to a certain extent;
(6) the spring push rod separating mechanism is matched with the passive end guide positioning hole in the butt joint process, so that the guide orientation effect of a pallet system is realized; meanwhile, when the active end and the passive end are separated, an initial force for separating the active end and the passive end is provided;
(7) when the pallet system is butted with the cabin body of the space station, the active and passive end electric interfaces are plugged, so that data information transmission and power supply of the space station and the pallet system are realized. The structural space of the active and passive ends is effectively utilized;
(8) the design of the manual operation driving mechanism improves the reliability of the docking system, and when the controller fails and the docking mechanism cannot automatically complete specified actions, the docking, locking, unlocking and separating operations of the pallet system and the space station can be completed manually by astronauts.
Drawings
FIG. 1 is a schematic diagram of a state in which an active end and a passive end of the present invention are separated;
FIG. 2 is a schematic end view of the active end of the present invention;
FIG. 3 is a schematic view of a passive end of the present invention;
FIG. 4 is a schematic diagram illustrating a process of docking the active end and the passive end according to the present invention;
fig. 5 is a schematic diagram of the locking state of the passive end of the active end according to the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a mechanism suitable for butting and separating a space pallet and a space station, which realizes space cargo transportation. The mechanism can be used for realizing mechanical connection between the carried goods and the space station under the assistance of the space mechanical arm, the goods can be parked at the space station, and the goods can be stably parked for a long time. When separation is required, low impact reliable separation is achieved.
As shown in fig. 1, the spacecraft mooring mechanism essentially comprises two parts, a passive end mounted on the space station interface and an active end mounted on the space pallet. The space mechanical arm is matched with the active end matching part to realize the expansion and tightening movement of the active end, and the butt joint, the locking and the separation of the active end and the passive end are completed. Therefore, the butt joint of the space pallet system and the space station is realized, and the space cargo transportation is completed. The driving end comprises a three-jaw connecting mechanism 1, a spring push rod separating mechanism 2, a ball screw transmission mechanism 3, a worm and gear self-locking mechanism 5, a driving end shell 10, a driving end electric interface 13, a push disc 14 and a fixed disc 15; the driving end shell 10 is a hollow cylinder structure; the worm and gear self-locking mechanism 5 is arranged at the bottom end inside the driving end shell 10; the ball screw transmission mechanism 3 is arranged above the worm and gear self-locking mechanism 5, and the ball screw transmission mechanism 3 is in butt joint with the output end of the worm and gear self-locking mechanism 5; the push plate 14 is a horizontally placed disc-shaped structure; the push disc 14 is coaxially and fixedly connected with the ball screw transmission mechanism 3; the root of the three-jaw connecting mechanism 1 is fixedly arranged on the upper surface of the push disc 14; the three-jaw connecting mechanisms 1 are uniformly distributed along the circumferential direction of the push disc 14; the top end of the three-jaw connecting mechanism 1 extends out of the driving end shell 10; the fixed disk 15 is arranged on the top of the driving end shell 10; and is positioned in the center of the three-jaw connecting mechanism 1; the driving end electric interface 13 and the spring push rod separating mechanism 2 are both arranged on the upper surface of the fixed disc 15; the passive end comprises a passive end shell 6, a passive end disc spring assembly 7, a passive end electric interface 8 and a passive end guiding and orienting hole 9; wherein, the passive end shell 6 is a cylinder structure; the driven end disc spring assemblies 7 are uniformly arranged on the outer wall of the driven end shell 6 along the circumferential direction; the passive end electric interface 8 and the passive end guide orientation hole 9 are arranged on the axial lower end surface of the passive end shell 6.
The driving end also comprises a manual operation driving mechanism 4 and a motor 12; the manual operation driving mechanism 4 and the motor 12 are both arranged at the inner bottom end of the driving end shell 10; the manual operation driving mechanism 4 and the motor 12 are respectively connected with the input end of the worm and gear self-locking mechanism 5; realize the manual drive worm gear self-locking mechanism 5 or the motor drive worm gear self-locking mechanism 5.
As shown in fig. 2, the three-jaw connecting mechanism 1 includes 3 jaws; the 3 clamping jaws are uniformly arranged at the top of the pushing disc 14 along the circumferential direction; the uniform stress can be realized by three-point connection, the connection is reliable, the structure is simple, and the weight is small; the 3 clamping jaw motion designs to sheave structure, by the cooperation of hand claw guide way and initiative end uide pin, realizes opening and drawing in the motion of hand claw along the hand claw guide way. The spring push rod separating mechanism 2 comprises 3 spring push rods; the 3 spring push rods are uniformly arranged at the top end of the fixed disc 15 along the circumferential direction; the spring push rod is arranged on the end face of the butt joint of the driving end and the driven end. The end of the spring push rod is conical, the included angle is 80-120 degrees, and the end of the spring push rod is matched with the passive end guide positioning hole 10 in the butt joint process to realize the guide orientation effect of the pallet system; the spring push rod separating mechanism is compressed in the butt joint process, the kinetic energy is converted into elastic potential energy, and when the active end and the passive end are separated, the spring push rod converts the elastic potential energy into the kinetic energy to provide initial separating force for the active end and the passive end. The active side electrical interface 13 comprises 3 electrical pins; are uniformly arranged at the top end of the fixed disc 15 along the circumferential direction; and 3 spring push rods and 3 electric pins are distributed in a staggered mode.
As shown in fig. 3, the passive end disc spring assembly 7 includes 3 disc springs; the 3 disc springs are uniformly arranged on the outer wall of the driven end shell 6 along the circumferential direction; the positions of the 3 disc springs correspond to the positions of the 3 clamping jaws respectively; the passive end disc spring assembly 7 is mounted on the locking slot mounting surface of the passive end housing 6. The pallet system is directly contacted with the three-jaw connecting mechanism 1 at the driving end and is slowly compressed in the locking process of the three-jaw connecting mechanism 1, so that the buffer of the butt joint process of the pallet system and the space station is realized; meanwhile, the passive end disc spring assembly 7 converts the kinetic energy of the mechanism into elastic potential energy, so that the high-load tension is kept for a long time, and the long-term reliable connection of a pallet system is realized; the passive end disc spring assembly 7 acts as an important cushioning mechanism and at the same time is somewhat resistant to the externally loaded impacts to which the pallet system is subjected. The tension and the compression stroke of the passive end disc spring assembly 7 are calculated according to the motion stroke of the driving end mechanism. The passive end electrical interface 8 comprises 3 electrical sockets; the 3 electric jacks are uniformly arranged at the axial bottom end of the driven end shell 6 along the circumferential direction; the passive end guide orientation hole 9 comprises 3 guide holes; the 3 guide holes are uniformly arranged at the axial bottom end of the driven end shell 6 along the circumferential direction; the positions of the 3 electric jacks respectively correspond to the positions of the 3 electric pins; the positions of the 3 guide holes respectively correspond to the positions of the 3 spring push rods.
The motion process of the driving end is as follows:
the worm and gear self-locking mechanism 5 rotates under the drive of the manual operation driving mechanism 4 or the motor 12; driving the ball screw transmission mechanism 3 to move; the ball screw transmission mechanism 3 drives the push disc 14 to do translational motion in the vertical direction; when the push disc 14 moves vertically upwards along with the ball screw transmission mechanism 3, the three-jaw connecting mechanism 1 is opened by taking the connecting point of the three-jaw connecting mechanism 1 and the push disc 14 as an axial outward rotation; when the push disc 14 moves vertically and downwards along with the ball screw transmission mechanism 3, the three-jaw connecting mechanism 1 rotates and closes in an axial direction by taking the connecting point of the three-jaw connecting mechanism 1 and the push disc 14 as an axial direction, so that the holding is realized. The driving end drives the ball screw transmission mechanism 3 by using the motor 12 to drive the cam on the three-jaw connecting mechanism 1, so that the motion track of the D-shaped clamping jaw can be realized, the D-shaped clamping jaw can be flexibly captured in a large range, and the disc spring assembly can provide good compensation and adjustment effects for the locking of the 3 clamping jaws.
As shown in fig. 4, the passive end is fixedly installed at the outer wall of the external space station; the driving end is fixedly arranged on the outer wall of the external space pallet; the external space pallet is aligned to the external space station under the drive of the external space mechanical arm; and finally, the butt joint of the driving end and the driven end is realized.
As shown in fig. 5, the process of docking the active end and the passive end is as follows:
the driving end is aligned to the driven end under the drive of the external space mechanical arm; 3 clamping jaws of the three-jaw connecting mechanism 1 are rotated outwards to be opened; the active end continues to move to the passive end; until 3 spring push rods of the spring push rod separation mechanism 2 extend into 3 guide holes of the passive end guide orientation hole 9; the active end continues to move to the passive end; 3 electric pins of the active end electric interface 13 are inserted into 3 electric sockets of the passive end electric interface 8 until the electric sockets are inserted in place, so that the circuit is communicated; and the active end electric interface 13 and the passive end electric interface 9 are inserted and combined to realize data information transmission and power supply of the space station and the pallet system. 3 clamping jaws of the three-jaw connecting mechanism 1 rotate inwards to be closed; the top inner walls of the 3 clamping jaws compress the 3 disc springs of the driven end disc spring assembly 7 to realize locking and fixing. The clamping jaw is of an inverted L-shaped structure; when the clamping jaw is closed, the disc spring is compressed. After the driving end and the driven end are locked, a large bearing design can be realized through the worm and gear self-locking mechanism 5, the force transmission path design and the disc spring assembly 7, the pre-tightening load can reach 40kN, and meanwhile, the design scheme is short in force transmission path and has a disc spring compensation link, so that long-term locking on a rail can be realized.
The spring push rod extends into the guide hole in the initial state without deformation; when the active end continues to move along the guide hole until the electric plug and the electric jack are inserted in place, the spring push rod is in a compressed state at the moment.
When the driving end is separated from the driven end, the three-jaw connecting mechanism 1 rotates outwards to be opened; 3 dish springs that passive end dish spring subassembly 7 was compressed tightly and 3 spring push rod's that spring push rod separating mechanism 2 was compressed tightly restoring force provide the separating force, realize the separation of active end and passive end. When the active end controller fails, the astronaut can operate the manual operation driving mechanism 4 to realize butt joint, locking, unlocking and separation operations of the pallet system and the space station.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A spacecraft mooring mechanism, characterized by: comprises an active end and a passive end; the driving end comprises a three-jaw connecting mechanism (1), a spring push rod separating mechanism (2), a ball screw transmission mechanism (3), a worm and gear self-locking mechanism (5), a driving end shell (10), a driving end electric interface (13), a push disc (14) and a fixed disc (15); the driving end shell (10) is of a hollow cylinder structure; the worm and gear self-locking mechanism (5) is arranged at the inner bottom end of the driving end shell (10); the ball screw transmission mechanism (3) is arranged above the worm and gear self-locking mechanism (5), and the ball screw transmission mechanism (3) is in butt joint with the output end of the worm and gear self-locking mechanism (5); the push disc (14) is a disc-shaped structure which is horizontally placed; the push disc (14) is coaxially and fixedly connected with the ball screw transmission mechanism (3); the root part of the three-jaw connecting mechanism (1) is fixedly arranged on the upper surface of the push disc (14); the three-jaw connecting mechanisms (1) are uniformly distributed along the circumferential direction of the push disc (14); the top end of the three-jaw connecting mechanism (1) extends out of the driving end shell (10); the fixed disc (15) is arranged at the top of the driving end shell (10); and is positioned in the center of the three-jaw connecting mechanism (1); the driving end electric interface (13) and the spring push rod separating mechanism (2) are arranged on the upper surface of the fixed disc (15); the passive end comprises a passive end shell (6), a passive end disc spring assembly (7), a passive end electric interface (8) and a passive end guiding and orienting hole (9); wherein, the passive end shell (6) is a cylinder structure; the driven end disc spring assemblies (7) are uniformly arranged on the outer wall of the driven end shell (6) along the circumferential direction; the passive end electric interface (8) and the passive end guide orientation hole (9) are arranged on the axial lower end surface of the passive end shell (6).
2. A spacecraft mooring mechanism as claimed in claim 1, wherein: the driving end also comprises a manual operation driving mechanism (4) and a motor (12); the manual operation driving mechanism (4) and the motor (12) are both arranged at the bottom end of the interior of the driving end shell (10); the manual operation driving mechanism (4) and the motor (12) are respectively connected with the input end of the worm and gear self-locking mechanism (5); realize the manual drive worm gear self-locking mechanism (5) or the motor drive worm gear self-locking mechanism (5).
3. A spacecraft mooring mechanism as claimed in claim 2, wherein: the three-jaw connecting mechanism (1) comprises 3 clamping jaws; the 3 clamping jaws are uniformly arranged at the top of the pushing disc (14) along the circumferential direction; the spring push rod separating mechanism (2) comprises 3 spring push rods; the 3 spring push rods are uniformly arranged at the top end of the fixed disc (15) along the circumferential direction; the active end electrical interface (13) comprises 3 electrical pins; are uniformly arranged at the top end of the fixed disc (15) along the circumferential direction; and 3 spring push rods and 3 electric pins are distributed in a staggered mode.
4. A spacecraft mooring mechanism as claimed in claim 3, wherein: the passive end disc spring assembly (7) comprises 3 disc springs; the 3 disc springs are uniformly arranged on the outer wall of the driven end shell (6) along the circumferential direction; the positions of the 3 disc springs correspond to the positions of the 3 clamping jaws respectively; the passive end electric interface (8) comprises 3 electric jacks; the 3 electric jacks are uniformly arranged at the axial bottom end of the driven end shell (6) along the circumferential direction; the passive end guide orientation hole (9) comprises 3 guide holes; the 3 guide holes are uniformly arranged at the axial bottom end of the driven end shell (6) along the circumferential direction; the positions of the 3 electric jacks respectively correspond to the positions of the 3 electric pins; the positions of the 3 guide holes respectively correspond to the positions of the 3 spring push rods.
5. A spacecraft mooring mechanism as claimed in claim 4, wherein: the motion process of the driving end is as follows:
the worm and gear self-locking mechanism (5) rotates under the drive of a manual operation driving mechanism (4) or a motor (12); driving the ball screw transmission mechanism (3) to move; the ball screw transmission mechanism (3) drives the push disc (14) to do translational motion in the vertical direction; when the push disc (14) moves vertically upwards along with the ball screw transmission mechanism (3), the three-jaw connecting mechanism (1) is opened by taking the connecting point of the three-jaw connecting mechanism (1) and the push disc (14) as an axial outward rotation; when the push disc (14) vertically moves downwards along with the ball screw transmission mechanism (3), the three-jaw connecting mechanism (1) rotates and closes in an axial direction by taking the connecting point of the three-jaw connecting mechanism (1) and the push disc (14) as an axial direction, so that the clamping is realized.
6. A spacecraft mooring mechanism as claimed in claim 5, wherein: the passive end is fixedly arranged on the outer wall of the external space station; the driving end is fixedly arranged on the outer wall of the external space pallet; the external space pallet is aligned to the external space station under the drive of the external space mechanical arm; and finally, the butt joint of the driving end and the driven end is realized.
7. A spacecraft mooring mechanism as claimed in claim 6, wherein: the process of butt joint of the driving end and the driven end is as follows:
the driving end is aligned to the driven end under the drive of the external space mechanical arm; 3 clamping jaws of the three-jaw connecting mechanism (1) are opened outwards in a rotating way; the active end continues to move to the passive end; until 3 spring push rods of the spring push rod separation mechanism (2) extend into 3 guide holes of the passive end guide orientation hole (9); the active end continues to move to the passive end; 3 electric pins of the active end electric interface (13) are inserted into 3 electric jacks of the passive end electric interface (8) until the electric jacks are inserted in place, so that circuit communication is realized; 3 clamping jaws of the three-jaw connecting mechanism (1) rotate inwards to be closed; the inner wall of the top end of each clamping jaw compresses 3 disc springs of the driven end disc spring assembly (7) to realize locking and fixing.
8. A spacecraft mooring mechanism as claimed in claim 7, wherein: the clamping jaw is of an inverted L-shaped structure; when the clamping jaw is closed, the disc spring is compressed.
9. A spacecraft mooring mechanism as claimed in claim 8, wherein: the spring push rod extends into the guide hole in the initial state without deformation; when the active end continues to move along the guide hole until the electric plug and the electric jack are inserted in place, the spring push rod is in a compressed state at the moment.
10. A spacecraft mooring mechanism as claimed in claim 9, wherein: when the driving end is separated from the driven end, the three-jaw connecting mechanism (1) is rotated outwards to be opened; the 3 compressed disc springs of the passive end disc spring assembly (7) and the restoring force of the 3 compressed spring push rods of the spring push rod separating mechanism (2) provide separating force, and the separation of the driving end and the passive end is realized.
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| CN201911329269.3A CN111017271B (en) | 2019-12-20 | 2019-12-20 | Spacecraft mooring mechanism |
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| CN201911329269.3A CN111017271B (en) | 2019-12-20 | 2019-12-20 | Spacecraft mooring mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319869A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Large-space-tolerance butt joint device and locking method |
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| CN114212280A (en) * | 2021-12-10 | 2022-03-22 | 哈尔滨工业大学 | Low-impact repeatable connection and separation release device and method based on spiral transmission |
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