CN111806733A - Locking and unlocking device for satellite butt joint - Google Patents
Locking and unlocking device for satellite butt joint Download PDFInfo
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- CN111806733A CN111806733A CN202010669379.0A CN202010669379A CN111806733A CN 111806733 A CN111806733 A CN 111806733A CN 202010669379 A CN202010669379 A CN 202010669379A CN 111806733 A CN111806733 A CN 111806733A
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- 210000001503 joint Anatomy 0.000 title claims abstract description 37
- 238000003032 molecular docking Methods 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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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Abstract
The invention relates to a locking and unlocking device for satellite docking. The device comprises 4 auxiliary electromagnets (1), a passive system (2) and an active system (3); 2 auxiliary electromagnets and active systems (3) are fixed on an active satellite, the other 2 auxiliary electromagnets and passive systems (2) are fixed on a passive satellite, the auxiliary electromagnets (1) on the active satellite correspond to the auxiliary electromagnets of the passive satellite one by one, and the passive systems (2) are overlapped with the axis of the active systems (3); the passive system comprises a locking and unlocking electromagnet (5), a passive system main electromagnet (9), a sliding rail (10), a sliding block (11), a passive system shell (12), an abutting sleeve and a passive abutting piece (17); the active system comprises an active butt joint piece (18), a fine alignment gear sleeve, an active system main electromagnet (21) and an active system shell (22); the invention improves the butt joint reliability and the butt joint precision and realizes flexible butt joint and rigid locking.
Description
Technical Field
The invention belongs to the technical field of space satellite docking, and particularly relates to a locking and unlocking device for satellite docking.
Background
The spacecraft space docking technology is a prerequisite for realizing on-orbit services of modular spacecraft, such as on-orbit assembly, supply, maintenance, upgrading and the like. Meanwhile, the space docking technology is an important means for developing space countermeasure equipment and is a core technology for disputed development of all aerospace major countries. The traditional on-orbit docking usually adopts a mechanical docking mechanism, and mainly adopts a thruster to provide docking force, so that the problems of easy collision, consumption of fuel of the thruster, reduction of service life, easy generation of optical pollution of plume of the thruster, thermal emission, vibration excitation and the like exist. The mechanical docking mechanism cannot be applied to small spacecrafts in terms of docking distance and tolerance; when the optical imaging device is applied to a spacecraft loaded with optical imaging load, the optical pollution of the plume of the thruster is particularly prominent, and the visual line of an optical instrument is blurred. Meanwhile, at the final stage of butting of the thruster, the thruster is closed to implement uncontrolled inertial butting, and the capability of coping with emergency is lacked.
Disclosure of Invention
The invention aims to provide a locking and unlocking device for satellite docking, which improves docking reliability and docking accuracy, realizes flexible docking and rigid locking, and solves the technical problems of the traditional docking device.
The technical scheme of the invention is that the locking and unlocking device during satellite docking comprises 4 auxiliary electromagnets 1, a passive system 2 and an active system 3; the 2 auxiliary electromagnets 1 and the active system 3 are fixed on the active satellite, the 2 auxiliary electromagnets 1 are symmetrically distributed relative to the axis of the active system 3, the other 2 auxiliary electromagnets 1 and the passive system 2 are fixed on the passive satellite, the 2 auxiliary electromagnets 1 are symmetrically distributed relative to the axis of the passive system 2, when in butt joint, the auxiliary electromagnets 1 on the active satellite correspond to the auxiliary electromagnets 1 of the passive satellite one by one, and the passive systems 2 are overlapped with the axis of the active system 3;
the passive system comprises a passive system rear cover 4, a locking and unlocking electromagnet 5, a spring 6, a locking and unlocking electromagnet positioning plate 7, a main electromagnet positioning piece 8, a passive system main electromagnet 9, a sliding rail 10, a sliding block 11, a passive system shell 12, a butt joint sleeve 13, a locking inserting plate 14, a lock pin spring 15, a locking pin 16 and a passive butt joint piece 17;
the passive system rear cover 4 is sleeved and fixed on one end of a locking and unlocking electromagnet 5, the passive system rear cover 4 is fixedly connected with a passive system shell 12, the other end of the locking and unlocking electromagnet 5 is fixed on one end surface of a locking and unlocking electromagnet positioning plate 7, 2 sliding rails 10 are fixed on the other end surface of the locking and unlocking electromagnet positioning plate 7 in parallel, a main electromagnet positioning piece 8 is U-shaped, one end of a passive system main electromagnet 9 is inserted and fixed in the U-shaped main electromagnet positioning piece 8, the other end of the passive system main electromagnet 9 extends out of the U-shaped opening part, the locking and unlocking electromagnet 5, the main electromagnet positioning piece 8, a spring 6 and a passive system main electromagnet 9 are sequentially sleeved on a central rod, the central rod is fixedly connected with the main electromagnet positioning piece 8, the spring 6 is positioned between the end surface of the main electromagnet positioning piece 8 and the end surface of the locking, the locking plug board 14 is U-shaped, the U-shaped bottom of the locking plug board 14 is fixedly connected with the 2 sliding blocks 11 at the same time, the U-shaped opening of the locking plug board 14 is of a fold line structure, the fold line structure is folded inwards, and the straight line segment is parallel to the axis of the locking plug board 14;
an alignment sleeve 13 is fixed on a passive system shell 12, the axis of the alignment sleeve 13 is overlapped with the axis of a passive system main electromagnet 9, a V-shaped through groove is formed in the end face of the alignment sleeve 13, the V-shaped through groove is located on the diameter, a lock pin spring 15 is sleeved on the periphery of the middle of a lock pin 16, the lock pin 16 and the lock pin spring 15 are installed in a radial installation hole in the passive system shell in a sliding mode, two ends of the lock pin spring 15 are fixedly connected with the lock pin 16 and the passive system shell 12 respectively, one end of the lock pin 16 is in contact with a broken line structure of a lock inserting plate 14, and the other end of the lock pin 16 extends into the V-shaped through groove of the alignment sleeve; the passive butt joint piece 17 is fixed on the passive system shell 12, and the axis of the passive butt joint piece 17 is coincident with the axis of the alignment sleeve 13;
the active system comprises an active butt joint part 18, a fine alignment gear sleeve 19, an active system main electromagnet 21 and an active system shell 22; the active butt joint part 18 is sleeved and fixed on one end of a main electromagnet 21 of an active system, 2 conical protrusions and an annular locking groove 20 are arranged on the periphery of a main alignment sleeve 19, the 2 conical protrusions are symmetrically distributed relative to the axis of the main alignment sleeve 19, the main alignment sleeve 19 is sleeved on the periphery of the active butt joint part 18, one end of the main alignment sleeve 19 is fixed on the head end of a shell 22 of the active system, the other end of the main electromagnet 21 of the active system is located in the shell 22 of the active system, a rear cover 23 of the active system is fixed on the tail end of the shell 22 of the active system, and the other end of the main electromagnet 21 of the active system is fixedly connected with the rear cover 23 of. During butt joint, the active butt joint part 18 penetrates through the passive butt joint part 17 and is inserted into the alignment sleeve 13, meanwhile, 2 conical protrusions are inserted into the V-shaped through groove of the alignment sleeve 13, and when the butt joint is in a locking state, the other end of the locking pin 16 is inserted into the annular locking groove (20) of the main alignment sleeve 19.
The electromagnetic docking system has the beneficial effects that the electromagnetic docking system utilizes the electromagnetic force to realize the in-orbit docking of the spacecraft, has the advantages of no fuel consumption, no plume pollution, no docking impact and the like compared with the in-orbit docking of the traditional spacecraft, and has the advantages of continuous reversibility, synchronous control capability and space electromagnetic docking. The electromagnetic flexible docking system realizes non-contact control of the relative distance and the posture between 50-100kg micro-nano satellites by utilizing continuous, reversible and synchronous control of electromagnetic force and electromagnetic torque, the posture is adjusted to a certain safety range under the condition of not using a thruster, the docking impact speed is controlled to be close to 0m/s, and flexible docking is realized.
Drawings
FIG. 1 is a schematic structural diagram of a locking and unlocking device for satellite docking according to the present invention;
FIG. 2 is a schematic diagram of a passive system according to the present invention;
FIG. 3 is a schematic diagram of an active system according to the present invention;
FIG. 4 is a schematic perspective view of the present invention;
FIG. 5 is an enlarged partial view of FIG. 4;
fig. 6 is a schematic structural diagram of the present invention in a docking operation state.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings of the specification.
As shown in fig. 1, the locking and unlocking device for satellite docking comprises 4 auxiliary electromagnets 1, a passive system 2 and an active system 3. The two satellites that need to be docked are the active satellite and the passive satellite respectively. The 2 auxiliary electromagnets 1 and the active system 3 are fixed on the active satellite, and the 2 auxiliary electromagnets 1 are symmetrically distributed relative to the axis of the active system 3. The rest 2 auxiliary electromagnets 1 and the passive system 2 are fixed on the passive satellite, and the 2 auxiliary electromagnets 1 are symmetrically distributed relative to the axis of the passive system 2. During butt joint, the auxiliary electromagnets 1 on the active satellite and the auxiliary electromagnets 1 on the passive satellite are in one-to-one correspondence, namely the auxiliary electromagnets 1 on the active satellite and the auxiliary electromagnets 1 on the passive satellite are in butt joint. The passive system 2 corresponds to the active system 3, i.e. on the same axis.
As shown in fig. 2, 4 and 5, the passive system includes a passive system rear cover 4, a locking and unlocking electromagnet 5, a spring 6, a locking and unlocking electromagnet positioning plate 7, a main electromagnet positioning part 8, a passive system main electromagnet 9, a slide rail 10, a slide block 11, a passive system housing 12, a docking sleeve 13, a locking flashboard 14, a lock pin spring 15, a lock pin 16 and a passive docking piece 17. The locking and unlocking electromagnet 5, the spring 6, the locking and unlocking electromagnet positioning plate 7, the main electromagnet positioning piece 8, the passive system main electromagnet 9, the sliding rail 10, the sliding block 11, the butt joint sleeve 13, the locking inserting plate 14, the lock pin spring 15 and the locking pin 16 are all positioned in the passive system shell 12, and the locking and unlocking electromagnet positioning plate 7, the main electromagnet positioning piece 8, the passive system main electromagnet 9 and the passive system shell 12 are coaxial.
The passive system rear cover 4 is sleeved on one end of the locking and unlocking electromagnet 5, one end of the locking and unlocking electromagnet 5 is fixedly connected with the inner end of the passive system rear cover 4, and the passive system rear cover 4 is fixedly connected with the passive system shell 12. The other end of the locking and unlocking electromagnet 5 is fixed on one end face of the locking and unlocking electromagnet positioning plate 7, and 2 sliding rails 10 are fixed on the other end face of the locking and unlocking electromagnet positioning plate 7 in parallel. The 2 sliding rails 10 are parallel to the axis of the locking and unlocking electromagnet positioning plate 7. The main electromagnet positioning piece 8 is in a U shape, and the main electromagnet positioning piece 8 is positioned between 2 sliding rails 10. One end of the main electromagnet 9 of the passive system is inserted into and fixed in the U-shape of the main electromagnet positioning piece 8. The other end of the main electromagnet 9 of the passive system extends out of the U-shaped opening. The locking and unlocking electromagnet 5, the main electromagnet positioning piece 8, the spring 6 and the passive system main electromagnet 9 are sequentially sleeved on the central rod, and the central rod is fixedly connected with the main electromagnet positioning piece 8. The spring 6 is located between the end face of the main electromagnet positioning piece 8 and the end face of the locking and unlocking electromagnet positioning plate 7, and two ends of the spring 6 are respectively and fixedly connected with the end face of the main electromagnet positioning piece 8 and the locking and unlocking electromagnet positioning plate 7. 2 sliders 11 are respectively fixed on the periphery of the extending end of the passive system main electromagnet 9, and the 2 sliders 11 are symmetrically distributed relative to the axis of the passive system main electromagnet 9. 2 sliders 11 are respectively connected with 2 slide rails 10 in a sliding manner. The locking insertion plate 14 is U-shaped, and the U-shaped bottom of the locking insertion plate 14 is fixedly connected with the 2 sliding blocks 11. The U-shaped opening of the locking insert plate 14 is a fold line structure, that is, the fold line structure is formed by butting an inclined line segment and a straight line segment in the axial section, the fold line structure is folded inwards, and the straight line segment is parallel to the axial line of the locking insert plate 14.
The alignment sleeve 13 is fixed on the passive system shell, and the axis of the alignment sleeve 13 is coincident with the axis of the main electromagnet 9 of the passive system. The end face of the alignment sleeve 13 is provided with a "V" shaped through slot, as shown in fig. 5, which is located diametrically. The locking pin spring 15 is sleeved on the periphery of the middle of the locking pin 16, the locking pin 16 and the locking pin spring 15 are installed in a radial installation hole on the passive system shell in a sliding mode, two ends of the locking pin spring 15 are fixedly connected with the locking pin 16 and the passive system shell respectively, one end of the locking pin 16 is in contact with the broken line structure of the locking inserting plate 14, and the other end of the locking pin 16 extends into the V-shaped through groove of the alignment sleeve 13. To reduce friction, the locking pin 16 is roller mounted at one end. To facilitate alignment during docking, a passive docking member 17 is fixed to the passive system housing 12, and the passive docking member 17 is a conical housing, i.e., the housing has a conical axial cross-sectional shape. The axis of the passive abutment 17 coincides with the axis of the alignment sleeve 13.
As shown in fig. 3, 4 and 5, the active system includes an active interface 18, a fine alignment sleeve 19, an active system primary electromagnet 21 and an active system housing 22. The active interface element 18 is a cylindrical structure, and the active interface element 18 is sleeved and fixed on one end of the main electromagnet 21 of the active system. The cylindrical bottom periphery of the active abutment 18 is tapered. The periphery of the middle part of the main alignment sleeve 19 is provided with 2 conical bulges and annular locking grooves 20, and the 2 conical bulges are symmetrically distributed relative to the axis of the main alignment sleeve 19. Wherein the end surface of the conical projection is conical. A primary alignment sleeve 19 is fitted over the outer periphery of the active interface element 18. One end of the main alignment sleeve 19 is fixed at the head end of the active system housing 22 through a flange structure, the other end of the main electromagnet 21 of the active system is located in the active system housing 22, the rear cover 23 of the active system is fixed at the tail end of the active system housing 22, and the other end of the main electromagnet 21 of the active system is fixedly connected with the rear cover 23 of the active system. During butt joint, the active butt joint part 18 penetrates through the passive butt joint part 17 and is inserted into the alignment sleeve 13, meanwhile, 2 conical protrusions are inserted into the V-shaped through groove of the alignment sleeve 13, and when the butt joint is in a locking state, the other end of the locking pin 16 is inserted into the annular locking groove (20) of the main alignment sleeve 19.
As shown in fig. 6, the working process of the present invention is as follows:
the locking working process comprises the following steps: the active satellite is contacted with the passive satellite, and after the active satellite enters a locking position, the two satellites are rigidly locked by using an electromagnetic locking device, so that the connection between the two satellites is reliable.
As shown in fig. 1, the auxiliary electromagnet 1, the passive system 2, and the active system 3 are fixedly connected to the satellite, and when the passive satellite approaches the active satellite, the auxiliary electromagnet 1, the passive system main electromagnet 9, and the passive system main electromagnet 9 generate an electromagnetic attraction force, so that the satellite reaches a locked position.
After the satellite enters the locking position, an electromagnetic repulsion force is generated between the locking and unlocking electromagnet 5 and the passive system main electromagnet 9, an electromagnetic attraction force is generated between the active system main electromagnet 21 and the passive system main electromagnet 9, and the passive system main electromagnet 9 drives the sliding block 11 and the locking inserting plate 14 to be far away from the locking and unlocking electromagnet 5. The locking insert 14 is inserted into the locking position and the inclined surface of the locking insert 14 pushes the locking pin 16 into the locking pin groove 20, at which time locking is completed.
The unlocking working process comprises the following steps: the electromagnetic unlocking and releasing technology is used for releasing mechanical locking between the active satellite and the passive satellite, and enabling the active satellite and the passive satellite to generate separating force to gradually pull apart the distance, so that the release between the satellites is realized.
In order to obtain the maximum unlocking force, an electromagnetic attraction force is generated between the locking and unlocking electromagnet 5 and the passive system main electromagnet 9, and an electromagnetic repulsion force is generated between the active system main electromagnet 21 and the passive system main electromagnet 9. The locking and unlocking electromagnet 5 and the main driving system electromagnet 21 act on the main passive system electromagnet 9 together, so that the main passive system electromagnet 9 obtains the maximum unlocking force to drive the sliding block 11 and the locking inserting plate 14 to be close to the locking and unlocking electromagnet 5, the locking inserting plate 14 leaves the locking position, the locking pin 16 exits from the locking pin groove 20, and the unlocking is completed at the moment.
In order to avoid that when electromagnetic repulsion force is generated between the main electromagnet 21 of the active system and the main electromagnet 9 of the passive system, separation force is generated too early between the active satellite and the passive satellite to affect the locking pin 16 to move out of the locking pin slot 20, sufficient electromagnetic attraction force should be generated between the auxiliary electromagnets 1 to counteract the electromagnetic repulsion force generated between the main electromagnet 21 of the active system and the main electromagnet 9 of the passive system, so that the resultant force between the active satellite and the passive satellite is attraction force, and separation is not released.
After the active system and the passive system are contacted, the mechanical correction functions of the active contact conical head 18, the passive contact piece 17, the fine alignment gear sleeve 19 and the contact sleeve 13 are utilized to ensure that no rolling angle difference and no pitching angle difference are achieved after the active satellite and the passive satellite are contacted, and the device is a main device for eliminating the residual pitching/rolling angle difference in the contact stage.
Claims (1)
1. A locking and unlocking device during satellite docking is characterized in that: the device comprises 4 auxiliary electromagnets (1), a passive system (2) and an active system (3); 2 auxiliary electromagnets (1) and active system (3) are fixed on the active satellite, and 2 auxiliary electromagnets (1) are symmetrically distributed relative to the axis of the active system (3), the rest 2 auxiliary electromagnets (1) and passive system (2) are fixed on the passive satellite, and 2 auxiliary electromagnets (1) are symmetrically distributed relative to the axis of the passive system (2), during butt joint, the auxiliary electromagnets (1) on the active satellite and the auxiliary electromagnets (1) of the passive satellite are in one-to-one correspondence, and the passive system (2) coincides with the axis of the active system (3).
The passive system comprises a passive system rear cover (4), a locking and unlocking electromagnet (5), a spring (6), a locking and unlocking electromagnet positioning plate (7), a main electromagnet positioning piece (8), a passive system main electromagnet (9), a sliding rail (10), a sliding block (11), a passive system shell (12), a butt joint sleeve (13), a locking inserting plate (14), a lock pin spring (15), a locking pin (16) and a passive butt joint piece (17);
a passive system rear cover (4) is sleeved and fixed on one end of a locking and unlocking electromagnet (5), the passive system rear cover (4) is fixedly connected with a passive system shell (12), the other end of the locking and unlocking electromagnet (5) is fixed on one end surface of a locking and unlocking electromagnet positioning plate (7), 2 sliding rails (10) are fixed on the other end surface of the locking and unlocking electromagnet positioning plate (7) in parallel, a main electromagnet positioning piece (8) is U-shaped, one end of a passive system main electromagnet (9) is inserted and fixed in the U-shaped main electromagnet positioning piece (8), the other end of the passive system main electromagnet (9) extends out of the U-shaped opening part, the locking and unlocking electromagnet (5), the main electromagnet positioning piece (8), a spring (6) and the passive system main electromagnet (9) are sequentially sleeved on a central rod, the central rod is fixedly connected with the main electromagnet positioning piece (8), the spring (6) is positioned between the end face of the main electromagnet positioning piece (8) and the end face of the locking and unlocking electromagnet positioning plate (7), 2 sliding blocks (11) are symmetrically fixed on the periphery of the extending end of the main electromagnet (9) of the passive system, the 2 sliding blocks (11) are respectively in sliding connection with 2 sliding rails (10), the locking inserting plate (14) is U-shaped, the U-shaped bottom of the locking inserting plate (14) is fixedly connected with the 2 sliding blocks (11), the U-shaped opening part of the locking inserting plate (14) is of a broken line structure, the broken line structure is folded inwards, and the straight line part is parallel to the axis of the locking inserting plate (14);
an alignment sleeve (13) is fixed on a passive system shell (12), the axis of the alignment sleeve (13) is overlapped with the axis of a passive system main electromagnet (9), a V-shaped through groove is formed in the end face of the alignment sleeve (13), the V-shaped through groove is located on the diameter, a lock pin spring (15) is sleeved on the periphery of the middle of a lock pin (16), the lock pin (16) and the lock pin spring (15) are installed in a radial installation hole in the passive system shell in a sliding mode, two ends of the lock pin spring (15) are respectively fixedly connected with the lock pin (16) and the passive system shell (12), one end of the lock pin (16) is in contact with a broken line structure of a lock inserting plate (14), and the other end of the lock pin (16) extends into the V-shaped through groove of the alignment sleeve (13); the passive butt joint piece (17) is fixed on the passive system shell (12), and the axis of the passive butt joint piece (17) is coincident with the axis of the alignment sleeve (13);
the active system comprises an active butt joint piece (18), a fine alignment gear sleeve (19), an active system main electromagnet (21) and an active system shell (22); the active butt joint piece (18) is sleeved and fixed on one end of a main electromagnet (21) of an active system, 2 conical bulges and an annular locking groove (20) are arranged on the periphery of a main alignment sleeve (19), the 2 conical bulges are symmetrically distributed relative to the axis of the main alignment sleeve (19), the main alignment sleeve (19) is sleeved on the periphery of the active butt joint piece (18), one end of the main alignment sleeve (19) is fixed on the head end of a shell (22) of the active system, the other end of the main electromagnet (21) of the active system is positioned in the shell (22) of the active system, a rear cover 23 of the active system is fixed on the tail end of the shell (22) of the active system, the other end of the main electromagnet (21) of the active system is fixedly connected with the rear cover 23 of the active system, when in butt joint, the active butt joint piece (18) penetrates through a passive butt joint piece (17) and is inserted into the alignment sleeve (13), and the 2 conical bulges are inserted into a V, when in a locking state after butt joint, the other end of the locking pin (16) is inserted into the annular locking groove (20) of the main alignment sleeve (19).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669379.0A CN111806733B (en) | 2020-07-13 | 2020-07-13 | Locking and unlocking device for satellite butt joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669379.0A CN111806733B (en) | 2020-07-13 | 2020-07-13 | Locking and unlocking device for satellite butt joint |
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| CN111806733A true CN111806733A (en) | 2020-10-23 |
| CN111806733B CN111806733B (en) | 2021-11-09 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112709732A (en) * | 2020-12-29 | 2021-04-27 | 中北大学 | Automatic butt joint device |
| CN113204242A (en) * | 2021-07-05 | 2021-08-03 | 北京理工大学 | Reconfigurable unmanned vehicle three-section type butt joint control method |
| CN113277126A (en) * | 2021-05-24 | 2021-08-20 | 北京科技大学 | Space docking mechanism based on electromagnetic type ball lock structure |
| CN113859590A (en) * | 2021-10-13 | 2021-12-31 | 西北工业大学 | Spatial embedded electromagnetic butt joint mechanism based on hook claw and pawl tooth |
| CN113998154A (en) * | 2021-11-26 | 2022-02-01 | 深圳力合精密装备科技有限公司 | Satellite repeated locking device |
| CN114104341A (en) * | 2021-10-29 | 2022-03-01 | 中国运载火箭技术研究院 | Passive recovery locking device for space transportation and use method |
| CN115402544A (en) * | 2022-10-31 | 2022-11-29 | 中国人民解放军战略支援部队航天工程大学 | Rigid-flexible dual-mode buffer device for butt joint of multi-body variable structure satellite |
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