CN111994306B - High-precision electromagnetic docking mechanism with large-angle tolerance - Google Patents
High-precision electromagnetic docking mechanism with large-angle tolerance Download PDFInfo
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- CN111994306B CN111994306B CN202010718072.5A CN202010718072A CN111994306B CN 111994306 B CN111994306 B CN 111994306B CN 202010718072 A CN202010718072 A CN 202010718072A CN 111994306 B CN111994306 B CN 111994306B
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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
Abstract
The invention relates to a high-precision electromagnetic docking mechanism with large angle tolerance.A solenoid is electrified in the center, and the generated electromagnetic force can adapt to attitude deviation of a pitch angle and a yaw angle and control two spacecrafts to approach axially; the small-diameter electrified solenoid generates electromagnetic force along the circumferential direction to enable the electromagnetic docking mechanism to rotate around the docking shaft, and the roll angles of the two spacecrafts are adjusted to adapt to the attitude deviation of the roll angles; spring balls (14) are mounted on the side faces of the free ends of the extension shafts (15), a plurality of annular grooves (23) which are circumferentially distributed are formed in the positions, corresponding to the spring balls (14), of the guide holes (17), the spring balls (14) can be embedded into different annular grooves (23) under the action of electromagnetic force and axially move, and meanwhile, the spring balls can be rotatably embedded into any groove under the action of a small-diameter power-on solenoid; the pin (13) can be inserted into the annular taper hole (16) on the protruding shaft (15) under the action of the driving element (7) to realize butt joint locking at various roll angles.
Description
Technical Field
The invention relates to a high-precision electromagnetic docking mechanism with large angular tolerance, and belongs to the technical field of space on-orbit docking.
Background
The traditional space on-orbit docking technology based on the thruster action has some inherent problems: the fuel reserve of the thruster limits the service life and application range of the on-orbit task of the spacecraft; the working medium sprayed by the thruster can cause plume pollution and damage optical instruments, sensitive devices and the like; the docking process depends on the control precision of the spacecraft attitude orbit, and generates larger impact force to influence the work of spacecraft precision equipment; and no control power is provided at the end of the docking stage, and the docking collision is realized by means of inertia, so that the capability of effectively coping with emergency situations is lacked.
Disclosure of Invention
The technical problem solved by the invention is as follows: the design scheme of the high-precision electromagnetic docking mechanism with large angle tolerance is provided, and flexible docking and controllable separation of two spacecrafts are realized through non-contact, continuous, reversible and synchronous control electromagnetic force/moment.
The technical scheme of the invention is as follows: a high-precision electromagnetic docking mechanism with large angular tolerances, comprising: the device comprises a central electrified solenoid, a small-diameter electrified solenoid, a frame (4), a guide bracket end cover (6), a driving element (7), a guide bracket (8), a spring (12), a pin (13) and a spring ball (14);
the frame (4) is provided with a spring ball mounting hole (5), an extending shaft (15), an annular taper hole (16), a guide hole (17) and a mounting groove (18);
the electromagnetic docking mechanism is arranged on a spacecraft;
a center energized solenoid comprising: the electromagnetic solenoid comprises a left-end electromagnetic solenoid bracket (1), a right-end electromagnetic solenoid bracket (9) and a central coil (11), wherein the central coil (11) is divided into a left-side central coil and a right-side central coil which have the same structure;
a small diameter energized solenoid comprising: a small electromagnetic solenoid end cover (2) and a small electromagnetic solenoid (3);
the frame (4) is a revolving body; one end of the rack (4) is used as a rack butt joint end, an extending shaft (15) extending outwards is arranged in the center of the rack butt joint end, and a plurality of annular taper holes (16) are formed in the circumferential direction at one end, close to the rack (4), of the extending shaft (15); the other end, namely the free end, of the extension shaft (15) is provided with a spring ball mounting hole (5); a pin (13) can be installed in the annular taper hole (16), and a spring ball (14) can be installed in the spring ball installation hole (5);
the end faces of one end and the other end of the rack (4) are provided with bracket mounting holes (19), and the bottoms of the holes, provided with the bracket mounting holes (19), of the end faces of one end and the other end of the rack (4) are communicated with the bracket holes (22) through wire holes (21);
a bracket mounting hole (19) arranged at one end of the frame (4) can be matched with the right electromagnetic solenoid bracket (9) for mounting;
a groove (29) is formed in one end, facing the rack (4), of the left electromagnetic solenoid bracket (1) and can be matched with a boss (10) on the right electromagnetic solenoid bracket (9);
a boss (10) is arranged at one end, facing the rack (4), of the right-end electromagnetic solenoid bracket (9), the boss (10) of the right-end electromagnetic solenoid bracket (9) is inserted into the bracket hole (22) and then is installed in a matched manner with a groove (29) of the left-end electromagnetic solenoid bracket (1), and a bracket installation hole (19) formed in the end face of the other end of the rack (4) can be installed in a matched manner with the left-end electromagnetic solenoid bracket (1);
one end of the left-end electromagnetic solenoid bracket (1) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1);
one end of the right electromagnetic solenoid bracket (9) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the right electromagnetic solenoid bracket (9);
a plurality of small electromagnetic solenoid mounting holes (20) are uniformly formed in the outer side of the side surface (namely the cylindrical surface) of the rack (4) along the circumferential direction, the number of the small electromagnetic solenoid mounting holes is the same as that of the small electromagnetic solenoid (3), and the small electromagnetic solenoid mounting holes correspond to the positions of the small electromagnetic solenoid (3); the small electromagnetic solenoid (3) can be arranged in the small electromagnetic solenoid mounting hole (20); each small electromagnetic solenoid (3) is provided with a group of small electromagnetic solenoid end covers (2), the small electromagnetic solenoid end covers (2) are respectively installed at two ends of the small electromagnetic solenoid (3), one end of the small electromagnetic solenoid (3) is respectively connected with a small electromagnetic solenoid end cover installation seat of the left-end electromagnetic solenoid bracket (1), and the other end of the small electromagnetic solenoid (3) is connected with a small electromagnetic solenoid end cover installation seat of the right-end electromagnetic solenoid bracket (9);
the right central coil of the central coil (11) is arranged on the outer surface of the right electromagnetic solenoid bracket (9) and is inserted into a bracket mounting hole (19) at one end of the rack (4) together with the right electromagnetic solenoid bracket (9);
the left central coil of the central coil (11) is arranged on the outer surface of the left electromagnetic solenoid bracket (1) and is inserted into a bracket mounting hole (19) at the other end of the rack (4) together with the left electromagnetic solenoid bracket (1);
the other end of the rack (4) is used as a rack mounting end, a guide hole (17) is formed in the center of the rack mounting end, and the guide hole (17) can be connected with an extending shaft (15) of an electromagnetic docking mechanism on another spacecraft when the guide hole is docked with the other spacecraft;
a plurality of annular grooves (23) are uniformly formed in the inner wall of the guide hole (17) along the circumferential direction, the number of the annular grooves (23) is the same as that of annular taper holes (16) in an extension shaft (15) of an electromagnetic docking mechanism on another spacecraft, and the annular taper holes correspond in position;
the end face of the mounting end of the rack is also provided with a mounting groove (18), and the driving element (7) and the guide bracket (8) are mounted in the mounting groove (18); the guide bracket end cover (6) is divided into a guide bracket upper end cover and a guide bracket lower end cover which are respectively and fixedly arranged at the upper end and the lower end of the guide bracket (8); the driving element (7) is provided with an output shaft, the output shaft can linearly move along the direction vertical to the extending shaft (15), and the output shaft is inserted into the guide bracket (8) through the upper end cover of the guide bracket end cover (6); one end of the pin (13) is connected with an output shaft of the driving element (7), and the other end of the pin is inserted into a lower end cover of the guide bracket end cover (6); a convex ring is arranged in the middle of the pin (13), the spring (12) is positioned in the guide support (8), one end of the spring (12) is pressed on the upper end cover of the guide support end cover (6), and the other end of the spring is pressed on the convex ring in the middle of the pin (13); the upper end cover of the guide bracket of the end cover (6) of the guide bracket limits the output shaft of the driving element (7) to ensure that the output shaft of the driving element (7) is vertical to the extension shaft (15), and the lower end cover of the guide bracket of the end cover (6) of the guide bracket limits the other end of the pin (13) to ensure that the pin (13) is vertical to the extension shaft (15); the driving element (7) can drive the pin (13) to move linearly in a direction perpendicular to the extending shaft (15), and the spring (12) can enable the pin (13) to move linearly in the direction perpendicular to the extending shaft (15) by releasing elastic potential energy.
Preferably, the bracket mounting hole (19) is hollow cylindrical, and the bracket mounting hole (19) arranged at one end of the frame (4) can be coaxially mounted with the right-end electromagnetic solenoid bracket (9); the bracket mounting hole (19) arranged at the other end of the frame (4) can be coaxially mounted with the left-end electromagnetic solenoid bracket (1).
Preferably, the centerline axis of the small electromagnetic solenoid mounting hole (20) is parallel to the central axis of the frame (4).
Preferably, the wire guide hole (21) is used for providing a passage for connecting the left central coil and the right central coil of the central coil (11); the left central coil and the right central coil of the central coil (11) are connected, and the power on and the power off can be controlled simultaneously.
Preferably, the left-end electromagnetic solenoid bracket (1) is in a hollow cylindrical shape, and one end of the side surface of the hollow cylindrical shape, which is far away from the rack (4), is provided with an annular boss protruding along the axial direction to serve as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1).
Preferably, the right electromagnetic solenoid bracket (9) is hollow cylindrical, and one end of the side surface of the hollow cylindrical far away from the rack (4) is provided with an annular boss protruding along the axial direction to be used as a small electromagnetic solenoid end cover mounting seat of the right electromagnetic solenoid bracket (9).
Preferably, because the electromagnetic docking mechanism is installed on one spacecraft, the electromagnetic docking mechanism can dock with the same electromagnetic docking mechanism on another spacecraft; the electromagnetic docking mechanisms on the two butted spacecrafts are isomorphic and matched for use, so that the two spacecrafts are docked in an on-orbit manner.
Compared with the prior art, the invention has the advantages that:
(1) the electromagnetic docking mechanism of the invention takes space electromagnetic force/torque as the control force of the docking process, consumes electric energy instead of working medium of a thruster, is not limited by fuel capacity, does not generate plume pollution, and effectively reduces the influence on-satellite equipment;
(2) the electromagnetic docking mechanism generates three-dimensional controllable non-contact electromagnetic force/torque based on a space electromagnetic field accurate control method, can reduce the docking contact speed to zero theoretically, remarkably reduces the docking impact force, and realizes flexible docking;
(3) the electromagnetic docking mechanism can adapt to larger deviation of pitching and deflecting angles by the configuration of a plurality of groups of central electromagnetic coils with the same included angle; the structure of a plurality of groups of small electromagnetic solenoids which are uniformly distributed along the circumferential direction can adapt to larger rolling angle deviation;
(4) according to the electromagnetic butt joint mechanism, through the matching of the annular groove and the spring ball, under the action of the circumferential force of a plurality of groups of small electromagnetic solenoids, the spring ball can rotate to be embedded into different grooves, and through the matching of pin holes, the multi-corner state accurate locking can be realized, so that the butt joint mechanism is suitable for butt joint of different corner postures;
(5) the electromagnetic docking mechanism is isomorphic and matched for use, and can realize in-orbit docking of a plurality of spacecrafts and different configurations of a plurality of spacecraft groups subsequently.
Drawings
FIG. 1 is a general schematic view of a high precision electromagnetic docking mechanism with large angular tolerance according to the present invention;
FIG. 2 is a cross-sectional view of a high precision electromagnetic docking mechanism housing with large angular tolerances in accordance with the present invention;
FIG. 3 is a schematic diagram of a left central coil structure of a high-precision electromagnetic docking mechanism with large angular tolerance according to the present invention;
FIG. 4 is a schematic diagram of a capture domain of a high-precision electromagnetic docking mechanism with large angular tolerances in accordance with the present invention;
fig. 5 is a schematic diagram of the left-end electromagnetic solenoid bracket, the right-end electromagnetic solenoid bracket and the center coil of the high-precision electromagnetic docking mechanism with large angular tolerance according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention relates to a high-precision electromagnetic docking mechanism with large angular tolerance, a central energized solenoid comprising: the electromagnetic force generated by the left electromagnetic solenoid bracket (1), the right electromagnetic solenoid bracket (9) and the central coil (11) can adapt to attitude deviation of a pitch angle and a yaw angle, and two spacecrafts are controlled to be axially close to each other; the small-diameter electrified solenoid comprises a small electromagnetic solenoid end cover (2) and a small electromagnetic solenoid (3), generates electromagnetic force along the circumferential direction to enable the electromagnetic docking mechanism to rotate around the docking shaft, adjusts the roll angles of the two spacecrafts, and adapts to the attitude deviation of the roll angles; spring balls (14) are mounted on the side faces of the free ends of the extension shafts (15), a plurality of annular grooves (23) which are circumferentially distributed are formed in the positions, corresponding to the spring balls (14), of the guide holes (17), the spring balls (14) can be embedded into different annular grooves (23) under the action of electromagnetic force and axially move, and meanwhile, the spring balls can be rotatably embedded into any groove under the action of a small-diameter power-on solenoid; the pin (13) can be inserted into the annular taper hole (16) on the protruding shaft (15) under the action of the driving element (7) to realize butt joint locking at various roll angles.
The invention relates to a high-precision electromagnetic docking mechanism with large-angle tolerance, which aims at two spacecrafts to carry out space on-orbit docking tasks. Similarly, the separation of the controllable attitudes of the two spacecrafts can be realized through the inverse process.
The invention can effectively overcome the problems of fuel consumption, plume pollution, large impact force, no control on the butt joint end section and the like inherent in the traditional thruster, has the capabilities of non-contact, continuous, reversible and synchronous control, does not consume working media, eliminates the plume pollution, can realize zero-impact butt joint theoretically, obviously reduces the complexity of a butt joint system, can reduce the requirement on the attitude orbit control precision of the spacecraft, is suitable for different attitudes to realize high-precision locking of multiple corners, and further can realize the on-orbit connection of a plurality of spacecrafts and different configurations of a plurality of spacecraft groups.
The invention relates to a high-precision electromagnetic docking mechanism with large angle tolerance, which comprises: the device comprises a central electrified solenoid, a small-diameter electrified solenoid, a frame (4), a guide bracket end cover (6), a driving element (7), a guide bracket (8), a spring (12), a pin (13) and a spring ball (14);
the electromagnetic docking mechanism is arranged on a spacecraft;
the frame (4) is provided with a spring ball mounting hole (5), an extension shaft (15), an annular taper hole (16), a guide hole (17) and a mounting groove (18)
A center energized solenoid comprising: the electromagnetic solenoid comprises a left-end electromagnetic solenoid bracket (1), a right-end electromagnetic solenoid bracket (9) and a central coil (11), wherein the central coil (11) is divided into a left-side central coil and a right-side central coil which have the same structure;
a small diameter energized solenoid comprising: a small electromagnetic solenoid end cover (2) and a small electromagnetic solenoid (3); the outer diameter of the cylinder of the small electromagnetic solenoid (3) is smaller than the inner diameter of the circular coil of the central coil (11);
the frame (4) is a revolving body; one end of the rack (4) is used as a rack butt joint end, an extending shaft (15) extending outwards is arranged in the center of the rack butt joint end, and a plurality of annular taper holes (16) are formed in the circumferential direction at one end, close to the rack (4), of the extending shaft (15); the other end, namely the free end, of the extension shaft (15) is provided with a spring ball mounting hole (5); a pin (13) can be installed in the annular taper hole (16), and a spring ball (14) can be installed in the spring ball installation hole (5);
the end faces of one end and the other end of the rack (4) are provided with bracket mounting holes (19), and the bottoms of the holes, provided with the bracket mounting holes (19), of the end faces of one end and the other end of the rack (4) are communicated with the bracket holes (22) through wire holes (21);
a bracket mounting hole (19) arranged at one end of the frame (4) can be matched with the right electromagnetic solenoid bracket (9) for mounting;
a groove (29) is formed in one end, facing the rack (4), of the left electromagnetic solenoid bracket (1) and can be matched with a boss (10) on the right electromagnetic solenoid bracket (9);
a boss (10) is arranged at one end, facing the rack (4), of the right-end electromagnetic solenoid bracket (9), the boss (10) of the right-end electromagnetic solenoid bracket (9) is installed in interference fit with a groove (29) of the left-end electromagnetic solenoid bracket (1) after being inserted into a bracket hole (22), and a bracket installation hole (19) formed in the end face of the other end of the rack (4) can be installed in fit with the left-end electromagnetic solenoid bracket (1);
one end of the left-end electromagnetic solenoid bracket (1) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1);
one end of the right electromagnetic solenoid bracket (9) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the right electromagnetic solenoid bracket (9);
a plurality of small electromagnetic solenoid mounting holes (20) are uniformly formed in the outer side of the side surface (namely the cylindrical surface) of the rack (4) along the circumferential direction, the number of the small electromagnetic solenoid mounting holes is the same as that of the small electromagnetic solenoid mounting holes, and the positions of the small electromagnetic solenoid mounting holes correspond to that of the small electromagnetic solenoid mounting holes; the small electromagnetic solenoid (3) can be arranged in the small electromagnetic solenoid mounting hole (20); each small electromagnetic solenoid (3) is provided with a group of small electromagnetic solenoid end covers (2), the small electromagnetic solenoid end covers (2) are respectively installed at two ends of the small electromagnetic solenoid (3), one end of the small electromagnetic solenoid (3) is respectively connected with a small electromagnetic solenoid end cover installation seat of the left-end electromagnetic solenoid bracket (1), and the other end of the small electromagnetic solenoid (3) is connected with a small electromagnetic solenoid end cover installation seat of the right-end electromagnetic solenoid bracket (9);
the right central coil of the central coil (11) is arranged on the outer surface of the right electromagnetic solenoid bracket (9) and is inserted into a bracket mounting hole (19) at one end of the rack (4) together with the right electromagnetic solenoid bracket (9);
the left central coil of the central coil (11) is arranged on the outer surface of the left electromagnetic solenoid bracket (1) and is inserted into a bracket mounting hole (19) at the other end of the rack (4) together with the left electromagnetic solenoid bracket (1);
the other end of the rack (4) is used as a rack mounting end, a guide hole (17) is formed in the center of the rack mounting end, and the guide hole (17) can be connected with an extending shaft (15) of an electromagnetic docking mechanism on another spacecraft when the guide hole is docked with the other spacecraft;
a plurality of annular grooves (23) are uniformly formed in the inner wall of the guide hole (17) along the circumferential direction, the number of the annular grooves (23) is the same as that of annular taper holes (16) in an extension shaft (15) of an electromagnetic docking mechanism on another spacecraft, and the annular taper holes correspond in position;
the end face of the mounting end of the rack is also provided with a mounting groove (18), and the driving element (7) and the guide bracket (8) are mounted in the mounting groove (18); the guide bracket end cover (6) is divided into a guide bracket upper end cover and a guide bracket lower end cover which are respectively fixed at the upper end and the lower end of the guide bracket (8); the driving element (7) is provided with an output shaft, the output shaft can linearly move along the direction vertical to the extending shaft (15), and the output shaft is inserted into the guide bracket (8) through the upper end cover of the guide bracket end cover (6); one end of the pin (13) is connected with an output shaft of the driving element (7), and the other end of the pin is inserted into a lower end cover of the guide bracket end cover (6); a convex ring is arranged in the middle of the pin (13), the spring (12) is positioned in the guide support (8), one end of the spring (12) is pressed on the upper end cover of the guide support end cover (6), and the other end of the spring is pressed on the convex ring in the middle of the pin (13); the upper end cover of the guide bracket of the end cover (6) of the guide bracket limits the output shaft of the driving element (7) to ensure that the output shaft of the driving element (7) is vertical to the extension shaft (15), and the lower end cover of the guide bracket of the end cover (6) of the guide bracket limits the other end of the pin (13) to ensure that the pin (13) is vertical to the extension shaft (15); the driving element (7) can drive the pin (13) to move linearly in a direction perpendicular to the extending shaft (15), and the spring (12) can enable the pin (13) to move linearly in the direction perpendicular to the extending shaft (15) by releasing elastic potential energy.
The preferred scheme is as follows: the bracket mounting hole (19) is hollow and cylindrical, and the bracket mounting hole (19) arranged at one end of the rack (4) can be coaxially mounted with the right-end electromagnetic solenoid bracket (9); the bracket mounting hole (19) arranged at the other end of the frame (4) can be coaxially mounted with the left-end electromagnetic solenoid bracket (1).
The central line axis of the small electromagnetic solenoid mounting hole (20) is parallel to the central axis of the frame (4).
A wire guide hole (21) for providing a passage for connection of a left-side center coil and a right-side center coil of the center coil (11); the left central coil and the right central coil of the central coil (11) are connected, and the power on and the power off can be controlled simultaneously.
The left-end electromagnetic solenoid bracket (1) is in a hollow cylindrical shape, and one end of the side surface of the hollow cylindrical shape, which is far away from the rack (4), is provided with an annular boss protruding along the axial direction to be used as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1).
The right-end electromagnetic solenoid bracket (9) is in a hollow cylindrical shape, and one end of the side surface of the hollow cylindrical shape, which is far away from the rack (4), is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the right-end electromagnetic solenoid bracket (9).
The electromagnetic docking mechanism is arranged on one spacecraft and can dock with the same electromagnetic docking mechanism on the other docked spacecraft; the electromagnetic docking mechanisms on the two butted spacecrafts are isomorphic and matched for use, so that the two spacecrafts are docked in an on-orbit manner;
the preferred scheme of the invention is as follows: when two spacecrafts approach to a capture domain in an on-orbit manner, according to sensing information such as relative position, attitude, speed and the like between the two spacecrafts, parameters such as current magnitude, direction, frequency and the like in the central coil (11) and the small electromagnetic solenoid (3) are controlled, the central coil (11) and the small electromagnetic solenoid (3) generate space three-dimensional electromagnetic force/moment to act on the two spacecrafts, so that axial capture of the two spacecrafts is realized, partial pitch and yaw angle deviation and speed and radial distance deviation of the two spacecrafts are eliminated, an extension shaft (15) of an electromagnetic docking mechanism of one spacecraft is inserted into a guide hole (17) of an electromagnetic docking mechanism of the other spacecraft, and the central axes of racks (4) of the electromagnetic docking mechanisms of the two spacecrafts are coincided under the guide effect of the guide hole (17). Furthermore, the two spacecrafts are controlled to enter a hovering state by adjusting the electromagnetic force/moment of the central coil (11) and the small electromagnetic solenoid (3), namely, the relative distance in the circumferential direction is kept constant, and the relative posture is kept constant. Furthermore, according to the requirement of the required butt-joint roll angle, the control current of the small electromagnetic solenoid (3) is changed, and electromagnetic force is generated to enable the frame (4) to rotate around the circumferential direction until the spring ball (14) is embedded into one annular groove (23) in the guide hole (17). When the electromagnetic force is larger than the resistance of the spring ball (14) to be separated from the annular groove (23), the machine frame (4) rotates around the butt joint shaft continuously, and the spring ball (14) is embedded into the adjacent annular groove (23). By repeating the process, the spring balls (14) can be embedded into different annular grooves (23), so that the butt joint of the two spacecrafts at different rolling angle postures is realized. After the frame (4) completes circumferential rotation, the two spacecrafts continue to move closer axially under the action of the electromagnetic force of the central coil (11) and the small electromagnetic solenoid (3), the spring balls (14) axially roll along the annular groove (23), and when the central shaft of the annular taper hole (16) in the extension shaft (15) is overlapped with the central shaft of the pin (13) in the mounting hole (18), the pin (13) is inserted into the annular taper hole (16) under the action of the driving element (7), so that the frame (4) of the electromagnetic docking mechanism of the two spacecrafts is locked.
The preferred scheme of the invention is as follows: when the two spacecrafts are separated in orbit, the driving pin (13) of the driving element (7) linearly retracts until the driving pin is separated from the annular taper hole (16), and the current of the control center coil (11) and the small electromagnetic solenoid (3) generates an axial electromagnetic force to act on the two spacecrafts, so that the two spacecrafts are unlocked and separated.
As shown in fig. 1, the overall schematic diagram of a high-precision electromagnetic docking mechanism with large angular tolerance is a heterogeneous isomorphic design, and is mainly characterized by comprising a left-end electromagnetic solenoid bracket (1), a small electromagnetic solenoid end cover (2), a small electromagnetic solenoid (3), a frame (4), a spring ball mounting hole (5), a guide bracket end cover (6), a driving element (7), a guide bracket (8), a right-end electromagnetic solenoid bracket (9), a boss (10), a central coil (11), a spring (12), a pin (13), a spring ball (14), an extension shaft (15), an annular taper hole (16), a guide hole (17) and a mounting groove (18); the central electrified solenoid comprises a left-end electromagnetic solenoid bracket (1), a right-end electromagnetic solenoid bracket (9) and a central coil (11), and space electromagnetic force generated after the central coil (11) is electrified realizes the capture, axial approach and axial separation of two spacecrafts; the central coil (11) is wound on the outer surfaces of the left-end electromagnetic solenoid bracket (1) and the right-end electromagnetic solenoid (9); the small-diameter electrified solenoid comprises a small electromagnetic solenoid end cover (2) and a small electromagnetic solenoid (3), and the small electromagnetic solenoid (3) is electrified to generate space electromagnetic force for capturing, axially approaching and axially separating two spacecrafts and adjusting a roll angle; a plurality of small electromagnetic solenoids (3) are uniformly distributed along the circumferential direction along the outer side of the side surface (i.e. cylindrical surface) of the rack (4), and the number of the small electromagnetic solenoids (3) is taken as an example in fig. 1; a plurality of annular grooves (23) are uniformly formed in the inner wall of the guide hole (17) along the axial direction, the number of the annular grooves (23) is the same as that of annular taper holes (16) in an extension shaft (15) of an electromagnetic docking mechanism on another spacecraft, the annular grooves correspond to the annular taper holes in position, and the spring balls (14) can axially slide along the annular grooves (23) to provide axial mechanical damping and axial corner indexing, so that the corner precision around the docking shaft is improved, the docking mechanism can adapt to docking postures of various rolling angles, and the preferred rolling angle tolerance is 180 degrees; the pin (13) can be inserted into the annular taper hole (16) to realize accurate positioning and locking, the preferred angle error is better than 0.3 degrees, and the preferred position error is better than 0.1 mm; the number of annular grooves (23) determines the step angle interval of the roll angle adjustment of the present invention, which is illustrated in fig. 1 by the number 12, which is 30 °.
As shown in fig. 2, a sectional view of a high-precision electromagnetic docking mechanism frame (4) with large angular tolerance includes a spring ball mounting hole (5), an annular taper hole (16), a guide hole (17), a bracket mounting hole (19), a small electromagnetic pipe mounting hole (20), a wire guide hole (21), a bracket hole (22), and an annular groove (23). The driving element (7) and the guide support (8) are installed in the installation groove (18), the pin (13) and the spring (12) are installed in the guide support (8), the guide support end cover (6) positions the spring (12) and the pin (13), the driving element (7) drives the pin (13) to move linearly, and the spring (12) drives the pin (13) to move linearly in a return mode. The annular groove (23) guides the spring ball (14) in the spring ball mounting hole (5) to perform axial movement. The left end electromagnetic solenoid bracket (1) and the right end electromagnetic solenoid bracket (9) are inserted into the annular bracket mounting hole (19) and are mounted in a matched manner through the bracket hole (22). The small electromagnetic solenoid (3) is installed in the small electromagnetic solenoid installation hole (20), and the small electromagnetic solenoid end cover (2) is installed in a matching mode with the small electromagnetic solenoid installation hole (20). The number of the bracket holes (22) is 2, the bracket holes are symmetrically arranged around a central shaft, and the included angle between the single arc length and the shaft center is less than 180 degrees; the number of the wire holes (21) is 2, the wire holes correspond to the positions of the bracket holes (22), and circuit connecting channels are provided for the left central coil and the right central coil of the central coil (11), so that simultaneous power on and power off are realized.
As shown in fig. 3, the preferred embodiment of the present invention is: the invention discloses a structural schematic diagram of a left central coil of a high-precision electromagnetic docking mechanism central coil (11) with large angle tolerance, which consists of five circular coils, wherein the right central coil and the left central coil of the central coil (11) have the same structure.
Defining the butt joint shaft of the two spacecrafts as the central shaft of the rack (4) and the central shaft of the extension shaft (15);
defining the butt joint surfaces of the two spacecrafts as planes which are closest to each other and are perpendicular to the butt joint shaft in the electromagnetic butt joint mechanisms on the two spacecrafts;
defining the vertical reference surfaces of the two spacecrafts as planes formed by the butt joint shafts of the electromagnetic butt joint mechanisms on the two spacecrafts and the axes of the pins (13);
the horizontal reference surfaces fixed on the two spacecrafts are planes which are perpendicular to the butt joint surfaces, perpendicular to the vertical reference surfaces and pass through the butt joint shaft on the two spacecrafts;
defining the vertical reference axes of the two spacecrafts as the intersection lines of the butt joint surfaces of the two spacecrafts and the vertical reference surfaces, wherein the vertical reference axes are parallel to the axes of the pins (13);
defining horizontal reference axes of the two spacecrafts as the intersection line of the butt joint surfaces of the two spacecrafts and the horizontal reference surfaces, wherein the horizontal reference axes are vertical to the butt joint axes and the axes of the pins (13);
defining a roll angle as a relative angle of the two spacecrafts rotating around the butt joint shaft in the butt joint plane; and defining the state that the roll angle is equal to 0 as the state that the horizontal reference axes of the two spacecrafts project in the butt joint plane with the included angle of 0. The plane of the coil (26) is vertical to the butt joint axis of the two spacecrafts and parallel to the butt joint surface of the two spacecrafts.
Defining a pitch angle as a relative angle of the two spacecrafts rotating around a horizontal reference axis in a vertical reference plane; and defining the state that the pitch angle is equal to 0 as the state that the projection included angle of the butt joint shafts of the two spacecrafts in the vertical reference plane is 0. The preferred scheme is as follows: the coil (24) and the coil (26) form an included angle around the horizontal reference axis, denoted as theta, which is illustrated by the preferred 30-degree included angle in fig. 3; the coil (28) and the coil (26) form an included angle theta opposite in direction around a horizontal reference axis, namely are symmetrical with the coil (24) by a butt joint surface, and the included angle theta is preferably 30 degrees in the illustration of figure 3;
defining a yaw angle as a relative angle of the two spacecrafts rotating around a vertical reference axis in a horizontal reference plane; and defining the state that the yaw angle is equal to 0 as the state that the projection included angle of the butt joint shafts of the two spacecrafts in the horizontal reference plane is 0. The preferred scheme is as follows: the coil (25) and the coil (26) form an angle theta around a vertical reference axis, which is illustrated by a preferred 30-degree angle in fig. 3; the coil (27) is at an angle theta with the coil (26) about the vertical reference axis which is opposite in direction, i.e. symmetrical with the coil (25) about the abutment plane, which is illustrated in fig. 3 at a preferred angle of 30 deg.. By increasing the included angle theta, larger deviation of the initial pitching and yawing angles in butt joint can be adapted, and the conical angle 2 theta of the capture domain is increased, so that the capture domain is enlarged.
As shown in fig. 4, the preferred scheme is: a high-precision electromagnetic docking mechanism capture domain schematic diagram with large-angle tolerance is disclosed, wherein a plane where a coil (26) is located is perpendicular to a docking axis and parallel to a docking surface, and an included angle theta is formed between the coil (25) and the coil (26) around a vertical reference axis, and is illustrated by a preferred 30-degree angle in figure 4; the coil (27) is at an angle theta opposite to the direction of the coil (26) about the vertical reference axis, i.e. symmetrical to the coil (25) with respect to the abutment plane, which is illustrated in fig. 4 at an angle of preferably 30 deg..
The capture domain is defined as: when the two spacecrafts enter a certain area range, the electromagnetic force of the electromagnetic docking mechanism can effectively change the relative motion speed and posture of the two spacecrafts, and the two spacecrafts finally move close to each other along the axial speed component under the action of the electromagnetic force of the electromagnetic docking mechanism, so that the area range is a capture area; the maximum enveloping shape of the capturing domain is preferably conical, the docking shaft is taken as a central shaft, and the center of an electromagnetic docking mechanism of the spacecraft is taken as a vertex.
The traditional design realizes the butt joint of two spacecrafts by independently generating electromagnetic force through a single coil (26), when the two spacecrafts are positioned at a certain relative axial distance, a capture domain is projected in a plane (namely a butt joint plane) parallel to the coil (26), and the projection area is S1; according to the invention, the coil (25) and the coil (27) are added, when two spacecrafts are positioned at the same relative axial distance, the coil (26), the coil (25) and the coil (27) are electrified simultaneously to generate electromagnetic force, the capture domain is projected in a plane (namely a butt joint plane) parallel to the coil (26), the projection area is S2, and S2 is greater than S1, which shows that the configuration that a plurality of coils are arranged at included angles can expand the capture domain, and large angle tolerance is realized, wherein the pitch angle tolerance is 30 degrees, and the yaw angle tolerance is 30 degrees.
As shown in fig. 5, the left end electromagnetic solenoid bracket, the right end electromagnetic solenoid bracket and the center coil of the high-precision electromagnetic docking mechanism with large angular tolerance are schematically illustrated, when the left end electromagnetic solenoid bracket (1) and the right end electromagnetic solenoid bracket (9) are installed, the boss (10) is embedded into the groove (29) for matching installation, wherein the boss (10) penetrates through the bracket hole (22). The central coil (11) is wound on the outer surfaces of the left-end electromagnetic solenoid bracket (1) and the right-end electromagnetic solenoid bracket (9) and is fixedly installed with the left-end electromagnetic solenoid bracket (1) and the right-side electromagnetic solenoid bracket (9) through the rack (4).
The mechanism has the advantages of flexibility, low impact, no working medium pollution, good synchronism, reversibility, adjustability and the like, and simultaneously adopts a variant and isomorphic design, so that the mechanism has light weight, large capture area, simple operation and stronger reliability. The invention realizes the adjustment of the pitch angle and the yaw angle of two spacecrafts by the action of the electromagnetic force of the central electrified solenoid and the small-diameter electrified solenoid and the mechanical guidance of the extension shaft (15) and the guide hole (17), and realizes the large angle tolerance, the pitch angle tolerance is 30 degrees and the yaw angle tolerance is 30 degrees; the device utilizes the controllable and adjustable characteristic of electromagnetic force to realize capture of large-angle deviation and low-impact butt joint; the invention utilizes the electromagnetic force of the small-diameter electrified solenoid to adjust the roll angle, utilizes the mechanical damping of the spring ball (14) and the annular groove (23), and the matching of the pin (13) and the annular taper hole (16) to realize the accurate positioning of two spacecrafts, has the angle error of better than 0.3 degrees and the position error of better than 0.1mm, can be suitable for the butt joint of various roll angle states, has the roll angle tolerance of 180 degrees, finally realizes the high-precision locking of various roll angle states, and further can realize the different configurations of the follow-up on-orbit connection of a plurality of spacecrafts and a plurality of spacecraft groups.
The preferred scheme of the invention is as follows: (a) the structural parts of the left-end electromagnetic solenoid bracket (1), the right-end electromagnetic solenoid bracket (9), the small electromagnetic solenoid end cover (2) and the frame (4) which are not wound with the central coil (11) are made of materials without iron, cobalt and nickel elements, so that the interference on a space open-area electromagnetic field is reduced, and the electromagnetic force of the central coil (11) and the small electromagnetic solenoid (3) is prevented from being weakened;
the preferred scheme of the invention is as follows: (b) an iron core is arranged in the small electromagnetic solenoid (3), a structural part of the rack (4) wound around the central coil (11) is used as the iron core, the iron core is made of ferromagnetic materials with high magnetic conductivity, magnetic flux is increased, and electromagnetic force of the small electromagnetic solenoid (3) and the central coil (11) is enhanced;
the preferred scheme of the invention is as follows: (c) the left central coil and the right central coil of the central coil (11) have the same structure and respectively consist of 5 circular coils, wherein a certain included angle formed by the coil (24) and the coil (26) around a horizontal reference axis is marked as theta, and is indicated by an included angle of 30 degrees in figure 3; the coil (28) and the coil (26) form an included angle theta with opposite directions around a horizontal reference axis, namely are symmetrical with the coil (24) by a butt joint surface, and the included angle theta is indicated by an included angle of 30 degrees in figure 3; the coil (25) and the coil (26) form an included angle theta around a vertical reference axis, which is indicated by an included angle of 30 degrees in fig. 3; the coil (27) and the coil (26) are at an angle theta opposite in direction around the vertical reference axis, i.e. symmetrical to the coil (25) with respect to the abutment plane, which is illustrated in fig. 3 at an angle of 30 deg.. The configuration can adapt to larger deviation of initial pitch and yaw angles of butt joint, increase the cone angle of a capture domain, and realize the tolerance of a pitch angle of 30 degrees and the tolerance of a yaw angle of 30 degrees;
the preferred scheme of the invention is as follows: (d) the annular grooves (23) in the guide holes (17) are the same as the annular taper holes (16) on the extension shaft (15) in number and correspond in position, the number determines the step interval of the roll angle adjustment of the electromagnetic butt joint mechanism around the butt joint shaft, the number 12 is taken as an illustration in figure 1, the roll angle step interval is 30 degrees, the configuration can adapt to larger roll angle deviation, and the roll angle tolerance is 180 degrees; the pin (13) is matched with the annular taper hole (16) to realize accurate positioning, the angle error is preferably better than 0.3 degrees, and the position error is preferably better than 0.1 mm;
the further preferable scheme for realizing capture domain expansion of the invention is as follows: the pitch diameter of a single circular coil (26) of a central coil (11) is D (namely the arithmetic mean value of the inner diameter and the outer diameter of the coil (26)), the nearest axial relative distance between the circle centers of the coils (26) of the central coils (11) of the two spacecrafts is L, the included angle between a coil (24) and the coil (26) in the central coil (11) is theta, the included angles between a coil (28) and the coil (26) are theta, the included angles between a coil (25) and the coil (26) are theta, the included angles between a coil (27) and the coil (26) are theta, and the requirement that theta is more than 0 and less than or equal to arctan (D/L) is metSelecting constraint conditions, the capture domain S2/S1 ═ (1+ 2L/D tan theta)2Further expansion of the capture domain can be achieved;
the invention realizes the further preferable scheme of increasing the tolerance of the roll angle, which comprises the following steps: the number of the solenoids contained in the small electromagnetic solenoid (3) is k, the outer diameter of a single small electromagnetic solenoid (3) is d1, the reference circle diameter of the central axis of the k small electromagnetic solenoids (3) is d2, the number of turns of the small electromagnetic solenoids (3) of the two spacecraft electromagnetic docking mechanisms is N, the current is I, the nearest axial relative distance of the circle centers of the coils (26) of the central coils (11) of the two spacecrafts is L, the rolling angle is phi, the magnetic conductivity in vacuum is mu 0, the resistance of the spring ball (14) separating from the spring ball mounting hole (5) is F, and the constraint condition lambda mu 0N is met2*I2*H/(d12+H2)1/2>F/k (where λ is a weighted empirical coefficient, preferably 1.2 to 10, and H ═ L2+[d2*sin(Φ/2)]2}1/2) The spring ball (14) can be separated from the spring ball mounting hole (5); the number of turns N of the small electromagnetic solenoid (3) and the current I are increased, so that larger roll angle deviation can be adapted, and the roll angle tolerance is further increased.
The electromagnetic docking mechanism of the invention takes space electromagnetic force/torque as the control force of the docking process, consumes electric energy instead of working medium of a thruster, is not limited by fuel capacity, does not generate plume pollution, and effectively reduces the influence on-satellite equipment; the electromagnetic docking mechanism generates three-dimensional controllable non-contact electromagnetic force/torque based on a space electromagnetic field accurate control method, can reduce the docking contact speed to zero theoretically, remarkably reduces the docking impact force and realizes flexible docking;
the electromagnetic docking mechanism can adapt to larger deviation of pitching and deflecting angles by the configuration of a plurality of groups of central electromagnetic coils with the same included angle; the structure of a plurality of groups of small electromagnetic solenoids which are uniformly distributed along the circumferential direction can adapt to larger rolling angle deviation; the electromagnetic butt joint mechanism can rotate to enable the spring balls to be embedded into different grooves under the action of the circumferential force of a plurality of groups of small electromagnetic solenoids through the matching of the annular grooves and the spring balls, and can realize multi-corner state accurate locking by utilizing the matching of pin holes, so that the electromagnetic butt joint mechanism is suitable for butt joint of different corner postures;
the electromagnetic docking mechanism is isomorphic and matched for use, and can realize in-orbit docking of a plurality of spacecrafts and different configurations of a plurality of spacecraft groups subsequently.
Claims (8)
1. A high accuracy electromagnetic docking mechanism with large angular tolerances, comprising: the device comprises a central electrified solenoid, a small-diameter electrified solenoid, a frame (4), a guide bracket end cover (6), a driving element (7), a guide bracket (8), a spring (12), a pin (13) and a spring ball (14);
the frame (4) is provided with a spring ball mounting hole (5), an extending shaft (15), an annular taper hole (16), a guide hole (17) and a mounting groove (18);
the electromagnetic docking mechanism is arranged on a spacecraft;
a center energized solenoid comprising: the electromagnetic solenoid comprises a left-end electromagnetic solenoid bracket (1), a right-end electromagnetic solenoid bracket (9) and a central coil (11), wherein the central coil (11) is divided into a left-side central coil and a right-side central coil which have the same structure;
a small diameter energized solenoid comprising: a small electromagnetic solenoid end cover (2) and a small electromagnetic solenoid (3);
the frame (4) is a revolving body; one end of the rack (4) is used as a rack butt joint end, an extending shaft (15) extending outwards is arranged in the center of the rack butt joint end, and a plurality of annular taper holes (16) are formed in the circumferential direction at one end, close to the rack (4), of the extending shaft (15); the other end, namely the free end, of the extension shaft (15) is provided with a spring ball mounting hole (5); a pin (13) can be installed in the annular taper hole (16), and a spring ball (14) can be installed in the spring ball installation hole (5);
support mounting holes (19) are formed in the end faces of one end and the other end of the rack (4), and the hole bottoms of the end faces of one end and the other end of the rack (4) provided with the support mounting holes (19) are communicated with the support holes (22) through wire holes (21);
a bracket mounting hole (19) arranged at one end of the frame (4) can be matched with the right electromagnetic solenoid bracket (9) for mounting;
a groove (29) is formed in one end, facing the rack (4), of the left electromagnetic solenoid bracket (1) and can be matched with a boss (10) on the right electromagnetic solenoid bracket (9);
a boss (10) is arranged at one end, facing the rack (4), of the right-end electromagnetic solenoid bracket (9), the boss (10) of the right-end electromagnetic solenoid bracket (9) is inserted into the bracket hole (22) and then is installed in a matched manner with a groove (29) of the left-end electromagnetic solenoid bracket (1), and a bracket installation hole (19) formed in the end face of the other end of the rack (4) can be installed in a matched manner with the left-end electromagnetic solenoid bracket (1);
one end of the left-end electromagnetic solenoid bracket (1) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1);
one end of the right electromagnetic solenoid bracket (9) is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the right electromagnetic solenoid bracket (9);
a plurality of small electromagnetic solenoid mounting holes (20) are uniformly formed in the outer side of the side face of the rack (4) along the circumferential direction, the number of the small electromagnetic solenoid mounting holes is the same as that of the small electromagnetic solenoid (3), and the small electromagnetic solenoid mounting holes correspond to the positions of the small electromagnetic solenoid (3); the side surface of the frame (4) is a cylindrical surface;
the small electromagnetic solenoid (3) can be arranged in the small electromagnetic solenoid mounting hole (20); each small electromagnetic solenoid (3) is provided with a group of small electromagnetic solenoid end covers (2), two ends of each small electromagnetic solenoid (3) are respectively provided with one small electromagnetic solenoid end cover (2), one end of each small electromagnetic solenoid (3) is connected with the small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1), and the other end of each small electromagnetic solenoid (3) is connected with the small electromagnetic solenoid end cover mounting seat of the right-end electromagnetic solenoid bracket (9);
the right central coil of the central coil (11) is arranged on the outer surface of the right electromagnetic solenoid bracket (9) and is inserted into a bracket mounting hole (19) at one end of the rack (4) together with the right electromagnetic solenoid bracket (9);
the left central coil of the central coil (11) is arranged on the outer surface of the left electromagnetic solenoid bracket (1) and is inserted into a bracket mounting hole (19) at the other end of the rack (4) together with the left electromagnetic solenoid bracket (1);
the other end of the rack (4) is used as a rack mounting end, a guide hole (17) is formed in the center of the rack mounting end, and the guide hole (17) can be connected with an extending shaft (15) of an electromagnetic docking mechanism on another spacecraft when the guide hole is docked with the other spacecraft;
a plurality of annular grooves (23) are uniformly formed in the inner wall of the guide hole (17) along the circumferential direction, the number of the annular grooves (23) is the same as that of annular taper holes (16) in an extension shaft (15) of an electromagnetic docking mechanism on another spacecraft, and the annular taper holes correspond in position;
the end face of the mounting end of the rack is also provided with a mounting groove (18), and the driving element (7) and the guide bracket (8) are mounted in the mounting groove (18); the guide bracket end cover (6) is divided into a guide bracket upper end cover and a guide bracket lower end cover which are respectively and fixedly arranged at the upper end and the lower end of the guide bracket (8); the driving element (7) is provided with an output shaft, the output shaft can linearly move along the direction vertical to the extending shaft (15), and the output shaft is inserted into the guide bracket (8) through the upper end cover of the guide bracket end cover (6); one end of the pin (13) is connected with an output shaft of the driving element (7), and the other end of the pin is inserted into a lower end cover of the guide bracket end cover (6); a convex ring is arranged in the middle of the pin (13), the spring (12) is positioned in the guide support (8), one end of the spring (12) is pressed on the upper end cover of the guide support end cover (6), and the other end of the spring is pressed on the convex ring in the middle of the pin (13); the upper end cover of the guide bracket of the end cover (6) of the guide bracket limits the output shaft of the driving element (7) to ensure that the output shaft of the driving element (7) is vertical to the extension shaft (15), and the lower end cover of the guide bracket of the end cover (6) of the guide bracket limits the other end of the pin (13) to ensure that the pin (13) is vertical to the extension shaft (15); the driving element (7) can drive the pin (13) to move linearly in a direction perpendicular to the extending shaft (15), and the spring (12) can enable the pin (13) to move linearly in the direction perpendicular to the extending shaft (15) by releasing elastic potential energy.
2. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the bracket mounting hole (19) is hollow and cylindrical, and the bracket mounting hole (19) arranged at one end of the rack (4) can be coaxially mounted with the right-end electromagnetic solenoid bracket (9); the bracket mounting hole (19) arranged at the other end of the frame (4) can be coaxially mounted with the left-end electromagnetic solenoid bracket (1).
3. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the central line axis of the small electromagnetic solenoid mounting hole (20) is parallel to the central axis of the frame (4).
4. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: a wire guide hole (21) for providing a passage for connection of a left-side center coil and a right-side center coil of the center coil (11); the left central coil and the right central coil of the central coil (11) are connected, and the power on and the power off can be controlled simultaneously.
5. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the left-end electromagnetic solenoid bracket (1) is in a hollow cylindrical shape, and one end of the side surface of the hollow cylindrical shape, which is far away from the rack (4), is provided with an annular boss protruding along the axial direction to be used as a small electromagnetic solenoid end cover mounting seat of the left-end electromagnetic solenoid bracket (1).
6. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the right-end electromagnetic solenoid bracket (9) is in a hollow cylindrical shape, and one end of the side surface of the hollow cylindrical shape, which is far away from the rack (4), is provided with an annular boss protruding along the axial direction and used as a small electromagnetic solenoid end cover mounting seat of the right-end electromagnetic solenoid bracket (9).
7. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the electromagnetic docking mechanism is arranged on one spacecraft and can dock with the same electromagnetic docking mechanism on the other docked spacecraft; the electromagnetic docking mechanisms on the two butted spacecrafts are isomorphic and matched for use, so that the two spacecrafts are docked in an on-orbit manner.
8. A high precision electromagnetic docking mechanism with large angular tolerances as claimed in claim 1 wherein: the left central coil and the right central coil of the central coil (11) have the same structure, and each central coil consists of 5 circular coils, namely a first coil (24), a second coil (25), a third coil (26), a fourth coil (27) and a fifth coil (28); wherein the first coil (24) and the third coil (26) form a certain included angle theta around the horizontal reference axis; an included angle theta of the fifth coil (28) and the third coil (26) in opposite directions around a horizontal reference axis is symmetrical to a butt joint plane of the first coil (24), an included angle theta of the second coil (25) and the third coil (26) around a vertical reference axis is symmetrical to the vertical reference axis, an included angle theta of the fourth coil (27) and the third coil (26) in opposite directions around the vertical reference axis is symmetrical to a butt joint plane of the second coil (25), and the configuration of the upper center coil (11) can adapt to larger butt joint initial pitch and yaw angle deviation and increase a capture domain conical angle.
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| CN113232897B (en) * | 2021-05-06 | 2022-04-12 | 北京理工大学 | Five-degree-of-freedom tolerance self-resetting mechanism |
| CN113562204B (en) * | 2021-07-27 | 2023-08-15 | 北京空间飞行器总体设计部 | Space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking |
| CN115610713A (en) * | 2022-12-19 | 2023-01-17 | 哈尔滨工业大学 | In-orbit docking device and docking system for spacecraft |
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