CN112124639B - Screw nut clamping type docking mechanism and working method thereof - Google Patents
Screw nut clamping type docking mechanism and working method thereof Download PDFInfo
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- CN112124639B CN112124639B CN202010966372.5A CN202010966372A CN112124639B CN 112124639 B CN112124639 B CN 112124639B CN 202010966372 A CN202010966372 A CN 202010966372A CN 112124639 B CN112124639 B CN 112124639B
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- 238000003032 molecular docking Methods 0.000 title claims description 20
- 210000001503 joint Anatomy 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 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
Abstract
The invention provides a screw nut clamping type butt-joint mechanism and a working method thereof, wherein the butt-joint mechanism comprises an active end and a passive end, the active end comprises an active end shell, a conical nut A, a conical nut B, a cross beam A, a cross beam B, a motor, a positive screw and a negative screw and a reset spring, the conical nut A and the conical nut B are matched on the positive screw and the negative screw, the cross beam A and the cross beam B are connected through the reset spring, a locking inclined plane A and a locking straight plane A are arranged on the upper surface of the cross beam A, and a locking inclined plane B and a locking straight plane B are arranged on the lower surface of the cross beam B; the passive end comprises a passive end shell, the motor rotates to drive the positive and negative screws to rotate, the conical surface nut A and the conical surface nut B are driven to be synchronously close to each other, the conical surface nut A and the conical surface nut B enable the cross beam A and the cross beam B to move, and the locking inclined plane and the locking straight plane penetrate out of the active end shell and then are in butt joint with the locking passive end. The invention has the functions of guiding, locking and separating in the butt joint process of the modular spacecraft and meets the application occasions of on-orbit assembly of different modular spacecrafts.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and particularly relates to a screw nut clamping type butt joint mechanism and a working method thereof.
Background
With the rapid development of commercial spaceflight and the on-orbit construction, on-orbit maintenance and upgrading of space facilities such as space stations and the like in China, a large number of modular spacecrafts need to be connected and separated with large-scale spacecrafts at first, so that the operations of module replacement, on-orbit filling and the like are realized, the service life of the on-orbit spacecraft is effectively prolonged, and the economic benefit of the spacecraft is maximized. The modularized spacecraft is a plurality of independent functional modules, has the characteristics of serialization and standardization on the quality and the size, and adopts standard mechanical, electrical, thermal and data interfaces. In order to meet the butt joint requirements of different modularized spacecrafts, a butt joint mechanism with a simple structure and strong universality is urgently needed, and the butt joint mechanism can better provide service for the on-orbit spacecraft.
Disclosure of Invention
In view of the above, the invention aims to provide a screw nut clamping type docking mechanism and a working method thereof, wherein the docking mechanism has guiding, locking and separating functions in a docking process of a modular spacecraft, and meets application occasions of in-orbit assembly of different modular spacecrafts.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a screw nut clamping type butt-joint mechanism comprises a driving end and a driven end, wherein the driving end comprises a driving end shell, a conical nut A, a conical nut B, a cross beam A, a cross beam B, a motor, a positive screw and a negative screw and a reset spring, the conical nut A, the conical nut B, the cross beam A, the cross beam B, the positive screw and the negative screw and the reset spring are all arranged in the driving end shell, the positive screw and the negative screw are arranged at the center of the driving end shell, one end of the positive screw and the negative screw is connected with an output shaft of the motor, the conical nut A and the conical nut B are matched on the positive screw and the negative screw, the conical nut A and the conical nut B form a space for accommodating the cross beam A and the cross beam B, the cross beam A and the cross beam B are arranged in parallel, two ends of each cross beam are respectively matched with conical surfaces of the conical nut A and the conical nut B through inclined end surfaces, the cross beam A is arranged above the positive screw and the negative screw, the cross beam B is arranged below the positive screw and the negative screw, the beam A and the beam B are connected through a return spring, the upper surface of the beam A is provided with a locking inclined surface A and a locking straight surface A, the lower surface of the beam B is provided with a locking inclined surface B and a locking straight surface B, the locking inclined surface A and the locking inclined surface B are correspondingly arranged, and the locking straight surface A and the locking straight surface B are correspondingly arranged;
the passive end comprises a passive end shell, the passive end shell is of a central opening structure, the inner wall of the passive end shell is provided with a matching conical surface and a guiding conical surface, the matching conical surface is matched with a locking inclined surface A and a locking inclined surface B, and the locking straight surface A and the locking straight surface B are matched with the matching end surface of the passive end shell;
the motor rotates to drive the positive and negative screw rods to rotate, so that the conical surface nut A and the conical surface nut B are driven to synchronously approach, the conical surface nut A and the conical surface nut B drive the cross beam A to move upwards, and the cross beam B moves downwards, so that the locking inclined plane A, the locking inclined plane B, the locking straight plane A and the locking straight plane B penetrate out of the driving end shell and then are in butt joint with and locked with the driven end shell.
Furthermore, the motor is connected with the positive and negative screw rods through a coupler, and the motor is fixed at the end part of the driving end shell.
Furthermore, a limiting part for limiting the rotation of the conical surface nut A and the conical surface nut B is arranged on the inner wall of the driving end shell, and the forward and reverse screw rods rotate to drive the conical surface nut A and the conical surface nut B to move along the inner wall of the driving end shell.
Furthermore, the limiting part is a slide rail arranged on the inner wall of the driving end shell, and correspondingly, sliding grooves matched with the slide rail are arranged on the surfaces of the conical surface nut A and the conical surface nut B.
Furthermore, the middle part of the driving end shell is provided with a middle end conical surface, and the middle end conical surface is matched with the guiding conical surface of the driven end shell.
Furthermore, an opening structure for two locking inclined planes and two locking straight planes to vertically slide through is arranged on the driving end shell.
Furthermore, the upper surface of the beam A is provided with two locking inclined planes A and two locking straight planes A, the lower surface of the beam B is provided with two locking inclined planes B and two locking straight planes B, and correspondingly, the upper surface and the lower surface of the active end shell are respectively provided with four opening structures.
Further, crossbeam A and crossbeam B structure size homogeneous phase are equipped with the erection column of connecting reset spring on crossbeam A and crossbeam B, and set up two erection columns on every crossbeam, reset spring also sets up two, is reset spring A and reset spring B respectively, and just from top to bottom a pair of erection column just corresponds a reset spring.
Furthermore, the other end of the positive and negative lead screws is supported in the driving end shell through a bearing.
A working method of a screw nut clamping type docking mechanism specifically comprises the following steps:
when in an initial butt joint state, the mechanical arm drives the driving end to be close to the passive end, and in the process that the driving end is close to the passive end, the driving end is gradually inserted into the central opening of the passive end shell through the guiding conical surface of the passive end;
after the middle-end conical surface of the driving end shell is gradually matched with the guiding conical surface of the driven end shell, the starting motor drives the positive and negative screw rods to rotate positively, and the positive and negative screw rods drive the conical surface nut A and the conical surface nut B to move towards the approaching direction; the movement of the conical nut A and the conical nut B enables the beam A and the beam B to move upwards and downwards respectively, meanwhile, the locking inclined plane A, the locking inclined plane B, the locking straight plane A and the locking straight plane B are driven to move to extend out of the driving end shell until the locking inclined plane A and the locking inclined plane B are contacted and matched with the matching conical surface of the driven end shell, the driving end is forced to move towards the direction close to the driven end along with the continuous upward movement of the beam A and the continuous downward movement of the beam B, and finally the locking straight plane A and the locking straight plane B are contacted and matched with the matching end surface of the driven end shell to clamp the driven end shell and complete butt joint;
when butt joint needs to be removed, the motor is controlled to rotate reversely, the forward and reverse lead screws drive the conical surface nut A and the conical surface nut B to move towards the far direction, and the cross beam A and the cross beam B respectively move downwards and upwards under the action of downward and upward forces applied to the cross beam A and the cross beam B by the reset springs, so that reset is realized, and butt joint is removed.
Compared with the prior art, the screw nut clamping type butt joint mechanism has the following advantages:
the screw nut clamping type docking mechanism has the characteristic of strong universality, has the function of integration of guiding, locking and separating, can meet the requirements of docking of an in-orbit modular spacecraft, building of the in-orbit spacecraft and replacing of an in-orbit modular load, and can also be used in occasions where ground mechanical equipment is rapidly assembled.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a screw nut clamping type docking mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the middle process of the butt joint of the screw nut clamping type butt joint mechanism according to the embodiment of the invention;
FIG. 3 is a schematic view illustrating a process of completing and locking a butt joint of a screw nut clamping type butt joint mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an active end housing;
FIG. 5 is a schematic structural view of the beam A;
fig. 6 is a schematic structural view of the beam B.
Description of reference numerals:
the locking structure comprises a 1-conical nut A, a 2-1-locking inclined surface A, a 2-2-locking inclined surface B, a 3-1-locking straight surface A, a 3-2-locking straight surface B, a 4-cross beam A, a 5-conical nut B, a 6-driving end shell, a 7-motor, an 8-positive and negative screw rod, a 9-return spring A, a 10-cross beam B, an 11-return spring B, a 12-driven end shell, a 13-matching conical surface, a 14-guiding conical surface, a 15-matching end surface, a 16-middle end conical surface, a 17-opening structure and an 18-mounting column.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-6, a screw nut clamping type docking mechanism includes an active end and a passive end, the active end includes an active end shell 6, a conical nut A1, a conical nut B5, a beam A4, a beam B10, a motor 7, a positive and negative screw 8 and a return spring, the conical nut A1, the conical nut B5, the beam A4, the beam B10, the positive and negative screw 8 and the return spring are all disposed in the active end shell 6, the positive and negative screw 8 is disposed at the center of the active end shell 6, one end of the positive and negative screw is connected to an output shaft of the motor 7, the conical nut A1 and the conical nut B5 are matched on the positive and negative screw 8, the conical nut A1 and the conical nut B5 form a space for accommodating the beam A4 and the beam B10, the conical surface A4 and the beam B10 are disposed in parallel, and both ends of each beam are respectively connected to the conical nut a space of the conical nut A1 and the conical nut B5 through an inclined end surface The cross beam A4 is arranged above the positive and negative screw rod 8, the cross beam B10 is arranged below the positive and negative screw rod 8, the cross beam A4 is connected with the cross beam B10 through a return spring, the upper surface of the cross beam A4 is provided with a locking inclined plane A2-1 and a locking straight plane A3-1, the lower surface of the cross beam B10 is provided with a locking inclined plane B2-2 and a locking straight plane B3-2, the positions of the locking inclined plane A2-1 and the locking inclined plane B2-2 are correspondingly arranged, and the positions of the locking straight plane A3-1 and the locking straight plane B3-2 are correspondingly arranged;
the passive end comprises a passive end shell 12, a hole is formed in the center of the passive end shell 12 to form a central hole structure, a matching conical surface 13 and a guiding conical surface 14 are arranged on the inner wall of the passive end shell 12, the matching conical surface 13 is matched with a locking inclined surface A2-1 and a locking inclined surface B2-2, and a locking straight surface A3-1 and a locking straight surface B3-2 are matched with a matching end surface 15 of the passive end shell 12;
the motor 7 rotates to drive the positive and negative screw rods 8 to rotate, so that the conical surface nut A1 and the conical surface nut B5 are driven to synchronously approach, the conical surface nut A1 and the conical surface nut B5 drive the cross beam A4 to move upwards, and the cross beam B10 moves downwards, so that the locking inclined plane A2-1, the locking inclined plane B2-2, the locking straight plane A3-1 and the locking straight plane B3-2 penetrate out of the driving end shell 6 and then are in butt joint with and lock the driven end shell 12.
The motor 7 is connected with the positive and negative screw rods 8 through a coupler, and the motor 7 is fixed at the end part of the driving end shell 6. The positive and negative lead screw 8 is respectively made into left and right spirals at two ends according to the lead, and is matched with the conical surface nut A and the conical surface nut B, and the effect is that the conical surface nut A and the conical surface nut B can respectively move towards the direction that the middle parts are close to the four locking inclined surfaces. The other end of the positive and negative lead screw 8 is supported in the driving end shell 6 through a bearing.
The inner wall of the driving end shell 6 is provided with a limiting part for limiting the rotation of the conical surface nut A1 and the conical surface nut B5, and the forward and reverse screw rod 8 rotates to drive the conical surface nut A1 and the conical surface nut B5 to move along the inner wall of the driving end shell 6. The locating part is a slide rail arranged on the inner wall of the driving end shell 6, and correspondingly, sliding grooves matched with the slide rail are arranged on the surfaces of the conical surface nut A1 and the conical surface nut B5. So set up for conical surface nut A and conical surface nut B can not rotate, can only follow the inner wall slip of initiative end shell 6.
The middle part of the driving end shell 6 is provided with a middle end conical surface 16, and the middle end conical surface 16 is matched with the guiding conical surface 14 of the driven end shell 12. So set up, be convenient for the smooth butt joint of initiative end and passive end.
The driving end shell 6 is provided with an opening structure 17 for two locking inclined planes and two locking straight planes to vertically slide up and down, so that the two locking inclined planes and the two locking straight planes are not limited to extend out of the driving end shell 6, and the two locking inclined planes and the two locking straight planes are used for conveniently locking the driven end at the alignment position.
The upper surface of the beam A4 is provided with two locking inclined planes A2-1 and two locking straight planes A3-1, the lower surface of the beam B10 is provided with two locking inclined planes B2-2 and two locking straight planes B3-2, and correspondingly, the upper surface and the lower surface of the active end shell 6 are respectively provided with four opening structures 17.
Crossbeam A4 and crossbeam B10 equal size are the same, all are equipped with the erection column 18 of connecting reset spring on crossbeam A4 and crossbeam B10, and set up two erection columns 18 on every crossbeam, reset spring also sets up two, is reset spring A9 and reset spring B11 respectively, and just a pair of erection column right from top to bottom corresponds a reset spring. The return spring A9 and the return spring B11 are coil springs that receive tensile force. So set up, can make the initial position of restriction crossbeam B, can make again when needs disarm the butt joint, can to crossbeam A, crossbeam B exert respectively downwards and upwards power for it can move respectively downwards and upwards and reset.
A working method of a screw nut clamping type docking mechanism specifically comprises the following steps:
when in an initial butt joint state, the mechanical arm drives the driving end to be close to the passive end, and because the driving end shell 6 of the driving end is provided with the middle conical surface matched with the guiding conical surface 14 of the passive end shell 12, the driving end is gradually inserted into the conical surface hole of the passive end shell 12 through the guiding conical surface 14 of the passive end in the process that the driving end is close to the passive end; the beam A4 and the beam B10 do not influence the rotation of the positive and negative screw rods 8;
after the middle end conical surface 16 of the driving end shell 6 is gradually matched with the guiding conical surface 14 of the driven end shell 12, the starting motor 7 drives the positive and negative lead screw 8 to rotate in the positive direction, and because the left and right ends of the cross beam A4 and the cross beam B10 are attached to the conical surfaces of the conical surface nut A1 and the conical surface nut B5 through end inclined surfaces, when the positive and negative lead screw 8 rotates to drive the conical surface nut A1 and the conical surface nut B5 to move towards the approaching direction; the movement of the conical nut A1 and the conical nut B5 enables the beam A4 and the beam B10 to move upwards and downwards respectively, meanwhile, the locking inclined plane A2-1, the locking inclined plane B2-2, the locking straight plane A3-1 and the locking straight plane B3-2 are driven to move to extend out of the active end shell 6 until the locking inclined plane A2-1 and the locking inclined plane B2-2 are contacted with and matched with a matching conical surface 13 of the passive end shell 12, the active end is forced to move towards the direction close to the passive end along with the continuous upward movement of the beam A4 and the continuous downward movement of the beam B10, and finally the locking straight plane A3-1 and the locking straight plane B3-2 are contacted and matched with a matching end surface 15 of the passive end shell 12 to clamp the passive end shell 12 and complete butt joint;
when the butt joint needs to be removed, the motor 7 is controlled to rotate reversely, the forward and reverse lead screws 8 drive the conical surface nut A1 and the conical surface nut B5 to move towards the far direction, and under the action of downward and upward forces respectively applied to the beam A4 and the beam B10 by the return springs, the beam A4 and the beam B10 respectively move downwards and upwards to realize the return, so that the butt joint is removed.
The butt joint process of the modularized spacecraft is similar, the whole processes of guiding, locking and releasing in the butt joint process can be completed only by installing the butt joint mechanism in the application on different spacecrafts, and due to the fact that the interface is simple, small in size and light in weight, multipoint distributed installation can be conducted according to the spacecraft structure, and the modularized spacecraft is suitable for the modularized spacecrafts of different types.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a screw nut clamp type docking mechanism which characterized in that: the driving end comprises a driving end shell (6), a conical surface nut A (1), a conical surface nut B (5), a cross beam A (4), a cross beam B (10), a motor (7), a positive and negative lead screw (8) and a reset spring, wherein the conical surface nut A (1), the conical surface nut B (5), the cross beam A (4), the cross beam B (10), the positive and negative lead screw (8) and the reset spring are uniformly arranged in the driving end shell (6), the positive and negative lead screw (8) is arranged at the center of the driving end shell (6), one end of the positive and negative lead screw is connected with an output shaft of the motor (7), the conical surface nut A (1) and the conical surface nut B (5) are matched on the positive and negative lead screw (8), the conical surface nut A (1) and the conical surface nut B (5) form a space for accommodating the cross beam A (4) and the cross beam B (10), and the cross beam A (4) and the cross beam B (10) are arranged in parallel, two ends of each cross beam are respectively matched with the conical surfaces of a conical surface nut A (1) and a conical surface nut B (5) through inclined end surfaces, the cross beam A (4) is arranged above a positive lead screw (8), the cross beam B (10) is arranged below the positive lead screw (8), the cross beam A (4) is connected with the cross beam B (10) through a reset spring, a locking inclined surface A (2-1) and a locking straight surface A (3-1) are arranged on the upper surface of the cross beam A (4), a locking inclined surface B (2-2) and a locking straight surface B (3-2) are arranged on the lower surface of the cross beam B (10), the locking inclined surface A (2-1) and the locking inclined surface B (2-2) are arranged correspondingly, and the locking straight surface A (3-1) and the locking straight surface B (3-2) are arranged correspondingly;
the passive end comprises a passive end shell (12), the passive end shell (12) is of a central opening structure, a matching conical surface (13) and a guiding conical surface (14) are arranged on the inner wall of the passive end shell (12), the matching conical surface (13) is matched with a locking inclined surface A (2-1) and a locking inclined surface B (2-2), and the locking straight surface A (3-1) and the locking straight surface B (3-2) are matched with a matching end surface (15) of the passive end shell (12);
the motor (7) rotates to drive the positive and negative screw rods (8) to rotate, so that the conical surface nut A (1) and the conical surface nut B (5) are driven to synchronously approach, the conical surface nut A (1) and the conical surface nut B (5) drive the cross beam A (4) to move upwards, and the cross beam B (10) moves downwards, so that the locking inclined plane A (2-1), the locking inclined plane B (2-2), the locking straight plane A (3-1) and the locking straight plane B (3-2) penetrate out of the driving end shell (6) and then are butted and locked with the driven end shell (12);
the middle part of the driving end shell (6) is provided with a middle end conical surface (16), and the middle end conical surface (16) is matched with a guide conical surface (14) of the driven end shell (12).
2. The screw nut clamping type docking mechanism of claim 1, wherein: the motor (7) is connected with the positive and negative screw rods (8) through a coupler, and the motor (7) is fixed at the end part of the driving end shell (6).
3. The screw nut clamping type docking mechanism of claim 1, wherein: the inner wall of the driving end shell (6) is provided with a limiting part for limiting the rotation of the conical surface nut A (1) and the conical surface nut B (5), and the forward and reverse screw rods (8) rotate to drive the conical surface nut A (1) and the conical surface nut B (5) to move along the inner wall of the driving end shell (6).
4. The screw nut clamping type docking mechanism as claimed in claim 3, wherein: the locating part is a slide rail arranged on the inner wall of the driving end shell (6), and correspondingly, sliding grooves matched with the slide rail are formed in the surfaces of the conical surface nut A (1) and the conical surface nut B (5).
5. The screw nut clamping type docking mechanism of claim 1, wherein: an opening structure (17) for two locking inclined planes and two locking straight planes to vertically slide through is arranged on the driving end shell (6).
6. The screw-nut clamping type docking mechanism of claim 5, wherein: the upper surface of the beam A (4) is provided with two locking inclined planes A (2-1) and two locking straight planes A (3-1), the lower surface of the beam B (10) is provided with two locking inclined planes B (2-2) and two locking straight planes B (3-2), and correspondingly, the upper surface and the lower surface of the active end shell (6) are respectively provided with four opening structures (17).
7. The screw-nut clamping type docking mechanism of claim 6, wherein: crossbeam A (4) and crossbeam B (10) structure size homogeneous phase are the same, all are equipped with erection column (18) of connecting reset spring on crossbeam A (4) and crossbeam B (10), and set up two erection column (18) on every crossbeam, reset spring also sets up two, is reset spring A (9) and reset spring B (11) respectively, and just from top to bottom a pair of erection column correspondence reset spring.
8. The screw nut clamping type docking mechanism of claim 1, wherein: the other end of the positive and negative screw rod (8) is supported in the driving end shell (6) through a bearing.
9. The working method of the screw nut clamping type docking mechanism according to any one of claims 1 to 8, characterized in that: the method specifically comprises the following steps:
when in an initial butt joint state, the mechanical arm drives the driving end to be close to the passive end, and in the process that the driving end is close to the passive end, the driving end is gradually inserted into the central opening of the passive end shell (12) through the guide conical surface (14) of the passive end;
after the middle-end conical surface (16) of the driving end shell (6) is gradually matched with the guiding conical surface (14) of the driven end shell (12), the starting motor (7) drives the positive and negative screw rod (8) to rotate in the positive direction, and the positive and negative screw rod (8) drives the conical surface nut A (1) and the conical surface nut B (5) to move towards the approaching direction; the movement of the cone nut A (1) and the cone nut B (5) causes the beam A (4) and the beam B (10) to move upwards and downwards respectively, simultaneously driving the locking inclined plane A (2-1), the locking inclined plane B (2-2), the locking straight plane A (3-1) and the locking straight plane B (3-2) to move to extend out of the active end shell (6) until the locking inclined plane A (2-1) and the locking inclined plane B (2-2) are contacted and matched with a matching conical surface (13) of the passive end shell (12), and along with the continuous upward movement of the beam A (4) and the continuous downward movement of the beam B (10), the active end is forced to move towards the direction close to the passive end, and finally the locking straight plane A (3-1) and the locking straight plane B (3-2) are contacted and matched with a matching end surface (15) of the passive end shell (12) to clamp the passive end shell (12) and finish butt joint;
when butt joint needs to be removed, the motor (7) is controlled to rotate reversely, the forward and reverse lead screws (8) drive the conical surface nut A (1) and the conical surface nut B (5) to move towards the far-away direction, and the cross beam A (4) and the cross beam B (10) respectively move downwards and upwards under the action of downward and upward forces exerted on the cross beam A (4) and the cross beam B (10) by the reset springs, so that reset is achieved, and butt joint is removed.
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| CN202010966372.5A CN112124639B (en) | 2020-09-15 | 2020-09-15 | Screw nut clamping type docking mechanism and working method thereof |
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| CN202010966372.5A CN112124639B (en) | 2020-09-15 | 2020-09-15 | Screw nut clamping type docking mechanism and working method thereof |
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| CN112124639B true CN112124639B (en) | 2022-01-07 |
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| CN113148244B (en) * | 2021-05-08 | 2022-08-12 | 上海卫星工程研究所 | On-orbit assembling and butting mechanism and method for spacecraft group |
| CN114104343B (en) * | 2021-12-28 | 2023-12-15 | 中国科学院长春光学精密机械与物理研究所 | Butt-joint locking mechanism for space optical load |
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| JP2676265B2 (en) * | 1990-04-27 | 1997-11-12 | 宇宙開発事業団 | Capture mechanism |
| CN106428647B (en) * | 2016-11-23 | 2019-01-18 | 西北工业大学 | A kind of blind alignment Space Docking Mechanism of lever pin formula |
| CN107054699B (en) * | 2017-03-09 | 2019-06-18 | 兰州空间技术物理研究所 | A kind of space load butt-joint locking interface arrangement |
| EP3604144B1 (en) * | 2017-03-31 | 2021-07-28 | IHI Aerospace Co., Ltd. | Docking device |
| CN207536139U (en) * | 2017-07-12 | 2018-06-26 | 江南大学 | A kind of cone rod-type docking mechanism |
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