CN113998153A - Universal butt joint device for cubic satellite - Google Patents
Universal butt joint device for cubic satellite Download PDFInfo
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- CN113998153A CN113998153A CN202111359153.1A CN202111359153A CN113998153A CN 113998153 A CN113998153 A CN 113998153A CN 202111359153 A CN202111359153 A CN 202111359153A CN 113998153 A CN113998153 A CN 113998153A
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- 210000001503 joint Anatomy 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000003032 molecular docking Methods 0.000 claims abstract description 30
- 230000009467 reduction Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000003780 insertion Methods 0.000 abstract 2
- 230000037431 insertion Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 239000011148 porous material Substances 0.000 description 2
- 108091092878 Microsatellite Proteins 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005486 microgravity Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Abstract
The invention discloses a universal butt joint device for a cubic satellite. The two satellites needing to be butted are both provided with a butting device, and the butting device comprises a guide hole plate provided with a capturing cone, a locking mechanism used for locking the capturing cone on the opposite satellite and a power mechanism; the guide hole plate is provided with a guide hole for guiding the insertion of the opposite capturing cone, the power mechanism receives a signal of the insertion of the capturing cone and drives the locking mechanism to lock the capturing cone, and when the power mechanism receives a release signal, the locking mechanism is driven to release the capturing cone. The docking device can meet the requirements that a cube satellite is reconfigured through a modular unit, the fault tolerance of the cube satellite is increased, and a multi-part modular space system is created; the structure is simple, the modularized design is realized, the device can be directly arranged on a cubic satellite, and other mechanisms on the satellite are not influenced; the number of parts is small, the manufacture and the improvement are convenient, and the manufacture, the assembly and the maintenance are easy; the product can be manufactured after the design is finished, and the method is easy to popularize.
Description
Technical Field
The invention belongs to the field of aerospace, and particularly relates to a universal butt joint device for a cubic satellite.
Background
Today, despite the advantages of cubic satellites in terms of simplicity and cost, they are still limited by on-board resources and cannot be used for complex and high-performance applications. The docking mechanism will be replaced with a small satellite component through a modular unit, enabling the ability to reconfigure, self-expand and retrofit, increasing its fault tolerance and creating a scenario for a multi-part modular space system. To date, only a few other connection systems for small spacecraft have been developed and are typically based on a probe-socket configuration. For example, Autonomous Microsatellite Docking System (AMDS) developed by michigan aerospace which developed a retractable probe that was captured by a drogue and then retracted to allow the satellites to complete docking after a series of mechanical latch-hold connections, the AMDS was tested in a microgravity environment.
However, the existing docking device is not universal enough, mostly consists of a male head and a female head, the type of the docking device carried by a target needs to be considered when performing a docking task, and the docking device has a complex structure, is inconvenient to install, and is not designed in a modularized manner.
Disclosure of Invention
The invention aims to provide a universal butt joint device for a cubic satellite, which can be directly arranged on the cubic satellite through the integral structure and the modularized design of a taper hole without influencing other mechanisms on the satellite.
The technical solution for realizing the purpose of the invention is as follows: a universal butt joint device for a cubic satellite is characterized in that the butt joint device is arranged on two satellites needing butt joint, and comprises a guide hole plate provided with a capturing cone, a locking mechanism used for locking the capturing cone on the opposite satellite and a power mechanism;
the guide hole plate is provided with a guide hole for guiding the opposite capturing cone to be inserted, the power mechanism receives a signal for inserting the capturing cone and drives the locking mechanism to lock the capturing cone, and when the power mechanism receives a release signal, the locking mechanism is driven to release the capturing cone.
The device further comprises a shell and a bottom plate, wherein lugs are arranged on two opposite sides of the guide hole plate, the shell is fixedly connected with the guide hole plate through the lugs, the lower part of the shell is fixedly connected with the bottom plate, and the butting device is installed on the cube satellite through the bottom plate.
Further, the driving mechanism comprises a motor and a screw rod,
the locking mechanism comprises a sliding shaft pin, an upper rotating piece and a lower rotating piece which rotate reversely, and the upper rotating piece and the lower rotating piece are provided with arc-shaped notches for the sliding shaft pin to pass through and tapered notches for a capture cone to pass through;
the rotation of the motor is converted into the horizontal reciprocating motion of the sliding shaft pin through the screw rod, the horizontal motion of the sliding shaft pin is converted into the reverse rotation of the upper rotating sheet and the lower rotating sheet through the arc-shaped notch, and when the upper rotating sheet and the lower rotating sheet rotate reversely, the capturing cone is locked and released through the reduction notch.
Further, the driving mechanism further comprises a coupler, and the motor is connected with the screw rod through the coupler.
Furthermore, a waist-shaped guide groove is formed in the bottom plate, the sliding pin shaft is of a columnar structure with a thick middle part and thin two ends, the middle part of the sliding pin shaft is connected with the screw rod through a threaded hole, the upper end thin rod slides in the arc-shaped groove opening of the rotating piece, and the lower end thin rod slides in the guide groove in the bottom plate.
Further, still including setting up the lead screw support at the bottom plate, be equipped with the hole on the lead screw support, the terminal optical axis of lead screw and the hole clearance fit on the lead screw support provide the support for the lead screw.
Further comprises a main shaft and a main shaft bracket,
the spindle support is arranged on the bottom plate, and the spindle is arranged on the spindle support and in interference fit with the spindle support.
Further, the upper rotating piece and the lower rotating piece are arranged on the spindle, and bearings in clearance fit with the spindle are arranged between the upper rotating piece and the lower rotating piece, between the upper rotating piece and the guide pore plate, and between the lower rotating piece and the spindle support, and are used for fixing the distance between the upper rotating piece and the lower rotating piece, between the upper rotating piece and the guide pore plate, and between the lower rotating piece and the spindle support.
Furthermore, a connecting line between one end of the arc-shaped notches of the upper rotating sheet and the lower rotating sheet, which is close to the center of the rotating sheet, and the large end of the reduction notch passes through the circle center of the rotating sheet, and a connecting line between the other end of the arc-shaped notch and the other end of the reduction notch passes through the circle center of the rotating sheet.
Furthermore, when the mechanism is in an unlocking state, the upper end of the sliding shaft pin is positioned at the center of one end of the arc-shaped notch close to the center of the rotating sheet, the center of the larger-diameter end of the two gradually-reduced notches is opposite to the center of the guide hole, the diameter of the larger end is larger than the maximum diameter of the capturing cone, and the capturing cone smoothly passes through the two gradually-reduced notches;
when the mechanism is in a locking state, when the upper end of the sliding shaft pin is positioned at the center of one end of the arc-shaped groove far away from the center of the rotating sheet, the center of the smaller-diameter end of the two reducing notches is opposite to the center of the guide hole, and the diameter of the smaller-diameter end of the two reducing notches is smaller than the diameter of the neck of the capturing cone and is used for clamping the capturing cone.
Compared with the prior art, the invention has the remarkable advantages that:
the docking device can meet the requirements that a cube satellite is reconfigured through a modular unit, the fault tolerance of the cube satellite is increased, and a multi-part modular space system is created;
the structure is simple, the modularized design is realized, the device can be directly arranged on a cubic satellite, and other mechanisms on the satellite are not influenced;
the number of parts is small, the manufacture and the improvement are convenient, and the manufacture, the assembly and the maintenance are easy;
the product can be manufactured after the design is finished, and the method is easy to popularize.
Drawings
FIG. 1 is a schematic structural diagram of a universal docking device for a cubic satellite according to the present invention;
fig. 2 is a schematic structural diagram of a bottom plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 3 is a schematic structural diagram of a sliding shaft pin in the universal docking device for a cubic satellite according to the present invention;
FIG. 4 is a schematic structural diagram of a guide hole plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 5 is a schematic structural diagram of a lower rotating plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 6 is a three-dimensional view of the locking process of the universal docking device for cubic satellites according to the present invention;
fig. 7 is a top view of the locking process of the universal docking device for cubic satellites according to the present invention.
Fig. 8 is an exploded view of the universal docking device for cubic satellites according to the present invention.
Description of reference numerals:
1-base plate, 1-1-motor mounting hole, 1-2-spindle bracket mounting hole, 1-3-sliding shaft pin guiding groove, 1-4-screw rod bracket mounting hole, 1-5-docking mechanism mounting hole, 2-sliding shaft pin, 3-screw rod, 4-coupler, 5-motor, 6-lower rotary sheet, 6-1-tapered notch, 6-2-arc notch, 7-upper rotary sheet, 8-guide orifice plate, 8-1-guide hole, 8-2-capture cone mounting hole, 9-spindle, 10-capture cone, 11-spindle bracket; 12-shell, 13-screw rod support.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in figure 1, the structure of the universal butt joint device for the cubic satellite comprises a bottom plate 1, the bottom plate is in a structure shown in figure 2, and a motor mounting hole 1-1, a main shaft bracket mounting hole 1-2, a guide groove 1-3, a screw rod bracket mounting hole 1-4 and a butt joint mechanism mounting hole 1-5 are formed in the bottom plate. The bottom plate 1 is connected with the cubic satellite body through the mounting holes 1-5 of the butting mechanism.
As shown in fig. 3, the sliding shaft pin 2 is a columnar structure with thick middle and thin two ends, a threaded hole in the middle part of the sliding shaft pin is connected with the screw rod 3, and the sliding shaft pin can translate along the axis of the screw rod when the screw rod 3 rotates; meanwhile, the upper thin rod slides in the arc-shaped notches 6-2 on the rotating pieces 6 and 7, and the lower thin rod slides in the guide grooves 1-3 on the bottom plate 1, so that the translation of the sliding shaft pin 2 can be converted into the rotary motion of the rotating pieces 6 and 7 around the main shaft 9.
The motor 5 is arranged on the bottom plate 1 through a fixing piece and a motor mounting hole 1-1, the output shaft of the motor is connected with the screw rod 3 through a coupler 4, and the sliding shaft pin 2 serves as a nut and moves on the screw rod 3. The other end of the screw rod 3 is provided with a section of optical axis which is in clearance fit with a hole on the screw rod bracket 13 to support the screw rod.
As shown in FIG. 4, the guide hole plate 8 mainly has three main structures, i.e., a guide hole 8-1, a catch cone mounting hole 8-2 and a spindle mounting hole 8-3. The end of the capture cone 10 is threadedly secured within the capture cone mounting hole 8-2. The main shaft 9 is connected with the guide hole plate 8 through the mounting hole 8-3, and a bearing, the upper rotating plate 7, the bearing, the lower rotating plate 6, the bearing, the main shaft 9 and the bearing are in interference fit, and the distance between the guide hole plate 8, the rotating plates 6 and 7 and the main shaft support 11 can be fixed through the bearing.
During assembly, the guide hole plate, the main shaft, the rotating sheet and the bearing are sequentially assembled, and due to interference fit of the main shaft and the bearing, the parts can be integrally formed and then are integrally installed on the main shaft bracket 11. The main shaft bracket 11 is connected with the bottom plate through the main shaft bracket mounting hole 1-2, and the hole at the top of the main shaft bracket is in interference fit with the main shaft 9. Because the guide orifice plate 8 and the main shaft 9 are not in interference fit and can rotate relatively, in order to control the rotation of the guide orifice plate, two step structures are arranged on the guide orifice plate and are positioned at the intersection point of the central connecting line of the guide hole 8-1 and the capture cone mounting hole 8-2 and the outer contour of the guide orifice plate. The step mechanism is matched with a corresponding notch on the shell 12, and can limit the rotation of the guide orifice plate, so that the upper guide hole 8-1 can correspond to the centers of the two ends of the tapered notches 6-1 on the rotating sheets 6 and 7 in two locking and unlocking states.
The surface of the housing 12 is blackened and frosted to reduce the impact on the vision camera.
As shown in figure 5, the rotary plate is provided with two main structures of a reducing notch 6-1 and an arc notch 6-2, and the centers of the two ends of the reducing notch and the center connecting line of the two ends of the arc notch pass through the center of the rotary plate. Taking the lower rotating plate shown in fig. 6 as an example, when the upper end of the sliding shaft pin is located at the center of one end of the arc-shaped groove 6-2 close to the center of the rotating plate, the center of the large end of the tapered notch 6-1 is opposite to the center of the guide hole 8-1, and the unlocking state is achieved at this time; when the upper end of the sliding shaft pin 2 moves to one end of the arc-shaped notch 6-2 far away from the center, the small end center of the reducing notch 6-1 is opposite to the center of the guide hole 8-1, and the locking state is realized.
The shell 12 encloses all components and is fixed on the bottom plate 1 through screws, and the surface of the shell 12 is subjected to blackening and frosting treatment so as to reduce the influence on the shooting effect of the visual camera.
As shown in fig. 6-8, the working principle of the present invention is: the mechanism is initially in an unlocked state, the center of the end with the larger diameter in the tapered notch 6-1 is opposite to the center of the guide hole 8-1, and the sliding shaft pin is positioned at one end, close to the center of the mechanism, in the arc-shaped groove. When the cubic satellite enters the docking range, the capturing cone 10 successfully enters a corresponding guide hole 8-1 on the target satellite docking mechanism through the guide hole 8-1; when the capturing cone 10 reaches a preset entering depth, a locking process is triggered to trigger a photoelectric switch arranged at the depth, so that a motor 5 drives a screw rod 3 arranged on a motor shaft and drives a sliding shaft pin 2 to translate outwards, the rotary motion output by the motor is converted into the linear motion of the sliding shaft pin 2, the upper end of the sliding shaft pin 2 slides in arc-shaped grooves 6-2 of rotating sheets 6 and 7, the linear motion is converted into rotary motion, tapered notches 6-1 on two reverse rotating sheets 6 and 7 are closed, namely the center of one end with a smaller diameter in the tapered notch 6-1 is opposite to the center of a guide hole 8-1, and the two notches with smaller radii form a small hole, the diameter of the small hole is smaller than that of the capturing cone 10 at the position, and the capturing cone is tightly clamped.
When the cube satellites which need to be butted together are disassembled, firstly, a separation signal is sent, a motor 5 is controlled to rotate reversely, a screw rod 3 arranged on a motor shaft is driven to rotate reversely, a sliding shaft pin 2 is driven to translate inwards, the upper end of the sliding shaft pin 2 slides in an arc-shaped groove 6-2 of each rotating sheet 6 and 7, linear motion is converted into rotary motion, tapered notches 6-1 on the two reverse rotating sheets 6 and 7 are opened, namely, the center of one end with a larger diameter on the tapered notch 6-1 is opposite to the center of a guide hole 8-1, the two notches with larger radius form a large hole, the diameter of the large hole is larger than the largest diameter of a capture cone 10, and the capture cone can pass through and is matched with a propulsion system to separate the two satellites.
Claims (10)
1. The universal docking device for the cubic satellite is characterized in that the docking device is arranged on two satellites needing to be docked, and comprises a guide hole plate (8) provided with a capturing cone (10), a locking mechanism used for locking the capturing cone (10) on the opposite satellite and a power mechanism;
the guide hole plate (8) is provided with a guide hole for guiding the opposite side capturing cone (10) to be inserted, the power mechanism receives a signal for inserting the capturing cone (10), then drives the locking mechanism to lock the capturing cone (10), and when the power mechanism receives a release signal, drives the locking mechanism to release the capturing cone (10).
2. The docking device as claimed in claim 1, further comprising a housing (12) and a bottom plate (1), wherein lugs are provided at opposite sides of the guide hole plate (8), the housing (12) is fixedly connected with the guide hole plate (8) through the lugs, the lower part of the housing (12) is fixedly connected with the bottom plate (1), and the docking device is installed on the cube satellite through the bottom plate (1).
3. Docking device according to claim 2, characterized in that the drive mechanism comprises a motor (5) and a screw (3),
the locking mechanism comprises a sliding shaft pin (2), an upper rotating piece (7) and a lower rotating piece (6) which rotate reversely, and arc-shaped notches for the sliding shaft pin (2) to pass through and reduction notches for a capture cone to pass through are formed in the upper rotating piece (7) and the lower rotating piece (6);
the rotation of the motor (5) is converted into the horizontal reciprocating motion of the sliding shaft pin (2) through the screw rod (3), the horizontal motion of the sliding shaft pin (2) is converted into the reverse rotation of the upper rotating sheet (7) and the lower rotating sheet (6) through the arc-shaped notch, and when the upper rotating sheet (7) and the lower rotating sheet (6) rotate reversely, the capture cone (10) is locked and released through the reduction notch.
4. A docking device according to claim 3, characterized in that the driving mechanism further comprises a coupling (4), and the motor (5) is connected to the screw (3) through the coupling (4).
5. A butt-joint device according to claim 3, characterized in that the bottom plate (1) is provided with a waist-shaped guide groove, the sliding pin shaft (2) is of a columnar structure with a thick middle part and thin two ends, the middle part of the sliding pin shaft is connected with the screw rod (3) through a threaded hole, the upper thin rod slides in the arc-shaped notch of the rotating sheet, and the lower thin rod slides in the guide groove on the bottom plate (1).
6. A docking device according to claim 3, further comprising a screw bracket (13) disposed on the base plate (1), wherein a hole is disposed on the screw bracket (13), and an optical axis at the end of the screw (3) is in clearance fit with the hole on the screw bracket (13) to provide a support for the screw.
7. A docking device according to claim 3, characterized by further comprising a spindle (9) and a spindle support (11),
the spindle support is arranged on the bottom plate (1), and the spindle (9) is arranged on the spindle support (11) and is in interference fit with the spindle support (11).
8. The butt joint device according to claim 7, wherein the upper rotary plate (7) and the lower rotary plate (6) are arranged on the main shaft (9), and bearings which are in clearance fit with the main shaft (9) are arranged between the upper rotary plate (7) and the lower rotary plate (6), between the upper rotary plate (7) and the guide orifice plate (8), and between the lower rotary plate (6) and the main shaft bracket (11) and are used for fixing the distance between the upper rotary plate (7) and the lower rotary plate (6), between the upper rotary plate (7) and the guide orifice plate (8), and between the lower rotary plate (6) and the main shaft bracket (11).
9. Docking device according to claim 8, characterized in that the connection line of one end of the arc-shaped notch of the upper rotary plate (7) and the lower rotary plate (6) close to the center of the rotary plate and the large end of the reduction notch passes through the center of the rotary plate, and the connection line of the other end of the arc-shaped notch and the other end of the reduction notch passes through the center of the rotary plate.
10. A docking device according to claim 3, characterized in that when the mechanism is in the unlocked state, the upper end of the sliding shaft pin (2) is located at the center of one end of the arc-shaped notch close to the center of the rotary piece, the center of the end with larger diameter in the two tapered notches is opposite to the center of the guide hole, the diameter of the larger end is larger than the maximum diameter of the capturing cone (10), and the capturing cone passes through smoothly;
when the mechanism is in a locking state, when the upper end of the sliding shaft pin is positioned at the center of one end of the arc-shaped notch far away from the center of the rotating sheet, the center of the smaller diameter end of the two reducing notches is opposite to the center of the guide hole, and the diameter of the smaller diameter end of the two reducing notches is smaller than the diameter of the neck part of the capturing cone (10) and is used for clamping the capturing cone (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111359153.1A CN113998153A (en) | 2021-11-17 | 2021-11-17 | Universal butt joint device for cubic satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111359153.1A CN113998153A (en) | 2021-11-17 | 2021-11-17 | Universal butt joint device for cubic satellite |
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| Publication Number | Publication Date |
|---|---|
| CN113998153A true CN113998153A (en) | 2022-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111359153.1A Pending CN113998153A (en) | 2021-11-17 | 2021-11-17 | Universal butt joint device for cubic satellite |
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| Country | Link |
|---|---|
| CN (1) | CN113998153A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379822A (en) * | 2022-03-22 | 2022-04-22 | 中国人民解放军战略支援部队航天工程大学 | Circumferential and axial double-locking mechanism for multi-body allosteric satellite |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7815149B1 (en) * | 2005-04-01 | 2010-10-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic capture docking mechanism |
| CN102152860A (en) * | 2010-11-25 | 2011-08-17 | 西北工业大学 | Mechatronic universal butt joint device |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN108037576A (en) * | 2017-12-22 | 2018-05-15 | 中国科学院西安光学精密机械研究所 | Homologous for space segmented mirror bores rod-type precision splicing body |
| CN108609205A (en) * | 2018-05-14 | 2018-10-02 | 北京航空航天大学 | Homologous connects separator and system |
-
2021
- 2021-11-17 CN CN202111359153.1A patent/CN113998153A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7815149B1 (en) * | 2005-04-01 | 2010-10-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic capture docking mechanism |
| CN102152860A (en) * | 2010-11-25 | 2011-08-17 | 西北工业大学 | Mechatronic universal butt joint device |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN108037576A (en) * | 2017-12-22 | 2018-05-15 | 中国科学院西安光学精密机械研究所 | Homologous for space segmented mirror bores rod-type precision splicing body |
| CN108609205A (en) * | 2018-05-14 | 2018-10-02 | 北京航空航天大学 | Homologous connects separator and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379822A (en) * | 2022-03-22 | 2022-04-22 | 中国人民解放军战略支援部队航天工程大学 | Circumferential and axial double-locking mechanism for multi-body allosteric satellite |
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Application publication date: 20220201 |