CN114229045B - Cube star repeated connection and separation device and working method thereof - Google Patents
Cube star repeated connection and separation device and working method thereof Download PDFInfo
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- CN114229045B CN114229045B CN202111437030.5A CN202111437030A CN114229045B CN 114229045 B CN114229045 B CN 114229045B CN 202111437030 A CN202111437030 A CN 202111437030A CN 114229045 B CN114229045 B CN 114229045B
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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
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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
- B64G1/645—Separators
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Abstract
The invention provides a cube star repeated connection and separation device and a working method thereof, wherein the device comprises a cube star component, four groups of guide components, a motor, a transmission mechanism, two locking cams and an electromagnet component, wherein the four groups of guide components, the motor, the transmission mechanism, the two locking cams and the electromagnet component are arranged on a connecting platform; the space mechanical arm drives the cube star component to enter a capturing range of four groups of guide components, when the cube star component triggers a microswitch arranged on the guide components, a motor is started, a motor transmission mechanism transmits to two locking cams, the two locking cams synchronously rotate to capture and lock the cube star component, and the motor stops moving; when the lock is unlocked, the electromagnet assembly is electrified and attracts the cube star assembly; and starting the motor again, releasing the limit of the locking cam to the cube star component, powering off the electromagnet component and releasing the cube star component. The method has the advantages of low impact, light weight, repeatability and the like, and meets the requirement of a space task scene of connecting and separating the cube star arrow.
Description
Technical Field
The invention belongs to the technical field of spatial non-pyrotechnic repeatable connection and separation, and particularly relates to a cubic star repeatable connection and separation device and a working method thereof.
Background
The cubing star is a novel micro satellite, has the advantages of low manufacturing cost, short development period, high functional density, high modularization generalization degree and the like, and is a hotspot in the field of micro satellites in recent years. In recent years, scientific research tasks carried with the cube star are more and more complex and various, and in order to smoothly carry out aerospace tasks, reliable locking between the cube star and a connecting platform can be realized in the process of launching or running equipment; when the system sends an actuating instruction, the cube star is reliably released from the connecting platform; under special requirements, the connecting platform is required to capture and repeatedly lock the cube star again. Most of the traditional connecting and separating devices are explosive bolts, firelock, cutters and other devices, although the device is quick in actuation and reliable in separation, the inevitable huge impact force generated in the releasing process can damage the structure of the cube star, and the device can only be actuated once, cannot realize on-orbit repeated locking and releasing and cannot realize repeated ground verification. Therefore, the development of the novel cubic star repeated connection and separation device which is reliable in connection, low in impact separation and capable of being locked repeatedly is an important foundation for ensuring the smooth implementation of space detection and scientific test tasks.
Disclosure of Invention
In view of this, the invention aims to provide a cubic satellite repeated connection and separation device, which has the characteristics of low impact, light weight, repeated connection and separation and the like, and meets the space task scene requirement of cubic satellite-rocket connection and separation.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a repeated connection and separation device for a cube star comprises a cube star component, and a guide component, a motor, a transmission mechanism, two locking cams and an electromagnet component which are arranged on a connection platform, wherein four groups of guide components are arranged and are respectively arranged at four corners of the connection platform, and two sides of the transmission mechanism are respectively provided with one locking cam; the electromagnet assembly is arranged at the center of the connecting platform;
the space mechanical arm drives the cube star component to enter a capture range of four groups of guide components, a motor is started when the cube star component triggers a microswitch arranged on the guide components, the output power of the motor is transmitted to two locking cams through a transmission mechanism, the two locking cams synchronously rotate to capture the cube star component until the cube star component is locked, and the motor stops moving;
when the lock is unlocked, the electromagnet assembly is electrified and attracts the cube star assembly; and starting the motor again, releasing the limit of the locking cam to the cube star component, powering off the electromagnet component and releasing the cube star component.
Furthermore, the cube star subassembly includes cube star, four inclined plane compact heap, steel sheet and two locking axles, and four inclined plane compact heap are installed in cube star bottom surface four corners position, the steel sheet is installed in cube star bottom surface central point and is put, and two locking axles are installed in cube star bottom surface, and two locking axisymmetrics are installed in the left and right sides of steel sheet, and two locking axles all stretch out the edge setting of cube star.
Furthermore, the guide assembly comprises a guide sheet, a support, a separation spring and a pressure sensor, the support is fixed on the connecting platform, and two guide sheets are respectively arranged on two lateral surfaces of the support, which are positioned on the outer side; the support is provided with a groove for accommodating the separation spring and the pressure sensor, the lower end of the separation spring is connected with the pressure sensor, the upper end of the separation spring is a free end, the free end of the separation spring extends out of the groove, the microswitch is installed on the guide sheet and used for detecting the position of the cube star, and the shape of the upper part of the support is matched with that of the inclined plane pressing block.
Furthermore, the transmission mechanism comprises a worm, a worm wheel and two speed reducing mechanisms, each speed reducing mechanism comprises a first-level pinion, a first-level gearwheel, a second-level pinion and a second-level gearwheel, the first-level pinion is meshed with the first-level gearwheel, the first-level gearwheel and the second-level pinion are coaxially arranged, and the second-level pinion is meshed with the second-level gearwheel;
the motor drives the worm to rotate, the worm is meshed with the worm wheel, the worm wheel is installed on the supporting shaft, the two first-level pinions are respectively arranged at two ends of the supporting shaft, and each second-level gearwheel is respectively installed on one cam rotating shaft.
Furthermore, a locking cam is fixedly connected to each cam rotating shaft, power of the motor is transmitted to the two cam rotating shafts through two speed reducing mechanisms in the transmission mechanism respectively, the two cam rotating shafts synchronously rotate to drive the two locking cams to rotate, each locking cam and the corresponding locking shaft form a high-pair mechanism, and when the two locking cams rotate around the two cam rotating shafts, the vertical direction distance H between the two locking shafts and the two cam rotating shafts can be changed accordingly.
Further, the electromagnet assembly comprises a sucker electromagnet, a compression spring and an electromagnet mounting seat, the electromagnet mounting seat is arranged at the central position of the connecting platform, a sliding groove for accommodating the compression spring is formed in the electromagnet mounting seat, the lower end of the sucker electromagnet extends into the sliding groove and is connected with the upper end of the compression spring, the lower end of the compression spring is connected with the electromagnet mounting seat, the sucker electromagnet can float up and down along the sliding groove in the electromagnet mounting seat, and when the electromagnet is powered on, the sucker electromagnet attracts a steel sheet.
Furthermore, the guide pieces are thin metal pieces, the lower parts of the guide pieces are straight, the upper parts of the guide pieces are bent, the guide pieces are bent to one side far away from the surface of the cube, and the open structure formed by the two guide pieces enables the cube to correct the posture.
Furthermore, the two speed reducing mechanisms and the supporting shaft are respectively supported by a framework arranged on the connecting platform.
Further, the distal end of each cam rotating shaft is supported by a bearing support, respectively.
A working method of a cube star repeated connection and separation device specifically comprises the following steps,
1. repeating the connection process
Firstly, posture adjustment is carried out, the space manipulator drives the cube star to enter a capturing range of the guide assembly and continuously move downwards, and the posture of the cube star is gradually adjusted;
in the capturing process, the space mechanical arm drives the cubic star to continuously move downwards and touch a microswitch for detecting the position of the cubic star, the motor is started, the power of the motor is transmitted to the two locking cams through the transmission mechanism, the two locking cams respectively rotate around two cam rotating shafts to capture two locking shafts arranged on the cubic star and force the cubic star to move downwards, at the moment, the separation spring arranged on the support is gradually compressed, the sucker electromagnet also moves downwards under the pressure action of the cubic star, and the compression spring is also gradually compressed;
step three, locking process: the cube star continues to move downwards, the four inclined plane pressing blocks on the bottom surface of the cube star start to be matched with the inclined planes of the support and gradually exert pressure on the pressure sensors in the support, when the indication values of the four pressure sensors reach a preset value, the motor stops rotating, the locking process is finished, the vertical direction distance H between the two locking shafts and the two cam rotating shafts is the minimum, and the cube star is located at a position closest to the connecting platform;
2. separate release process
The first step, preparation process: the sucker electromagnet is electrified, and the sucker electromagnet attracts a steel sheet arranged on the bottom surface of the cube star, so that the cube star generates magnetic attraction;
step two, an unlocking process: the motor is electrified again, the motor continues to rotate along the original direction to drive the two locking cams to continue to rotate, the cube star moves upwards under the action of the elastic force of the separation springs in the process and gradually gets away from the connecting platform, and when the two locking cams rotate to release the limitation on the two locking shafts, at the moment, the cube star cannot be ejected out under the action of the four separation springs because the sucking disc electromagnet still keeps the attraction force on the cube star;
step three, the separation process: when a separating instruction is received, the electromagnet of the sucker is powered off instantly, the tension of the cubic star disappears instantly, the cubic star is ejected out along the guide piece under the action of the four separating springs, and the cubic star is separated from the connecting platform.
Compared with the prior art, the cube star repeated connection and separation device has the following advantages:
1. in the actuating mode, the invention adopts a small motor and an electromagnet as main driving elements, each element has clear division of labor, simple action and few operation steps, and the number of used sensors is small, thereby being convenient for control.
2. In the locking mode, the invention adopts the guide sheet capture, the cam enclasping and the inclined plane matching, has larger tolerance and can ensure accurate connection and locking under the condition of larger initial relative position deviation.
3. The device has the advantages of low energy consumption, light weight and small occupied space, can save energy to the greatest extent, and avoids occupying the working space of the effective load.
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 view of an overall structure of a cube star reconnection separation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a cube-satellite assembly in a cube-satellite reconnection and separation apparatus according to the present invention;
FIG. 3 is a schematic structural diagram of a transmission assembly in a cube-star reconnection separation apparatus according to the present invention;
fig. 4 is a schematic structural diagram of an electromagnet assembly in the repeated connection and separation device for a cubic star according to the present invention;
FIG. 5 is a schematic diagram of the overall structure of a cube-star reconnection separation apparatus according to the present invention (hidden cube-star module);
FIG. 6 is a schematic diagram of a cubeban attitude adjustment process of a cubeban repeated connection and separation device according to the present invention;
FIG. 7 is a schematic diagram of a cube star capture process for a cube star reconnection separation apparatus according to the present invention;
FIG. 8 is a schematic diagram of a cube star locking state of a cube star reconnection separation apparatus according to the present invention;
FIG. 9 is a schematic view of a cube star release configuration of a cube star reconnection separation apparatus according to the present invention;
fig. 10 is a schematic diagram of the working process of the locking cam of the cube star reconnection separation device according to the present invention, wherein: a is the state before the locking cam catches the locking shaft, B is the state that the locking cam just begins to catch the locking shaft, C is the intermediate state of the process that the locking cam catches the locking shaft, D is the state when the locking cam finishes catching the action to the locking shaft, E is the intermediate state that the locking cam releases the locking shaft gradually, F is the state that the locking shaft is just breaking away from the locking cam, G is the state after the locking shaft breaks away from the locking cam completely.
Description of reference numerals:
1. a cube-star component; 101. a cube star; 102. an inclined plane pressing block; 103. a steel sheet; 104. a locking shaft; 2. a guide assembly; 201. a guide piece; 202. a microswitch; 203. a support; 204. a separation spring; 205. a pressure sensor; 3. a motor; 4. a transmission mechanism; 401. a worm; 402. a worm gear; 403. a primary pinion gear; 404. a first-stage bull gear; 405. a secondary pinion gear; 406. a secondary bull gear; 5. locking the cam; 501. a cam structure; 6. a cam rotating shaft; 601. a bearing support; 7. an electromagnet assembly; 701. a suction cup electromagnet; 702. a compression spring; 703. an electromagnet mounting base; 8. and connecting the platform.
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. 1-10, a cube star reconnection separation apparatus comprises a cube star component 1, and a guide component 2, a motor 3, a transmission mechanism 4, two locking cams 5 and an electromagnet component 7 which are arranged on a connection platform 8, wherein the guide component 2 is provided with four groups and is respectively installed at four corners of the connection platform 8, and two sides of the transmission mechanism 4 are respectively provided with one locking cam 5; the electromagnet assembly 7 is arranged at the center of the connecting platform 8;
the method comprises the following steps that a space manipulator drives a cube star assembly 1 to enter a capture range of four groups of guide assemblies 2, a motor 3 is started when the cube star assembly 1 triggers a microswitch 202 arranged on the guide assemblies 2, the output power of the motor 3 is transmitted to two locking cams 5 through a transmission mechanism 4, the two locking cams 5 synchronously rotate to capture and lock the cube star assembly 1, and the motor 3 stops moving;
when the lock is unlocked, the electromagnet assembly 7 is electrified, and the electromagnet assembly 7 attracts the cube star assembly 1; and starting the motor 3 again, releasing the limit of the locking cam 5 on the cube star component 1, powering off the electromagnet component 7, and releasing the cube star component 1.
The cube star subassembly 1 includes cube star 101, four inclined plane compact heap 102, steel sheet 103 and two locking axle 104, and four inclined plane compact heap 102 are installed in cube star 101 bottom surface four corners position, steel sheet 103 is installed in cube star 101 bottom surface central point and is put, and two locking axle 104 are installed in cube star 101 bottom surface, and two locking axle 104 symmetry are installed in the left and right sides of steel sheet 103, and two locking axle 104 all stretch out the edge setting of cube star 101.
The guide assembly 2 comprises a guide sheet 201, a support 203, a separation spring 204 and a pressure sensor 205, wherein the support 203 is fixed on the connecting platform 8, and two guide sheets 201 are respectively arranged on two lateral surfaces of the support 203, which are positioned on the outer side; a groove for accommodating a separation spring 204 and a pressure sensor 205 is formed in the support 203, the lower end of the separation spring 204 is connected with the pressure sensor 205, the upper end of the separation spring is a free end, the free end of the separation spring 204 extends out of the groove, the microswitch 202 is installed on the guide sheet 201 and used for detecting the position of the cube star 101, and the shape of the upper part of the support 203 is matched with that of the inclined plane pressing block 102; the locking mechanism can be attached to the inclined surfaces of the four inclined surface pressing blocks 102, so that the tolerance capability of mechanism matching in the locking process is improved; the guide pieces 201 are thin metal pieces, the lower portions of the guide pieces 201 are straight, the upper portions of the guide pieces 201 are bent and are bent towards one side far away from the surface of the cube star 101, and the open structure formed by the two guide pieces 201 enables the cube star 101 to be corrected in posture, so that the posture of the cube star 101 can be gradually corrected in the process of approaching the connecting platform along the guide pieces under the condition that the cube star 101 has large butt joint posture deviation.
The transmission mechanism 4 comprises a worm 401, a worm wheel 402 and two reduction mechanisms, each reduction mechanism comprises a primary small gear 403, a primary large gear 404, a secondary small gear 405 and a secondary large gear 406, the primary small gear 403 is meshed with the primary large gear 404, the primary large gear 404 and the secondary small gear 405 are coaxially arranged, and the secondary small gear 405 is meshed with the secondary large gear 406;
the motor 3 drives the worm 401 to rotate, the worm 401 is meshed with a worm wheel 402, the worm wheel 402 is installed on a supporting shaft, two primary small gears 403 are respectively arranged at two ends of the supporting shaft, and each secondary large gear 406 is respectively installed on one cam rotating shaft 6;
the two speed reducing mechanisms and the supporting shaft are respectively supported by a frame arranged on the connecting platform 8. The distal end of each cam rotary shaft 6 is supported by a bearing holder 601.
Each cam rotating shaft 6 is fixedly connected with one locking cam 5, the power of the motor 3 is respectively transmitted to the two cam rotating shafts 6 through two speed reducing mechanisms in the transmission mechanism 4, the two cam rotating shafts 6 synchronously rotate to drive the two locking cams 5 to rotate, each locking cam 5 and the corresponding locking shaft 104 form a high-pair mechanism, and when the two locking cams 5 rotate around the two cam rotating shafts 6, the vertical direction distance H between the two locking shafts 104 and the two cam rotating shafts 6 can be changed accordingly. As shown in fig. 10, in the repeated coupling process, the states of the two locking cams 5 are switched from a to D, and the vertical-direction distances H between the two locking shafts 104 and the two cam rotating shafts 6 are gradually reduced; in the separation releasing process, the state of the two locking cams 5 is switched from D to G, and the vertical-direction interval H between the two locking shafts 104 and the two cam rotating shafts 6 gradually increases.
The electromagnet assembly 7 comprises a sucker electromagnet 701, a compression spring 702 and an electromagnet mounting seat 703, the electromagnet mounting seat 703 is installed at the center of the connecting platform 8, a sliding groove for accommodating the compression spring 702 is formed in the electromagnet mounting seat 703, the lower end of the sucker electromagnet 701 extends into the sliding groove and is connected with the upper end of the compression spring 702, the lower end of the compression spring 702 is connected with the electromagnet mounting seat 703, the sucker electromagnet 701 can float up and down along the sliding groove in the electromagnet mounting seat 703, and when the electromagnet assembly is electrified, the sucker electromagnet 701 attracts the steel sheet 103.
A working method of a cube star repeated connection and separation device specifically comprises the following steps,
1. repeating the connection process
Firstly, posture adjustment, as shown in fig. 6, a space manipulator drives the cube 101 to enter a capturing range of a guide assembly and continuously move downwards, and the posture of the cube 101 is gradually adjusted;
secondly, in the capturing process, as shown in fig. 7, the space manipulator drives the cube star 101 to continuously move downwards and touch the microswitch 202 for detecting the position of the cube star 101, the motor 3 is started, the power of the motor is transmitted to the two locking cams 5 through the transmission mechanism 4, the two locking cams 5 respectively rotate around the two cam rotating shafts 6 to capture the two locking shafts 104 arranged on the cube star 101 and force the cube star 101 to move downwards (as in the process from a to D in fig. 10), at this time, the separation spring 204 arranged on the support 203 is gradually compressed, the sucker electromagnet 701 also moves downwards under the pressure action of the cube star 101, and the compression spring 702 is also gradually compressed;
thirdly, locking: the cube star 101 continues to move downwards, the four inclined surface pressing blocks 102 on the bottom surface of the cube star 101 start to be matched with the inclined surfaces of the support 203 and gradually exert pressure on the pressure sensors 205 in the support 203, when the indication values of the four pressure sensors 205 reach a preset value, the motor 3 stops rotating, the locking process is finished, as shown in fig. 8, at this time, the four inclined surface pressing blocks 102 are completely attached to the inclined surfaces of the support 203, the vertical direction distance H between the two locking shafts 104 and the two cam rotating shafts 6 is minimum, as shown in a state D in fig. 10, and the cube star 101 is located at a position closest to the connecting platform 8;
2. separate release process
The first step, preparation process: the sucker electromagnet 701 is electrified, and the sucker electromagnet 701 attracts the steel sheet 103 arranged on the bottom surface of the cubic star 101, so that the effect of magnetic attraction is generated on the cubic star 101, and the stability of the posture of the cubic star 101 in the separation process and the controllability of the separation process are ensured;
step two, an unlocking process: the motor 3 is powered on again, the motor 3 continues to rotate along the original direction to drive the two locking cams 5 to continue to rotate (namely, the state is changed from the state D to the state G in the figure 10), in the process, the cube 101 moves upwards under the elastic force of the separation spring 204 and gradually moves away from the connecting platform 8, when the two locking cams 5 rotate to relieve the limitation on the two locking shafts 104 (the state G in the figure 10), at the moment, because the sucker electromagnet 701 still maintains the attraction force on the cube 101, the cube 101 cannot be ejected out under the action of the four separation springs 204, the decoupling of the unlocking process and the separation process is realized, and the whole separation release process is more ordered;
step three, the separation process: when a separation instruction is received, the sucker electromagnet 701 is powered off instantly, the pulling force of the cube star 101 disappears instantly, the cube star 101 is ejected along the guide sheet 201 under the action of the four separation springs 204, and as shown in fig. 9, the cube star 101 is separated from the connecting platform 8.
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 (6)
1. A working method of a cube star repeated connection and separation device is characterized in that: the method specifically comprises the following steps of,
1. repeating the joining process
Firstly, posture adjustment is carried out, the space manipulator drives the cube star (101) to enter a capturing range of the guide assembly and continue to move downwards, and the posture of the cube star (101) is gradually adjusted;
in the capturing process, the space mechanical arm drives the cube star (101) to continuously move downwards and touch a microswitch (202) for detecting the position of the cube star (101), the motor (3) is started, power of the motor is transmitted to the two locking cams (5) through the transmission mechanism (4), the two locking cams (5) respectively rotate around the two cam rotating shafts (6) to capture the two locking shafts (104) arranged on the cube star (101) and force the cube star (101) to move downwards, at the moment, the separation spring (204) arranged on the support (203) is gradually compressed, the sucker electromagnet (701) also moves downwards under the pressure action of the cube star (101), and the compression spring (702) is also gradually compressed;
step three, locking process: the cube star (101) continues to move downwards, four inclined surface pressing blocks (102) on the bottom surface of the cube star (101) are matched with the inclined surfaces of the support (203) and gradually exert pressure on the pressure sensors (205) in the support (203), when the indication values of the four pressure sensors (205) reach a preset value, the motor (3) stops rotating, the locking process is finished, at the moment, the vertical direction distance H between the two locking shafts (104) and the two cam rotating shafts (6) is the minimum, and the cube star (101) is located at the position closest to the connecting platform (8);
2. separate release process
The first step, preparation process: electrifying the sucker electromagnet (701), wherein the sucker electromagnet (701) attracts a steel sheet (103) arranged on the bottom surface of the cube star (101) so as to generate a magnetic attraction force effect on the cube star (101);
step two, an unlocking process: the motor (3) is electrified again, the motor (3) continues to rotate along the original direction to drive the two locking cams (5) to continue to rotate, the cube star (101) moves upwards under the action of the elastic force of the separation springs (204) in the process and gradually moves away from the connecting platform (8), and when the two locking cams (5) rotate to release the limitation on the two locking shafts (104), at the moment, the cube star (101) cannot be ejected out under the action of the four separation springs (204) because the sucking disc electromagnet (701) still keeps the attraction force on the cube star (101);
step three, the separation process: when a separation instruction is received, the sucker electromagnet (701) is powered off instantly, the tension of the sucker electromagnet on the cube star (101) disappears instantly, the cube star (101) is ejected out along the guide sheet (201) under the action of the four separation springs (204), and the cube star (101) is separated from the connecting platform (8);
the repeated connection and separation device for the cubesat comprises a cubesat component (1), and a guide component (2), a motor (3), a transmission mechanism (4), two locking cams (5) and an electromagnet component (7) which are arranged on a connection platform (8), wherein four groups of guide components (2) are arranged and are respectively arranged at four corners of the connection platform (8), and two locking cams (5) are respectively arranged at two sides of the transmission mechanism (4); the electromagnet assembly (7) is arranged at the center of the connecting platform (8);
the method comprises the following steps that a space mechanical arm drives a cube star assembly (1) to enter a capture range of four groups of guide assemblies (2), a motor (3) is started when the cube star assembly (1) triggers a microswitch (202) arranged on the guide assemblies (2), the output power of the motor (3) is transmitted to two locking cams (5) through a transmission mechanism (4), the two locking cams (5) synchronously rotate to capture and lock the cube star assembly (1), and the motor (3) stops moving;
when the lock is unlocked, the electromagnet assembly (7) is electrified, and the electromagnet assembly (7) attracts the cube star assembly (1); the motor (3) is started again, the limit of the locking cam (5) on the cube star component (1) is released, the electromagnet component (7) is powered off, and the cube star component (1) is released;
the cube star component (1) comprises a cube star (101), four inclined plane compression blocks (102), a steel sheet (103) and two locking shafts (104), wherein the four inclined plane compression blocks (102) are arranged at four corners of the bottom surface of the cube star (101), the steel sheet (103) is arranged at the center of the bottom surface of the cube star (101), the two locking shafts (104) are arranged at the bottom surface of the cube star (101), the two locking shafts (104) are symmetrically arranged at the left side and the right side of the steel sheet (103), and the two locking shafts (104) extend out of the edge of the cube star (101);
the guide assembly (2) comprises a guide sheet (201), a support (203), a separation spring (204) and a pressure sensor (205), the support (203) is fixed on the connecting platform (8), and two guide sheets (201) are respectively arranged on two lateral surfaces, located on the outer side, of the support (203); a groove for accommodating a separation spring (204) and a pressure sensor (205) is formed in the support (203), the lower end of the separation spring (204) is connected with the pressure sensor (205), the upper end of the separation spring is a free end, the free end of the separation spring (204) extends out of the groove, the microswitch (202) is installed on the guide sheet (201), the microswitch (202) is used for detecting the position of the cube star (101), and the shape of the upper part of the support (203) is matched with the shape of the inclined plane pressing block (102);
electromagnet assembly (7) includes sucking disc electro-magnet (701), compression spring (702) and electro-magnet mount pad (703), the central point that connecting platform (8) was installed in electro-magnet mount pad (703) puts, is equipped with the spout that holds compression spring (702) in the inside of electro-magnet mount pad (703), the lower extreme of sucking disc electro-magnet (701) stretches into in the spout and is connected with the upper end of compression spring (702), and the lower extreme of compression spring (702) links to each other with electro-magnet mount pad (703), sucking disc electro-magnet (701) can float from top to bottom along the spout in electro-magnet mount pad (703), and during the circular telegram, sucking disc electro-magnet (701) attract steel sheet (103).
2. The method for operating a cuboidal satellite decoupling assembly as claimed in claim 1, wherein: the transmission mechanism (4) comprises a worm (401), a worm wheel (402) and two speed reducing mechanisms, each speed reducing mechanism comprises a primary small gear (403), a primary large gear (404), a secondary small gear (405) and a secondary large gear (406), the primary small gear (403) is meshed with the primary large gear (404), the primary large gear (404) and the secondary small gear (405) are coaxially arranged, and the secondary small gear (405) is meshed with the secondary large gear (406);
the motor (3) drives the worm (401) to rotate, the worm (401) is meshed with the worm wheel (402), the worm wheel (402) is installed on the supporting shaft, the two first-level pinions (403) are respectively arranged at two ends of the supporting shaft, and each second-level gearwheel (406) is respectively installed on one cam rotating shaft (6).
3. A method of operating a cube comer reconnect disconnect device as defined in claim 2, further comprising: each cam rotating shaft (6) is fixedly connected with one locking cam (5), the power of the motor (3) is transmitted to the two cam rotating shafts (6) through two speed reducing mechanisms in the transmission mechanism (4) respectively, the two cam rotating shafts (6) synchronously rotate to drive the two locking cams (5) to rotate, each locking cam (5) and the corresponding locking shaft (104) form a high-pair mechanism, and when the two locking cams (5) rotate around the two cam rotating shafts (6), the vertical direction distance H between the two locking shafts (104) and the two cam rotating shafts (6) can be changed along with the two locking cams.
4. A method of operating a cube comer reconnect disconnect device as claimed in any one of claims 1 to 3, wherein: the guide pieces (201) are thin metal pieces, the lower portions of the guide pieces (201) are straight, the upper portions of the guide pieces are bent and are bent towards one side far away from the surface of the cube star (101), and the open-type structure formed by the two guide pieces (201) enables the cube star (101) to correct the posture.
5. A method of operating a cube comer reconnect disconnect device according to any one of claims 2 to 3, wherein: the two speed reducing mechanisms and the supporting shaft are respectively supported by a frame arranged on the connecting platform (8).
6. The method of claim 5, wherein the apparatus further comprises: the ends of each cam rotating shaft (6) are supported by a bearing support (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| JP3809524B2 (en) * | 2002-09-12 | 2006-08-16 | 独立行政法人 宇宙航空研究開発機構 | Space debris trajectory conversion tether device |
| CN107757954B (en) * | 2017-09-27 | 2020-02-14 | 北京空间飞行器总体设计部 | Low-impact repeatable locking and separating device for space effective load |
| US11702229B2 (en) * | 2019-05-17 | 2023-07-18 | The Boeing Company | Berthing system for spacecraft |
| CN110217410B (en) * | 2019-05-30 | 2021-09-03 | 北京控制工程研究所 | Docking ring capturing and locking mechanism and capturing and locking method |
| CN110282162B (en) * | 2019-06-26 | 2021-02-09 | 北京宇航系统工程研究所 | Cubic satellite releasing device |
| CN110356593B (en) * | 2019-07-12 | 2021-10-01 | 北京卫星制造厂有限公司 | Repeatable locking and separating device |
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