CN114426106B - Space cell star device capable of self-adapting splicing angle - Google Patents
Space cell star device capable of self-adapting splicing angle Download PDFInfo
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- CN114426106B CN114426106B CN202111155685.3A CN202111155685A CN114426106B CN 114426106 B CN114426106 B CN 114426106B CN 202111155685 A CN202111155685 A CN 202111155685A CN 114426106 B CN114426106 B CN 114426106B
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- 210000001503 joint Anatomy 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 55
- 229910000831 Steel Inorganic materials 0.000 claims description 26
- 239000010959 steel Substances 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 239000000853 adhesive Substances 0.000 claims description 8
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- 229910052742 iron Inorganic materials 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 101150073223 hisat gene Proteins 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification 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
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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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
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Abstract
The invention relates to the technical field of manufacturing of reconfigurable cell satellites for on-orbit service, in particular to a space cell satellite device capable of adapting to splicing angles in a self-adaption mode, which is characterized in that an angle-adjustable side plate assembly comprises a side plate, a left pin shaft, a right pin shaft, an upper fixing block, a gear push rod, a lower fixing block and a screw; the invention utilizes the self-locking function of the worm and the turbine to precisely control the rotation angle of the cell satellite side plate, and has the characteristics of high side plate angle adjustment precision, reliable butt joint locking, flexible topological relation change, high degree of freedom of the spliced spacecraft and the like.
Description
Technical field:
the invention relates to the technical field of manufacturing of reconfigurable cell satellites for on-orbit service, in particular to a space cell satellite device capable of adjusting a side plate angle and adapting to a splicing angle, which utilizes a turbine worm self-locking function to accurately control the rotation angle of a cell satellite side plate and has the characteristics of high side plate angle adjusting precision, reliable butt joint locking, flexible topological relation change, high degree of freedom of a spliced spacecraft and the like.
The background technology is as follows:
compared with the traditional spacecraft, the current modularized spacecraft has the advantages that the time period is greatly shortened in the design, manufacturing and deployment stages, but the problems of high cost, simple functions, poor universality, poor reconstruction and upgrading capabilities and the like still exist. The cell star plays an important role in the aspects of on-orbit rapid construction, on-orbit maintenance, function expansion and the like of the spacecraft, and can be spliced into various configurations such as an on-orbit fuel supply station, a deep space exploration transfer station, a giant carrying spacecraft, a space-based solar power station, a space array telescope and the like.
Considering the requirement of building a spliced giant spacecraft in the future, the joint cell star is required to have a standard independent and accurate angle adjusting mechanism, and the requirements of replaceability, easiness in operation, rotation angle locking and the like are met. There have been many studies on cell satellites abroad, such as the ultra-integrated cell satellites HISat and HIMast of the us study, the concept "cell satellite" proposed in japan based on the "reconfigurable space system" (Reconfigurab le Space System, RSS), the "satellite intelligent module" of the in-orbit assembly project of germany (intelligent Building Blocks for On-orbit Satellite Servicing, iBOSS), but the above studies have not involved the design of the spatial angle adjustment structure of the in-orbit exchangeable unit. The research of the on-orbit replaceable technology in China starts later, the on-orbit replaceable unit is not actually applied in the technology verification stage at present, and in order to reduce the gap between the technical field of the modularized reconfigurable spacecraft for on-orbit service in China and the international advanced research and development level, and improve the on-orbit maintenance performance of the autonomous research and development spacecraft in China, the design of the on-orbit replaceable unit with the performances of angle adjustment and the like has important significance for improving the competitiveness of the on-orbit replaceable unit in the modularized spacecraft design field in China.
The invention comprises the following steps:
aiming at the defects and shortcomings in the prior art, the invention provides a space cell star device which is driven by a direct current stepping motor, adopts a worm and worm wheel transmission mode, can control a side plate to rotate and can cut off power and self-lock an angle-adjustable side plate mechanism and can adapt to splicing angles.
The invention is achieved by the following measures:
the utility model provides a but space cell star device of self-adaptation concatenation angle, is equipped with box (1), passive end interface (3), locking mechanism A (4), initiative end interface (5), locking mechanism B (6), drive assembly (7), battery (8), control assembly (9), box (1) are the cuboid form, are equipped with angle adjustable curb plate subassembly (2) on box (1), its characterized in that, angle adjustable curb plate subassembly (2) include curb plate (2-1), left round pin axle (2-2), right round pin axle (2-3), go up fixed block (2-4), gear push rod (2-5), lower fixed block (2-6), screw; the left pin shaft (2-2), the right pin shaft (2-3), the upper fixed block (2-4) and the lower fixed block (2-6) are connected with the side plate (2-1) through screws; the gear push rod (2-5) is connected with the upper fixed block (2-4) and the lower fixed block (2-6) through screws; the angle-adjustable side plate assembly (2) is connected with the box body (1) through a left pin shaft (2-2) and a right pin shaft (2-3), so that the angle-adjustable side plate assembly (2) rotates in a fixed shaft manner; the locking mechanism and the driven end interface (3) or the driving end interface (5) are distributed on the 4 surfaces of the box body (1), the driving end interface (5) or the driven end interface (3) are arranged on the same surface, the locking mechanism A (4) or the locking mechanism B (6) are arranged, and the locking mechanism A (4) and the locking mechanism B (6) are in mirror symmetry in structure.
The passive end interface comprises an inner end cover (3-1), an outer shell (3-2), a spring A (3-3), an inner shell (3-4), an electromagnet (3-5) and a steel ball (3-6); the inner shell (3-4) is in threaded fit with the inner end cover (3-1); the inner shell (3-4) is in clearance fit with the outer shell (3-2) and can slide relatively along the axial direction; the spring A (3-3) is arranged between the outer shell (3-2) and the inner shell (3-4); the electromagnet (3-5) is fixedly connected with the shell (3-2) in an adhesive manner; the steel ball (3-6) is arranged in the ball groove of the inner shell (3-4).
The locking mechanism comprises a shell (4-1), a fixed plate (4-2), a rotating rod (4-3), a spring B (4-4) and a screw; the fixing plate (4-2) is connected with the shell (4-1) through screws; the rotating rod (4-3) is fixed between the shell (4-1) and the fixed plate (4-2) and can rotate in a fixed shaft manner; both ends of the spring B (4-4) are respectively connected with the rotating rod (4-3) and the shell (4-1).
The driving assembly comprises a 42 stepping motor (7-1), a motor mounting plate (7-2), a bearing mounting plate A (7-3), a bearing mounting plate B (7-4), a bottom plate (7-5), a bearing seat A (7-6), a bearing seat B (7-7), a worm bearing (7-8), a worm (7-9), a bearing cover A (7-10), a gear shaft bearing (7-11), a gear shaft (7-12), a bearing cover B (7-13), a worm wheel (7-14), a cotter pin (7-15), a limiting pin (7-16), a sleeve (7-17) and a flat key (7-18); the control assembly comprises a central controller (9-1), a motor driving plate (9-2) and a hollow potentiometer (9-3); the box body (1) is connected by five hollowed-out panels through screws; the driving component (7) is connected with the box body (1) through screws; the storage battery (8) is fixed on one side of the control assembly (9) in an adhesive manner; the control assembly (9) is connected with the box body (1) through screws; the 42 stepping motor (7-1) is connected with the motor mounting plate (7-2) through screws; the motor mounting plate (7-2) is connected with the bearing mounting plate A (7-3) and the bearing mounting plate B (7-4) through screws; the bearing mounting plate A (7-3), the bearing mounting plate B (7-4), the bearing seat A (7-6) and the bearing seat B (7-7) are connected with the bottom plate (7-5) through screws; the worm (7-9) is fixed on the bearing seat through a worm bearing (7-8), a bearing cover A (7-10) and a bearing cover B (7-11); the worm (7-9) is matched with a motor shaft of the 42 stepping motor (7-1) through a non-circular shaft hole; the worm wheel (7-14) is axially and circumferentially positioned with the gear shaft (7-12) through the flat key (7-18) and the sleeve (7-17); the gear shaft (7-12) is fixed on the bearing mounting plate through a gear shaft bearing (7-11) and a bearing cover B (7-13); the limiting pin (7-16) limits the movement of the limiting pin on the bearing mounting plate through the cotter pin (7-15); the central controller (9-1) and the motor driving plate (9-2) are connected with the box body (1) through screws; the hollow potentiometer (9-3) is connected with the box body (1) through a screw and is matched with the right pin shaft (2-3).
In the invention, the inner shell (3-4) is provided with 4 ball grooves which are uniformly distributed on the column wall at intervals of 90 degrees in the circumferential direction. The thickness of the column wall of the inner shell (3-4) is smaller than the diameter of the steel ball (3-6). The diameter of the cross section of the inner wall of the inner shell (3-4) is smaller than the diameter of the steel ball (3-6), so that the steel ball (3-6) can be prevented from falling out of the inner shell (3-4); the spring A (3-3) causes the inner shell (3-4) and the outer shell (3-2) to be far away from each other, so that a part of the steel ball (3-6) moves out of the inner wall of the inner shell (3-4), and the movement of the driving end interface (5) is limited; the electromagnet (3-5) is fixedly connected with the outer shell (3-2) in an adhesive manner, when the electromagnet (3-5) is electrified, the iron inner shell (3-4) is attracted by magnetic force, the outer shell (3-2) can compress the spring A (3-3) to be close to the inner shell (3-4), the steel ball (3-6) moves outwards into the annular groove of the outer shell (3-2), and at the moment, the driving end interface (5) can move out of the driven end interface (3); the shell (4-1) is provided with a cylindrical inner surface matched with the rotating body (4-3), and a sufficient space for the rotating body (4-3) to drive the handle to rotate is reserved on the shell (4-1).
In the invention, the butt joint of the active end interface (5) and the passive end interface (3) has strict directivity, and only can carry out axial butt joint and unlocking, and the axial relative rotation is not limited after the butt joint is completed; the middle part of the driving end interface (5) is communicated with the middle part of the driven end interface (3) to provide an installation space for the electric interface and other connecting parts.
In the invention, after the butt joint of the locking mechanism A (4) and the locking mechanism B (6) is completed, the two cell stars can be in butt joint only after the butt joint of the driving end interface (5) and the driven end interface (3), and the locking mechanism A (4) can only be in butt joint with the locking mechanism B (6); the single locking mechanism A (4) and the locking mechanism B (6) can limit axial movement and circumferential rotation after abutting.
In the invention, the motor driving plate (9-2) controls 42 the rotation speed output of the stepping motor (7-1), and the angle feedback of the rotation angle of the side plate (2-1) is performed through a closed-loop control system formed by the hollow potentiometer (9-3) and the central controller (9-1). The model of the 42 stepping motor (7-1) is 42BYGH60, the model of the motor driving plate (9-2) is TB6600, the model of the hollow potentiometer (9-3) is R24HS, the model of the central controller (9-1) is ARDUINO NUO R3, and the storage battery (8) is a 24V lithium battery pack.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a standard independent and accurate angle adjusting mechanism for the on-orbit spliced spacecraft, enriches the configuration of the spacecraft and increases the degree of freedom of the spacecraft. Meanwhile, the invention adopts the worm and gear transmission mechanism as the motion input mechanism, and can keep the angle-adjustable side plate to stay at a given angle under the condition of power failure by utilizing the self-locking characteristic of the worm and gear, thereby improving the motion safety of the spacecraft. The gear push rod and the gear shaft of the invention adopt an external meshing mode, so that the size of the gear push rod can be effectively reduced, the space of a box body is further saved, and the whole quality of cell stars is reduced. The angle-adjustable side plate and the box body are connected by virtue of the left pin shafts and the right pin shafts which are symmetrically distributed at the two ends of the side plate, and the left pin shafts and the right pin shafts are short and compact, so that the installation steps can be simplified and the space of the box body can be saved on the basis of ensuring the working requirement of the rotating side plate. In order to ensure the electric and liquid transmission between adjacent cell stars, the middle parts of the active end interface and the passive end interface are communicated, and an installation space is provided for the electric interface and other connecting parts.
Description of the drawings:
fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a top view of the internal structure of the present invention.
Fig. 3 is a schematic view of an angularly adjustable side plate assembly according to the invention.
Fig. 4 is a schematic diagram of a drive assembly according to the present invention.
Fig. 5 is a schematic view of the worm gear installation of the present invention.
Fig. 6 shows a locking mechanism a (spring B in an extended state) according to the present invention.
Fig. 7 is a schematic view of a rotor according to the present invention.
Fig. 8 is a schematic structural view of the fixing plate in the present invention.
Fig. 9 is a schematic structural diagram of a passive docking interface and an active docking interface according to the present invention.
Fig. 10 is a cross-sectional view of a passive interface of the present invention.
Fig. 11 is a schematic view of the structure of the inner shell in the present invention.
Fig. 12 is a schematic diagram of the structure of the active-end interface of the present invention.
Fig. 13 is a schematic diagram of the completion of the interface interfacing between the active and passive terminals.
Fig. 14 is a schematic view showing a state in which the locking mechanism a and the locking mechanism B are completed in the abutting state.
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and detailed description.
As shown in the attached drawings, the space cell star with the self-adaptive splicing angle and reliable butt joint comprises a box body (1), an angle-adjustable side plate assembly (2), a passive end interface (3), a locking mechanism A (4), a driving end interface (5), a locking mechanism B (6), a driving assembly (7), a storage battery (8), a control assembly (9) and screws; the angle-adjustable side plate assembly comprises a side plate (2-1), a left pin shaft (2-2), a right pin shaft (2-3), an upper fixed block (2-4), a gear push rod (2-5), a lower fixed block (2-6) and a screw; the passive end interface comprises an inner end cover (3-1), an outer shell (3-2), a spring A (3-3), an inner shell (3-4), an electromagnet (3-5) and a steel ball (3-6); the locking mechanism comprises a shell (4-1), a fixed plate (4-2), a rotating rod (4-3), a spring B (4-4) and a screw; the driving assembly comprises a 42 stepping motor (7-1), a motor mounting plate (7-2), a bearing mounting plate A (7-3), a bearing mounting plate B (7-4), a bottom plate (7-5), a bearing seat A (7-6), a bearing seat B (7-7), a worm bearing (7-8), a worm (7-9), a bearing cover A (7-10), a gear shaft bearing (7-11), a gear shaft (7-12), a bearing cover B (7-13), a worm wheel (7-14), a cotter pin (7-15), a limiting pin (7-16), a sleeve (7-17) and a flat key (7-18); the control assembly comprises a central controller (9-1), a motor driving plate (9-2) and a hollow potentiometer (9-3); the box body (1) is connected by five hollowed-out panels through screws; the angle-adjustable side plate assembly (2) is connected with the box body (1) through a left pin shaft (2-2) and a right pin shaft (2-3), so that the angle-adjustable side plate assembly (2) can rotate in a fixed shaft manner; the passive end interface (3), the locking mechanism A (4), the driving end interface (5) and the locking mechanism B (6) are connected with the box body (1) through screws; the driving component (7) is connected with the box body (1) through screws; the storage battery (8) is fixed on one side of the control assembly (9) in an adhesive manner; the control assembly (9) is connected with the box body (1) through screws; the left pin shaft (2-2), the right pin shaft (2-3), the upper fixed block (2-4) and the lower fixed block (2-6) are connected with the side plate (2-1) through screws; the gear push rod (2-5) is connected with the upper fixed block (2-4) and the lower fixed block (2-6) through screws; the inner shell (3-4) is in threaded fit with the inner end cover (3-1); the inner shell (3-4) is in clearance fit with the outer shell (3-2) and can slide relatively along the axial direction; the spring A (3-3) is arranged between the outer shell (3-2) and the inner shell (3-4); the electromagnet (3-5) is fixedly connected with the shell (3-2) in an adhesive manner; the steel ball (3-6) is arranged in a ball groove of the inner shell (3-4); the fixing plate (4-2) is connected with the shell (4-1) through screws; the rotating rod (4-3) is fixed between the shell (4-1) and the fixed plate (4-2) and can rotate in a fixed shaft manner; two ends of the spring B (4-4) are respectively connected with the rotating rod (4-3) and the shell (4-1); the 42 stepping motor (7-1) is connected with the motor mounting plate (7-2) through screws; the motor mounting plate (7-2) is connected with the bearing mounting plate A (7-3) and the bearing mounting plate B (7-4) through screws; the bearing mounting plate A (7-3), the bearing mounting plate B (7-4), the bearing seat A (7-6) and the bearing seat B (7-7) are connected with the bottom plate (7-5) through screws; the worm (7-9) is fixed on the bearing seat through a worm bearing (7-8), a bearing cover A (7-10) and a bearing cover B (7-11); the worm (7-9) is matched with a motor shaft of the 42 stepping motor (7-1) through a non-circular shaft hole; the worm wheel (7-14) is axially and circumferentially positioned with the gear shaft (7-12) through the flat key (7-18) and the sleeve (7-17); the gear shaft (7-12) is fixed on the bearing mounting plate through a gear shaft bearing (7-11) and a bearing cover B (7-13); the limiting pin (7-16) limits the movement of the limiting pin on the bearing mounting plate through the cotter pin (7-15); the central controller (9-1) and the motor driving plate (9-2) are connected with the box body (1) through screws; the hollow potentiometer (9-3) is connected with the box body (1) through a screw and is matched with the right pin shaft (2-3).
The accumulator (8) in this embodiment is used to supply power to the control assembly (9) and the electromagnets (3-5); the left pin shaft and the right pin shaft are used for determining the rotation center of the side plate; the gear push rod has the function of pushing the side plate fixedly connected with the gear push rod to realize the angle adjustment of the angle-adjustable side plate, and a limiting groove designed on the gear push rod is matched with a limiting pin in the rotation process of the gear push rod to limit the maximum adjustment angle of the angle-adjustable side plate; the lower fixing block has the functions of increasing the stress length of the side plate and improving the rotation stability of the side plate; the inner shell is used for accommodating four steel ball balls and limiting the steel ball balls from falling inwards; the shell is used for providing a ring groove for accommodating the steel ball and promoting the movement of the steel ball; the spring A has the function of enabling the inner shell and the inner end cover to be far away under the condition of power failure, so that the steel ball locks the interface of the driving end; the electromagnet is used for attracting the iron inner shell in the electrified state, so that the inner shell compression spring A is close to the inner end cover, and the steel ball can move outwards; the fixed plate is used for enabling the rotating rod to rotate in a fixed shaft manner by utilizing the fact that the cylinder of the fixed plate is matched with the circular arc groove of the rotating body, and meanwhile axial limiting is provided in a locking state; the rotor is used for providing radial limit in a locking state; the spring B is used for keeping the rotating body in an initial state and resetting the rotating body after the locking mechanism is unlocked; the brushless DC motor is used for providing a stable power source and transmitting power to the worm; the motor mounting plate is used for guaranteeing the fixation of the DC brushless motor main body; the bottom plate is used for providing positioning for the installation of the bearing installation plate A, the bearing installation plate B, the bearing seat A and the bearing seat B; the function of the cotter pin prevents the spacing pin from falling out of the bearing mounting plate; the sleeve is used for providing axial positioning for the worm wheel; the function of the flat key is to provide circumferential positioning for the worm wheel; the motor driving plate is used for controlling the rotation angle of the 42 step motor; the hollow potentiometer is used for monitoring the rotation angle of the angle-adjustable side plate assembly in real time;
the working process is as follows; in the angle adjusting stage of the angle-adjustable side plate, the 42 step motor rotates positively to drive the worm to rotate, the worm drives the worm wheel to rotate, the gear shaft drives the gear push rod to rotate, and the gear push rod pushes the rotating side plate to rotate to achieve the required angle. The adjusting angle is continuously increased, and the limiting rod collides with the gear push rod so as to reach the maximum adjusting angle. And in the angle-adjustable side plate homing stage, the 42 stepping motor reversely rotates to drive the rotary side plate to rotate so as to reach the initial setting position.
The two cell stars are respectively named cell star A and cell star B in the process of docking the two cell stars. Firstly, respectively selecting the butt joint surfaces of a cell star A and a cell star B, wherein the interfaces of the two surfaces are respectively an active end interface, a passive end interface, a locking mechanism A and a locking mechanism B. The electromagnet of the driven end interface is electrified, the iron inner shell is attracted by the electromagnet, so that the inner shell compresses the spring A to be close to the inner end cover, the steel ball can move outwards, the driving end interface and the driven end interface are in butt joint along the axial direction, the electromagnet is powered off, the spring A restores the original length, the steel ball moves inwards, and the driving end interface and the driven end interface are locked. The interface end state of the active end interface and the interface end state of the passive end interface are shown in fig. 13. Finally, the two cell stars relatively rotate along the axis of the interface of the driving end, the rotating body of the locking mechanism is constrained to rotate, the tension of the spring is overcome to reach the abutting-joint completion state, at the moment, the constraint of the rotating body is released, the spring is shortened, and the locking mechanism A and the locking mechanism B are locked. If two cell stars are to be unlocked, the locking mechanism A and the locking mechanism B should be unlocked first, and then the active end interface and the passive end interface should be unlocked. The rotating body of one locking mechanism is shifted, so that the rotating body rotates to a state, and the locking mechanism A and the locking mechanism B can be separated. Then unlocking the driving end interface and the driven end interface, electrifying the electromagnet, attracting the iron inner shell by the electromagnet, enabling the inner shell compression spring A to be close to the inner end cover, enabling the steel ball to move outwards, enabling the driving end interface to be separated, de-energizing the electromagnet, enabling the spring A to recover the original length, enabling the steel ball to move inwards, and unlocking to be completed.
Compared with the prior art, the invention has the beneficial effects that: the invention designs a space cell star with self-adaptive splicing angle and reliable butt joint, provides a standard independent and accurate angle adjusting mechanism for an on-orbit spliced spacecraft, enriches the configuration of the spacecraft and increases the degree of freedom of the spacecraft. Meanwhile, the invention adopts the worm and gear transmission mechanism as the motion input mechanism, and can keep the angle-adjustable side plate to stay at a given angle under the condition of power failure by utilizing the self-locking characteristic of the worm and gear, thereby improving the motion safety of the spacecraft. The gear push rod and the gear shaft of the invention adopt an external meshing mode, so that the size of the gear push rod can be effectively reduced, the space of a box body is further saved, and the whole quality of cell stars is reduced. The angle-adjustable side plate and the box body are connected by virtue of the left pin shafts and the right pin shafts which are symmetrically distributed at the two ends of the side plate, and the left pin shafts and the right pin shafts are short and compact, so that the installation steps can be simplified and the space of the box body can be saved on the basis of ensuring the working requirement of the rotating side plate. In order to ensure the electric and liquid transmission between adjacent cell stars, the middle parts of the active end interface and the passive end interface are communicated, and an installation space is provided for the electric interface and other connecting parts.
Claims (7)
1. The utility model provides a but space cell star device of self-adaptation concatenation angle, is equipped with box (1), passive end interface (3), locking mechanism A (4), initiative end interface (5), locking mechanism B (6), drive assembly (7), battery (8), control assembly (9), box (1) are the cuboid form, are equipped with angle adjustable curb plate subassembly (2) on box (1), its characterized in that, angle adjustable curb plate subassembly (2) include curb plate (2-1), left round pin axle (2-2), right round pin axle (2-3), go up fixed block (2-4), gear push rod (2-5), lower fixed block (2-6), screw; the left pin shaft (2-2), the right pin shaft (2-3), the upper fixed block (2-4) and the lower fixed block (2-6) are connected with the side plate (2-1) through screws; the gear push rod (2-5) is connected with the upper fixed block (2-4) and the lower fixed block (2-6) through screws; the angle-adjustable side plate assembly (2) is connected with the box body (1) through a left pin shaft (2-2) and a right pin shaft (2-3), so that the angle-adjustable side plate assembly (2) rotates in a fixed shaft manner; the locking mechanism and the driven end interface (3) or the driving end interface (5) are distributed on the 4 surfaces of the box body (1), the driving end interface (5) or the driven end interface (3) are arranged on the same surface, the locking mechanism A (4) or the locking mechanism B (6) are arranged, and the locking mechanism A (4) and the locking mechanism B (6) are in mirror symmetry in structure.
2. The space cell star device capable of adapting to splicing angles according to claim 1, wherein the passive end interface comprises an inner end cover (3-1), an outer shell (3-2), a spring A (3-3), an inner shell (3-4), an electromagnet (3-5) and a steel ball (3-6); the inner shell (3-4) is in threaded fit with the inner end cover (3-1); the inner shell (3-4) is in clearance fit with the outer shell (3-2) and can slide relatively along the axial direction; the spring A (3-3) is arranged between the outer shell (3-2) and the inner shell (3-4); the electromagnet (3-5) is fixedly connected with the shell (3-2) in an adhesive manner; the steel ball (3-6) is arranged in the ball groove of the inner shell (3-4).
3. The space cell star device capable of adapting to splicing angles according to claim 2, wherein the locking mechanism comprises a shell (4-1), a fixed plate (4-2), a rotating rod (4-3), a spring B (4-4) and a screw; the fixing plate (4-2) is connected with the shell (4-1) through screws; the rotating rod (4-3) is fixed between the shell (4-1) and the fixed plate (4-2) and can rotate in a fixed shaft manner; both ends of the spring B (4-4) are respectively connected with the rotating rod (4-3) and the shell (4-1).
4. The space cell star device capable of adapting to splicing angles according to claim 1, wherein the driving assembly comprises a 42 step motor (7-1), a motor mounting plate (7-2), a bearing mounting plate A (7-3), a bearing mounting plate B (7-4), a bottom plate (7-5), a bearing seat A (7-6), a bearing seat B (7-7), a worm bearing (7-8), a worm (7-9), a bearing cover A (7-10), a gear shaft bearing (7-11), a gear shaft (7-12), a bearing cover B (7-13), a worm wheel (7-14), a cotter pin (7-15), a limiting pin (7-16), a sleeve (7-17) and a flat key (7-18); the control assembly comprises a central controller (9-1), a motor driving plate (9-2) and a hollow potentiometer (9-3); the box body (1) is connected by five hollowed-out panels through screws; the driving component (7) is connected with the box body (1) through screws; the storage battery (8) is fixed on one side of the control assembly (9) in an adhesive manner; the control assembly (9) is connected with the box body (1) through screws; the 42 stepping motor (7-1) is connected with the motor mounting plate (7-2) through screws; the motor mounting plate (7-2) is connected with the bearing mounting plate A (7-3) and the bearing mounting plate B (7-4) through screws; the bearing mounting plate A (7-3), the bearing mounting plate B (7-4), the bearing seat A (7-6) and the bearing seat B (7-7) are connected with the bottom plate (7-5) through screws; the worm (7-9) is fixed on the bearing seat through a worm bearing (7-8), a bearing cover A (7-10) and a bearing cover B (7-13); the worm (7-9) is matched with a motor shaft of the 42 stepping motor (7-1) through a non-circular shaft hole; the worm wheel (7-14) is axially and circumferentially positioned with the gear shaft (7-12) through the flat key (7-18) and the sleeve (7-17); the gear shaft (7-12) is fixed on the bearing mounting plate through a gear shaft bearing (7-11) and a bearing cover B (7-13); the limiting pin (7-16) limits the movement of the limiting pin on the bearing mounting plate through the cotter pin (7-15); the central controller (9-1) and the motor driving plate (9-2) are connected with the box body (1) through screws; the hollow potentiometer (9-3) is connected with the box body (1) through a screw and is matched with the right pin shaft (2-3).
5. The space cell star device capable of adapting to splicing angles according to claim 3, wherein the inner shell (3-4) is provided with 4 ball grooves which are uniformly distributed on the column wall at intervals of 90 degrees in the circumferential direction, the thickness of the column wall of the inner shell (3-4) is smaller than the diameter of the steel ball (3-6), and the diameter of the section of the inner wall of the inner shell (3-4) is smaller than the diameter of the steel ball (3-6), so that the steel ball (3-6) can be prevented from falling out of the inner shell (3-4); the spring A (3-3) causes the inner shell (3-4) and the outer shell (3-2) to be far away from each other, so that a part of the steel ball (3-6) moves out of the inner wall of the inner shell (3-4), and the movement of the driving end interface (5) is limited; the electromagnet (3-5) is fixedly connected with the outer shell (3-2) in an adhesive manner, when the electromagnet (3-5) is electrified, the iron inner shell (3-4) is attracted by magnetic force, the outer shell (3-2) can compress the spring A (3-3) to be close to the inner shell (3-4), the steel ball (3-6) moves outwards into the annular groove of the outer shell (3-2), and at the moment, the driving end interface (5) can move out of the driven end interface (3); the shell (4-1) is provided with a cylindrical inner surface matched with the rotating rod (4-3), and a sufficient space for the rotating rod (4-3) to drive the handle to rotate is reserved on the shell (4-1).
6. The space cell star device capable of adapting to splicing angles according to claim 1, wherein the butt joint of the active end interface (5) and the passive end interface (3) has strict directivity, only axial butt joint and unlocking can be carried out, and axial relative rotation is not limited after the butt joint is completed; the middle part of the driving end interface (5) is communicated with the middle part of the driven end interface (3) to provide an installation space for the electric interface and other connecting parts.
7. The space cell star device capable of adapting to splicing angles according to claim 1, wherein the locking mechanism A (4) and the locking mechanism B (6) are in butt joint only when the two cell stars are in relative rotation after the butt joint of the driving end interface (5) and the driven end interface (3) is completed, and the locking mechanism A (4) can only be in butt joint with the locking mechanism B (6); the single locking mechanism A (4) and the locking mechanism B (6) can limit axial movement and circumferential rotation after abutting.
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| CN202111155685.3A CN114426106B (en) | 2021-09-29 | 2021-09-29 | Space cell star device capable of self-adapting splicing angle |
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| CN202111155685.3A CN114426106B (en) | 2021-09-29 | 2021-09-29 | Space cell star device capable of self-adapting splicing angle |
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| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
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| CN113277126A (en) * | 2021-05-24 | 2021-08-20 | 北京科技大学 | Space docking mechanism based on electromagnetic type ball lock structure |
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