CN114516430B - Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite - Google Patents
Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite Download PDFInfo
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- CN114516430B CN114516430B CN202210098960.0A CN202210098960A CN114516430B CN 114516430 B CN114516430 B CN 114516430B CN 202210098960 A CN202210098960 A CN 202210098960A CN 114516430 B CN114516430 B CN 114516430B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 134
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 238000000926 separation method Methods 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 229910003460 diamond Inorganic materials 0.000 claims description 3
- 239000010432 diamond Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Abstract
The invention relates to an isomorphic on-orbit docking device suitable for maintaining and upgrading satellites in the technical field of satellite on-orbit docking devices, which comprises two groups of isomorphic docking modules, wherein each docking module comprises a docking disc, a compression ring, a locking ring, an electric plug-in male head, an electric plug-in female head and a driving motor; the inner side surface of the butt joint disc is provided with two groups of bosses and two grooves, the two groups of grooves are symmetrically arranged, the central axes of the two groups of bosses are intersected with the central axes of the two groups of grooves, the male head of the electric plug is arranged on the bosses, and the female head of the electric plug is arranged in the grooves; the clamping ring is fastened on the butt joint disc, the clamping ring is connected between the clamping ring and the butt joint disc in a rotating mode, locking teeth are arranged on the clamping ring, the driving motor is arranged on the outer side face of the butt joint disc, and the driving motor is connected with the clamping ring in a driving mode. The invention can simplify the overall design of the maintainable and upgrading satellite through isomorphic mode, and is convenient for the on-orbit reconstruction and on-orbit function expansion of the maintainable and upgrading satellite.
Description
Technical Field
The invention relates to an on-orbit docking device used for a maintainable and upgrading satellite, in particular to an isomorphic on-orbit docking device suitable for the maintainable and upgrading satellite.
Background
With the development of satellite technology, the service life of satellites is increasingly required. A large satellite typically contains multiple subsystems and up to several tens of stand-alone units. Each single machine or subsystem failure may result in a satellite that is totally functional. The on-orbit maintenance and upgrading are used for replacing a fault single machine, so that the method is an effective means for prolonging the on-orbit service life of the satellite and is also the development direction of future advanced satellites.
In the maintainable and upgrading satellite, each subsystem realizes modularized design, and on-orbit docking and separation of modules are realized through a standardized docking device. The in-orbit docking device comprises a mechanical interface and an electrical interface, and realizes the mechanical connection, the power supply connection and the signal transmission connection of the satellite module. The simple and reliable satellite module on-orbit docking device is a basis for realizing a novel satellite which can be maintained and upgraded.
At present, the existing on-orbit docking devices of the spacecraft are various and can be divided into a threaded type, a clamping type, a pressing rod type, a claw type and the like, but most of the on-orbit docking devices of the spacecraft are of an isomerism type, namely, the docking devices are divided into a docking end and a receiving end. The docking end and the receiving end are respectively mounted on the spacecraft module, and the docking end and the receiving end adopt different configurations. Generally, different mechanical interfaces are used in the docking end or the receiving end to ensure alignment and locking of the docking end and the receiving end during docking. For example, in the invention patent "a star on-orbit docking and locking device CNIO4477417a", the device comprises a guiding structure, a locking device and a docking ring, wherein the guiding structure and the locking device are respectively mounted on a service star, and the docking ring is mounted on a target star. The invention patent 'a small-sized in-orbit satellite capturing docking mechanism CNIO 8945531A' adopts a heterogeneous docking device and combines an electromagnet and a gear to capture and lock. However, heterogeneous docking devices will increase the overall design difficulty of serviceable upgrade satellites. For example, future advanced serviceable upgrade satellites may add additional functional modules based on mission requirements, and satellite configurations may also enable on-orbit reconstruction. When the heterogeneous docking device is adopted, the corresponding relation among the modules cannot be changed, for example, the modules of the two mounting docking ends cannot be docked, and the modules of the two mounting receiving ends cannot be docked, so that the on-track reconstruction of the satellite is not facilitated, the function increase or the function recombination is not facilitated, and the like. Thus, the use of an on-orbit docking device in heterogeneous form will limit the design freedom of future serviceable upgrade satellites.
Therefore, the on-orbit docking device can meet the requirements of on-orbit maintenance, upgrading and reconstruction of new satellites in the future, has high reliability, simple structure and light weight, is of great importance to the realization of new maintainable upgrading satellites in China, and is a problem which needs to be solved in the current stage in China. In the invention disclosed in the present stage of China, the devices applied to on-orbit docking of different spacecrafts are all heterogeneous docking devices. Aiming at the defects of the existing heterogeneous docking technology, the invention provides an isomorphic type on-orbit docking device which can be used for on-orbit maintenance and upgrading of satellites and realizes on-orbit docking of satellite modules. Compared with the prior art, the invention has the obvious difference that the invention is of an isomorphic type, namely, the butt joint devices at the two ends of the butt joint surface adopt the design of identical configuration.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an isomorphic on-orbit docking device suitable for maintaining and upgrading satellites.
The invention provides an isomorphic on-orbit docking device suitable for maintaining and upgrading satellites, which comprises two groups of isomorphic docking modules, wherein each docking module comprises a docking disc, a compression ring, a locking ring, an electric plug-in male head, an electric plug-in female head and a driving motor;
the inner side surface of the butt joint disc is provided with two groups of bosses and grooves, the two groups of grooves are symmetrically arranged, the central axes of the two groups of bosses are intersected with the central axes of the two groups of grooves, the male plug of the electric plug is arranged on the bosses, and the female plug of the electric plug is arranged in the grooves;
the clamping ring is fastened on the butt joint disc, the locking ring is rotationally connected between the clamping ring and the butt joint disc, locking teeth are arranged on the locking ring, the driving motor is mounted on the butt joint disc, and the driving motor is in driving connection with the locking ring;
when two groups of docking modules are docked, the male electric plug-in connector is docked with the female electric plug-in connector, the driving motor drives the locking ring to rotate, locking tension is generated through mutual engagement of the locking teeth, the male electric plug-in connector is actively inserted into the female electric plug-in connector, and docking is completed by the two groups of docking modules.
In some embodiments, two sets of the bosses and two sets of the grooves on the same docking plate are in a cross configuration.
In some embodiments, the boss is a conical bump.
In some embodiments, the groove is a conical groove.
In some embodiments, the drive motor is a screw drive motor.
In some embodiments, the drive motor is the same number as the locking teeth.
In some embodiments, the docking tray is provided with a receiving groove, and the driving motor is installed in the receiving groove.
In some embodiments, the locking teeth are disposed in pairs on the locking ring.
In some embodiments, the two groups of docking modules can be docked and separated after the driving motor in any group of the two groups of docking modules drives the locking ring to rotate.
In some embodiments, the locking tooth is an arc diamond plate, the locking tooth includes a locking surface and a separating surface, the locking surface and the separating surface are opposite sides, the included angle between the locking surface and the surface of the locking ring is an acute angle, and the included angle between the separating surface and the surface of the locking ring is an obtuse angle.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional heterogeneous spacecraft docking device, the docking end and the receiving end adopt different configurations to realize docking and locking operations, the invention can simplify the overall design of the maintainable and upgrading satellite by adopting the same docking module on both sides of the docking device in an isomorphic mode, thereby being convenient for on-orbit reconstruction of the maintainable and upgrading satellite and expanding on-orbit functions.
2. The isomorphic butt joint module provided by the invention has the advantages of simple configuration, small number of parts and good assembly process; the design is flexible, and the interface components and each component can be changed in size so as to adapt to the on-orbit docking requirements of different maintainable and upgrading satellites.
3. By the special design of the locking tooth configuration on the locking ring, the locking tooth not only can provide locking tension, but also can provide separation pushing force, active locking and separation are realized, the number of structural members of the device is further simplified, and the overall reliability of the butt joint device is improved.
4. The invention adopts isomorphic design, when the worm driving motor in one module fails, the two modules still can realize the operation of docking and detaching by means of the driving of the worm driving motor of the other docking module, thereby improving the reliability of the whole docking device.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view showing the structure of the inner side of a docking module according to the present invention;
FIG. 2 is a schematic view showing the structure of the outer side of the docking module according to the present invention;
FIG. 3 is a schematic view of a state of the two sets of docking modules of the present invention when they are initially engaged;
fig. 4 is a schematic view of a state of two sets of docking modules of the present invention after being engaged.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides an isomorphic on-orbit docking device suitable for maintaining and upgrading satellites, which comprises two groups of isomorphic docking modules 10, wherein the isomorphic docking modules have the same structure, namely, the two groups of docking modules 10 with the same structure realize on-orbit docking of the satellites. The main structure of the docking module 10 comprises a docking plate 11, a compression ring 12, a locking ring 13 and a driving motor 16, and further comprises an electric plug-in male head 14 and an electric plug-in female head 15 for docking.
The inner side surface of the butt joint disc 11 is provided with two groups of protruding blocks 111 and grooves 112, the central axes of the two groups of protruding blocks 111 are positioned on the same radial line of the butt joint disc 11 and symmetrically arranged along the circle center of the butt joint disc 11, and likewise, the central axes of the two groups of grooves 112 are positioned on the same radial line of the butt joint disc 11 and symmetrically arranged along the circle center of the butt joint disc 11, and the central axes of the two groups of protruding blocks 111 and the two groups of grooves 112 are mutually intersected and the intersection point is the circle center of the butt joint disc 11. Preferably, the two sets of projections 111 and the two sets of grooves 112 form a cross configuration, i.e. the central axes of the two sets of projections 111 and the two sets of grooves 112 cross to divide the docking plate 11 into four sector areas of 90 °. The structure of the protruding block 111 and the groove 112 is preferably conical, and when the two sets of docking modules 10 are docked, the four sets of protruding blocks 111 are enclosed to form a conical structure with a hollow cavity.
The two sets of male electrical connector pins 14 are respectively mounted on the two sets of protruding blocks 111, and the two sets of female electrical connector pins 15 are respectively mounted in the two sets of grooves 112. The clamp ring 12 is fixedly connected with the flange plate of the butt joint plate 11 through screws, the clamp ring 13 is nested between the butt joint plate 11 and the clamp ring 12, the clamp ring 13 can circumferentially rotate relative to the butt joint plate 11, and the clamp ring 12 is used for preventing the clamp ring 13 from axially moving. The locking ring 13 is provided with a pair of locking teeth 131, and the pair of locking teeth 131 are symmetrically arranged along the locking ring 13. Preferably, the locking teeth 131 are arc-shaped rhombus plates, the arc-shaped rhombus plates are arc-shaped structural plates with a diamond basic shape, when the locking teeth 131 are arranged into arc-shaped rhombus plate structures, two opposite side surfaces are a locking surface 1311 and a separating surface 1312 respectively, an included angle between the locking surface 1311 and the surface of the locking ring 13 is an acute angle, and an included angle between the separating surface 1312 and the surface of the locking ring 13 is an obtuse angle, so that the locking teeth 13 not only have a locking function, but also can realize separation through the locking teeth 131. The driving motor 16 is installed on the docking plate 11, the driving motor 16 is in driving connection with the locking ring 13, and drives the locking ring 13 to rotate relative to the docking plate 11, so that the locking teeth 131 are meshed. Preferably, the driving motor 16 is a screw driving motor, and the self-locking after power failure is realized through the self-locking performance of the screw driving motor. Further, the docking tray 11 is provided with a receiving groove 113, and the driving motor 16 is installed in the receiving groove 113, so that the overall structure of the docking module 10 is more compact through the receiving groove 113. Preferably, the number of driving motors 16 is the same as the number of locking teeth 131, thereby providing sufficient power when locking or separating the locking teeth 131 from each other.
The present invention is illustrated with two sets of bumps 111 and two sets of grooves 112 in the docking module 10 intersecting in a cross configuration:
docking process of two sets of docking modules 10: after the two groups of docking modules 10 are in relative rotation by 90 degrees for docking, the docking discs 11 in the two groups of docking modules 10 are primarily meshed, the locking surfaces 1311 of the locking teeth 131 are primarily contacted and meshed, the male electric connector 14 and the female electric connector 15 are in one-to-one correspondence, the bosses 111 are inserted into the grooves 112 and are contacted, the driving motors 16 in the two groups of docking modules 10 are started at the same time to drive the locking rings 13 connected with the two groups of docking modules 10 to rotate, the rotation directions of the locking rings 13 in the two groups of docking modules 10 are opposite, and meanwhile, the rotation of the docking discs 11 is limited due to the plugging of the bosses 111 and the grooves 112, so that the two groups of docking discs 11 are driven by the locking force of the paired locking teeth 131 to only generate axial displacement and are close to each other, and after the locking teeth 131 are meshed in place, the male electric connector 14 and the female electric connector 15 are plugged in place, and the two groups of docking modules 10 are in complete docking. When the two groups of docking modules 10 are locked in place, the driving motor 16 is powered off, and the two groups of docking modules 10 are ensured to be in a locking state through the self-locking function of the screw driving motor.
Separation process of two sets of docking modules 10: when the two groups of docking modules 10 are separated, the driving motor 16 in the two groups of docking modules 10 is respectively driven to drive the locking ring 13 to reversely rotate, and as the locking ring 13 can freely rotate relative to the docking plate 11, and further the mutually meshed locking surfaces 1311 are separated from each other, when the locking teeth 131 rotate to a certain position along with the locking ring 13, the separating surfaces 1312 of the locking teeth 131 on the two groups of docking modules 10 are contacted, after the locking ring 13 is continuously driven to rotate, the interface generates active separation thrust through sliding extrusion of the separating surfaces 1312, and the electric plug-in male head 14 is pulled out from the electric plug-in female head 15 under the action of the separation thrust, so that the separation of the two groups of docking modules 10 is realized.
As can be seen from the above-mentioned process of docking and separating the two groups of docking modules 10, when the driving motor 16 in one group of docking modules 10 fails, the locking ring 13 is driven by the driving motor in the other group of docking modules 10 to work, so that the two groups of docking modules can still realize docking and separating operations, thereby improving the reliability of the whole docking device.
Compared with the traditional heterogeneous spacecraft docking device, the docking end and the receiving end adopt different configurations to realize docking and locking operations, the invention can simplify the overall design of the maintainable and upgrading satellite by adopting the same docking module on both sides of the docking device in an isomorphic mode, thereby being convenient for on-orbit reconstruction of the maintainable and upgrading satellite and expanding on-orbit functions. Meanwhile, the isomorphic butt joint module has simple configuration, small number of parts and good assembly process; the design is flexible, and the interface components and each component can be changed in size so as to adapt to the on-orbit docking requirements of different maintainable and upgrading satellites.
According to the invention, through the special design of the locking tooth structure on the locking ring, the locking tooth not only has the function of providing locking tension, but also can provide separation thrust, so that active locking and separation are realized, the number of structural members of the device is further simplified, and the overall reliability of the butt joint device is improved.
In addition, the invention adopts isomorphic design, when the worm driving motor in one module fails, the two modules still can realize the operation of docking and detaching by means of the driving of the worm driving motor of the other docking module, thereby improving the reliability of the whole docking device.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The isomorphic on-orbit docking device suitable for maintaining and upgrading satellites is characterized by comprising two groups of isomorphic docking modules (10), wherein each docking module (10) comprises a docking disc (11), a compression ring (12), a locking ring (13), an electric plug-in male head (14), an electric plug-in female head (15) and a driving motor (16);
the inner side surface of the butt joint disc (11) is provided with two groups of bosses (111) and grooves (112), the two groups of grooves (112) are symmetrically arranged, the central axes of the two groups of bosses (111) are intersected with the central axes of the two groups of grooves (112), the male electric plug (14) is arranged on the bosses (111), and the female electric plug (15) is arranged in the grooves (112);
the clamping ring (12) is fastened on the butt joint disc (11), the locking ring (13) is rotatably connected between the clamping ring (12) and the butt joint disc (11), locking teeth (131) are arranged on the locking ring (13), the driving motor (16) is mounted on the butt joint disc (11), and the driving motor (16) is in driving connection with the locking ring (13);
when two groups of docking modules (10) are docked, the male electric plug (14) is docked with the female electric plug (15), the driving motor (16) drives the locking ring (13) to rotate, locking tension is generated through mutual engagement of the locking teeth (131), the male electric plug (14) is actively inserted into the female electric plug (15), and the two groups of docking modules (10) are docked.
2. Isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 1, characterized in that two sets of said bosses (111) and two sets of grooves (112) on the same docking plate (11) are in a cross configuration.
3. The isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 1, characterized in that the boss (111) is a conical bump.
4. The isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 1, wherein the groove (112) is a conical groove.
5. The isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 1, characterized in that the drive motor (16) is a screw drive motor.
6. The isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 5, characterized in that the number of driving motors (16) is the same as the number of locking teeth (131).
7. The isomorphic on-orbit docking device suitable for maintaining and upgrading satellites according to claim 1, wherein the docking tray (11) is provided with a containing groove (113), and the driving motor (16) is installed in the containing groove (113).
8. Isomorphic in-orbit docking device suitable for service and upgrade satellites according to claim 1, characterized in that the locking teeth (131) are arranged in pairs on the locking ring (13).
9. The isomorphic in-orbit docking device suitable for maintenance and upgrade satellites according to claim 1, wherein the docking and separation of two groups of docking modules (10) can be realized after the driving motor (16) in any group of docking modules (10) drives the locking ring (13) to rotate.
10. The isomorphic in-orbit docking device suitable for a service and upgrade satellite according to any one of claims 1-9, wherein the locking tooth (131) is an arc-shaped diamond plate, the locking tooth (131) comprises a locking surface (1311) and a separating surface (1312), the locking surface (1311) and the separating surface (1312) are opposite sides, an included angle between the locking surface (1311) and the surface of the locking ring (13) is an acute angle, and an included angle between the separating surface (1312) and the surface of the locking ring (13) is an obtuse angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098960.0A CN114516430B (en) | 2022-01-25 | 2022-01-25 | Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098960.0A CN114516430B (en) | 2022-01-25 | 2022-01-25 | Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite |
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| CN114516430A CN114516430A (en) | 2022-05-20 |
| CN114516430B true CN114516430B (en) | 2023-07-25 |
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| CN110316404A (en) * | 2019-07-04 | 2019-10-11 | 西北工业大学 | A kind of spacecraft self- steering isomorphism interface fault-tolerant greatly and its application method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SE0003315L (en) * | 2000-09-18 | 2001-10-15 | Saab Ericsson Space Ab | Device and method for a spacecraft |
| US9475594B2 (en) * | 2012-09-25 | 2016-10-25 | Honeywell International Inc. | Launch lock assemblies with reduced preload and spacecraft isolation systems including the same |
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Patent Citations (5)
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| CN205680870U (en) * | 2016-06-23 | 2016-11-09 | 湖北大秀天域科技发展有限公司 | A kind of Quick Release plug construction for unmanned plane horn |
| CN108238286A (en) * | 2016-12-23 | 2018-07-03 | 宁夏赛文技术股份有限公司 | A kind of spacecraft docking facilities |
| CN108609205A (en) * | 2018-05-14 | 2018-10-02 | 北京航空航天大学 | Homologous connects separator and system |
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