CN117302566A - Capturing docking mechanism and docking method - Google Patents

Abstract

The application discloses a capture docking mechanism and a docking method, and belongs to the field of capture docking equipment of space vehicles. The outer cylinder of the twisting and shearing structure of the mechanism is sleeved on the inner cylinder and enables the first end of the inner cylinder to extend out; two twisting and shearing rods are oppositely arranged at the first end of the inner cylinder, and the other two twisting and shearing rods are oppositely arranged at the first end of the outer cylinder; the first driving component is arranged at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relatively; the first butt joint of the butt joint structure is arranged at the first end of the inner column body, the twisting and shearing structure is arranged on the first device to be butt-jointed, and the second butt joint is arranged on the second device to be butt-jointed; the two groups of telescopic structures are symmetrically arranged on the second device to be docked and comprise a guide assembly, a sliding assembly and a second driving assembly; the guide component is arranged on the second device to be docked; the sliding component is inserted into the guide component and can slide along the guide component under the drive of the second driving component. The device is large in tolerance, high in universality and simple in structure.

Description

Capturing docking mechanism and docking method

Technical Field

The application relates to the technical field of capture docking equipment of space vehicles, in particular to a capture docking mechanism and a docking method.

Background

The capture docking mechanism is a generic term of the capture mechanism and the docking mechanism, is a system integrating multiple functions of capture, connection, release, separation, repeated use and the like, and generally consists of two parts, namely a driving end and a driven end, which are respectively arranged on two spacecrafts or two cabin sections of the same spacecraft. Spacecraft docking control accuracy is limited and it is often necessary to eliminate docking deviations at the ends. The existing capture docking modes include insertion type (such as a rod-cone capture docking mechanism) and grabbing type (such as a mechanical claw capture docking mechanism).

The lever-cone capture docking mechanism uses a large guide slot to eliminate docking bias at the docking end, and is generally suitable for large spacecraft due to the large tolerance achieved by the large guide slot, which is limited in versatility. The mechanical claw type capture docking mechanism needs to be realized through an end effector, the tolerance is small, and the mechanical claw type capture docking mechanism has specific matching requirements on a working target and is complex in structure.

Disclosure of Invention

The embodiment of the application can solve the problems that the existing capture docking mechanism cannot realize larger tolerance, strong universality and simple structure at the same time by providing the capture docking mechanism and the docking method.

In order to achieve the above object, the technical solution of the embodiment of the present invention is:

in a first aspect, an embodiment of the present invention provides a capturing docking mechanism, including a wringing and shearing structure, a docking structure, and two sets of telescoping structures; the twisting and shearing structure comprises an outer cylinder, an inner cylinder, a first driving component and four twisting and shearing rods; the outer cylinder is sleeved on the inner cylinder body and enables the first end of the inner cylinder body to extend out; two wringing and shearing rods are oppositely arranged at the first end of the inner column body, and the other two wringing and shearing rods are oppositely arranged at the first end of the outer cylinder; the first driving component is arranged at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relatively; the docking structure comprises a first docking head and a second docking head which can be mutually docked; the first butt joint is arranged at the first end of the inner column body, the wringing and shearing structure is arranged on a first device to be docked, and the second butt joint is arranged on a second device to be docked; the two groups of telescopic structures are symmetrically arranged on the second device to be docked and comprise a guide assembly, a sliding assembly and a second driving assembly; the guide component is arranged on the second device to be docked; the sliding component is inserted into the guide component and can slide along the guide component under the drive of the second driving component.

With reference to the first aspect, in a possible implementation manner, the wringing and shearing structure further includes an opening and closing assembly; the opening and closing assembly is connected with the wringing and shearing rod and the outer barrel and is configured to control the wringing and shearing rod to open and close.

With reference to the first aspect, in a possible implementation manner, the opening and closing assembly includes a first loop, a second loop, a connecting rod, and a first pushing member; each wring-shear rod is provided with one connecting rod, the wring-shear rods are provided with guide grooves, one ends of the two connecting rods are respectively arranged in the guide grooves of the wring-shear rods positioned on the inner cylinder, the other ends of the two connecting rods are respectively hinged to the first annular sleeve, one ends of the other two connecting rods are respectively arranged in the guide grooves of the wring-shear rods positioned on the outer cylinder, and the other ends of the other two connecting rods are respectively hinged to the second annular sleeve; the first ring sleeve is sleeved on the second ring sleeve and can rotate around the central axis of the second ring sleeve; the second ring sleeve is sleeved on the outer cylinder, and the first pushing piece is configured to control the second ring sleeve to move along the axial direction of the outer cylinder so as to enable the wringing and shearing rod to open and close.

With reference to the first aspect, in one possible implementation manner, the guide assembly includes two first barrels; the sliding component comprises a second pushing piece, a stop lever and two sliding rods; the two rod barrels are arranged on the second device to be docked in parallel, one ends of the two sliding rods are respectively inserted into one first rod barrel, and the other ends of the two sliding rods are fixedly arranged on the stop lever; the second pushing piece is configured to drive the sliding rod to slide along the rod barrel.

With reference to the first aspect, in a possible implementation manner, the telescopic structure further includes a T-shaped rod, a second rod barrel and a third driving assembly; the second pole barrels are arranged between the two first pole barrels in parallel; the T-shaped rod is inserted into the second rod barrel; the third drive assembly is configured to drive the T-bar to slide along the second barrel.

With reference to the first aspect, in a possible implementation manner, the first pair of connectors includes a first ring piece, a second ring piece, a guide cone, and an elastic member; the first ring piece and the second ring piece are arranged in parallel; the elastic piece is arranged between the first ring piece and the second ring piece; the guide cone head is arranged on one side of the first ring piece, which is away from the elastic piece, and the outer wall of the guide cone head is a cambered surface; the second butt joint comprises a clamping seat, a plurality of buckles and a plurality of locking and unlocking controllers; the clamping seat is provided with a groove recessed inwards from the end surface, and the shape of the inner wall of the groove is matched with the shape of the outer wall of the guide cone head; the locking and unlocking controllers are uniformly distributed around the central axis of the clamping seat; and each locking and unlocking controller is provided with one buckle at a corresponding position, and the buckle can move along the radial direction of the clamping seat.

With reference to the first aspect, in one possible implementation manner, the first driving assembly includes a first gear, a second gear, and a motor; the second gear is sleeved on an output shaft of the motor; the first gear is sleeved at the second end of the inner cylinder; the first gear is meshed with the second gear.

In a second aspect, another embodiment of the present invention provides a docking method of a capturing docking mechanism, using the capturing docking mechanism described above, including:

when the first device to be docked and the second device to be docked are close to each other and are adjacent to each other in distance, the sliding component of the telescopic structure arranged on the second device to be docked is driven by the second driving component to extend in a sliding mode along the guiding component, and therefore two groups of telescopic structures form a capturing space area;

the first driving assembly drives the inner cylinder and the outer cylinder to rotate relatively, so that the wringing-shearing rod arranged on the inner cylinder and the wringing-shearing rod arranged on the outer cylinder are unfolded relatively, the unfolding angle can cross the front end of the telescopic structure, and the first device to be docked and the second device to be docked are continuously close to each other;

when the wring-shear rods are positioned in the capturing space area, two groups of telescopic structures respectively enter opposite side areas of an X shape formed by the four wring-shear rods;

the first driving component drives the inner column body and the outer cylinder to rotate relatively, and the wringing and shearing rod wrings and shears the sliding component of the telescopic structure;

the sliding component slides and withdraws along the guide component under the drive of the second driving component, and pulls the wringing and shearing rod to approach the second device to be docked;

the first butt joint of the butt joint structure arranged on the first device to be docked and the second butt joint of the butt joint structure arranged on the second device to be docked are subjected to butt joint locking by external force.

With reference to the second aspect, in one possible implementation manner, the docking method of the capturing docking mechanism further includes:

the first driving component drives the inner cylinder and the outer cylinder to rotate relatively, so that the twisting and shearing rod arranged on the inner cylinder and the twisting and shearing rod arranged on the outer cylinder are unfolded relatively, the unfolding angle can penetrate through the front end of the telescopic structure, and then the first pushing rod drives the opening and closing component to control the twisting and shearing rod to fold and fold.

One or more technical solutions provided in the embodiments of the present invention at least have the following technical effects or advantages:

the embodiment of the invention provides a capturing and docking mechanism which comprises a twisting and shearing structure, a docking structure and two groups of telescopic structures. The twisting and shearing structure comprises an outer cylinder, an inner cylinder, a first driving component and four twisting and shearing rods. The outer cylinder is sleeved on the inner cylinder and enables the first end of the inner cylinder to extend out. Two hank cut the pole and set up in the first end of interior cylinder relatively, and two other hank cut the pole and set up in the first end of urceolus relatively. The first driving component is arranged at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relatively. The docking structure includes a first docking head and a second docking head capable of docking with each other. The first butt joint is arranged at the first end of the inner column body, the wringing and shearing structure is arranged on the first device to be docked, and the second butt joint is arranged on the second device to be docked. The two groups of telescopic structures are symmetrically arranged on the second device to be docked and comprise a guide assembly, a sliding assembly and a second driving assembly. The guide assembly is arranged on the second device to be docked. The sliding component is inserted into the guide component and can slide along the guide component under the drive of the second driving component.

According to the capture docking mechanism, when the first to-be-docked device and the second to-be-docked device are close to each other to be adjacent to each other in distance, the sliding component of the telescopic structure arranged on the second to-be-docked device slides and stretches out along the guiding component under the driving of the second driving component, so that two groups of telescopic structures form a capture space area. The first driving component drives the inner cylinder and the outer cylinder to rotate relatively, so that the wringing and shearing rod arranged on the inner cylinder and the wringing and shearing rod arranged on the outer cylinder are unfolded relatively, the unfolding angle can span the front end of the telescopic structure, and the first device to be docked and the second device to be docked are kept close to each other. When the wringing and shearing rods are positioned in the capturing space area, the two groups of telescopic structures respectively enter the opposite side areas of the X shape formed by the four wringing and shearing rods. The first driving component drives the inner cylinder body and the outer cylinder to rotate relatively, and the twisting and shearing rod is used for twisting and shearing the sliding component of the telescopic structure. The sliding component is driven by the second driving component to slide and retract along the guiding component, and the sliding component pulls the wringing and shearing rod to approach the second device to be docked. The first butt joint of the butt joint structure arranged on the first device to be docked and the second butt joint arranged on the second device to be docked are docked and locked by external force. According to the capture docking structure provided by the embodiment of the invention, the tail ends of the first device to be docked and the second device to be docked are captured by utilizing the twisting and shearing movements of the four twisting and shearing rods and the telescopic movements of the sliding component of the telescopic structure, the eccentric deviation and the pitching-yawing deviation are eliminated, the docking of the first docking head and the second docking head is realized, the tolerance is larger, and the capturing in a larger range and the reduction of larger docking deviation can be realized. Meanwhile, the device has the advantages of simple structure, light weight, strong universality due to the capturing characteristic of the wringing and shearing device, no limit on the size of the device to be docked, and the device can be captured within the stretch-forming diameter of the four wringing and shearing rods, is suitable for various large and small devices to be docked, and can be used for universal mooring ports, space vehicle fuel supplementing and filling mechanisms and the like in the future.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a capture docking structure according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a capturing docking structure according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a wringing shear structure according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a wringing shear structure according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a telescopic structure according to an embodiment of the present application;

fig. 6 is a second schematic structural diagram of the telescopic structure according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of a first pair of connectors according to an embodiment of the present disclosure;

fig. 8 is a schematic structural view of a second pair of connectors according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram I of a docking process of a capture docking mechanism provided in an embodiment of the present application;

fig. 10 is a schematic diagram two of a docking process of the capture docking mechanism according to the embodiment of the present application;

FIG. 11 is a third schematic diagram of a docking process of a capture docking mechanism provided in an embodiment of the present application;

fig. 12 is a schematic diagram IV of a docking process of the capture docking mechanism provided in an embodiment of the present application;

fig. 13 is a schematic diagram fifth of a docking process of the capture docking mechanism provided in an embodiment of the present application;

FIG. 14 is a schematic diagram six of a docking process of a capture docking mechanism provided in an embodiment of the present application;

FIG. 15 is a schematic diagram seven of a capture docking mechanism docking process provided in an embodiment of the present application;

fig. 16 is a schematic diagram eight of a docking process of the capture docking mechanism provided in an embodiment of the present application.

Reference numerals: 1-a wringing and shearing structure; 11-an outer cylinder; 12-an inner column; 13-twisting and shearing the rod; 131-a guide slot; 14-an opening and closing assembly; 141-a first collar; 142-a second collar; 143-a connecting rod; 2-butt joint structure; 21-a first pair of joints; 211-a first ring segment; 212-a second ring segment; 213-guiding cone head; 214-an elastic member; 22-a second pair of joints; 221-a clamping seat; 222-snap; 223-lock unlock controller; 3-telescoping structure; 31-a guide assembly; 311-a first barrel; 32-a sliding assembly; 321-stop lever; 322-slide bar; 33-T bar; 34-a second barrel; 4-a second device to be docked.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the embodiments of the present invention will be understood by those of ordinary skill in the art according to specific circumstances.

Referring to fig. 1 and 2, an embodiment of the present invention provides a capturing docking mechanism, which includes a scissors structure 1, a docking structure 2 and two sets of telescopic structures 3. As shown in fig. 3 and 4, the wringing shear structure 1 includes an outer barrel 11, an inner cylinder 12, a first drive assembly, and four wringing shear bars 13. The inner cylinder 12 may be a solid cylinder or a cylinder. When the inner cylinder 12 is a cylinder, the weight of the wringing and shearing structure 1 can be reduced.

The outer cylinder 11 is sleeved on the inner cylinder 12 and extends out of the first end of the inner cylinder 12 so as to facilitate the arrangement of the wringing and shearing rod 13. Two wringing and shearing rods 13 are oppositely arranged at the first end of the inner cylinder 12, and the other two wringing and shearing rods 13 are oppositely arranged at the first end of the outer cylinder 11, so that the four wringing and shearing rods 13 form an X shape. The first driving assembly is disposed at the second end of the inner cylinder 12 and configured to drive the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, i.e. the outer cylinder 11 can rotate freely around the inner cylinder 12. The inner cylinder 12 and the outer cylinder 11 rotate relatively, which can be that the inner cylinder 12 rotates, the outer cylinder 11 does not rotate, and the first driving assembly comprises a first gear, a second gear and a motor. The second gear is sleeved on the output shaft of the motor. The first gear is sleeved on the second end of the inner cylinder 12. The first gear is meshed with the second gear, when the motor rotates, the output shaft drives the second gear to rotate, the second gear drives the first gear to rotate due to the meshing of the first gear and the second gear, and the first gear is sleeved at the second end of the inner cylinder 12, so that the first gear drives the inner cylinder 12 to rotate, and the inner cylinder 12 and the outer cylinder 11 are rotated relatively. The first driving assembly provided by the embodiment of the application is simple in structure, and is easy to control and realize, and torque is applied to the inner column 12.

The inner cylinder 12 may not rotate, and the outer cylinder 11 may rotate, where the first driving assembly includes a third gear, a fourth gear, and a motor. The fourth gear is sleeved on the output shaft of the motor, and the third gear is sleeved on the second end of the outer cylinder 11. The third gear is meshed with the fourth gear. The working process of the first driving assembly is not described in detail. The inner cylinder 12 and the outer cylinder 11 may be rotated simultaneously. The first drive assembly can also use a gear drive at this time, and will not be described in detail here. Of course, the first drive assembly may also be belt-connected to perform its function. The belt transmission has the advantages that the belt transmission is flexible, the torque transmitted to the root parts of the inner column body and the outer column body can be controlled within a certain range, and if the torque exceeds the root torque range specified by the structure, the belt can slide relatively to limit sliding.

As shown in fig. 1 and 2, the docking structure 2 includes a first docking head 21 and a second docking head 22 that are capable of docking with each other. The first butt joint 21 is disposed at a first end of the inner column 12, the wringing and shearing structure 1 is disposed on a first device to be docked, i.e. the first butt joint 21 is a male butt joint, and the second butt joint 22 is disposed on the second device to be docked 4, i.e. the second butt joint 22 is a female butt joint.

As shown in fig. 1, 2 and 5, the two sets of telescopic structures 3 are symmetrically arranged on the second device to be docked 4, and each set of telescopic structures comprises a guide assembly 31, a sliding assembly 32 and a second driving assembly. The guiding component 31 is arranged on the second device to be docked 4. The sliding component 32 is inserted into the guiding component 31 and can slide along the guiding component 31 under the driving of the second driving component. The telescopic structures 3 are installed on the second device to be docked 4 in pairs, and are installed symmetrically by taking the docking head as the center.

The first device to be docked and the second device to be docked 4 in the embodiment of the present application may be two spacecraft or two cabin sections of the same spacecraft. For example, when the first device to be docked is a mother spacecraft, the second device to be docked 4 is a child spacecraft. Considering the large weight of the wring scissor lever 13 and drive assembly as a whole, we choose to mount the telescopic structure 3 on a smaller sub-spacecraft, such as a satellite, small space probe, etc. The winch and shear structure 1 can be generally installed on a mother spacecraft with heavy weight and large body size, such as an international space station truss, a large-scale airship and the like.

The specific working process of the capture docking mechanism provided by the embodiment of the application is as follows: when the first to-be-docked device and the second to-be-docked device 4 are close to each other to be adjacent to each other, the sliding component 32 of the telescopic structure 3 arranged on the second to-be-docked device 4 slides and stretches out along the guiding component 31 under the driving of the second driving component, so that two groups of telescopic structures 3 form a capturing space area. The first driving component drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, so that the wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are unfolded relatively, the unfolding angle can span the front end of the telescopic structure 3, and the first device to be docked and the second device to be docked 4 are kept close to each other. When the wringing and shearing rods 13 are positioned in the capturing space region, the two groups of telescopic structures 3 respectively enter opposite side regions of the X-shape formed by the four wringing and shearing rods 13. The first driving component drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, and the twisting and shearing rod 13 twists and shears the sliding component 32 of the telescopic structure 3. The sliding component 32 is driven by the second driving component to slide and retract along the guiding component 31, and the sliding component 32 pulls the wringing and shearing rod 13 to approach the second device 4 to be docked. The first butt joint 21 of the butt joint structure 2 arranged on the first device to be butt-jointed and the second butt joint 22 arranged on the second device to be butt-jointed 4 are butt-locked by external force. According to the capture docking structure 2 provided by the embodiment of the invention, the tail ends of the first device to be docked and the second device to be docked 4 are captured by utilizing the twisting and shearing movements of the four twisting and shearing rods 13 and the telescopic movements of the sliding component 32 of the telescopic structure 3, the eccentric deviation and the pitching-yawing deviation are eliminated, the docking of the first docking head 21 and the second docking head 22 is realized, the tolerance is large, and the capture in a large range and the reduction of the larger docking deviation can be realized. Meanwhile, the structure is simple, the weight is light, the capturing characteristic of the wringing scissors is high in universality, the size of the device to be docked is not limited, the device can be captured within the stretch-forming diameter of the four wringing scissors rods 13, the device is suitable for various large and small devices to be docked, and the device can be used for universal mooring ports, space vehicle fuel supplementing and filling mechanisms and the like in the future.

Referring to fig. 3 and 4, the wringer structure 1 further comprises an opening and closing assembly 14. The opening and closing assembly 14 is connected to the wringing and shearing rod 13 and the outer cylinder 11, and is configured to control the wringing and shearing rod 13 to open and close, so that the wringing and shearing structure 1 can be folded and unfolded.

Further, with continued reference to fig. 3 and 4, the opening and closing assembly 14 includes a first collar 141, a second collar 142, a link 143, and a first pusher. Each wringing and shearing rod 13 is provided with a connecting rod 143, the wringing and shearing rods 13 are provided with a guide groove 131, one ends of the two connecting rods 143 are respectively arranged in the guide groove 131 of the wringing and shearing rod 13 positioned on the inner cylinder 12, the other ends of the two connecting rods 143 are respectively hinged on the first annular sleeve 141, one ends of the other two connecting rods 143 are respectively arranged in the guide groove 131 of the wringing and shearing rod 13 positioned on the outer cylinder 11, and the other ends of the other two connecting rods 143 are respectively hinged on the second annular sleeve 142. The first collar 141 is sleeved on the second collar 142, and can rotate around the central axis of the second collar 142.

The second ring sleeve 142 is sleeved on the outer cylinder 11, and the first pushing member is configured to control the second ring sleeve 142 to move axially along the outer cylinder 11 so as to open and close the wringer rod 13. That is, the first collar 141 has a degree of freedom to rotate about the central axis of the outer cylinder 11, and the second collar 142 can only move along the central axis of the outer cylinder 11 and cannot rotate about its central axis. As shown in fig. 3, a radially recessed ring groove is provided on the outer wall of the outer cylinder 11, and the second collar 142 moves axially in the ring groove.

In the opening and closing assembly 14 provided by the embodiment of the application, when four wringing and shearing rods 13 are required to be unfolded, the first pushing piece pushes the second annular sleeve 142 to axially move towards the first end of the outer cylinder 11, and because the first annular sleeve 141 is sleeved on the second annular sleeve 142, the first annular sleeve 141 also axially moves along the outer cylinder 11. One end of the link 143 is provided in the guide groove 131 of the wringer rod 13 so as to be slidable along the guide groove 131, and the other end is hinged to the first collar 141 or the second collar 142, so that the wringer rod 13 can move in a direction toward the first end of the outer cylinder 11 until the four wringer rods 13 are deployed. When the four wringing and shearing rods 13 are required to be folded, the first pushing member pushes the second annular sleeve 142 to move axially towards the second end of the outer cylinder 11, and the first annular sleeve 141 is sleeved on the second annular sleeve 142, so that the wringing and shearing rods 13 can move axially towards the second end of the outer cylinder 11 until the four wringing and shearing rods 13 are folded.

According to the opening and closing assembly 14 provided by the embodiment of the application, as the first annular sleeve 141 can rotate around the central axis of the second annular sleeve 142, when the first driving assembly drives the inner cylinder 12 to rotate relative to the outer cylinder 11, the twisting and shearing of the twisting and shearing rod 13 can not be influenced along with the rotation of the first annular sleeve 141. The opening and closing assembly 14 provided by the embodiment of the application is simple in structure and easy to realize.

The first pushing member may be a screw rod transmission, specifically, a screw rod is axially disposed on the outer cylinder 11, a rotating nut is disposed on the second ring sleeve 142, the rotating nut is sleeved on the screw rod, the driving device drives the screw rod to rotate, the screw rod converts the rotation motion of the screw rod into the axial motion of the second ring sleeve 142 along the outer cylinder 11, the second ring sleeve 142 moves towards the second end of the outer cylinder 11 to drive the connecting rod 143 to pull the wringing and shearing rod 13 to fold, the second changing sleeve moves towards the first end of the outer cylinder 11 to drive the connecting rod 143 to push the wringing and shearing rod 13 to expand, and accordingly the opening and closing assembly 14 is driven to control the wringing and shearing rod 13 to open and close.

As shown in fig. 5 and 6, the guide assembly 31 includes two first lever barrels 311. The slide assembly 32 includes a second pusher, a stop bar 321 and two slide bars 322. The two pole barrels are arranged on the second device 4 to be docked in parallel, one ends of the two sliding poles 322 are respectively inserted into one first pole barrel 311, and the other ends of the two sliding poles are fixedly arranged on the stop lever 321, so that the sliding component 32 forms a pi-shaped pole. The second pusher is configured to drive the slide bar 322 to slide along the first bar cylinder 311.

The guide assembly 31 provided in the embodiment of the present application, when the second pushing member applies a driving force to the sliding assembly 32, the sliding assembly 32 slides along the two first pole barrels 311, and can be extended or retracted from the first pole barrels 311. The stop lever 321 at the tail end of the pi-shaped rod is used as a limiter to generate a reaction force with the wringing and shearing rod 13, and can pull the wringing and shearing rod 13. Providing the sliding assembly 32 in the form of two sliding bars 322 can make the structure of the sliding assembly 32 more stable.

Further, as shown in fig. 6, the telescopic structure 3 further includes a T-bar 33, a second bar cylinder 34 and a third driving assembly. The second lever barrels 34 are disposed in parallel between the two first lever barrels 311. The T-bar 33 is inserted into the second bar cylinder 34. The third drive assembly is configured to drive the T-bar 33 to slide along the second bar cylinder 34.

If only the n-shaped rod is arranged, the two constraint degrees of freedom control the three-degree-of-freedom pull-back motion in the relative motion approaching direction, and the missing control degrees of freedom exist, namely the telescopic structure 3 can only pull the wringing and shearing rod 13 to be close to the second device to be docked 4. The T-shaped rod 33 increases a constraint degree of freedom, and can be matched with the n-shaped rod for use, so that the pushing and pulling of the scissors rod 13 can be realized. And when the wringing and shearing rod 13 is pulled to the second device 4 to be docked through the n-shaped rod, the T-shaped rods 33 synchronously extend outwards and are matched with each other to clamp the wringing and shearing rod 13, so that the wringing and shearing rod 13 has the freedom degree of approaching to and separating from the second device 4 to be docked, the hinging rod can be well controlled to eliminate tolerance, the docking can be implemented, and the full-drive control is realized.

Further, as shown in fig. 7, the first abutment 21 includes a first ring piece 211, a second ring piece 212, a guide cone 213, and an elastic member 214. The elastic member 214 may be a plurality of springs arranged in an annular array around the central axis of the first ring piece 211. The first ring piece 211 and the second ring piece 212 are arranged in parallel. The elastic member 214 is disposed between the first ring piece 211 and the second ring piece 212. The guiding cone 213 is disposed on a side of the first ring 211 facing away from the elastic member 214, and an outer wall thereof is a cambered surface. As shown in fig. 8, the second pair of joints 22 includes a card holder 221, a plurality of snaps 222, and a plurality of lock unlock controllers 223. The holder 221 is provided with a recess recessed inward from the end surface, and the shape of the inner wall of the recess matches the shape of the outer wall of the guide cone 213. The plurality of locking and unlocking controllers 223 are uniformly distributed around the central axis of the card holder 221. Each lock unlocking controller 223 is provided with a buckle 222 at a corresponding position, and the buckle 222 can move along the radial direction of the card seat 221.

The first butt joint 21 of the embodiment of the application is provided with the guide conical head 213, and can slide into the second butt joint 22 to realize tolerance reduction butt joint under the condition of small tolerance of butt joint end sections. The guide cone 213 is also attached with an elastic member 214 to prevent rigid impact damage to the components. The clamping seat 221 of the second butt joint 22 is used for clamping into the guiding cone 213, and the guiding cone 213 is matched to eliminate end section errors. When the guide cone 213 is connected, the elastic piece 214 pops up to buckle the first butt joint 21 to realize locking when being butted when being pressed in a certain distance. The buckle 222 withdraws when unlocking, and the elastic piece 214 on the first butt joint 21 releases elastic potential energy to spring the two butt joint parts. The butt joint structure 2 of the embodiment of the application is simple in structure and easy to realize.

The butt joint structure 2 can also be a taper rod type space intersection butt joint and the like, and is specifically designed according to actual conditions and mainly plays roles of butt joint and locking.

Another embodiment of the present invention provides a docking method of a capturing docking mechanism, using the capturing docking mechanism, including:

step one: when the first to-be-docked device and the second to-be-docked device 4 are close to each other to be adjacent to each other as shown in fig. 9, as shown in fig. 10, the sliding assembly 32 of the telescopic structure 3 provided on the second to-be-docked device 4 slides and extends along the guiding assembly 31 under the driving of the second driving assembly, so that two sets of telescopic structures 3 form one capturing space area.

Step two: with continued reference to fig. 10, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, so that the wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are unfolded relatively, and the unfolding angle can span the front end of the telescopic structure 3, and the first device to be docked and the second device to be docked 4 are kept close to each other. The wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are relatively unfolded to be mutually perpendicular to form a cross shape.

Step three: when the wringing and shearing rods 13 are positioned in the capturing space region, the two groups of telescopic structures 3 respectively enter opposite side regions of the X-shape formed by the four wringing and shearing rods 13. As shown in fig. 11, when the telescopic structures 3 are located in the left and right areas of the second structure to be docked 2, the two groups of telescopic structures 3 respectively enter the left and right areas of the X-shape formed by the four scissors bars 13.

Step four: as shown in fig. 12, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, and the wringing and shearing rod 13 wrings and shears the sliding assembly 32 of the telescopic structure 3.

Ideally, the axes of the first butt joint 21 arranged on the first device to be docked and the second butt joint arranged on the second device to be docked 4 should coincide on the same straight line, so that the first butt joint 21 and the second butt joint 22 can be precisely docked. In practice, however, there is an eccentric situation, i.e. the axes of the first and second counter-joints 21, 22 are parallel but not coincident, of the first and second counter-joints 21, 22 provided on the first and second devices to be docked 4.

The first driving component drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, four crossed twisting and shearing rods 13 are controlled to twist and shear the telescopic structures 3 on two sides of the second device 4 to be butted like scissors, firstly, two twisting and shearing rods 13 on one side are twisted and sheared to the telescopic structures 3 on the side, the two twisting and shearing rods 13 which are twisted and sheared to the telescopic structures 3 firstly can receive resistance of the telescopic structures 3, acting force which enables the twisting and shearing structures 1 to translate towards and approach the other side is generated, so that the twisting and shearing structures 1 translate towards and approach the telescopic structures 3 on the other side, at the moment, the central axes of the first butt joint 21 and the second butt joint 22 are gradually and gradually approaching until the two twisting and shearing rods 13 which are respectively corresponding to the telescopic structures 3 on two sides of the twisting and shearing structures 1 are balanced, at the moment, the central axes of the first butt joint 21 and the second butt joint 22 are overlapped on the same straight line, and eccentric deviation of the first butt joint 21 and the second butt joint 22 is eliminated, and accurate butt joint can be achieved.

Step five: as shown in fig. 13, the sliding component 32 is driven by the second driving component to slide back along the guiding component 31, and the sliding component 32 pulls the wringer rod 13 to approach the second device to be docked 4.

In practice, the first abutment 21 provided on the first device to be docked and the second abutment 22 provided on the second device to be docked 4 may also be in a condition in which the axes of the two intersect but are not parallel, belonging to a pitch-yaw condition. A yaw situation is defined as the first pair of joints 21 having their axes in a plane defined by the sliding assembly 32 of the telescopic structure 3 of the second device to be docked 4 (which is the plane defined by the two slide bars 322 when the sliding assembly 32 comprises the second pusher, the stop bar 321 and the two slide bars 322), when the axes of the first pair of joints 21 and the second pair of joints 22 intersect but are in a plane. Accordingly, a pitch condition is defined as a condition in which the axes of the first and second pairs of joints 21, 22 have planes perpendicular to the plane defined by the slider assembly 32.

In general, when there is no misalignment, the two axes can be resolved by orthogonal resolution into pitch and yaw linear components, where the two axes intersect but are not parallel. One group of sliding components 32 is retracted and released differentially, and the other group of sliding components 32 is not moved, so that the second device 4 to be docked is driven to perform yaw motion, tolerance can be eliminated, and yaw deviation can be eliminated. When the sliding component 32 is provided as a pi-shaped rod, the blocking rod 321 of the pi-shaped rod is used as an upper limiter and a lower limiter to interact with the unbalance of the four wring-shear rods 13 to eliminate pitching deviation. Specifically, when there is a pitch deviation, the opposite side scissors rod 13 at one end of one direction of the X-shaped rod formed by the four scissors rods 13 will contact with the limiting component in advance, and when the pi-shaped rod is retracted, a pitch moment is generated to eliminate the deviation. And the device continues to retract until the upper limit part and the lower limit part are contacted with the cross rod, so that the force balance state is achieved, and the deviation is reduced. The tolerance control core idea of the capture docking mechanism is that unbalanced stress generates moment to the mass center of the docking mechanism to realize tolerance reduction.

Step six: as shown in fig. 14, the first docking head 21 of the docking structure 2 provided on the first device to be docked and the second docking head 22 provided on the second device to be docked are dock-locked by an external force.

In another embodiment of the present invention, the sliding assembly 32 includes a second pushing member, a stop lever 321, and two sliding rods 322, the two rod barrels are disposed in parallel on the second device 4 to be docked, one ends of the two sliding rods 322 are respectively inserted into one of the first rod barrels 311, and the other ends are respectively fixed on the stop lever 321, so as to form a n-shaped rod. The wringing shears structure 1 further comprises an opening and closing assembly 14.

Step one: when the first to-be-docked device and the second to-be-docked device 4 are close to each other to be adjacent to each other, as shown in fig. 10, the n-shaped rods of the telescopic structures 3 arranged on the second to-be-docked device 4 slide and extend along the guide assemblies 31 under the driving of the second driving assembly, so that two groups of telescopic structures 3 form a capturing space area, namely a docking equipment stage.

Step two: with continued reference to fig. 10, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, so that the wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are unfolded relatively, and the unfolding angle can span the front end of the telescopic structure 3, and the first device to be docked and the second device to be docked 4 are kept close to each other. The wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are relatively unfolded to be perpendicular to each other to form a cross shape, at this time, the center of the first butt joint 21 is approximately directed to the center of the second butt joint 22, and the second device 4 to be butt-jointed is gradually approaching, namely approaching stage.

Step three: when the wring-shear bars 13 are located in the capturing space region, the two groups of pi-shaped bars respectively enter opposite side regions of the X-shape formed by the four wring-shear bars 13. As shown in fig. 11, when the pi-shaped rods are located at the left and right sides of the second structure to be abutted 2, the two pi-shaped rods enter the left and right areas of the X-shape formed by the four scissors rods 13 respectively.

Step four: as shown in fig. 12, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, and the hinge-shear bar 13 is a hinge-shear pi-shaped bar. At this time, the four wringing and shearing rods 13 primarily capture the second device 4 to be docked, i.e., the wringing and shearing stage.

Step five: as shown in fig. 13, the pi-shaped rod is driven by the second driving component to slide and retract along the first rod barrel 311, the sliding component 32 pulls the hinge-shear rod 13 to approach the second device to be docked 4, and at this time, the friction between the pi-shaped rod and the hinge-shear rod 13 is smaller, so that the hinge-shear rod 13 and the pi-shaped rod can slide relatively. The stop lever 321 at the tail end of the pi-shaped rod is used as a limiter to generate a reaction force with the wringing and shearing rod 13. At this time, the second device to be docked 4 pulls the wring-shear structure 1 to approach, i.e. the pi-shaped rod is retracted.

Step six: as shown in fig. 14, the first docking head 21 of the docking structure 2 provided on the first device to be docked and the second docking head 22 provided on the second device to be docked 4 are docking locked by an external force. When the external force reaches a certain magnitude, the elastic member 214 of the first butt joint 21 will be pressed to generate a certain deformation, and the second butt joint 22 will pop out the buckle 222, so that the butt joint is locked, i.e. the locking stage.

Step seven: as shown in fig. 15, the first driving component drives the inner cylinder 12 and the outer cylinder 11 to rotate relatively, so that the wringing and shearing rod 13 arranged on the inner cylinder 12 and the wringing and shearing rod 13 arranged on the outer cylinder 11 are unfolded relatively, and the unfolding angle can pass through the front end of the telescopic structure 3, as shown in fig. 16, and then the first pushing rod drives the opening and closing component 14 to control the wringing and shearing rod 13 to fold, namely, the stable stage.

In flight, the bond of the two cooperating spacecraft is maintained mainly by the rigid connection of the butt joint.

In this specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment is mainly described as a difference from other embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the present application; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions.

Claims (9)

1. The capture docking mechanism is characterized by comprising a twisting and shearing structure, a docking structure and two groups of telescopic structures;

the twisting and shearing structure comprises an outer cylinder, an inner cylinder, a first driving component and four twisting and shearing rods;

the outer cylinder is sleeved on the inner cylinder body and enables the first end of the inner cylinder body to extend out;

two wringing and shearing rods are oppositely arranged at the first end of the inner column body, and the other two wringing and shearing rods are oppositely arranged at the first end of the outer cylinder;

the first driving component is arranged at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relatively;

the docking structure comprises a first docking head and a second docking head which can be mutually docked;

the first butt joint is arranged at the first end of the inner column body, the wringing and shearing structure is arranged on a first device to be docked, and the second butt joint is arranged on a second device to be docked;

the two groups of telescopic structures are symmetrically arranged on the second device to be docked and comprise a guide assembly, a sliding assembly and a second driving assembly;

the guide component is arranged on the second device to be docked;

the sliding component is inserted into the guide component and can slide along the guide component under the drive of the second driving component.

2. The capture docking mechanism of claim 1, wherein the wringing shear structure further comprises an opening and closing assembly;

the opening and closing assembly is connected with the wringing and shearing rod and the outer barrel and is configured to control the wringing and shearing rod to open and close.

3. The capture docking mechanism of claim 2 wherein the opening and closing assembly comprises a first collar, a second collar, a link, and a first pusher;

each wring-shear rod is provided with one connecting rod, the wring-shear rods are provided with guide grooves, one ends of the two connecting rods are respectively arranged in the guide grooves of the wring-shear rods positioned on the inner cylinder, the other ends of the two connecting rods are respectively hinged to the first annular sleeve, one ends of the other two connecting rods are respectively arranged in the guide grooves of the wring-shear rods positioned on the outer cylinder, and the other ends of the other two connecting rods are respectively hinged to the second annular sleeve;

the first ring sleeve is sleeved on the second ring sleeve and can rotate around the central axis of the second ring sleeve;

the second ring sleeve is sleeved on the outer cylinder, and the first pushing piece is configured to control the second ring sleeve to move along the axial direction of the outer cylinder so as to enable the wringing and shearing rod to open and close.

4. The capture docking mechanism of claim 1 wherein the guide assembly comprises two first barrels; the sliding component comprises a second pushing piece, a stop lever and two sliding rods;

the two rod barrels are arranged on the second device to be docked in parallel, one ends of the two sliding rods are respectively inserted into one first rod barrel, and the other ends of the two sliding rods are fixedly arranged on the stop lever;

the second pushing piece is configured to drive the sliding rod to slide along the rod barrel.

5. The capture docking mechanism of claim 4 wherein the telescoping structure further comprises a T-bar, a second bar barrel, and a third drive assembly;

the second pole barrels are arranged between the two first pole barrels in parallel;

the T-shaped rod is inserted into the second rod barrel;

the third drive assembly is configured to drive the T-bar to slide along the second barrel.

6. The capture docking mechanism of claim 1 wherein the first docking head comprises a first ring piece, a second ring piece, a guide cone, and a resilient member;

the first ring piece and the second ring piece are arranged in parallel;

the elastic piece is arranged between the first ring piece and the second ring piece;

the guide cone head is arranged on one side of the first ring piece, which is away from the elastic piece, and the outer wall of the guide cone head is a cambered surface;

the second butt joint comprises a clamping seat, a plurality of buckles and a plurality of locking and unlocking controllers;

the clamping seat is provided with a groove recessed inwards from the end surface, and the shape of the inner wall of the groove is matched with the shape of the outer wall of the guide cone head;

the locking and unlocking controllers are uniformly distributed around the central axis of the clamping seat;

and each locking and unlocking controller is provided with one buckle at a corresponding position, and the buckle can move along the radial direction of the clamping seat.

7. The capture docking mechanism of claim 1 wherein the first drive assembly comprises a first gear, a second gear, and a motor;

the second gear is sleeved on an output shaft of the motor;

the first gear is sleeved at the second end of the inner cylinder;

the first gear is meshed with the second gear.

8. A docking method of a capture docking mechanism, characterized in that the capture docking mechanism of any one of claims 1 to 7 is used, comprising:

when the first device to be docked and the second device to be docked are close to each other and are adjacent to each other in distance, the sliding component of the telescopic structure arranged on the second device to be docked is driven by the second driving component to extend in a sliding mode along the guiding component, and therefore two groups of telescopic structures form a capturing space area;

the first driving assembly drives the inner cylinder and the outer cylinder to rotate relatively, so that the wringing-shearing rod arranged on the inner cylinder and the wringing-shearing rod arranged on the outer cylinder are unfolded relatively, the unfolding angle can cross the front end of the telescopic structure, and the first device to be docked and the second device to be docked are continuously close to each other;

when the wring-shear rods are positioned in the capturing space area, two groups of telescopic structures respectively enter opposite side areas of an X shape formed by the four wring-shear rods;

the first driving component drives the inner column body and the outer cylinder to rotate relatively, and the wringing and shearing rod wrings and shears the sliding component of the telescopic structure;

the sliding component slides and withdraws along the guide component under the drive of the second driving component, and pulls the wringing and shearing rod to approach the second device to be docked;

the first butt joint of the butt joint structure arranged on the first device to be docked and the second butt joint of the butt joint structure arranged on the second device to be docked are subjected to butt joint locking by external force.

9. The docking method of a capture docking mechanism of claim 8, further comprising:

the first driving component drives the inner cylinder and the outer cylinder to rotate relatively, so that the twisting and shearing rod arranged on the inner cylinder and the twisting and shearing rod arranged on the outer cylinder are unfolded relatively, the unfolding angle can penetrate through the front end of the telescopic structure, and then the first pushing rod drives the opening and closing component to control the twisting and shearing rod to fold and fold.