CN203806151U - Modularized jointing and serving unit for miniaturized spacecraft - Google Patents
Modularized jointing and serving unit for miniaturized spacecraft Download PDFInfo
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- CN203806151U CN203806151U CN201420141481.3U CN201420141481U CN203806151U CN 203806151 U CN203806151 U CN 203806151U CN 201420141481 U CN201420141481 U CN 201420141481U CN 203806151 U CN203806151 U CN 203806151U
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- docking
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- jointing
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Abstract
The utility model provides a modularized jointing and serving unit for a miniaturized spacecraft. The modularized jointing and serving unit for the miniaturized spacecraft comprises a separable capturing head, a locking chuck, a multi-rod telescopic arm, an inner meshing gear, a rotary chassis and a substrate; guide conical holes, jointing rods, a data communication contact and a power supply contact are arranged on the separable capturing head; the substrate is provided with positioning holes; the separable capturing head and the rotary chassis are connected by the multi-rod telescopic arm; the separable capturing head and the substrate are matched by the locking chuck, the multi-rod telescopic arm, the inner meshing gear and the rotary chassis so as to realize locking and unlocking. The modularized jointing and serving unit for the miniaturized spacecraft is a space jointing mechanism having the characteristics of a universal and error-tolerant structure capable of being repeatedly used, and a large-range, long-distance and multi-gesture capturing and jointing capacity.
Description
Technical field
The utility model relates to a kind of Space Docking Mechanism that is applicable to minitype spacecraft, particularly relates to a kind of little minitype spacecraft docking and service unit based on modularity theory.
Background technology
Spacecraft launching site device is for realizing two docking between spacecraft in-orbit, connection and separated device.By this device, can realize the connection on two spacecraft machineries, electric, liquid road, the two docking forms after track complex, can realize the transfer of personnel, goods and materials.The docking mechanism of modern spacecraft can be divided into two classes: to the tapered and hermaphrodite type of extension bar-receive.
To extension bar-receive tapered: in spatial intersection, a spacecraft initiatively docks near another spacecraft, and the former is that initiatively its docking facilities is taked " pin " form in docking, and there is a pair of extension bar in central authorities; The latter is passive in docking, and its docking facilities is taked " taper hole " form.During docking, to extension bar, the docking facilities of two spacecrafts is accurately aimed at, " pin " insertion " taper hole ", catch gear auto lock, completes docking.
Hermaphrodite type: docking facilities is allosome isomorphism (not only can be used as screw rod, but also can be used as nut), circumferential distribution along docking port, all orientations and power part are all installed on the surrounding of hatch, thereby guarantee that the central authorities of docking facilities become dealing channel space.Than to the tapered mechanism of extension bar-receive, adopt the spacecraft of hermaphrodite mechanism both can make masters in docking mission, also can do passive side, this point is particularly important to the highly difficult spatial operation such as space rescue.
Rapid progress along with Space Science and Technology, the microminiature spacecrafts such as " cube star ", " chip satellite ", " intelligent dust " become study hotspot gradually, Future Spacecraft is towards micro-miniaturisation trend development, and the docking mechanism design problem of the microminiature spacecraft thereupon producing also highlights gradually.Current, traditional space articulation task is generally for manned spacecraft, and docking facilities that task is used is in large scale, complex structure, cannot expire the docking demand of microminiature spacecraft.Therefore, designing a kind of general docking mechanism for microminiature spacecraft is a difficult problem urgently to be resolved hurrily.
Summary of the invention
The purpose of this utility model be to provide a kind of have general, can tolerance error correction, reusable structure and on a large scale, long distance, multi-pose is caught and the Space Docking Mechanism of docking capacity.
To achieve these goals, the technical solution of the utility model is achieved in that modularization docking and the service unit of the utility model minitype spacecraft, comprise that separation type catches head, tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal, described separation type is caught and on head, is provided with guiding taper hole, to extension bar, data communication contact and power contact head, described pedestal is provided with knock hole, described separation type is caught head and is connected by described many bars telescopic boom with described swivel base, described separation type is caught head by described tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal cooperatively interact and realize tight lock and release.
It is further, described that extension bar is caught to Tou Shang center in described separation type is symmetrical.
Further, the contact of described data communication contact and power contact head is a kind of metal spring contact.
Further, described tight pintle hook lock dish is provided with the fastening tooth that Central Symmetry is arranged.
Further, the knock hole on described pedestal is with described corresponding to the position of extension bar and distributed number.
Further, described many bars telescopic boom is comprised of two rigid rods and a joint, and joint is left at two ends.
It is very diversified that docking mechanism provided by the present invention can adapt to the space exploration task that microminiature spacecraft faces, meeting under the prerequisite that the carrying of traditional docking mechanism machinery, electrical communications He Ye road be communicated with, also have general, can tolerance error correction, reusable structure and on a large scale, long distance, multi-pose is caught and docking capacity.
Accompanying drawing explanation
Fig. 1: the overall separate type schematic diagram of the utility model.
Fig. 2: the utility model separation type is caught header structure schematic diagram.
Fig. 3: the utility model swivel base structural representation.
Fig. 4: the separation type of two the utility model structures is caught the head structural representation of locking mutually.
The specific embodiment
Below in conjunction with accompanying drawing explanation, the utility model is described further.
The accompanying drawing of giving in accompanying drawings, modularization docking and the service unit of the utility model minitype spacecraft, comprise separation type catch head (1), tight pintle hook lock dish (2), many bars telescopic boom (3), internal gear (4), swivel base (5) and pedestal (6), described separation type is caught head and is provided with guiding taper hole (7) on (1), to extension bar (8), data communication contact (9) and power contact head (10), described pedestal (6) is provided with knock hole (11), described separation type is caught head (1) and is connected by described many bars telescopic boom (3) with described swivel base (5), described separation type is caught head (1) by described tight pintle hook lock dish (2), many bars telescopic boom (3), internal gear (4), swivel base (5) and pedestal (6) cooperatively interact and realize tight lock and release, it is described that extension bar (8) is caught to the upper center of head (1) in described separation type is symmetrical, the contact of described data communication contact (9) and power contact head (10) is a kind of metal spring contact, on described tight pintle hook lock dish (2), be provided with the fastening tooth that Central Symmetry is arranged, knock hole on described pedestal (11) is corresponding with described position and distributed number to extension bar (8), described many bars telescopic boom (3) is comprised of two rigid rods and a joint, joint is left at two ends.
Suppose that two space robots have completed accurately approaching, and within the operating range of docking unit in allowing, now docking unit starts working, main step comprise catch, lock, connection, release, separated etc., concrete flow process is described below (hereinafter to be referred as the present invention, being docking unit) in order:
1, docking unit stretches the many bars telescopic boom (3) of self, makes separation type catch head (1) separated with pedestal (6);
2, the information of obtaining according to other sensors, coordinate to control the joint motor of many bars telescopic boom (3), adjusts separation type simultaneously catch (1) phase place by swivel base (5), approaches the other side and docks the separation type of unit and catch head;
3, formula to be separated is caught head (1) three when extension bar (8) is entered mutually to the guiding taper hole (7) that the other side catches head, tight pintle hook lock dish (2) locking the other side that " worm gear-endless screw " mechanism drives dock that unit stretches into three is to extension bar (8), and now docking mechanism is locked;
If 4 tasks are only required the transmission of carrying out data or electric energy, the contact (9) (10) that can catch by docking the separation type being adjacent to a series of connections on head completes (skipping to step 7);
If also need to move after 5 two space robot docking, need to shrink many bars telescopic boom (3), separation type is caught to head (1) and be tensioned to pedestal (6), simultaneously swivel base (5) carries out phase bit recovery and adjustment, make locking to extension bar (8) can with pedestal on knock hole (11) alignment;
6, many bars telescopic boom (3) further shrinks, and makes three of the other side in three knock holees (11) of extension bar (8) insertion party B pedestal;
7, complete after predetermined operation task (electrical communications, mass motion), drive worm screw to make tight pintle hook lock dish (2) release;
8,, by the stretching, extension again of many bars telescopic boom (3), make two docking unit or space robot be separated to safety distance;
9, shrink many bars telescopic boom (3), separation type is caught head (1) and is resetted.
Wherein step 1 to 6 described catch, lock, the idiographic flow of the operation such as connection, step 7,8 and 9 have illustrated release and the separation process completing after preplanned mission.
Claims (6)
1. the modularization of a minitype spacecraft is docked and service unit, it is characterized in that: comprise that separation type catches head, tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal, described separation type is caught and on head, is provided with guiding taper hole, to extension bar, data communication contact and power contact head, described pedestal is provided with knock hole, described separation type is caught head and is connected by described many bars telescopic boom with described swivel base, described separation type is caught head by described tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal cooperatively interact and realize tight lock and release.
2. the modularization of minitype spacecraft according to claim 1 docking and service unit, is characterized in that: described that extension bar is caught to Tou Shang center in described separation type is symmetrical.
3. the docking of the modularization of minitype spacecraft according to claim 2 and service unit, is characterized in that: the contact of described data communication contact and power contact head is a kind of metal spring contact.
4. the docking of the modularization of minitype spacecraft according to claim 3 and service unit, is characterized in that: described tight pintle hook lock dish is provided with the fastening tooth that Central Symmetry is arranged.
5. the docking of the modularization of minitype spacecraft according to claim 4 and service unit, is characterized in that: the knock hole on described pedestal is with described corresponding to the position of extension bar and distributed number.
6. according to modularization docking and the service unit of the minitype spacecraft described in claim 1 or 2 or 3 or 4 or 5, it is characterized in that: described many bars telescopic boom is comprised of two rigid rods and a joint, and joint is left at two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420141481.3U CN203806151U (en) | 2014-03-20 | 2014-03-20 | Modularized jointing and serving unit for miniaturized spacecraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420141481.3U CN203806151U (en) | 2014-03-20 | 2014-03-20 | Modularized jointing and serving unit for miniaturized spacecraft |
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| CN203806151U true CN203806151U (en) | 2014-09-03 |
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| CN201420141481.3U Expired - Fee Related CN203806151U (en) | 2014-03-20 | 2014-03-20 | Modularized jointing and serving unit for miniaturized spacecraft |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290929A (en) * | 2014-04-11 | 2015-01-21 | 西北工业大学 | Modular butting-joint and service unit of miniature spacecraft |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN104890901A (en) * | 2015-05-13 | 2015-09-09 | 上海宇航系统工程研究所 | Small-scale rotating cup type load adapter for space station |
| CN110775305A (en) * | 2019-11-11 | 2020-02-11 | 西北工业大学 | Self-locking type plane connecting device of modular docking mechanism |
| CN111092328A (en) * | 2019-12-20 | 2020-05-01 | 北京航空航天大学 | Three-level fault-tolerant docking mechanism capable of resisting on-orbit impact |
-
2014
- 2014-03-20 CN CN201420141481.3U patent/CN203806151U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290929A (en) * | 2014-04-11 | 2015-01-21 | 西北工业大学 | Modular butting-joint and service unit of miniature spacecraft |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN104590591B (en) * | 2015-01-08 | 2016-09-07 | 中北大学 | One is novel arrests and retaining mechanism in-orbit |
| CN104890901A (en) * | 2015-05-13 | 2015-09-09 | 上海宇航系统工程研究所 | Small-scale rotating cup type load adapter for space station |
| CN110775305A (en) * | 2019-11-11 | 2020-02-11 | 西北工业大学 | Self-locking type plane connecting device of modular docking mechanism |
| CN111092328A (en) * | 2019-12-20 | 2020-05-01 | 北京航空航天大学 | Three-level fault-tolerant docking mechanism capable of resisting on-orbit impact |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140903 Termination date: 20150320 |
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| EXPY | Termination of patent right or utility model |