CN212354427U - Active and passive combined automatic docking system for star vehicle - Google Patents

Abstract

The utility model provides an active and passive combined automatic docking system for a planet vehicle, which comprises a capturing end and a capturing end which are arranged at the two sides of the planet vehicle; the capturing end comprises a capturing end connecting flange fixedly connected with the side surface of the planet carrier, a capturing end connecting frame vertically and fixedly connected with the capturing end connecting flange, and at least two capturing rod assemblies arranged on the periphery of the capturing end connecting flange, and the captured end comprises a captured end connecting flange fixedly connected with the side surface of the planet carrier, a structural barrel vertically and fixedly connected with the captured end connecting flange, a butt flange lapped at the end part of the structural barrel, a corrugated sealing barrel sleeved outside the structural barrel, and elastic pull rod assemblies, wherein the two ends of the corrugated sealing barrel are respectively fixedly connected with the captured end connecting flange and the end surface of the butt flange. In the utility model, the capture end actively implements butt joint, the passive end is used for passive receiving butt joint, and the driving device is less, thereby effectively reducing the manufacturing cost and the control difficulty; and the adaptability to terrain conditions is strong.

Description

Active and passive combined automatic docking system for star vehicle

Technical Field

The utility model relates to an automatic butt joint technical field of planet car, concretely relates to automatic butt joint system of planet car that the owner combines together passively.

Background

In the field of aerospace exploration, a planet vehicle is used for realizing inspection tour of the surface of a planet, and in order to expand the functions of the planet vehicle, a plurality of planet vehicles can be mutually butted to further build a planet base.

The docking of the planet vehicle needs to solve two requirements: firstly, automatic butt joint is required, under the normal condition, the surface environment of an outer celestial sphere is severe, in order to ensure the personal safety of astronauts, the astronauts should not be exposed or the exposure to the outside is reduced as much as possible, the celestial sphere train should be capable of realizing automatic butt joint without manual participation of the astronauts, and in contrast, the butt joint of a ground train carriage is realized by connecting parts such as a coupler, a buffer device, a carriage windshield and the like through manual operation, so that the reference value is not generated; secondly, the requirement for adjusting the attitude deviation of the planet vehicles under the gravity field condition is that the surface of the outer planet is the original terrain, the adverse factor of uneven ground surface needs to be considered, the factor can cause the height and angle attitude deviation between the two planet vehicles, even if the planet vehicles can be controlled to move to reduce the deviation, the deviation cannot be completely eliminated, however, the planet vehicles can not be forced to be corrected by the force applied by the docking mechanism under the action of gravity, so the docking mechanism needs to have larger tolerance, the automatic docking can be realized under the condition that the two planet vehicles have the attitude deviation, in comparison, the on-orbit docking of the space station in the aerospace field is in the zero gravity condition, the docking mechanism can easily realize the attitude correction of the two docking aircrafts, and the reference value is not high.

Therefore, the NASA of the U.S. space service administration proposes an Active-Active matching Adapter docking system, which is formed by connecting 2 sets of Active docking mechanisms in series, wherein each set of Active docking mechanism is a Stewart parallel mechanism with six degrees of freedom (mainly composed of 6 Active length-adjustable electric push rods).

The single set of active docking mechanism of the active-active adaptive docking system is respectively arranged on the side surfaces of two celestial vehicles, when the two celestial vehicles are docked, the attitude of each set of active docking mechanism needs to be actively adjusted to realize the adaptation to the attitude deviation of the celestial vehicles, wherein when each set of active docking mechanism works, the attitude deviation of the two celestial vehicles needs to be acquired in real time by an additional attitude sensing system, the required length of an electric push rod of each mechanism is solved in real time through a complex six-degree-of-freedom parallel mechanism algorithm, the length of each electric push rod is adjusted to reduce the attitude deviation, and the process needs to be continuously iterated until the deviation is completely eliminated to realize docking. The active-active adaptive docking system has at least 2 point defects, and is formed by connecting 2 sets of active docking mechanisms in series, the motion solution of a single set of mechanism is relatively complex, the motion solutions of the 2 sets of serial mechanisms are overlapped, the complexity of the system is greatly increased, and the problems of heavy weight, poor reliability, high risk and the like are caused; secondly, additional real-time iteration of the attitude sensing system is needed, namely the internal motion calculation of the docking system is iterated with external sensing parameters, the reliability of the system depends on the sensing system, and sensor equipment of the sensing system is influenced by external environments such as temperature and the like, uncertainty exists, and the reliability of the whole docking system is low.

Therefore, aiming at the docking of the planet vehicle, a simpler and more convenient docking method is sought, a driving device is reduced, and the method has the posture adaptability compensation capability and is a main difficulty in technical research and development.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the utility model provides an active and passive combined automatic docking system for a planet vehicle, wherein the capturing end actively carries out docking, the passive end is used for passive receiving docking, the number of driving devices is small, and the manufacturing cost and the control difficulty can be effectively reduced; the adaptability to terrain conditions is strong; the unlocking reset has automatic correction capacity, and the spring pull rod assembly adopts a compressed spring conversion design, so that the risk of failure caused by accidental breakage of the spring is eliminated.

For an active and passive combined automatic docking system of a planet vehicle, the automatic docking system comprises a capturing end and a capturing end which are arranged on two sides of the planet vehicle; the capturing end comprises a capturing end connecting flange fixedly connected with the side surface of the planet vehicle, a capturing end connecting frame vertically and fixedly connected with the capturing end connecting flange, and at least two capturing rod assemblies arranged on the periphery of the capturing end connecting flange, the capturing rod assemblies have the same direction as the capturing end connecting frame, each capturing rod assembly comprises a capturing rod assembly bottom plate, a base shell and a capturing rod outer cylinder which are sequentially connected, and each capturing rod assembly also comprises an extension assembly and a capturing assembly; the extension component comprises a drive component for extension action and an execution component for extension action, wherein the drive component for extension action comprises a first motor arranged on the end surface of the base shell, the output end of the first motor faces the inner side of the base shell, and the end part of the output end of the first motor is provided with a first driving gear, the executing component of the extension action comprises a screw rod middle cylinder and a screw nut sleeve which are arranged inside the capturing rod outer cylinder and are concentric with the capturing rod outer cylinder, the screw nut sleeve is sleeved outside the screw rod middle cylinder, the screw rod middle cylinder and the screw nut middle cylinder are connected through a thread pair, the screw rod middle cylinder is connected with the capturing rod outer cylinder through a rotating pair, the nut sleeve is in sliding fit with the capturing rod outer cylinder, a first driven gear is arranged on the periphery of the end part of the screw middle cylinder in the base shell, and the first driven gear is meshed with the first driving gear; the capturing component comprises a capturing action driving component and a capturing action executing component, the capturing action driving component comprises a second motor which is arranged on the end face of the base shell and is parallel to the first motor, and a second driving gear arranged at the end part of the output end of the second motor, wherein the executing component of the capturing action comprises a rotating shaft and a screw shaft which pass through the screw middle cylinder and are concentrically arranged with the screw middle cylinder, the screw shaft penetrates through the rotating shaft, the screw shaft is in sliding fit with the rotating shaft, the rotating shaft is connected with the screw middle cylinder through a revolute pair, a second driven gear meshed with the second driving gear is arranged at the bottom end of the rotating shaft positioned in the base shell, the first driven gear and the second driven gear are concentric but different in height, and the heights of the first driving gear and the second driving gear respectively correspond to the first driven gear and the second driven gear; the upper end of the capturing rod outer cylinder is provided with a capturing actuator mounting flange, the screw shaft penetrates through the capturing actuator mounting flange and is in running fit with the capturing actuator mounting flange, the extending end of the screw shaft is a screw rod with a threaded structure, the screw rod is provided with a guide nut matched with the screw rod, the upper end surface of the capturing actuator mounting flange is circumferentially and uniformly provided with at least two locking claws, the middle parts of the locking claws are connected with the guide nut through connecting rods, the connecting rods are hinged with the locking claws and the guide nut, and the locking claws move along with the guide nut to realize opening and closing; the captured end comprises a captured end connecting flange fixedly connected with the side surface of the planet vehicle, a structural barrel vertically and fixedly connected with the captured end connecting flange, a butt flange lapped on the end part of the structural barrel, a corrugated sealing barrel sleeved outside the structural barrel and fixedly connected with the end surfaces of the captured end connecting flange and the butt flange at two ends respectively, and elastic pull rod assemblies uniformly distributed along the circumferential direction of the captured end and connected with the captured end connecting flange and the butt flange; the butt flange is uniformly provided with capturing holes which are corresponding to the capturing rod assemblies in number and position along the periphery, the end face of the butt flange, which is in lap joint with the structural barrel, is uniformly provided with at least two guide flaps extending into the structural barrel along the circumferential direction, and the guide flaps are inclined towards the axial direction of the structural barrel; the locking claws are in an inverted umbrella shape after being opened, and the size of the outer contour of the locking claws is larger than the diameter of the capturing hole, namely the opened locking claws cannot pass through the capturing hole.

As an optimization, the inner wall of the outer barrel of the capturing rod is provided with at least one first anti-twisting limiting surface, and the outer wall of the nut sleeve is provided with a second anti-twisting limiting surface matched with the first anti-twisting limiting surface.

According to the optimization scheme, when the first motor drives the first driving gear to rotate and the first driven gear drives the screw rod to rotate, the first anti-torsion limiting surface and the second anti-torsion limiting surface are matched for use to prevent the nut sleeve from rotating, so that the rotation of the screw rod middle sleeve is converted into the movement of the nut sleeve through thread matching, and the extension or the shortening of the capturing rod assembly is realized.

Further, as optimization, the inner surface of one end of the nut sleeve is provided with an inner thread section with a nominal diameter smaller than the diameter of the inner wall.

According to the optimization scheme, the diameter of the inner wall of the screw sleeve is larger than the nominal diameter of the internal thread section, so that the outer wall of the screw middle cylinder and the inner wall of the screw sleeve can be prevented from being scraped, the length of the internal thread section is smaller than 2 times of the nominal diameter of the internal thread, the length of the internal thread is not too long, and the excessive friction force required to be overcome during driving is prevented.

Preferably, the outer wall of the screw middle cylinder is provided with an external thread section matched with the internal thread section of the nut sleeve, and the external thread section starts from one end of the screw middle cylinder to the matching position of the screw middle cylinder and the capturing rod outer cylinder.

According to the optimization scheme, the length of the external thread of the outer wall of the screw rod middle cylinder corresponds to the stroke of the capture rod assembly.

Preferably, the inner wall of the rotating shaft is provided with at least one third anti-twisting limiting surface, and the outer wall of the screw shaft is provided with a fourth anti-twisting limiting surface matched with the third anti-twisting limiting surface.

According to the optimized scheme, a rotation pair is formed between the screw shaft and the nut sleeve through a group of bearings, the degree of freedom of relative movement is limited, therefore, the screw shaft can move along with the nut sleeve, the rotation shaft is matched with the fourth anti-torsion limiting surface through the third anti-torsion limiting surface, the screw shaft is driven to synchronously rotate, and the guide nut can be driven to move after the screw shaft moves, namely after the capture rod assembly extends.

Preferably, a first travel switch is arranged at the position, corresponding to the screw shaft, of the bottom plate of the capturing rod assembly, at least one second travel switch is arranged at the position, close to the end face, of the periphery of the capturing butt joint frame, and a rubber sealing ring is arranged at the position, close to the end face, of the capturing butt joint frame.

According to the optimization scheme, the first travel switch is used for judging whether the capturing rod assembly is in an extending or resetting state, the second travel switch is used for judging whether the capturing end butting frame is completely attached to the end face of the butting flange, and the rubber sealing ring can prevent air leakage at the butting interface.

Preferably, motor dust covers are arranged outside the first motor and the second motor, and the motor dust covers are fixedly connected with the end face of the base shell.

According to the optimization scheme, the motor dust cover plays a role in protecting the motor, preventing the motor from colliding, preventing dust and the like.

Preferably, the capturing hole is provided with an inverted conical surface, and the maximum opening angle of the locking claw is matched with the taper of the inverted conical surface.

According to the optimization scheme, in order to increase the tolerance capability of capturing butt joint to postures, the contour diameter is smaller under the capturing and grabbing folding state, the inner diameter size of the inverted cone hole can meet the requirement of a via hole of a capturing rod, even if posture deviation exists between two planet vehicles, the capturing rod can still smoothly pass through the inverted cone hole after being extended, when capturing butt joint is carried out, the locking claw passes through the capturing hole and then is opened, the side surface of the locking claw is attached to the inverted cone surface, the stress area is increased, and the sharp edge is prevented from being in rigid contact with the locking claw, so that stress concentration is caused.

1) The capturing end is in active butt joint, the passive end is used for passive butt joint, the number of driving devices is small, and compared with the existing butt joint device, the mechanical complexity is low, and the manufacturing cost can be effectively reduced;

2) the docking system is simple to control, and no matter how the initial attitude deviation of the two celestial vehicles changes, as long as the capturing rod is in the capturing range of the capturing hole, the same control steps are only needed to be executed, namely the capturing rod is sequentially extended out, the locking claw is unfolded, and the capturing rod is pulled back to realize the docking of the celestial vehicles; the control difficulty is reduced;

3) the capture rod of the butt joint system can have capture conditions after penetrating through the inverted taper hole of the butt joint flange, posture correction can be realized in the reverse pull-back process of the capture rod, the corrugated sealing cylinder is sleeved outside the structural cylinder, the two ends of the corrugated sealing cylinder are respectively provided with the captured end connecting flange and the end face of the butt joint flange, flexible stretching deformation and bending deformation can be generated along with the motion of the passive end connecting frame, a sealing function is provided for the inner cavity, and the adaptability of the capture device to terrain conditions is enhanced;

4) the guide flap is obliquely arranged on the passive butt joint frame inwards, extends to the inner side of the structural cylinder, is integrally conical, and plays a role in radial positioning between the butt joint flange and the structural cylinder, and in an initial state, the butt joint flange is tightly attached to the structural cylinder by means of the tension action of the spring pull rod assembly and the positioning action of the guide flap; in the butt joint process, the butt joint flange is separated from the structural cylinder, and the guide flap is separated from the structural cylinder; the butt joint system is separated, the spring pull rod assembly can automatically contract in the resetting process of the butt joint flange, the conical structure of the guide flap has the correction capability of transverse deviation after the guide flap enters the structural cylinder, the design enables the butt joint flange and the corrugated sealing cylinder to automatically recover to the position before butt joint under the action of the tensile force of the spring pull rod assembly, and the secondary butt joint condition can be achieved without additional active adjustment;

5) the spring pull rod assembly adopts a compressed spring conversion design, and converts the tensile action of the guide rod into the compression action on the compression spring, so that the external tensile force is provided, the tensile force of the spring pull rod assembly is not influenced even if the compression spring is broken, and the failure risk caused by accidental breakage of the spring is eliminated;

6) the catch rod assembly is arranged on the outer side of the catch butt joint frame, the elastic pull rod assembly is arranged on the outer side of the structural barrel, peripheral layout modes are adopted, a butt joint channel is not occupied, and smooth passing of astronauts is facilitated.

Drawings

FIG. 1 is a diagram showing the positional relationship between a front docking star cart, a capturing end and a captured end;

FIG. 2 is a schematic structural diagram of an active-passive combined automatic docking system for a planet vehicle according to the present invention;

fig. 3 is a schematic structural diagram of the capture docking frame of the present invention;

FIG. 4 is a schematic diagram of the mechanism of the captured end of the present invention;

FIG. 5 is a cross-sectional view of the capture end and the captured end in a docked state;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

fig. 7 is a schematic view of the catch lever assembly of the present invention at the drive device;

fig. 8 is a schematic view of the external structure of the catch lever assembly of the present invention;

FIG. 9 is a schematic structural view of the outer cylinder of the catch lever according to the present invention;

fig. 10 is a schematic structural view of the nut sleeve of the present invention;

FIG. 11 is a schematic structural view of a lead screw middle tube according to the present invention;

fig. 12 is a schematic view showing the structure of a rotating shaft according to the present invention;

fig. 13 is a schematic structural view of a screw shaft according to the present invention;

fig. 14 is a cross-sectional view of the captured end of the present invention;

fig. 15 is a partial enlarged view at B in fig. 14;

fig. 16 is a cross-sectional view of the tension rod assembly of the present invention in a contracted state;

fig. 17 is a cross-sectional view of the tension spring assembly of the present invention.

Description of the reference numerals

1-capture end, 11-capture end attachment flange, 12-capture end attachment frame, 121-second travel switch, 122-rubber sealing ring, 13-capture rod assembly, 131-capture rod assembly bottom plate, 132-base housing, 133-capture rod outer barrel, 1331-first anti-torque limit face, 134-extension assembly, 1341-first motor, 1342-first drive gear, 1343-first driven gear, 1344-lead screw middle barrel, 13441-external thread segment, 1345-nut barrel, 13451-second anti-torque limit face, 13452-internal thread segment, 135-capture assembly, 1350-first travel switch, 1351-second motor, 1352-second drive gear, 1353-second driven gear, 1354-rotating shaft, 13541-third anti-torque limit face, 1355-a lead screw shaft, 13551-a lead screw, 13552-a fourth anti-twist limiting surface, 1356-a capture actuator mounting flange, 1357-a guide nut, 1358-a locking claw, 1359-a connecting rod, 136-a motor dust cover; 2-captured end, 21-butt flange, 211-capture hole, 2111-inverted cone, 22-guide flap, 23-structural barrel, 24-elastic pull rod assembly, 241-ball seat, 242-guide rod, 243-elastic pull rod outer barrel, 244-fixed ball joint, 245-guide limiting block, 246-compression spring, 247-spring limiting block, 25-corrugated sealing barrel and 26-captured end connecting flange; 3-a planet vehicle.

Detailed Description

The following further description of the present invention will be provided in conjunction with the accompanying drawings and detailed description (examples), which are provided herein for the purpose of illustrating the present invention only and are not to be construed as limiting the present invention.

Referring to fig. 1-17, the active and passive combined automatic docking system for a star cart provided by the present invention comprises a capturing end 1 and a capturing end 2 disposed at two sides of the star cart 3; the capturing end 1 comprises a capturing end connecting flange 11 fixedly connected with the side surface of the planet carrier 3, a capturing end abutting frame 12 vertically and fixedly connected with the capturing end connecting flange 11, and at least two capturing rod assemblies 13 arranged on the periphery of the capturing end connecting flange 11, wherein the capturing rod assemblies 13 are same in orientation as the capturing end abutting frame 12, each capturing rod assembly 13 comprises a capturing rod assembly bottom plate 131, a base outer shell 132 and a capturing rod outer cylinder 133 which are sequentially connected, and each capturing rod assembly 13 further comprises an extending assembly 134 and a capturing assembly 135; the extension assembly 134 includes an extension driving assembly and an extension executing assembly, wherein the extension driving assembly includes a first motor 1341 disposed on an end surface of the base housing 132, an output end of the first motor 1341 faces an inner side of the base housing 132, an output end of the first motor 1341 is provided with a first driving gear 1342, the extension executing assembly includes a middle lead screw barrel 1344 and a nut barrel 1345 disposed inside the capturing rod outer barrel 133 and concentric therewith, the nut barrel 1345 is sleeved outside the middle lead screw barrel 1344 and connected by a thread pair, the middle lead screw barrel 1344 is connected with the capturing rod outer barrel 133 by a rotation pair, the nut barrel 1345 is in sliding fit with the capturing rod outer barrel 133, and a first driven gear 1343 is disposed on an outer circumference of an end of the middle lead screw barrel 4 disposed in the base housing 132, the first driven gear 1343 meshes with the first drive gear 1342; the capturing assembly 135 includes a capturing driving assembly including a second motor 1351 disposed on the end surface of the base housing 132 in parallel with the first motor 1341, and a second driving gear 1352 disposed at the output end of the second motor 1351, the capturing driving assembly includes a rotation shaft 1354 and a screw shaft 1355 disposed through and concentric with the screw middle cylinder 1344, the screw shaft 1355 passes through the rotation shaft 1354, the screw shaft 1355 is in sliding fit with the rotation shaft 1354, the rotation shaft 1354 is connected with the screw middle cylinder 1344 through a rotation pair, a second driven gear 1353 engaged with the second driving gear 1352 is disposed at the bottom end of the rotation shaft 1354 in the base housing 132, the first driven gear 1343 is concentric with but different in height from the second driven gear 1353, the first driving gear 1342 and the second driving gear 1352 have heights corresponding thereto, respectively; a capturing actuator mounting flange 1356 is arranged at the upper end of the capturing rod outer cylinder 133, the screw shaft 1355 penetrates through the capturing actuator mounting flange 1356 and is in running fit with the capturing actuator mounting flange 1356, the extending end of the screw shaft 1355 is a screw rod 13551 with a threaded structure, a guide nut 1357 matched with the screw rod 13551 is arranged on the screw rod 13551, and at least two locking claws 1358 and the middle parts of the locking claws 1358 and the guide nut 1357 are evenly distributed on the upper end surface of the capturing actuator mounting flange 1356 along the circumferential direction

As the optimization, the elastic pull rod subassembly includes the elastic pull rod urceolus, elastic pull rod urceolus one end is equipped with fixed ball joint, and the other end is equipped with the direction stopper, the inside compression spring of locating on the guide arm rather than endocentric guide arm and cover that is equipped with of elastic pull rod urceolus, guide arm one end is passed the direction stopper, stretch out in the elastic pull rod urceolus, its tip are the ball joint, the guide arm other end is equipped with the spring stopper, with compression spring locates between direction stopper and the spring stopper, the ball joint that is located both ends cooperates with the ball seat respectively, the ball seat is connected admittedly with the relative terminal surface that sets up of catching end flange and flange respectively.

According to the optimized scheme, after the elastic pull rod assembly is stretched, the central guide rod and the mounting cylinder move relatively, the guide rod provides motion guide for the pressure spring, the compression spring is sleeved on the central guide rod and moves along the guide rod after being stressed, so that the motion instability of the compression spring is avoided, the distance between the spring limiting block fixedly connected to one end of the guide rod and the guide limiting block is shortened, the pressure spring is compressed, and a tensile force is provided for the outside; above-mentioned design has adopted pressure spring conversion design, turns into compression spring's pressurized effort into spring draw bar assembly's tensile force effect, compares in adopting the extension spring, in case the fracture takes place, will lose the pulling force function completely, and the reliability of pressure spring is higher.

The utility model also provides a docking method of the automatic docking system of planet car that combines together passively and actively, including following step:

a relative position identification step: the method comprises the following steps that the planet vehicle identifies another planet vehicle to be butted, and after the two vehicles approach, the side face of the planet vehicle with a capturing end and the side face of the other planet vehicle with a captured end approach to a certain distance;

and (3) carrying out a butt joint step: the capture rod assembly extends until the locking claw penetrates through the capture hole, the locking claw is opened to the limit position, the capture rod assembly is shortened, the outer end face of the locking claw abuts against the edge of the capture hole, the capture rod assembly continues to be shortened, the butt flange is pulled to move towards the capture butt joint frame, the structural barrel is separated from the butt flange, the corrugated sealing barrel and the elastic pull rod assembly extend along with the elastic pull rod assembly, and the capture rod assembly stops being shortened after the butt flange is tightly attached to and sealed with the end of the capture butt joint frame;

a separation step: the lock claw is closed, the capture rod assembly is shortened to an initial position, the butt flange is separated from the capture end butt frame under the action of the tensile force of the elastic pull rod assembly and moves towards the structural barrel, in the moving process, the guide flap extends into the structural barrel, and the corrugated sealing barrel is shortened along with the guide flap until the elastic pull rod assembly is reset.

Compared with the prior art, the application has the following progress:

the connecting rod 1359 is hinged with the locking claw 1358 and the guide nut 1357, and the locking claw 1358 moves with the guide nut 1357 to open and close; the captured end 2 comprises a captured end connecting flange 26 fixedly connected with the side surface of the planet carrier 3, a structural barrel 23 vertically and fixedly connected with the captured end connecting flange 26, a butt flange 21 lapped on the end part of the structural barrel 23, a corrugated sealing barrel 25 sleeved outside the structural barrel 23 and fixedly connected with the end surfaces of the captured end connecting flange 26 and the butt flange 21 at two ends respectively, and elastic pull rod assemblies 24 uniformly distributed along the circumferential direction of the captured end 2 and connecting the captured end connecting flange 26 and the butt flange 21; the number and the position of the capture holes 211 corresponding to the capture rod assemblies 13 are uniformly distributed on the periphery of the butt flange 21, at least two guide flaps 22 extending into the structural barrel 23 are uniformly distributed on the end face of the butt flange 21 overlapped with the structural barrel 23 along the circumferential direction, and the guide flaps 22 are inclined towards the axial direction of the structural barrel 23; the locking claws 1358 are opened to form an inverted umbrella shape, and the outer size is larger than the diameter of the capturing hole 211, i.e. the opened locking claws 1358 cannot pass through the capturing hole 211.

The locking claw 1358, the connecting rod 1359, the guide nut 1357 and the lead screw 13551 form a slider-rocker mechanism based on the four-bar linkage principle, wherein the lead screw 13551 and the guide nut 1357 are a common piece. Under the rotation action of the screw rod 13551, the guide nut 1357 moves up and down to form a sliding block mechanism, and the locking claw 1358 is driven to swing up and down, so that the opening and closing movement of the capture lock is realized.

As a specific example: the inner wall of the capturing rod outer barrel 133 is provided with at least one first anti-torsion limiting surface 1331, and the outer wall of the nut sleeve 1345 is provided with a second anti-torsion limiting surface 13451 matched with the first anti-torsion limiting surface 1331.

As a specific example: the internal surface of one end of the nut sleeve 1345 is provided with an internal thread section 13452 with a nominal diameter smaller than the diameter of the inner wall.

As a specific example: the outer wall of the screw middle cylinder 1344 is provided with an external thread section 13441 matched with the internal thread section 13452 of the screw sleeve 1345, and the external thread section 13441 starts from one end of the screw middle cylinder 1344 to the matching position of the screw middle cylinder 1344 and the capturing rod outer cylinder 133.

As a specific example: at least one third torsion-proof limiting surface 13541 is arranged on the inner wall of the rotating shaft 1354, and a fourth torsion-proof limiting surface 13552 matched with the third torsion-proof limiting surface 13541 is arranged on the outer wall of the screw shaft 1355.

As a specific example: a first travel switch 1350 is arranged at the position, corresponding to the screw shaft 1355, of the bottom plate 131 of the capturing rod assembly, at least one second travel switch 121 is arranged at the position, close to the end face, of the periphery of the capturing abutting frame 12, and a rubber sealing ring 122 is arranged at the position, close to the end face, of the capturing abutting frame 12.

As a specific example: motor dust covers 136 are arranged outside the first motor 1341 and the second motor 1351, and the motor dust covers 136 are fixedly connected with the end face of the base housing 132.

As a specific example: the capture hole 211 is provided with an inverted conical surface 2111, and the maximum opening angle of the locking claw 1358 is matched with the taper of the inverted conical surface 2111.

As a specific example: the elastic pull rod assembly 24 includes an elastic pull rod outer barrel 243, one end of the elastic pull rod outer barrel 243 is provided with a fixed ball joint 244, the other end of the elastic pull rod outer barrel 243 is provided with a guide limiting block 245, the elastic pull rod outer barrel 243 is internally provided with a guide rod 242 concentric with the elastic pull rod outer barrel and a compression spring 246 sleeved on the guide rod, one end of the guide rod 242 penetrates the guide limiting block 245 and extends out of the elastic pull rod outer barrel 243, the end part of the guide rod 242 is a ball joint, the other end of the guide rod 242 is provided with a spring limiting block 247, the compression spring 246 is arranged between the guide limiting block 245 and the spring limiting block 247, the ball joints at the two ends are respectively matched with a ball seat 241, and the ball seat 241 is respectively.

The application also provides an active and passive combined automatic docking method for the star wagon, which comprises the following steps:

a relative position identification step: the planet vehicle 3 identifies another planet vehicle 3 to be butted, and after the two vehicles approach, the side surface of the planet vehicle 3 with the capturing end 1 and the side surface of the other planet vehicle 3 with the captured end 2 approach to a certain distance;

and (3) carrying out a butt joint step: the capture rod assembly 13 is extended until the locking claws 1358 pass through the capture holes 211, the locking claws 1358 are opened to the extreme position, the capture rod assembly 13 is shortened, the outer end faces of the locking claws 1358 abut against the edges of the capture holes 211, the capture rod assembly 13 is further shortened, the docking flange 21 is pulled to move towards the capture docking frame 12, the structural barrel 23 is separated from the docking flange 21, the corrugated sealing barrel 25 is extended along with the elastic pull rod assembly 24, and the capture rod assembly 13 stops being shortened after the docking flange 21 is tightly abutted and sealed with the end of the capture docking frame 12;

a separation step: the locking claws 1358 are closed, the capturing rod assembly 13 is shortened to an initial position, under the action of the tensile force of the elastic pull rod assembly 24, the abutting flange 21 is separated from the capturing abutting frame 12 and moves towards the structural barrel 23, in the moving process, the guide flap 22 extends into the structural barrel 23, and the corrugated sealing barrel 25 is shortened along with the separation until the elastic pull rod assembly 24 is reset.

It will be appreciated by those of ordinary skill in the art that in the embodiments described above, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be basically implemented without these technical details and various changes and modifications based on the above-described embodiments. Accordingly, in actual practice, various changes in form and detail may be made to the above-described embodiments without departing from the spirit and scope of the invention.

Claims (9)

1. Automatic butt joint system of planet car that initiative and passivity combined together, its characterized in that: comprises a capturing end (1) and a capturing end (2) which are arranged at two sides of a planet vehicle (3);

the capturing end (1) comprises a capturing end connecting flange (11) fixedly connected with the side face of the planet carrier (3), a capturing end abutting frame (12) vertically and fixedly connected with the capturing end connecting flange (11), and at least two capturing rod assemblies (13) arranged on the periphery of the capturing end connecting flange (11), wherein the capturing rod assemblies (13) are same as the capturing end abutting frame (12) in orientation, each capturing rod assembly (13) comprises a capturing rod assembly bottom plate (131), a base outer shell (132) and a capturing rod outer cylinder (133) which are sequentially connected, and each capturing rod assembly (13) further comprises an extending assembly (134) and a capturing assembly (135);

the extension assembly (134) comprises an extension action driving assembly and an extension action executing assembly, wherein the extension action driving assembly comprises a first motor (1341) arranged on the end face of a base shell (132), the output end of the first motor (1341) faces the inner side of the base shell (132), the end part of the output end of the first motor (1341) is provided with a first driving gear (1342), the extension action executing assembly comprises a lead screw middle barrel (1344) and a nut sleeve (1345) which are arranged inside the capture rod outer barrel (133) and are concentric with the capture rod outer barrel, the nut sleeve (1345) is sleeved outside the lead screw middle barrel (1344) and connected with the lead screw middle barrel through a thread pair, the lead screw middle barrel (1344) is connected with the capture rod outer barrel (133) through a rotating pair, and the nut sleeve (1345) is in sliding fit with the capture rod outer barrel (133), a first driven gear (1343) is arranged on the periphery of the end part of the screw rod middle cylinder (1344) in the base shell (132), and the first driven gear (1343) is meshed with the first driving gear (1342);

the capturing assembly (135) comprises a capturing action driving assembly and a capturing action executing assembly, the capturing action driving assembly comprises a second motor (1351) arranged on the end face of the base shell (132) and parallel to the first motor (1341), and a second driving gear (1352) arranged at the output end of the second motor (1351), the capturing action executing assembly comprises a rotating shaft (1354) and a screw shaft (1355) which penetrate through and are concentrically arranged with the screw middle cylinder (1344), the screw shaft (1355) penetrates through the rotating shaft (1354), the screw shaft (1355) is in sliding fit with the rotating shaft (1354), the rotating shaft (1354) is connected with the screw middle cylinder (1344) through a rotating pair, the bottom end of the rotating shaft (1354) positioned in the base shell (132) is provided with a second driven gear (1353) meshed with the second driving gear (1352), the first driven gear (1343) is concentric with but of a different height than the second driven gear (1353), the first drive gear (1342) and the second drive gear (1352) having respective heights corresponding thereto; a capturing actuator mounting flange (1356) is arranged at the upper end of the capturing rod outer cylinder (133), the screw shaft (1355) penetrates through the capturing actuator mounting flange (1356) and is in running fit with the capturing actuator mounting flange (1356), the extending end of the screw shaft (1355) is a screw rod (13551) with a threaded structure, a guide nut (1357) matched with the screw rod (13551) is arranged on the screw rod (13551), at least two locking claws (1358) are uniformly distributed on the upper end face of the capturing actuator mounting flange (1356) along the circumferential direction, the middle parts of the locking claws (1358) are connected with the guide nut (1357) through a connecting rod (1359), the connecting rod (1359) is hinged with the locking claws (1358) and the guide nut (1357), and the locking claws (1358) move along with the guide nut (1357) to realize opening and closing;

the captured end (2) comprises a captured end connecting flange (26) fixedly connected with the side face of the planet carrier (3), a structural barrel (23) vertically and fixedly connected with the captured end connecting flange (26), a butt flange (21) lapped at the end part of the structural barrel (23), a corrugated sealing barrel (25) sleeved outside the structural barrel (23) and fixedly connected with the captured end connecting flange (26) and the butt flange (21) at two ends respectively, and elastic pull rod assemblies (24) uniformly distributed along the circumferential direction of the captured end (2) and connected with the captured end connecting flange (26) and the butt flange (21);

the number and the position of the capture holes (211) corresponding to the capture rod assemblies (13) are uniformly distributed on the abutting flange (21) along the periphery, at least two guide flaps (22) extending into the structural barrel (23) are uniformly distributed on the end face of the abutting flange (21) overlapped with the structural barrel (23) along the circumferential direction, and the guide flaps (22) are inclined towards the axial direction of the structural barrel (23);

the locking claw (1358) is in an inverted umbrella shape after being opened, and the outer contour size of the locking claw is larger than the diameter of the capturing hole (211), namely the locking claw (1358) after being opened cannot pass through the capturing hole (211).

2. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: the inner wall of the capture rod outer cylinder (133) is provided with at least one first anti-torsion limiting surface (1331), and the outer wall of the nut sleeve (1345) is provided with a second anti-torsion limiting surface (13451) matched with the first anti-torsion limiting surface (1331).

3. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 2, wherein: an inner thread section (13452) with the nominal diameter smaller than the diameter of the inner wall is arranged on the inner surface of one end of the nut sleeve (1345).

4. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 3, wherein: the outer wall of the screw rod middle cylinder (1344) is provided with an external thread section (13441) matched with the internal thread section (13452) of the nut sleeve (1345), and the external thread section (13441) starts from one end of the screw rod middle cylinder (1344) to the matching position of the screw rod middle cylinder (1344) and the capture rod outer cylinder (133).

5. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: the inner wall of the rotating shaft (1354) is provided with at least one third anti-twisting limiting surface (13541), and the outer wall of the screw shaft (1355) is provided with a fourth anti-twisting limiting surface (13552) matched with the third anti-twisting limiting surface (13541).

6. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: a first travel switch (1350) is arranged at the position, corresponding to the position of the screw shaft (1355), of the bottom plate (131) of the capturing rod assembly, at least one second travel switch (121) is arranged at the position, close to the end face, of the periphery of the capturing end joint frame (12), and a rubber sealing ring (122) is arranged at the position, close to the end face, of the capturing end joint frame (12).

7. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: motor dust covers (136) are arranged outside the first motor (1341) and the second motor (1351), and the motor dust covers (136) are fixedly connected with the end face of the base shell (132).

8. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: the capture hole (211) is provided with an inverted conical surface (2111), and the maximum opening angle of the locking claw (1358) is matched with the taper of the inverted conical surface (2111).

9. The automatic active and passive combined docking system for a planet vehicle as claimed in claim 1, wherein: the elastic pull rod assembly (24) comprises an elastic pull rod outer cylinder (243), one end of the elastic pull rod outer cylinder (243) is provided with a fixed ball joint (244), the other end is provided with a guide limiting block (245), a guide rod (242) concentric with the elastic pull rod outer cylinder (243) and a compression spring (246) sleeved on the guide rod are arranged in the elastic pull rod outer cylinder (243), one end of the guide rod (242) penetrates through the guide limiting block (245) and extends out of the elastic pull rod outer cylinder (243), the end part of the guide rod is a ball joint, the other end of the guide rod (242) is provided with a spring limit block (247), the compression spring (246) is arranged between the guide limiting block (245) and the spring limiting block (247), ball joints at two ends are respectively matched with the ball seat (241), the ball seat (241) is fixedly connected with the end face of the captured end connecting flange (26) opposite to the butt flange (21).

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