CN216035211U - Electromagnetic docking system - Google Patents
Electromagnetic docking system Download PDFInfo
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- CN216035211U CN216035211U CN202121847195.5U CN202121847195U CN216035211U CN 216035211 U CN216035211 U CN 216035211U CN 202121847195 U CN202121847195 U CN 202121847195U CN 216035211 U CN216035211 U CN 216035211U
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Abstract
The utility model discloses an electromagnetic docking system, which comprises a target electromagnetic device and a tracking electromagnetic device; the first controller is used for generating a first target electric signal to drive the target electromagnetic coil, and the second controller is used for generating a second target electric signal to drive the tracking electromagnetic coil; the target electromagnetic coil and the tracking electromagnetic coil generate a target electromagnetic force according to the first target electric signal and the second target electric signal, and the first connecting assembly and the second connecting assembly are in butt joint or separation according to the target electromagnetic force. The electromagnetic docking device has the advantages of simple structure, stable flexible docking and safe separation in the docking process, high docking efficiency, and capability of providing enough electromagnetic force and ensuring larger relative speed tolerance and relative position tolerance in the docking process.
Description
Technical Field
The utility model relates to the technical field of electromagnetic docking, in particular to an electromagnetic docking system.
Background
Increasingly complex tasks such as on-orbit maintenance and construction and the like put higher demands on the on-orbit docking technology. The traditional docking technology adopted by the spacecraft has the problems of large impact force, plume pollution, propellant consumption, optical interference and the like, while the electromagnetic docking technology based on electromagnetic force control can avoid the defects, realize flexible docking and safe separation of the two spacecrafts through non-contact, continuous, reversible and synchronous control capability and has wide application prospect. Based on the technical scheme, electromagnetic docking technical research is developed to provide technical support for in-orbit docking application of aerospace equipment in China.
Because the electromagnetic fields generated by the pair of electromagnetic coils are open-domain electromagnetic fields, the strength of the magnetic fields is inversely proportional to the third power of the distance, and therefore the range for electromagnetic butt joint is very limited. In order to adapt to different initial poses and widen the effective range of electromagnetic butt joint, an electromagnetic coil with an iron core is required to generate enough electromagnetic force. Meanwhile, in an actual satellite in-orbit motion scene, the satellite presents a motion state with 6 degrees of freedom, and a traditional pair of electromagnetic coils can only provide electromagnetic force with a single degree of freedom. Therefore, the existing electromagnetic docking system generally has the problems of small electromagnetic force, small relative position tolerance and relative speed tolerance in the docking process, low robustness and the like. In addition, the existing electromagnetic butt joint has the defects of complex structure and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of complex structure and poor butt joint effect of an electromagnetic butt joint system in the prior art, and provides an electromagnetic butt joint system.
The utility model solves the technical problems through the following technical scheme:
the utility model provides an electromagnetic docking system, which comprises a target electromagnetic device and a tracking electromagnetic device;
the target electromagnetic device comprises a first controller, a first main body structure, a target electromagnetic coil and a first connecting assembly, wherein the target electromagnetic coil is arranged on a first butt end face of the first main body structure, and the target electromagnetic coil is electrically connected with the first controller; the tracking electromagnetic device comprises a second controller, a second main body structure, a tracking electromagnetic coil and a second connecting assembly, wherein the tracking electromagnetic coil is arranged on a second butt joint end face of the second main body structure, and the tracking electromagnetic coil is electrically connected with the second controller;
the first controller is used for generating a first target electric signal to drive the target electromagnetic coil, and the second controller is used for generating a second target electric signal to drive the tracking electromagnetic coil;
the target electromagnetic coil and the tracking electromagnetic coil generate a target electromagnetic force according to the first target electric signal and the second target electric signal, and the first connecting assembly and the second connecting assembly are in butt joint or separation according to the target electromagnetic force.
Preferably, the target electromagnetic device further comprises a first fixing structure, and the target electromagnetic coil is fixedly arranged on the first butt end face through the first fixing structure; and/or the presence of a gas in the gas,
the tracking electromagnetic device further comprises a second fixing structure, and the tracking electromagnetic coil is fixedly arranged on the second butt joint end face through the second fixing structure.
Preferably, the first fixing structure comprises a first shell, the target electromagnetic coil is fixedly arranged between the upper plate and the lower plate of the first shell through screws, and the first shell is fixed on the first butt end face through screws; and/or the presence of a gas in the gas,
the second fixing structure comprises a second shell, the tracking electromagnetic coil is fixedly arranged between the upper plate and the lower plate of the second shell through screws, and the second shell is fixed on the second butt end face through screws.
Preferably, the target solenoid and the tracking solenoid are annular coil structures.
Preferably, the first connecting assembly comprises a plurality of first connecting units, the second connecting assembly comprises a plurality of second connecting units,
each first connecting unit is connected with one second connecting unit in a matched mode.
Preferably, the first connection unit comprises a guide taper rod, and the second connection unit comprises a guide taper hole; or the like, or, alternatively,
the first connection unit comprises a guide taper hole, and the second connection unit comprises a guide taper rod.
Preferably, the plurality of first connection units are all arranged inside the circular target electromagnetic coil, all arranged outside the circular target electromagnetic coil, or a part of the first connection units are arranged inside the circular target electromagnetic coil, and the rest of the first connection units are arranged outside the circular target electromagnetic coil, and the position of each second connection unit corresponds to the position of the first connection unit.
Preferably, the target electromagnetic device further comprises a laser transmitter fixedly arranged on the first butt end face, and the tracked target electromagnetic device further comprises a laser receiver fixedly arranged on the second butt end face; or, the target electromagnetic device further comprises a laser receiver fixedly arranged on the first butt end face, and the tracked target electromagnetic device further comprises a laser emitter fixedly arranged on the second butt end face;
the first controller and/or the second controller acquire a relative butt joint distance between the target electromagnetic device and the tracking electromagnetic device according to the laser receiver and the laser receiver; the first controller is used for generating a first target electric signal according to the relative docking distance and a set threshold value to drive the target electromagnetic coil, and the second controller is used for generating a second target electric signal according to the relative docking distance and a set threshold value to drive the tracking electromagnetic coil.
Preferably, the target electromagnetic device further comprises a first locking member fixed to the first connecting assembly, and the tracking electromagnetic device further comprises a second locking member fixed to the second connecting assembly;
the first controller is used for generating a third target electric signal to drive the target electromagnetic coil when the relative docking distance is smaller than or equal to the set threshold value, wherein the third target electric signal is larger than the first target electric signal;
the second controller is used for generating a fourth target electric signal to drive the tracking electromagnetic coil when the relative docking distance is smaller than or equal to the set threshold value, wherein the fourth target electric signal is larger than the second target electric signal;
and the target electromagnetic coil and the tracking electromagnetic coil generate target electromagnetic force according to the third target electric signal and the fourth target electric signal to drive the first locking part and the second locking part to perform locking operation.
Preferably, the target electromagnetic coil and the tracking electromagnetic coil include a coil structure and a core structure;
the coil structure is made of copper materials and is arranged on the inner side and the outer side of the iron core structure and at least one side close to the butt joint end face.
Preferably, the first controller includes a first wireless communication module, the second controller includes a second wireless communication module, and the first controller and the second controller perform mutual wireless communication and/or data transmission with an upper computer through the first wireless communication module and the second wireless communication module.
Preferably, the first butt end face and the second butt end face are arranged in parallel; and/or the presence of a gas in the gas,
the target electromagnetic device and the tracking electromagnetic device each include a satellite.
On the basis of the common knowledge in the field, the preferred conditions can be combined randomly to obtain the preferred embodiments of the utility model.
The positive progress effects of the utility model are as follows:
according to the utility model, the electromagnetic coils and the connecting assembly are respectively arranged on the butt joint end surfaces of the two electromagnetic devices, the electromagnetic coils are driven to generate electromagnetic attraction with controllable size through electric signals of respective controllers, the target electromagnetic device and the tracking electromagnetic device are primarily connected through the connecting assembly, the electromagnetic coils are continuously driven to be electrified after being connected to the target electromagnetic device and the tracking electromagnetic device, and the magnetic induction intensity required by a magnetic lock is generated to finish locking operation, so that the whole butt joint process is finished.
Drawings
Fig. 1 is a schematic structural diagram of an electromagnetic docking system according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of a fixing structure and a first structure of an electromagnetic coil in an electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 3 is a second structural schematic diagram of a fixing structure and an electromagnetic coil in the electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 4 is a schematic view of a fixing structure and a third structure of an electromagnetic coil in the electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 5 is a first structural schematic diagram of a fixing structure in an electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 6 is a second structural schematic diagram of a fixing structure in an electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 7 is a first cross-sectional view of an electromagnetic coil in the electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 8 is a second sectional view of an electromagnetic coil in the electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 9 is a schematic structural diagram of a tracking electromagnetic device in the electromagnetic docking system according to embodiment 2 of the present invention.
Fig. 10 is a schematic structural diagram of a target electromagnetic device in the electromagnetic docking system according to embodiment 2 of the present invention.
Detailed Description
The utility model is further illustrated by the following examples, which are not intended to limit the scope of the utility model. Example 1
As shown in fig. 1, the electromagnetic docking system of the present embodiment includes a target electromagnetic device and a tracking electromagnetic device;
the target electromagnetic device 100 includes a first controller 11, a first body structure 12, a target electromagnetic coil 13 provided on a first butt end face a of the first body structure 12, and a first connection member 14, the target electromagnetic coil 13 being electrically connected to the first controller 11.
The tracking solenoid device 200 includes a second controller 21, a second main body structure 22, a tracking solenoid 23 disposed on a second butt end face B of the second main body structure 22, and a second connecting assembly 24, wherein the tracking solenoid 23 is electrically connected to the second controller 21;
the first controller 11 is configured to generate a first target electric signal to drive the target electromagnetic coil 13, and the second controller 21 is configured to generate a second target electric signal to drive the tracking electromagnetic coil 23;
the target electromagnetic force is generated between the target electromagnetic coil 13 and the tracking electromagnetic coil 23 according to the first target electric signal and the second target electric signal, and the first connection assembly 14 and the second connection assembly 24 are butted or separated according to the target electromagnetic force.
The electric signals generated by the respective controllers drive the two electromagnetic coils to generate electromagnetic attraction or electromagnetic repulsion with controllable magnitude (the arrows in fig. 1 indicate the docking and undocking directions), and by providing electromagnetic force with sufficient magnitude, flexible docking or safe undocking between the target electromagnetic device 100 and the tracking electromagnetic device 200 can be realized.
In an embodiment, the first butt end face a and the second butt end face B are arranged in parallel.
The target electromagnetic device 100 and the tracking electromagnetic device 200 in this embodiment may be large-scale devices such as a spacecraft or a train car, the target electromagnetic device 100 and the tracking electromagnetic device 200 may be household devices such as a sweeping robot and a corresponding charging device, respectively, and the target electromagnetic device 100 and the tracking electromagnetic device 200 may also be toys. Target electromagnetic device 100 and tracking electromagnetic device 200 may also be any other device that requires a solenoid to be configured and that requires electromagnetic docking.
In this embodiment, set up solenoid and coupling assembling respectively on the butt joint terminal surface of two electromagnetic means, and the signal of telecommunication through respective controller drives and produces the controllable electromagnetic attraction of size between two solenoids, pass through coupling assembling initial connection between target electromagnetic means and the pursuit electromagnetic means, and continue to drive solenoid circular telegram after being connected to the position, produce the required magnetic induction intensity of magnetic lock in order to accomplish the locking operation, thereby accomplish whole butt joint process, this electromagnetic butt joint device has simple structure, the butt joint process is stable, realize flexible butt joint and safety separation promptly, and the butt joint is efficient, when realizing providing enough big electromagnetic force, also guarantee the great relative speed tolerance and the relative position tolerance of butt joint in-process, the robustness of system has been improved effectively.
Example 2
The electromagnetic docking system of the present embodiment is a further improvement of embodiment 1, specifically:
as shown in fig. 2 to 6, the target electromagnetic device 100 of the present embodiment further includes a first fixing structure 15, and the target electromagnetic coil 13 is fixed on the first butt end surface a through the first fixing structure 15;
the tracking solenoid 200 further includes a second fixing structure 25, and the tracking solenoid 23 is fixed on the second butt end face B through the second fixing structure 25.
Specifically, the first fixing structure 15 includes a first housing 16, the target electromagnetic coil 13 is fixedly secured between upper and lower plates of the first housing 16 by screws, and the first housing 16 is fixed on the first butt end face a by screws;
the second fixing structure 25 includes a second housing 26, and the tracking electromagnetic coil 23 is fixed between the upper and lower plates of the second housing 26 by screws, and the second housing 26 is fixed to the second butt end face B by screws. Wherein C in fig. 5 and 6 is a structural unit for coil routing.
Of course, the first housing 16 and the second housing 26 may be fixed to the corresponding abutting end surfaces by other fixing methods, and the target electromagnetic coil 13 and the tracking electromagnetic coil 23 may be fixed to the corresponding housings by other fixing methods as long as the fixing of the corresponding structures is achieved.
The first fastening structure 15 and the second fastening structure 25 may also be designed in other types of structures, as long as the fastening of the corresponding magnet coil to the abutting end face is achieved without causing interference or the like.
In addition, the first fixing structure 15 and the second fixing structure 25 are made of a non-magnetic material, such as a plastic material.
Further, as shown in fig. 7 and 8, the target electromagnetic coil 13 and the tracking electromagnetic coil 23 include a coil structure 300 and a core structure 400. The coil structure is wound or sleeved on the iron core structure.
The coil structure 300 made of copper material is provided on the inner side, the outer side, and at least one side near the butt end face of the core structure 400.
In one embodiment, target solenoid 13 and tracking solenoid 23 are annular coil structures 300.
The first connecting assembly 14 includes a plurality of first connecting units, and the second connecting assembly 24 includes a plurality of second connecting units, each of the first connecting units is connected with one of the second connecting units in a matching manner.
In an embodiment, the first connecting unit comprises a guide taper rod, and the second connecting unit comprises a guide taper hole; or the like, or, alternatively,
the first connecting unit comprises a guide taper hole, and the second connecting unit comprises a guide taper rod.
Of course, the first connection unit and the second connection unit may have other matching structures as long as they can be matched to realize the butt joint and fixation between the two electromagnetic devices.
The plurality of first connecting units are all arranged inside the circular target electromagnetic coil 13, all arranged outside the circular target electromagnetic coil 13, or a part of the first connecting units are arranged inside the circular target electromagnetic coil 13, the rest of the first connecting units are arranged outside the circular target electromagnetic coil 13, and the position of each second connecting unit corresponds to the position of the first connecting unit.
The target electromagnetic device 100 further includes a laser transmitter (not shown) fixed on the first butt end face a, and the tracked target electromagnetic device further includes a laser receiver fixed on the second butt end face B; or, the target electromagnetic device 100 further includes a laser receiver fixedly disposed on the first butt end face a, and the tracked target electromagnetic device further includes a laser emitter fixedly disposed on the second butt end face B;
the first controller 11 and/or the second controller 21 obtains the relative docking distance between the target electromagnetic device 100 and the tracking electromagnetic device 200 according to the acquisition of the laser transmitter and the laser receiver; the first controller 11 is configured to generate a first target electrical signal to drive the target solenoid coil 13 according to the relative docking distance and a set threshold, and the second controller 21 is configured to generate a second target electrical signal to drive the tracking solenoid coil 23 according to the relative docking distance and a set threshold.
The laser transmitter and the laser receiver or other types of position detection sensors are arranged to detect the position between the two electromagnetic devices in time, and once the position between the two electromagnetic devices is smaller than a set value, the two electromagnetic devices are successfully butted, so that the next locking operation is executed; otherwise, the controller outputs corresponding electric signals to drive the corresponding electromagnetic coils to continuously generate electromagnetic attraction until the two electromagnetic devices are successfully butted.
As shown in fig. 9 and 10, the target electromagnetic device 100 further includes a first locking part 17 fixed to the first connecting assembly 14, and the tracking electromagnetic device 200 further includes a second locking part 27 fixed to the second connecting assembly 24;
the first controller 11 is configured to generate a third target electrical signal to drive the target electromagnetic coil 13 when the relative docking distance is smaller than or equal to a set threshold, where the third target electrical signal is larger than the first target electrical signal;
the second controller 21 is configured to generate a fourth target electrical signal to drive the tracking solenoid 23 when the relative docking distance is smaller than or equal to the set threshold, the fourth target electrical signal being larger than the second target electrical signal;
the target electromagnetic coil 13 and the tracking electromagnetic coil 23 generate a target electromagnetic force therebetween based on the third target electric signal and the fourth target electric signal to drive the first lock member and the second lock member to perform the locking operation.
The first locking component and the second locking component form a magnetic lock, once the magnetic induction intensity between the first locking component and the second locking component meets the locking condition, the locking operation is immediately executed, at the moment, the maximum control voltage can be input into the two electromagnetic coils to ensure that the locking is timely and effectively executed, and the butt joint efficiency and the reliability are effectively ensured.
In addition, the first controller 11 includes a first wireless communication module 18, the second controller 21 includes a second wireless communication module 28, and the first controller 11 and the second controller 21 perform mutual wireless communication and/or data transmission with an upper computer through the first wireless communication module and the second wireless communication module.
The whole docking process corresponding to the electromagnetic docking system of the present embodiment includes three docking stages: (1) the guide taper rod is ready to enter the guide taper hole; (2) after the guide taper rod is ready to enter the guide taper hole; (3) and after the guide taper rod reaches the butt joint position of the guide taper hole, locking operation is executed to complete the whole butt joint process.
Before the guide taper rod (1) is ready to enter the guide taper hole, corresponding target electric signals are respectively generated by the first controller 11 and the second controller 21 and output to corresponding electromagnetic coils, electromagnetic attraction with controllable magnitude is provided between the two electromagnetic coils, and the guide taper rod starts to enter the guide taper hole through the electromagnetic attraction;
after (2) the guide taper rod is ready to enter the guide taper hole, the power is continuously supplied between the target electromagnetic coil 13 and the tracking electromagnetic coil 23, the first controller 11 and the second controller 21 continuously generate corresponding target electric signals and output the target electric signals to the corresponding electromagnetic coils, at the moment, the guide taper rod and the lead taper hole collide with each other along with the electromagnetic force in the corresponding electromagnetic coils, the position and the attitude angle of the non-butt joint axial direction are continuously adjusted, and then the larger relative speed tolerance and the larger relative position tolerance in the butt joint process are ensured; when the laser transmitter and the laser receiver determine that the butt joint distance between the target electromagnetic coil 13 and the tracking electromagnetic coil 23 meets the condition, the target electromagnetic device 100 and the tracking electromagnetic device 200 are successfully butted;
after (3) the guide taper rod reaches the butt joint position of the guide taper hole, larger electric signals are respectively generated and output to the corresponding electromagnetic coils through the first controller 11 and the second controller 21, so that the magnetic induction intensity required by the magnetic lock is rapidly provided to timely and effectively complete the locking operation of the magnetic lock, and the whole butt joint operation process is further completed.
In this embodiment, set up solenoid and coupling assembling respectively on the butt joint terminal surface of two electromagnetic means, and the signal of telecommunication through respective controller drives and produces the controllable electromagnetic attraction of size between two solenoids, pass through coupling assembling initial connection between target electromagnetic means and the pursuit electromagnetic means, and continue to drive solenoid circular telegram after being connected to the position, produce the required magnetic induction intensity of magnetic lock in order to accomplish the locking operation, thereby accomplish whole butt joint process, this electromagnetic butt joint device has simple structure, the butt joint process is stable, realize flexible butt joint and safety separation promptly, and the butt joint is efficient, when realizing providing enough big electromagnetic force, also guarantee the great relative speed tolerance and the relative position tolerance of butt joint in-process, the robustness of system has been improved effectively.
While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the utility model is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the utility model, and these changes and modifications are within the scope of the utility model.
Claims (12)
1. An electromagnetic docking system, comprising a target electromagnetic device and a tracking electromagnetic device;
the target electromagnetic device comprises a first controller, a first main body structure, a target electromagnetic coil and a first connecting assembly, wherein the target electromagnetic coil is arranged on a first butt end face of the first main body structure, and the target electromagnetic coil is electrically connected with the first controller; the tracking electromagnetic device comprises a second controller, a second main body structure, a tracking electromagnetic coil and a second connecting assembly, wherein the tracking electromagnetic coil is arranged on a second butt joint end face of the second main body structure, and the tracking electromagnetic coil is electrically connected with the second controller;
the first controller is used for generating a first target electric signal to drive the target electromagnetic coil, and the second controller is used for generating a second target electric signal to drive the tracking electromagnetic coil;
the target electromagnetic coil and the tracking electromagnetic coil generate a target electromagnetic force according to the first target electric signal and the second target electric signal, and the first connecting assembly and the second connecting assembly are in butt joint or separation according to the target electromagnetic force.
2. The electromagnetic docking system as claimed in claim 1, wherein said target electromagnetic device further comprises a first securing structure, said target electromagnetic coil being secured to said first docking end face by said first securing structure; and/or the presence of a gas in the gas,
the tracking electromagnetic device further comprises a second fixing structure, and the tracking electromagnetic coil is fixedly arranged on the second butt joint end face through the second fixing structure.
3. The electromagnetic docking system according to claim 2, wherein said first fixing structure comprises a first housing, said target electromagnetic coil is fixed between upper and lower plates of said first housing by screws, and said first housing is fixed on a first docking end surface by screws; and/or the presence of a gas in the gas,
the second fixing structure comprises a second shell, the tracking electromagnetic coil is fixedly arranged between the upper plate and the lower plate of the second shell through screws, and the second shell is fixed on the second butt end face through screws.
4. The electromagnetic docking system as claimed in claim 1, wherein said target electromagnetic coil and said tracking electromagnetic coil are annular coil structures.
5. The electromagnetic docking system of claim 4, wherein said first connection assembly comprises a plurality of first connection units and said second connection assembly comprises a plurality of second connection units,
each first connecting unit is connected with one second connecting unit in a matched mode.
6. The electromagnetic docking system as claimed in claim 5, wherein said first connection unit comprises a guide taper rod and said second connection unit comprises a guide taper hole; or the like, or, alternatively,
the first connection unit comprises a guide taper hole, and the second connection unit comprises a guide taper rod.
7. The electromagnetic docking system according to claim 5, wherein all of the first connection units are arranged inside the target electromagnetic coil having a circular ring shape, all of the first connection units are arranged outside the target electromagnetic coil having a circular ring shape, or a part of the first connection units are arranged inside the target electromagnetic coil having a circular ring shape, the remaining part of the first connection units are arranged outside the target electromagnetic coil having a circular ring shape, and the position of each of the second connection units corresponds to the position of the first connection unit.
8. The electromagnetic docking system as claimed in claim 1, wherein said target electromagnetic device further comprises a laser transmitter secured to said first docking end face, said tracked target electromagnetic device further comprises a laser receiver secured to said second docking end face; or, the target electromagnetic device further comprises a laser receiver fixedly arranged on the first butt end face, and the tracked target electromagnetic device further comprises a laser emitter fixedly arranged on the second butt end face;
the first controller and/or the second controller acquire a relative butt joint distance between the target electromagnetic device and the tracking electromagnetic device according to the laser receiver and the laser receiver; the first controller is used for generating a first target electric signal according to the relative docking distance and a set threshold value to drive the target electromagnetic coil, and the second controller is used for generating a second target electric signal according to the relative docking distance and a set threshold value to drive the tracking electromagnetic coil.
9. The electromagnetic docking system as claimed in claim 8, wherein said target electromagnetic device further comprises a first locking member secured to said first coupling assembly, and said tracking electromagnetic device further comprises a second locking member secured to said second coupling assembly;
the first controller is used for generating a third target electric signal to drive the target electromagnetic coil when the relative docking distance is smaller than or equal to the set threshold value, wherein the third target electric signal is larger than the first target electric signal;
the second controller is used for generating a fourth target electric signal to drive the tracking electromagnetic coil when the relative docking distance is smaller than or equal to the set threshold value, wherein the fourth target electric signal is larger than the second target electric signal;
and the target electromagnetic coil and the tracking electromagnetic coil generate target electromagnetic force according to the third target electric signal and the fourth target electric signal to drive the first locking part and the second locking part to perform locking operation.
10. The electromagnetic docking system as claimed in claim 2, wherein said target electromagnetic coil and said tracking electromagnetic coil comprise a coil structure and a core structure;
the coil structure is made of copper materials and is arranged on the inner side and the outer side of the iron core structure and at least one side close to the butt joint end face.
11. The electromagnetic docking system according to claim 1, wherein the first controller comprises a first wireless communication module, the second controller comprises a second wireless communication module, and the first controller and the second controller wirelessly communicate with each other and/or transmit data with an upper computer through the first wireless communication module and the second wireless communication module.
12. The electromagnetic docking system of claim 1, wherein said first docking end surface is disposed parallel to said second docking end surface; and/or the presence of a gas in the gas,
the target electromagnetic device and the tracking electromagnetic device each include a satellite.
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| CN202121847195.5U CN216035211U (en) | 2021-08-09 | 2021-08-09 | Electromagnetic docking system |
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| CN202121847195.5U CN216035211U (en) | 2021-08-09 | 2021-08-09 | Electromagnetic docking system |
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