CN108609205B - Heteromorphic connection and separation device and system - Google Patents
Heteromorphic connection and separation device and system Download PDFInfo
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- CN108609205B CN108609205B CN201810454895.4A CN201810454895A CN108609205B CN 108609205 B CN108609205 B CN 108609205B CN 201810454895 A CN201810454895 A CN 201810454895A CN 108609205 B CN108609205 B CN 108609205B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
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Abstract
本发明涉及航空航天技术领域，公开了一种异体同构连接分离装置及系统。所述异体同构连接分离装置包括驱动组件、连接分离执行组件和支承组件，所述驱动组件以及所述连接分离执行组件通过所述支承组件支承设置，所述连接分离执行组件包括滑销以及依次由内向外套设的固定导向环、耦合环、驱动环、插销驱动环和插销环；本发明异体同构连接分离装置及系统具有通用性，其不仅能实现微小模块化卫星之间的子‑母对接，还能实现子‑子对接和母‑母对接，增加了多颗微小模块化卫星间的对接可重构性和扩展性。
The invention relates to the technical field of aerospace, and discloses a heterogenous and isomorphic connection and separation device and a system. The allogeneic and isomorphic connection and separation device includes a drive assembly, a connection and separation execution assembly, and a support assembly, the drive assembly and the connection and separation execution assembly are supported and arranged by the support assembly, and the connection and separation execution assembly includes a sliding pin and in turn. The fixed guide ring, the coupling ring, the driving ring, the pin driving ring and the pin ring are arranged from the inside to the outside; the hetero-isomorphic connection and separation device and system of the present invention have universality, which can not only realize the child-mother connection between the tiny modular satellites Docking can also realize sub-sub docking and mother-mother docking, which increases the reconfigurability and scalability of docking between multiple tiny modular satellites.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a device and a system for isomorphism connection and separation of variant bodies.
Background
In recent years, the aerospace industry has developed a hot trend of modular satellite research, and in particular, in-orbit scientific research using micro modular satellites, researchers have proposed the concept of an intelligent module for in-orbit service satellites, that is, a combination of modular and reconfigurable micro satellites is used to decompose a conventional satellite platform into a plurality of standardized intelligent square modules (micro modular satellites).
After a traditional satellite platform is decomposed into a plurality of standardized intelligent square modules (micro modular satellites), the butt joint or expansion among a plurality of micro modular satellites is often needed, so that the micro modular satellites needing to be butted not only can realize son-mother butt joint, but also can realize son-son butt joint and mother-mother butt joint; however, the structures of the existing traditional satellite-rocket docking mechanisms (satellite-rocket docking rings) on each satellite are different, and the existing traditional satellite-rocket docking mechanisms can only adopt a son-mother docking mode, that is, the existing traditional satellite-rocket docking mechanisms cannot realize the docking universality among micro modular satellites. Therefore, in order to realize the connection locking and unlocking separation among the standardized intelligent modules (micro modular satellites), a special micro modular satellite connection and separation mechanism is needed, the design of the docking mechanism is different from that of the traditional satellite-rocket docking mechanism, and the same structural mechanism design is needed for the master-slave docking end and the slave-slave docking end, so that the primary-secondary docking and the master-secondary docking can be realized, and the docking reconfigurability and the expansibility among a plurality of micro modular satellites can be improved.
Disclosure of Invention
The invention aims to provide a heterologous isomorphic connecting and separating device, which aims to solve the technical problem that a connecting, locking and unlocking and separating mechanism between a plurality of micro modular satellites decomposed by a satellite platform in the prior art is not universal.
The invention also aims to provide a heterologous isomorphic connection and separation system to solve the technical problem that the connection locking and unlocking separation mechanism between a plurality of micro modular satellites decomposed by a satellite platform in the prior art is not universal.
Based on the first purpose, the invention provides a allosteric connection and separation device, which comprises a driving component, a connection and separation executing component and a supporting component, wherein the driving component and the connection and separation executing component are supported and arranged by the supporting component, and the connection and separation executing component comprises a sliding pin, and a fixed guide ring, a coupling ring, a driving ring, a latch driving ring and a latch ring which are sleeved from inside to outside in sequence;
a factory-shaped sliding pin slot which is approximately factory-shaped is formed in the annular wall of the fixed guide ring;
the coupling ring is sleeved on the outer peripheral surface of the fixed guide ring, a sliding pin hole is formed in the ring wall of the coupling ring, and an active clamping hook protruding outwards is arranged on the upper edge of the ring wall of the coupling ring;
the driving ring is sleeved outside the fixed guide ring, an L-shaped sliding pin groove hole which is approximately L-shaped is formed in the ring wall of the driving ring, a driven clamping hook which protrudes inwards is arranged on the upper portion of the ring wall of the driving ring, the tail end of the lower portion of the L-shaped sliding pin groove hole and the tail end of the lower portion of the factory-shaped sliding pin groove hole are arranged close to each other and flush with each other in a tightening state, and the height of the L-shaped sliding pin groove hole is approximately consistent with that of the factory-shaped sliding pin groove hole;
the sliding pin is fixed in the sliding pin hole of the coupling ring, the inner end of the sliding pin is arranged in the factory-shaped sliding pin slotted hole of the fixed guide ring, the outer end of the sliding pin is arranged in the L-shaped sliding pin slotted hole of the driving ring, and two ends of the sliding pin synchronously move in the factory-shaped sliding pin slotted hole and the L-shaped sliding pin slotted hole;
the bolt driving ring is sleeved on the periphery of the upper part of the driving ring and synchronously moves along with the driving ring;
the bolt ring is sleeved on the bolt driving ring, the bolt driving ring drives the bolt ring to move along the axial direction, and a positioning bolt is arranged at the upper part of the bolt ring;
the driving assembly is connected with the driving ring and drives the driving ring to rotate.
Preferably, 3 factory-shaped sliding pin slotted holes are uniformly distributed on the fixed guide ring along the circumferential direction of the fixed guide ring, 3L-shaped sliding pin slotted holes are uniformly distributed on the drive ring along the circumferential direction of the drive ring, 3 sliding pin holes are uniformly distributed on the coupling ring along the circumferential direction of the coupling ring, and the factory-shaped sliding pin slotted holes, the L-shaped sliding pin slotted holes and the sliding pin holes are respectively arranged in a one-to-one correspondence manner;
the device comprises three sliding pins, the three sliding pins and the sliding pin holes are arranged in a one-to-one correspondence mode, and two ends of each sliding pin are respectively arranged in L-shaped sliding pin slotted holes and factory-shaped sliding pin slotted holes on two sides of the corresponding sliding pin hole.
Further, the supporting assembly comprises a top cover, a bottom plate and a stand column supported between the top cover and the bottom plate;
the driving assembly and the connection and separation executing assembly are arranged between the top cover and the bottom plate.
Furthermore, a bolt hole matched with the positioning bolt is formed in the top cover.
Preferably, 4 positioning bolts are uniformly distributed on the bolt ring along the circumferential direction of the bolt ring, 8 bolt holes are uniformly distributed on the top cover, the positioning bolts are arranged in the bolt holes at intervals, and at most one positioning bolt is arranged in each bolt hole.
Preferably, a guide groove is formed in the outer peripheral surface of the annular wall of the plug pin driving ring, and the guide groove comprises a vertical section, a circumferential horizontal section connected to the lower end of the vertical section, and a radial horizontal section connected to one end, far away from the vertical section, of the circumferential horizontal section;
a positioning column is arranged on the inner wall of the ring wall of the pin ring and inserted into the guide groove; the bolt driving ring rotates, and the positioning column moves relative to the guide groove and drives the bolt ring to move axially.
Preferably, the guide grooves comprise 3 uniformly distributed along the circumferential direction of the plug pin driving ring, the positioning columns comprise 3 uniformly distributed along the circumferential direction of the plug pin driving ring, and the guide grooves and the positioning columns are arranged in a one-to-one correspondence manner.
Further, a thin-wall bearing is arranged on the outer side of the bottom of the driving ring and is installed on a bearing seat on the bottom plate.
Preferably, the coupling ring comprises an upper ring and a lower ring which are of an integral structure, the inner walls of the upper ring and the lower ring are flush, and the thickness of the ring wall of the upper ring is smaller than that of the ring wall of the lower ring;
the active hook is arranged on the outer edge of the annular wall of the upper ring, and the sliding pin hole is arranged on the annular wall of the lower ring in a penetrating mode.
In view of the above second object, the present invention further provides a heterogeneous isomorphic connection and separation system, comprising at least one micro modular satellite to which at least one heterogeneous isomorphic connection and separation device according to any of the above is fixed.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a allosteric connection and separation device, which comprises a driving component, a connection and separation executing component and a supporting component, wherein the driving component and the connection and separation executing component are supported by the supporting component; a factory-shaped sliding pin slot which is approximately factory-shaped is formed in the annular wall of the fixed guide ring; the coupling ring is sleeved on the outer peripheral surface of the fixed guide ring, a sliding pin hole is formed in the ring wall of the coupling ring, and an active clamping hook protruding outwards is arranged on the upper edge of the ring wall of the coupling ring; the driving ring is sleeved outside the fixed guide ring, an L-shaped sliding pin groove hole which is approximately L-shaped is formed in the ring wall of the driving ring, a driven clamping hook which protrudes inwards is arranged on the upper portion of the ring wall of the driving ring, the tail end of the lower portion of the L-shaped sliding pin groove hole and the tail end of the lower portion of the factory-shaped sliding pin groove hole are arranged close to each other and flush with each other in a tightening state, and the height of the L-shaped sliding pin groove hole is approximately consistent with that of the factory-shaped sliding pin groove hole; the sliding pin is fixed in the sliding pin hole of the coupling ring, the inner end of the sliding pin is arranged in the factory-shaped sliding pin slotted hole of the fixed guide ring, the outer end of the sliding pin is arranged in the L-shaped sliding pin slotted hole of the driving ring, and two ends of the sliding pin synchronously move in the factory-shaped sliding pin slotted hole and the L-shaped sliding pin slotted hole; the bolt driving ring is sleeved on the periphery of the upper part of the driving ring and synchronously moves along with the driving ring; the bolt ring is sleeved on the bolt driving ring, the bolt driving ring drives the bolt ring to move along the axial direction, and a positioning bolt is arranged at the upper part of the bolt ring; the driving assembly is connected with the driving ring and drives the driving ring to rotate.
The isomorphic connecting and separating device provided by the invention can be connected to any surface of a standardized intelligent module (a micro modular satellite) decomposed from any satellite platform, and each standardized satellite intelligent module (the micro modular satellite) connected with the isomorphic connecting and separating device can be connected, locked and unlocked and separated with another standardized satellite intelligent module (the micro modular satellite) connected with the isomorphic connecting and separating device through the isomorphic connecting and separating device; that is, the same different-body isomorphic connection and separation device of the invention can realize butt joint, thus the butt joint can be realized by arranging the same different-body isomorphic connection and separation device of the invention at the child end and the mother end of the micro modular satellite, and because the structure of the child end and the mother end is the same, the butt joint of any two micro modular satellites can be carried out without distinguishing the child end and the mother end, thus the child-mother butt joint, the child-child butt joint and the mother-mother butt joint are realized, and the butt joint reconfigurability and the expansibility among a plurality of micro modular satellites are increased.
The invention provides a isomorphic connection and separation system, which comprises a isomorphic connection and separation device as described in any one of the above and a micro modular satellite connected to the isomorphic connection and separation device.
Compared with the prior art, the allosteric connection and separation system and the allosteric connection and separation device provided by the invention have the same beneficial effects, and can be intuitively obtained through the description, and detailed description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of an isomorphic coupling and decoupling apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a connection and separation performing assembly of the heterogeneous connection and separation apparatus according to the embodiment of the present invention;
FIG. 3 is an assembly view of the stationary guide ring, the coupling ring, the driving ring and the sliding pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 4 is a schematic view of a drive ring of the apparatus for separating isomorphic linkages according to an embodiment of the present invention;
FIG. 5 is an assembled view of the coupling ring and the sliding pin of the allosteric joint separation device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a stationary guide ring of the allosteric coupling and separation device according to an embodiment of the present invention;
FIG. 7 is a schematic view of a first operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 8 is a schematic diagram of a second operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 9 is a schematic view of a third operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 10 is a schematic view showing a fourth operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 11 is a schematic diagram of a fifth operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 12 is a schematic view showing a sixth operating state of the stationary guide ring, the coupling ring, the driving ring and the slide pin of the allosteric coupling and decoupling apparatus according to the embodiment of the present invention;
FIG. 13 is a schematic view of a bayonet drive ring of the heteroisostructural coupling release apparatus of an embodiment of the present invention;
FIG. 14 is a schematic view of a latch ring of the heteroisomorphic connection and separation apparatus according to an embodiment of the present invention;
FIG. 15 is a schematic view of the combination of a bayonet ring and a bayonet drive ring of the heteroisostructural joint separation apparatus according to an embodiment of the present invention;
fig. 16 is an overall schematic view of the isomorphic connection and separation apparatus according to the embodiment of the invention.
Icon: 1-connecting the split execution component; 2-a drive assembly; 3-a support assembly; 101-drive ring; 102-a coupling loop; 103-fixing a guide ring; 104-a sliding pin; 105-active hook; 106-passive hook; 107-latch drive ring; 108-a latch ring; 109-L shaped sliding pin slot; 110-factory-shaped sliding pin slot holes; 111-a guide groove; 112-positioning bolts; 113-a positioning column; 114-bolt hole.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 to 16, the present embodiment provides an allosteric coupling and decoupling device, which includes a driving assembly 2, a coupling and decoupling actuating assembly 1 and a supporting assembly 3.
As shown in fig. 16, the support member 3 is a portion within a range of a dotted line in the drawing, and includes a top cover, a bottom plate, and 3 plate-like pillars provided between the bottom plate and the top cover. The top cover is provided with a latch hole 114.
As shown in fig. 2, the connection and disconnection actuating assembly 1 includes a sliding pin 104, and a fixed guide ring 103, a coupling ring 102, a driving ring 101, a latch driving ring 107, and a latch ring 108, which are sequentially sleeved from inside to outside.
As shown in fig. 6, a factory-shaped sliding pin slot 110 substantially shaped like a factory is formed in the annular wall of the fixed guide ring 103. The transverse side of the factory-shaped sliding pin slot 110 is not completely horizontal, and the inclined surface facing the factory-shaped sliding pin slot 110 is slightly inclined.
As shown in fig. 3, the coupling ring 102 is sleeved on the outer circumferential surface of the fixed guide ring 103, as shown in fig. 5, a slide pin hole is formed on the ring wall of the coupling ring 102, and an active hook 105 protruding outward is arranged on the upper portion of the ring wall of the coupling ring 102. As a preferred structure, as shown in fig. 5, the coupling ring 102 includes an upper ring and a lower ring which are integrally formed, the inner walls of the upper ring and the lower ring are flush, and the thickness of the ring wall of the upper ring is smaller than that of the lower ring; that is, the coupling ring has a shape as shown in fig. 5, in which the upper section is a small ring and the lower section is a large ring; the active hook 105 is arranged on the outer edge of the annular wall of the upper ring, and the slide pin hole is arranged on the annular wall of the lower ring in a penetrating way.
As shown in fig. 3, the driving ring 101 is sleeved outside the fixed guide ring 103, as shown in fig. 4, an L-shaped sliding pin slot 109 with a substantially "L" shape is formed on the annular wall of the driving ring 101, and a passive hook 106 protruding inwards is formed on the upper portion of the annular wall of the driving ring 101. The vertical side of the L-shaped slide pin slot 109 is not completely vertical, and it is preferable that the upper end of the vertical side of the L-shaped slide pin slot 109 is inclined away from the lateral side of the L-shaped slide pin slot 109 as shown in fig. 4. As shown in fig. 7, in the tightened state, that is, the free state, the lower end of the L-shaped slide pin slot 109 and the lower end of the reversed-letter-shaped slide pin slot 110 are disposed close to each other and flush with each other, and the height of the L-shaped slide pin slot 109 and the height of the reversed-letter-shaped slide pin slot 110 are substantially the same.
As shown in fig. 5, the slide pin 104 is fixedly disposed in the slide pin hole of the coupling ring 102, the inner end of the slide pin 104 is disposed in the factory-shaped slide pin slot 110 of the fixed guide ring 103, the outer end of the slide pin 104 is disposed in the L-shaped slide pin slot 109 of the drive ring 101, and both ends of the slide pin 104 move synchronously in the factory-shaped slide pin slot 110 and the L-shaped slide pin slot 109.
As shown in fig. 2, the pin driving ring 107 is fitted over the upper periphery of the driving ring 101, and the pin driving ring 107 can move synchronously with the driving ring 101,
as shown in fig. 15, the latch ring 108 is sleeved on the lower periphery of the latch driving ring 107, the latch driving ring 107 drives the latch ring 108 to move in the axial direction, and the upper part of the latch ring 108 is provided with a positioning latch 112. As a specific connection mode of the inserted pin ring 108 and the inserted pin driving ring 107, as shown in fig. 13-15, a guide groove 111 is provided on a lower portion of an outer peripheral surface of a ring wall of the inserted pin driving ring 107, as shown in fig. 13, the guide groove 111 is substantially in a zigzag shape, and the guide groove 111 includes a vertical section, a circumferential horizontal section connected to a lower end of the vertical section, and a radial horizontal section connected to one end of the circumferential horizontal section, which is far away from the vertical section; a positioning column 113 is arranged on the inner wall of the ring wall of the pin ring 108, and the positioning column 113 is inserted into the guide groove 111; the latch driving ring 107 rotates, and the positioning column 113 moves relative to the guiding groove 111 and drives the latch ring 108 to move axially.
It will be appreciated that the function of the locating pin 112 is to co-operate with a pin hole 114 in the top cover of the support assembly 3 to achieve the location of the two shaped isomorphic breakaway connection means when connected.
As shown in fig. 1, the driving assembly 2 includes a motor, a reducer and a worm gear, an output shaft of the worm gear is connected with the driving ring 101, and a thin-walled bearing is arranged on the outer side of the lower part of the driving ring 101 and is arranged on the bottom plate through a bearing seat; the driving component 2 provides driving force for the connecting and separating executing component 1, and the butt joint work is completed under the matching of the top cover of the supporting component 3.
As shown in fig. 1, the connection and separation performing assembly 1 and the driving assembly 2 of the different-type isomorphic connection and separation device of the embodiment are both arranged on the bottom plate of the supporting assembly 3; the positioning pins 112 are disposed through pin holes 114 in the top cover of the support assembly 3 to position and limit circumferential and radial movement of the pin ring 108 so that the pin ring 108 can only move axially.
As a preferred embodiment of the isomorphic connection and separation device of the present invention, 3 factory-shaped sliding pin slots 110 are uniformly distributed on the fixed guide ring 103 along the circumferential direction thereof, 3L-shaped sliding pin slots 109 are uniformly distributed on the drive ring 101 along the circumferential direction thereof, 3 sliding pin holes are uniformly distributed on the coupling ring along the axial direction thereof, and the factory-shaped sliding pin slots 110, the L-shaped sliding pin slots 109 and the sliding pin holes are respectively arranged in a one-to-one correspondence. The device comprises three sliding pins 104, the three sliding pins 104 are arranged in one-to-one correspondence with the sliding pin holes, and two ends of each sliding pin 104 are respectively arranged in L-shaped sliding pin slot holes 109 and factory-shaped sliding pin slot holes 110 on two sides of the corresponding sliding pin hole.
The bolt ring 108 is uniformly provided with 4 positioning bolts 112 along the circumferential direction thereof, the top cover is provided with 8 bolt holes 114, wherein the bolt holes 114 are provided with the positioning bolts 112 at intervals, and at most one bolt hole 114 is provided with one positioning bolt 112, that is, the 4 positioning bolts 112 of the variant isomorphic connection and separation device of the embodiment are inserted into the four bolt holes 114 arranged at intervals; and four latch holes 114 without positioning latches 112 are used to position four latches of another identical heteroisomorphic connection separation unit to which the unit is connected; correspondingly, when in specific butt joint, the positioning bolt of the device can penetrate through the bolt hole of the other device after penetrating through the bolt hole of the device, and the bolt hole without the positioning bolt is arranged, so that the positioning bolt of the device is matched with the bolt of the other device to realize positioning butt joint.
The number of the guide grooves 111 is 3, which are uniformly distributed along the circumferential direction of the latch driving ring 107, the number of the positioning columns 113 is 3, which are uniformly distributed along the circumferential direction of the latch ring 108, and the guide grooves 111 and the positioning columns 113 are arranged in a one-to-one correspondence manner.
The fixed guide ring 103 of the isomorphic connection separation device of the embodiment is fixed and used for guiding the movement of the coupling ring 102; the driving ring 101 only rotates around the shaft to drive the coupling ring 102 to move; the coupling ring 102 can rotate around the shaft and move along the shaft at the same time, so as to drive the active hook 105 thereon to move; pin driving ring 107 rotates only around the shaft to guide pin ring 108 to move; the latch ring 108 is movable along an axis for moving a latch thereon. The butt joint, locking and separation work of the connection and separation device is mainly completed by a driving ring 101, a coupling ring 102 and a fixed guide ring 103, which are mutually coupled through a sliding pin groove on the rings and a sliding pin 104 between the rings.
Three sliding pin holes are formed in the lower ring of the coupling ring 102 at intervals of 120 degrees and are used for being fixedly connected with the sliding pins 104, four driving clamping hooks 105 in the shape of clamping hooks are uniformly distributed on the upper ring, and the driving clamping hooks 105 of the heterogeneous isomorphic device are mutually clamped with the driven clamping hooks 106 of another heterogeneous isomorphic connecting and separating device when the connecting and separating device performs connecting work, so that the connection of a primary end and a secondary end is realized; when the separation device is connected to perform separation, the active hook 105 of the different-form isomorphic device is separated from the passive hook 106 of the other different-form isomorphic connection separation device, so that the separation of the primary and secondary ends is realized. The position of the coupling ring 102 is between the driving ring 101 and the fixed guide ring 103, the inner wall of the coupling ring 102 is contacted with the outer wall of the fixed guide ring 103, the outer wall of the coupling ring 102 is contacted with the inner wall of the driving ring 101, and the assembly form restricts the radial movement of the coupling ring 102 and only can move along the shaft and rotate around the shaft.
Three L-shaped sliding pin 104 through grooves are formed in the lower half part of the driving ring 101 at intervals of 120 degrees and used for being matched with the end parts of the sliding pins 104, and the sliding pin grooves on the driving ring 101 force the sliding pins 104 to move in the grooves when the driving ring 101 moves around the shaft. Four passive hooks 106 in the shape of hooks are uniformly distributed on the upper half part of the driving ring 101, and the functions of the passive hooks 106 are matched with the active hooks 105 of another different-type isomorphic connection and separation device (since the active hooks 105 of each different-type isomorphic connection and separation device are the same and the passive hooks 106 of each different-type isomorphic connection and separation device are the same, the active hooks 105 can also be said to be matched with the passive hooks 106, and it is described here that "the functions of the passive hooks 106 are matched with the active hooks 105 of another different-type isomorphic connection and separation device" is for convenience of understanding. To achieve the pivoting of the drive ring 101, a thin-walled bearing is mounted on the exterior of the drive ring 101. The inner wall of the bearing is matched with the driving ring 101 by adopting a matching method between the bearing and the shaft, and the outer wall of the bearing is matched with a bearing mounting base reserved on the base by adopting a matching method between the bearing and the bearing seat.
The fixed guide ring 103 is fixed on a bottom plate of the device, three factory-shaped sliding pin slot holes arranged at intervals of 120 degrees are used for being connected with the sliding pin 104, the other end of the sliding pin 104 penetrates through the coupling ring 102 and then is inserted into the factory-shaped sliding pin slot holes of the fixed guide ring 103, and when the sliding pin 104 moves in the slot, the coupling ring 102 is driven to move. The main function of the fixed guide ring 103 is to control the movement track of the slide pin 104 attached to the coupling ring 102, so as to control the coupling ring 102 to move according to a certain preset track. The track design of the sliding pin slot on the fixed guide ring 103 determines the motion rule of the coupling ring 102.
The slide pins 104 are inserted into the slide pin holes of the coupling ring 102, two ends of the slide pins 104 are exposed outside the holes to match with the L-shaped slide pin slot holes 109 on the driving ring 101 and the reversed-letter-shaped slide pin slot holes on the fixed guide ring 103, and three slide pins 104 are uniformly fixed in the coupling ring 102 around the shaft, so that the coupling ring 102 can rotate around the shaft and translate along the shaft along with the movement of the slide pins 104.
The bolt driving ring 107 is fixed on the driving ring 101, and the driving ring rotate around the shaft synchronously, and the outer sides of the driving ring and the driving ring are provided with similar Z-shaped guide grooves 111 at intervals of 120 degrees and used for being matched with positioning columns 113 on the inner wall of the bolt ring 108.
Four positioning bolts 112 uniformly distributed on the bolt ring 108 are respectively inserted into positioning pin holes formed on the top cover of the connecting and separating device, and the bolt ring 108 is restrained to move only along the shaft under the driving of the groove. The positioning column 113 at the inner side of the latch ring 108 is a cylindrical protrusion, the cylindrical protrusion is inserted into the guide groove 111 at the outer side of the latch driving ring 107, when the latch driving ring 107 moves, the groove on the latch driving ring forces the cylinder to move in the groove, and the movement rule is determined by the axial up-and-down track of the groove because the latch ring 108 can only move along the shaft.
The allosteric isomorphic connection and separation device provided by this embodiment can be connected to any surface of a standardized intelligent module decomposed from any satellite platform, and each standardized micro modular satellite connected with the allosteric connection and separation device of the invention can be connected, locked and unlocked and separated with another standardized micro modular satellite connected with the allosteric connection and separation device of this embodiment through the allosteric connection and separation device of this embodiment; that is, the same variant isomorphic connection and separation device of the present embodiment can realize butt joint, so that the same variant isomorphic connection and separation device of the present invention can realize butt joint at the child end and the mother end of the micro modular satellite, and because the structure of the child end and the mother end is the same, the butt joint of any two micro modular satellites can be performed without distinguishing the child end and the mother end, so that the child-mother butt joint, the child-child butt joint and the mother-mother butt joint are realized, and the butt joint reconfigurability and the expansibility among a plurality of micro modular satellites are increased.
The connection and separation performing assembly 1 of the isomorphic connection and separation apparatus of this embodiment has a plurality of working states, among which there are three basic states, i.e., a retracted state of the active hook 105 and the positioning latch 112, as shown in fig. 7; second, a transition state; third, the active hook 105 and the latch are in an extended state. As shown in fig. 7-12, the three basic operating states are switched by the coupling changes of the three ring members (the fixed guide ring 103, the coupling ring 102, the driving ring 101) and the sliding pin 104 and the two ring members (the latch driving ring 107, the latch ring 108) and the latch, and the different-form isomorphic connection and separation device of the embodiment can realize complex actuation in a small space by using a simple driving source, and realize the transition of a plurality of states of the connection and separation execution assembly 1. As shown in FIG. 3, the axial connection constraint force is provided by the cooperation of the driving ring 101, the coupling ring 102, the fixed guide ring 103 and the sliding pins 104, three evenly distributed sliding pins 104 are fixedly connected to the coupling ring 102, the inner ends of the sliding pins 104 are inserted into the factory-shaped sliding pin slot holes 110 of the fixed guide ring 103, the movement tracks of the sliding pin slots determine the movement tracks of the sliding pins 104 and the coupling ring 102, the outer ends of the sliding pins 104 are inserted into the L-shaped sliding pin slot holes 109 of the driving ring 101, when the driving ring 101 rotates around the shaft, the L-shaped sliding pin slot holes 109 on the driving ring 101 force the outer ends of the sliding pins 104 to move, and under the combined action of the factory-shaped sliding pin slot holes 110 and the L-shaped sliding pin slot holes 109, the movement laws of the sliding pins. The first operating state of the connection and disconnection performing assembly 1 is shown in fig. 7: the sliding pin 104 is locked by the right end of the L-shaped slot and the left end of the factory-shaped sliding pin slot hole 110, which is the initial state, i.e. the hook contraction state. The second operating state is shown in fig. 8: the L-shaped groove moves to the right, the horizontal groove section does not drive the sliding pin 104, so the sliding pin 104 and the coupling ring 102 are not moved, the driving ring 101 rotates independently, and the section is used for adjusting the relative phase of the coupling ring 102 and the driving ring 101 and preparing a passage for the next step of extending the coupling ring 102. The third operating state is shown in fig. 9: the driving ring 101 further rotates, the sliding pin 104 starts to move upwards under the coupling action of the two slots, and simultaneously drives the active hook 105 on the coupling ring 102 to extend outwards. The fourth operating state is shown in fig. 10: the driving ring 101 continues to rotate, the sliding pin 104 enters the oblique line section of the L-shaped sliding pin slot 109, and at this time, the axial speed of the sliding pin 104 and the coupling ring 102 is smaller than that in the third working state, so that the active hook 105 is dislocated to avoid the passive hook 106 in the process of extending. The fifth operating state is shown in fig. 11: coupling ring 102 extends outward to a maximum displacement. The coupling ring 102 is moved to its maximum displacement and then is reversed to a small extent to be clamped, thus having the "cross" section at the end of the slot of the dog-bone shaped slide pin. The "cross" is not horizontal, but is inclined downward, thereby bringing the slide pin 104 in reverse downward motion. A sixth working state: i.e. the maximum reverse movement of the sliding pin 104, the active hook 105 of the coupling ring 102 is clamped with the passive hook 106 of the driving ring 101 on the satellite to be connected. The first working state and the sixth working state can be locked through the self-locking performance of a motor brake or a worm gear. In fig. 15, pin driving ring 107 is fixed on the outer side of driving ring 101, driving ring 101 rotates to drive pin driving ring 107 to rotate synchronously, and the outer side of pin driving ring 107 is provided with a zigzag guide groove for guiding pin ring 108 to move. Four pins are provided on the latch ring 108 and are inserted into the respective latch holes 114 provided in the top cover, so that the latch ring 108 can move only along the shaft. The cylinder inside the pin ring 108 is inserted into the Z-shaped guide groove of the pin drive ring 107, when the pin drive ring 107 moves, the Z-shaped guide groove on the pin drive ring forces the cylinder to move relatively in the groove, and at the same time, the four pins on the pin ring 108 axially extend out of the surface of the top cover and extend into the four pin holes 114 on the top cover of the connection and separation mechanism of the connected satellite, so that the circumferential and radial relative movement of the female end and the male end of the butt joint is limited.
In summary, the isomorphic connection and separation device of the invention has the advantages that:
(1) the isomorphic connection and separation device for the variant bodies can realize the in-orbit connection and separation of a plurality of modular micro satellites, and is a non-fireless connection and separation device which has repeatable connection and separation, low impact of locking and releasing, large capture tolerance and flexible and extensible interfaces.
(2) The invention relates to a isomorphic connection and separation device for different bodies, which solves the key scientific problems of standardized butt joint interfaces between modular satellites and between a mechanical arm and the modular satellites related to in-orbit service technologies such as in-orbit assembly, in-orbit maintenance, in-orbit expansion scientific experiments and the like of a plurality of modular micro-nano satellites carried by a main satellite, the layout of the connection and separation device in the modular micro-miniature satellites, the solution measures of mechanical and electrical connection among the plurality of modular satellites, repeatable connection and separation and the like.
(3) The isomorphic connection and separation device for the variant mainly breaks through key technologies such as light structure design of a corresponding connection and separation execution assembly 1, high controllability design of a connection and separation mechanism, matching optimization of connection performance and separation performance, dynamic modeling and simulation analysis and the like.
Example two
The embodiment provides a separation system is connected to allosteric variant, including little modular satellite, be connected with embodiment one on little modular satellite at least one face the allosteric separation device that connects.
The heterogeneous connection and separation device provided by the invention can be arranged on a plurality of surfaces of the micro modular satellite of the heterogeneous connection and separation system according to the butt joint requirement, specifically, one side surface of the micro modular satellite can be connected with the top cover of the supporting component 3, or one surface of the intelligent satellite module can be directly arranged as the top cover of the supporting component 3.
The specific structure of the different-body isomorphic connection and separation device of the different-body isomorphic connection and separation system of the present embodiment is described in detail in the first embodiment, and is not described herein again. The integrated homogeneous coupling and decoupling system of the present embodiment has the same advantages as the integrated homogeneous coupling and decoupling system of the present embodiment and the advantages of the present invention, compared to the prior art, can be obtained by the embodiments in a whole view, and are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The isomorphic connection and separation device is characterized by comprising a driving assembly, a connection and separation executing assembly and a supporting assembly, wherein the driving assembly and the connection and separation executing assembly are supported by the supporting assembly, and the connection and separation executing assembly comprises a sliding pin, a fixed guide ring, a coupling ring, a driving ring, a plug pin driving ring and a plug pin ring which are sleeved from inside to outside in sequence;
a factory-shaped sliding pin slot which is approximately factory-shaped is formed in the annular wall of the fixed guide ring;
the coupling ring is sleeved on the outer peripheral surface of the fixed guide ring, a sliding pin hole is formed in the ring wall of the coupling ring, and an active clamping hook protruding outwards is arranged on the upper edge of the ring wall of the coupling ring;
the driving ring is sleeved outside the fixed guide ring, an L-shaped sliding pin groove hole which is approximately L-shaped is formed in the ring wall of the driving ring, a driven clamping hook which protrudes inwards is arranged on the upper portion of the ring wall of the driving ring, the tail end of the lower portion of the L-shaped sliding pin groove hole and the tail end of the lower portion of the factory-shaped sliding pin groove hole are arranged close to each other and flush with each other in a tightening state, and the height of the L-shaped sliding pin groove hole is approximately consistent with that of the factory-shaped sliding pin groove hole;
the sliding pin is fixed in the sliding pin hole of the coupling ring, the inner end of the sliding pin is arranged in the factory-shaped sliding pin slotted hole of the fixed guide ring, the outer end of the sliding pin is arranged in the L-shaped sliding pin slotted hole of the driving ring, and two ends of the sliding pin synchronously move in the factory-shaped sliding pin slotted hole and the L-shaped sliding pin slotted hole; the bolt driving ring is sleeved on the periphery of the upper part of the driving ring and synchronously moves along with the driving ring;
the bolt ring is sleeved on the bolt driving ring, the bolt driving ring drives the bolt ring to move along the axial direction, and a positioning bolt is arranged at the upper part of the bolt ring;
the driving assembly is connected with the driving ring and drives the driving ring to rotate;
3 factory-shaped sliding pin slotted holes are uniformly distributed on the fixed guide ring along the circumferential direction of the fixed guide ring, 3L-shaped sliding pin slotted holes are uniformly distributed on the drive ring along the circumferential direction of the drive ring, 3 sliding pin holes are uniformly distributed on the coupling ring along the circumferential direction of the coupling ring, and the factory-shaped sliding pin slotted holes, the L-shaped sliding pin slotted holes and the sliding pin holes are respectively arranged in a one-to-one correspondence manner; the device comprises three sliding pins, the three sliding pins and the sliding pin holes are arranged in a one-to-one correspondence mode, and two ends of each sliding pin are respectively arranged in L-shaped sliding pin slotted holes and factory-shaped sliding pin slotted holes on two sides of the corresponding sliding pin hole.
2. The allosteric connection separation device of claim 1, characterized in that the support assembly comprises a top cover, a bottom plate and a column supported between the top cover and the bottom plate;
the driving assembly and the connection and separation executing assembly are arranged between the top cover and the bottom plate.
3. The allosteric connection separation device according to claim 2, characterized in that the top cover is provided with a bolt hole adapted to the positioning bolt.
4. The allosteric connection separation device according to claim 2, characterized in that the bolt ring has 4 positioning bolts uniformly distributed along its circumference, and the top cover has 8 bolt holes uniformly distributed thereon, wherein the positioning bolts are arranged in the bolt holes at intervals, and at most one positioning bolt is arranged in each bolt hole.
5. The allosteric connection and separation device according to claim 1, characterized in that the outer circumference of the ring wall of the latch driving ring is provided with a guiding groove, and the guiding groove comprises a vertical section, a circumferential horizontal section connected to the lower end of the vertical section, and a radial horizontal section connected to one end of the circumferential horizontal section far away from the vertical section;
a positioning column is arranged on the inner wall of the ring wall of the pin ring and inserted into the guide groove; the bolt driving ring rotates, and the positioning column moves relative to the guide groove and drives the bolt ring to move axially.
6. The isomorphic connection and separation device of claim 5 wherein the guide grooves comprise 3 evenly distributed along the circumference of the latch driving ring, the positioning posts comprise 3 evenly distributed along the circumference of the latch driving ring, and the guide grooves and the positioning posts are arranged in one-to-one correspondence.
7. The allosteric connection and separation device according to claim 2, characterized in that the bottom outside of the drive ring is provided with a thin-walled bearing, which is mounted on a bearing block on the bottom plate.
8. The allosteric connection separation device according to any one of claims 1-7, characterized in that the coupling ring comprises an upper ring and a lower ring of an integrated structure, the inner walls of the upper ring and the lower ring are flush, and the thickness of the ring wall of the upper ring is smaller than the thickness of the ring wall of the lower ring; the active hook is arranged on the outer edge of the annular wall of the upper ring, and the sliding pin hole is arranged on the annular wall of the lower ring in a penetrating mode.
9. A homomorphic connection and disconnection system comprising at least one micro modular satellite having at least one homomorphic connection and disconnection apparatus according to any of claims 1-8 secured thereto.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760858B (en) * | 2018-12-18 | 2022-08-05 | 上海航天控制技术研究所 | Two-degree-of-freedom decoupling space adhering claw transmission device |
| EP3705410A1 (en) * | 2019-03-08 | 2020-09-09 | Space Applications Services NV/SA | Device and method for androgynous coupling as well as use |
| CN110316404B (en) * | 2019-07-04 | 2022-07-26 | 西北工业大学 | A self-directed large fault-tolerant isomorphic interface for spacecraft and its use method |
| CN111071482B (en) * | 2019-11-27 | 2021-04-02 | 西北工业大学 | Standardized and modularized cube star unit and method |
| CN113488811B (en) * | 2021-06-25 | 2022-03-29 | 中航光电科技股份有限公司 | Self-coupling all-neutral butt joint device and connector |
| CN113525731B (en) * | 2021-07-21 | 2023-02-28 | 中国人民解放军战略支援部队航天工程大学 | Spacecraft |
| CN113770741A (en) * | 2021-09-29 | 2021-12-10 | 安捷电维智能科技研究院(广州)有限公司 | Isomorphic butt joint device |
| CN113998153A (en) * | 2021-11-17 | 2022-02-01 | 南京理工大学 | A universal docking device for cube satellites |
| CN114516430B (en) * | 2022-01-25 | 2023-07-25 | 上海卫星工程研究所 | Isomorphic on-orbit docking device suitable for maintaining and upgrading satellite |
| CN114623131B (en) * | 2022-03-02 | 2024-05-03 | 西北工业大学 | A docking device |
| CN114688129B (en) * | 2022-03-03 | 2024-05-07 | 西北工业大学 | An automatic connector |
| CN114800603B (en) * | 2022-04-20 | 2023-09-05 | 中国人民解放军国防科技大学 | chemical bond-like robotic arm |
| CN115056999B (en) * | 2022-06-10 | 2025-07-15 | 杭州航天电子技术有限公司 | A gear-driven graded locking mechanism |
| CN115352658A (en) * | 2022-06-27 | 2022-11-18 | 北京航空航天大学 | Isomorphic docking mechanism with pretightening force feedback |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6354540B1 (en) * | 1998-09-29 | 2002-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Androgynous, reconfigurable closed loop feedback controlled low impact docking system with load sensing electromagnetic capture ring |
| CN102923318B (en) * | 2012-11-26 | 2015-05-27 | 上海宇航系统工程研究所 | Weak impact type butting system for androgynous stiffness damping closed loop feedback control |
| DE102014104695A1 (en) * | 2014-04-02 | 2015-10-08 | Rheinisch-Westfälische Technische Hochschule (Rwth) Aachen | Androgyne coupling device for connecting modules and corresponding modules |
| CN105366077B (en) * | 2015-11-27 | 2017-07-28 | 中国空间技术研究院 | A kind of locking releasing device docked suitable for satellites coupling ring |
| CN107738277B (en) * | 2017-11-22 | 2020-05-19 | 中国人民解放军战略支援部队航天工程大学 | A space service robot and its assembly method and disassembly method |
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