CN113998153A - A universal docking device for cube satellites - Google Patents
A universal docking device for cube satellites Download PDFInfo
- Publication number
- CN113998153A CN113998153A CN202111359153.1A CN202111359153A CN113998153A CN 113998153 A CN113998153 A CN 113998153A CN 202111359153 A CN202111359153 A CN 202111359153A CN 113998153 A CN113998153 A CN 113998153A
- Authority
- CN
- China
- Prior art keywords
- docking device
- rotating piece
- cone
- plate
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000003780 insertion Methods 0.000 claims abstract 2
- 230000037431 insertion Effects 0.000 claims abstract 2
- 230000009467 reduction Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000011148 porous material Substances 0.000 description 2
- 108091092878 Microsatellite Proteins 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005486 microgravity Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B64G1/646—Docking or rendezvous systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Plates (AREA)
Abstract
本发明公开一种立方体卫星通用对接装置。在需要对接的两个卫星上均安装对接装置，对接装置包括安装有捕获锥的引导孔板，用于锁紧对侧卫星上的捕获锥的锁紧机构和动力机构；引导孔板上设有用于引导对侧捕获锥插入的引导孔，所述动力机构接收到捕获锥插入的信号后，驱动锁紧机构锁紧捕获锥，当动力机构接收到释放信号后，驱动锁紧机构释放捕获锥。本发明的对接装置，可以满足立方体卫星通过模块化单元实现重新配置，增加其容错性并创建多部分模块化空间系统的要求；结构简单，模块化设计，可直接安装于立方体卫星，不影响卫星上其余机构；零部件数目少，制造改进方便，制造装配和维修都比较容易；在设计完成之后就可制造出产品，易于推广。
The invention discloses a universal docking device for a cube satellite. A docking device is installed on the two satellites to be docked, and the docking device includes a guide orifice plate with a capture cone, a locking mechanism and a power mechanism for locking the capture cone on the opposite satellite; the guide orifice plate is provided with a In the guide hole for guiding the insertion of the opposite catching cone, the power mechanism drives the locking mechanism to lock the catching cone after receiving the signal of the catching cone being inserted, and drives the locking mechanism to release the catching cone when the power mechanism receives the release signal. The docking device of the invention can meet the requirements of reconfiguration of the cube satellite through modular units, increase its fault tolerance and create a multi-part modular space system; the structure is simple and the modular design can be directly installed on the cube satellite without affecting the satellite. The number of parts is small, the manufacturing and improvement are convenient, and the manufacturing, assembly and maintenance are relatively easy; after the design is completed, the product can be manufactured, which is easy to promote.
Description
Technical Field
The invention belongs to the field of aerospace, and particularly relates to a universal butt joint device for a cubic satellite.
Background
Today, despite the advantages of cubic satellites in terms of simplicity and cost, they are still limited by on-board resources and cannot be used for complex and high-performance applications. The docking mechanism will be replaced with a small satellite component through a modular unit, enabling the ability to reconfigure, self-expand and retrofit, increasing its fault tolerance and creating a scenario for a multi-part modular space system. To date, only a few other connection systems for small spacecraft have been developed and are typically based on a probe-socket configuration. For example, Autonomous Microsatellite Docking System (AMDS) developed by michigan aerospace which developed a retractable probe that was captured by a drogue and then retracted to allow the satellites to complete docking after a series of mechanical latch-hold connections, the AMDS was tested in a microgravity environment.
However, the existing docking device is not universal enough, mostly consists of a male head and a female head, the type of the docking device carried by a target needs to be considered when performing a docking task, and the docking device has a complex structure, is inconvenient to install, and is not designed in a modularized manner.
Disclosure of Invention
The invention aims to provide a universal butt joint device for a cubic satellite, which can be directly arranged on the cubic satellite through the integral structure and the modularized design of a taper hole without influencing other mechanisms on the satellite.
The technical solution for realizing the purpose of the invention is as follows: a universal butt joint device for a cubic satellite is characterized in that the butt joint device is arranged on two satellites needing butt joint, and comprises a guide hole plate provided with a capturing cone, a locking mechanism used for locking the capturing cone on the opposite satellite and a power mechanism;
the guide hole plate is provided with a guide hole for guiding the opposite capturing cone to be inserted, the power mechanism receives a signal for inserting the capturing cone and drives the locking mechanism to lock the capturing cone, and when the power mechanism receives a release signal, the locking mechanism is driven to release the capturing cone.
The device further comprises a shell and a bottom plate, wherein lugs are arranged on two opposite sides of the guide hole plate, the shell is fixedly connected with the guide hole plate through the lugs, the lower part of the shell is fixedly connected with the bottom plate, and the butting device is installed on the cube satellite through the bottom plate.
Further, the driving mechanism comprises a motor and a screw rod,
the locking mechanism comprises a sliding shaft pin, an upper rotating piece and a lower rotating piece which rotate reversely, and the upper rotating piece and the lower rotating piece are provided with arc-shaped notches for the sliding shaft pin to pass through and tapered notches for a capture cone to pass through;
the rotation of the motor is converted into the horizontal reciprocating motion of the sliding shaft pin through the screw rod, the horizontal motion of the sliding shaft pin is converted into the reverse rotation of the upper rotating sheet and the lower rotating sheet through the arc-shaped notch, and when the upper rotating sheet and the lower rotating sheet rotate reversely, the capturing cone is locked and released through the reduction notch.
Further, the driving mechanism further comprises a coupler, and the motor is connected with the screw rod through the coupler.
Furthermore, a waist-shaped guide groove is formed in the bottom plate, the sliding pin shaft is of a columnar structure with a thick middle part and thin two ends, the middle part of the sliding pin shaft is connected with the screw rod through a threaded hole, the upper end thin rod slides in the arc-shaped groove opening of the rotating piece, and the lower end thin rod slides in the guide groove in the bottom plate.
Further, still including setting up the lead screw support at the bottom plate, be equipped with the hole on the lead screw support, the terminal optical axis of lead screw and the hole clearance fit on the lead screw support provide the support for the lead screw.
Further comprises a main shaft and a main shaft bracket,
the spindle support is arranged on the bottom plate, and the spindle is arranged on the spindle support and in interference fit with the spindle support.
Further, the upper rotating piece and the lower rotating piece are arranged on the spindle, and bearings in clearance fit with the spindle are arranged between the upper rotating piece and the lower rotating piece, between the upper rotating piece and the guide pore plate, and between the lower rotating piece and the spindle support, and are used for fixing the distance between the upper rotating piece and the lower rotating piece, between the upper rotating piece and the guide pore plate, and between the lower rotating piece and the spindle support.
Furthermore, a connecting line between one end of the arc-shaped notches of the upper rotating sheet and the lower rotating sheet, which is close to the center of the rotating sheet, and the large end of the reduction notch passes through the circle center of the rotating sheet, and a connecting line between the other end of the arc-shaped notch and the other end of the reduction notch passes through the circle center of the rotating sheet.
Furthermore, when the mechanism is in an unlocking state, the upper end of the sliding shaft pin is positioned at the center of one end of the arc-shaped notch close to the center of the rotating sheet, the center of the larger-diameter end of the two gradually-reduced notches is opposite to the center of the guide hole, the diameter of the larger end is larger than the maximum diameter of the capturing cone, and the capturing cone smoothly passes through the two gradually-reduced notches;
when the mechanism is in a locking state, when the upper end of the sliding shaft pin is positioned at the center of one end of the arc-shaped groove far away from the center of the rotating sheet, the center of the smaller-diameter end of the two reducing notches is opposite to the center of the guide hole, and the diameter of the smaller-diameter end of the two reducing notches is smaller than the diameter of the neck of the capturing cone and is used for clamping the capturing cone.
Compared with the prior art, the invention has the remarkable advantages that:
the docking device can meet the requirements that a cube satellite is reconfigured through a modular unit, the fault tolerance of the cube satellite is increased, and a multi-part modular space system is created;
the structure is simple, the modularized design is realized, the device can be directly arranged on a cubic satellite, and other mechanisms on the satellite are not influenced;
the number of parts is small, the manufacture and the improvement are convenient, and the manufacture, the assembly and the maintenance are easy;
the product can be manufactured after the design is finished, and the method is easy to popularize.
Drawings
FIG. 1 is a schematic structural diagram of a universal docking device for a cubic satellite according to the present invention;
fig. 2 is a schematic structural diagram of a bottom plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 3 is a schematic structural diagram of a sliding shaft pin in the universal docking device for a cubic satellite according to the present invention;
FIG. 4 is a schematic structural diagram of a guide hole plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 5 is a schematic structural diagram of a lower rotating plate in the universal docking device for a cubic satellite according to the present invention;
FIG. 6 is a three-dimensional view of the locking process of the universal docking device for cubic satellites according to the present invention;
fig. 7 is a top view of the locking process of the universal docking device for cubic satellites according to the present invention.
Fig. 8 is an exploded view of the universal docking device for cubic satellites according to the present invention.
Description of reference numerals:
1-base plate, 1-1-motor mounting hole, 1-2-spindle bracket mounting hole, 1-3-sliding shaft pin guiding groove, 1-4-screw rod bracket mounting hole, 1-5-docking mechanism mounting hole, 2-sliding shaft pin, 3-screw rod, 4-coupler, 5-motor, 6-lower rotary sheet, 6-1-tapered notch, 6-2-arc notch, 7-upper rotary sheet, 8-guide orifice plate, 8-1-guide hole, 8-2-capture cone mounting hole, 9-spindle, 10-capture cone, 11-spindle bracket; 12-shell, 13-screw rod support.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in figure 1, the structure of the universal butt joint device for the cubic satellite comprises a bottom plate 1, the bottom plate is in a structure shown in figure 2, and a motor mounting hole 1-1, a main shaft bracket mounting hole 1-2, a guide groove 1-3, a screw rod bracket mounting hole 1-4 and a butt joint mechanism mounting hole 1-5 are formed in the bottom plate. The bottom plate 1 is connected with the cubic satellite body through the mounting holes 1-5 of the butting mechanism.
As shown in fig. 3, the sliding shaft pin 2 is a columnar structure with thick middle and thin two ends, a threaded hole in the middle part of the sliding shaft pin is connected with the screw rod 3, and the sliding shaft pin can translate along the axis of the screw rod when the screw rod 3 rotates; meanwhile, the upper thin rod slides in the arc-shaped notches 6-2 on the rotating pieces 6 and 7, and the lower thin rod slides in the guide grooves 1-3 on the bottom plate 1, so that the translation of the sliding shaft pin 2 can be converted into the rotary motion of the rotating pieces 6 and 7 around the main shaft 9.
The motor 5 is arranged on the bottom plate 1 through a fixing piece and a motor mounting hole 1-1, the output shaft of the motor is connected with the screw rod 3 through a coupler 4, and the sliding shaft pin 2 serves as a nut and moves on the screw rod 3. The other end of the screw rod 3 is provided with a section of optical axis which is in clearance fit with a hole on the screw rod bracket 13 to support the screw rod.
As shown in FIG. 4, the guide hole plate 8 mainly has three main structures, i.e., a guide hole 8-1, a catch cone mounting hole 8-2 and a spindle mounting hole 8-3. The end of the capture cone 10 is threadedly secured within the capture cone mounting hole 8-2. The main shaft 9 is connected with the guide hole plate 8 through the mounting hole 8-3, and a bearing, the upper rotating plate 7, the bearing, the lower rotating plate 6, the bearing, the main shaft 9 and the bearing are in interference fit, and the distance between the guide hole plate 8, the rotating plates 6 and 7 and the main shaft support 11 can be fixed through the bearing.
During assembly, the guide hole plate, the main shaft, the rotating sheet and the bearing are sequentially assembled, and due to interference fit of the main shaft and the bearing, the parts can be integrally formed and then are integrally installed on the main shaft bracket 11. The main shaft bracket 11 is connected with the bottom plate through the main shaft bracket mounting hole 1-2, and the hole at the top of the main shaft bracket is in interference fit with the main shaft 9. Because the guide orifice plate 8 and the main shaft 9 are not in interference fit and can rotate relatively, in order to control the rotation of the guide orifice plate, two step structures are arranged on the guide orifice plate and are positioned at the intersection point of the central connecting line of the guide hole 8-1 and the capture cone mounting hole 8-2 and the outer contour of the guide orifice plate. The step mechanism is matched with a corresponding notch on the shell 12, and can limit the rotation of the guide orifice plate, so that the upper guide hole 8-1 can correspond to the centers of the two ends of the tapered notches 6-1 on the rotating sheets 6 and 7 in two locking and unlocking states.
The surface of the housing 12 is blackened and frosted to reduce the impact on the vision camera.
As shown in figure 5, the rotary plate is provided with two main structures of a reducing notch 6-1 and an arc notch 6-2, and the centers of the two ends of the reducing notch and the center connecting line of the two ends of the arc notch pass through the center of the rotary plate. Taking the lower rotating plate shown in fig. 6 as an example, when the upper end of the sliding shaft pin is located at the center of one end of the arc-shaped groove 6-2 close to the center of the rotating plate, the center of the large end of the tapered notch 6-1 is opposite to the center of the guide hole 8-1, and the unlocking state is achieved at this time; when the upper end of the sliding shaft pin 2 moves to one end of the arc-shaped notch 6-2 far away from the center, the small end center of the reducing notch 6-1 is opposite to the center of the guide hole 8-1, and the locking state is realized.
The shell 12 encloses all components and is fixed on the bottom plate 1 through screws, and the surface of the shell 12 is subjected to blackening and frosting treatment so as to reduce the influence on the shooting effect of the visual camera.
As shown in fig. 6-8, the working principle of the present invention is: the mechanism is initially in an unlocked state, the center of the end with the larger diameter in the tapered notch 6-1 is opposite to the center of the guide hole 8-1, and the sliding shaft pin is positioned at one end, close to the center of the mechanism, in the arc-shaped groove. When the cubic satellite enters the docking range, the capturing cone 10 successfully enters a corresponding guide hole 8-1 on the target satellite docking mechanism through the guide hole 8-1; when the capturing cone 10 reaches a preset entering depth, a locking process is triggered to trigger a photoelectric switch arranged at the depth, so that a motor 5 drives a screw rod 3 arranged on a motor shaft and drives a sliding shaft pin 2 to translate outwards, the rotary motion output by the motor is converted into the linear motion of the sliding shaft pin 2, the upper end of the sliding shaft pin 2 slides in arc-shaped grooves 6-2 of rotating sheets 6 and 7, the linear motion is converted into rotary motion, tapered notches 6-1 on two reverse rotating sheets 6 and 7 are closed, namely the center of one end with a smaller diameter in the tapered notch 6-1 is opposite to the center of a guide hole 8-1, and the two notches with smaller radii form a small hole, the diameter of the small hole is smaller than that of the capturing cone 10 at the position, and the capturing cone is tightly clamped.
When the cube satellites which need to be butted together are disassembled, firstly, a separation signal is sent, a motor 5 is controlled to rotate reversely, a screw rod 3 arranged on a motor shaft is driven to rotate reversely, a sliding shaft pin 2 is driven to translate inwards, the upper end of the sliding shaft pin 2 slides in an arc-shaped groove 6-2 of each rotating sheet 6 and 7, linear motion is converted into rotary motion, tapered notches 6-1 on the two reverse rotating sheets 6 and 7 are opened, namely, the center of one end with a larger diameter on the tapered notch 6-1 is opposite to the center of a guide hole 8-1, the two notches with larger radius form a large hole, the diameter of the large hole is larger than the largest diameter of a capture cone 10, and the capture cone can pass through and is matched with a propulsion system to separate the two satellites.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111359153.1A CN113998153A (en) | 2021-11-17 | 2021-11-17 | A universal docking device for cube satellites |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111359153.1A CN113998153A (en) | 2021-11-17 | 2021-11-17 | A universal docking device for cube satellites |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113998153A true CN113998153A (en) | 2022-02-01 |
Family
ID=79929264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111359153.1A Pending CN113998153A (en) | 2021-11-17 | 2021-11-17 | A universal docking device for cube satellites |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113998153A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379822A (en) * | 2022-03-22 | 2022-04-22 | 中国人民解放军战略支援部队航天工程大学 | Circumferential and axial double-locking mechanism for multi-body allosteric satellite |
| CN117346606A (en) * | 2023-11-16 | 2024-01-05 | 北京箭元科技有限责任公司 | Pneumatic unlocking device for arrow separation system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7815149B1 (en) * | 2005-04-01 | 2010-10-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic capture docking mechanism |
| CN102152860A (en) * | 2010-11-25 | 2011-08-17 | 西北工业大学 | Mechatronic universal butt joint device |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN108037576A (en) * | 2017-12-22 | 2018-05-15 | 中国科学院西安光学精密机械研究所 | A accurate concatenation mechanism of allosteric awl rod type for space concatenation speculum |
| CN108609205A (en) * | 2018-05-14 | 2018-10-02 | 北京航空航天大学 | Homologous connects separator and system |
-
2021
- 2021-11-17 CN CN202111359153.1A patent/CN113998153A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7815149B1 (en) * | 2005-04-01 | 2010-10-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic capture docking mechanism |
| CN102152860A (en) * | 2010-11-25 | 2011-08-17 | 西北工业大学 | Mechatronic universal butt joint device |
| CN104590591A (en) * | 2015-01-08 | 2015-05-06 | 中北大学 | Novel on-orbit capture and locking mechanism |
| CN108037576A (en) * | 2017-12-22 | 2018-05-15 | 中国科学院西安光学精密机械研究所 | A accurate concatenation mechanism of allosteric awl rod type for space concatenation speculum |
| CN108609205A (en) * | 2018-05-14 | 2018-10-02 | 北京航空航天大学 | Homologous connects separator and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379822A (en) * | 2022-03-22 | 2022-04-22 | 中国人民解放军战略支援部队航天工程大学 | Circumferential and axial double-locking mechanism for multi-body allosteric satellite |
| CN117346606A (en) * | 2023-11-16 | 2024-01-05 | 北京箭元科技有限责任公司 | Pneumatic unlocking device for arrow separation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113998153A (en) | A universal docking device for cube satellites | |
| US4391423A (en) | Satellite retrieval system | |
| US9751641B2 (en) | Automated index pin locking apparatus | |
| CN108527350B (en) | A cube-shaped modular reconfigurable robotic cell and robot | |
| CN103625656A (en) | Small-size spacecraft butt-joint mechanism | |
| CN103331759A (en) | Large-allowance capturing mechanism for end effector of spatial large manipulator | |
| CN107054699B (en) | A space load docking locking interface device | |
| CN108609205A (en) | Homologous connects separator and system | |
| CN110316404B (en) | A self-directed large fault-tolerant isomorphic interface for spacecraft and its use method | |
| CN110466750A (en) | A kind of Portable vertical landing scouting monitoring unmanned plane | |
| CN109050991A (en) | Spacecraft radial locking-type capture lock and its working method | |
| CN111541093B (en) | A space on-orbit replaceable module electromechanical and thermal integrated interface device | |
| WO2017132983A1 (en) | Transmission and clutch device for electric chassis vehicle, and electric chassis vehicle | |
| CN109774984A (en) | A docking device that can continuously capture and dock objects of multiple specifications | |
| CN109018333B (en) | Tilting device and tilting rotor helicopter | |
| US20240002080A1 (en) | Unmanned aerial vehicle parking device | |
| EP4238717A1 (en) | Universal fixture, robot, and unlocking system | |
| CN115520372B (en) | Electric servo rotary steering engine integrated with unlocking mechanism | |
| CN113148244B (en) | On-orbit assembling and butting mechanism and method for spacecraft group | |
| CN108037576B (en) | Heterogeneous isomorphic taper rod type precise splicing mechanism for space spliced reflector | |
| CN119058943B (en) | Locking and unlocking mechanism for synchronously unlocking multiple wing rudders through single locking | |
| CN112223340A (en) | Multi-claw grabbing mechanism suitable for self-reconfiguration robot | |
| CN113353235A (en) | Mechanism capable of realizing locking and separation between combined aircrafts and working method | |
| CN112124639A (en) | Screw nut clamping type docking mechanism and working method thereof | |
| US10370127B1 (en) | Apparatus for aligning and connecting signal connectors on two different bodies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220201 |