CN203806151U - Modularized jointing and serving unit for miniaturized spacecraft - Google Patents

Abstract

The utility model provides a modular docking and service unit of a miniature spacecraft, which comprises a separate capture head, a locking chuck, a multi-rod telescopic arm, an internal meshing gear, a rotating chassis and a base, and the separate capture head There are guide taper holes, docking rods, data communication contacts and power contacts, the base is provided with positioning holes, the separate capture head is connected to the rotating chassis through the multi-rod telescopic arm, the The separate capture head achieves locking and unlocking through the cooperation of the locking chuck, multi-rod telescopic arm, internal gear, rotating chassis and base. It is characterized by universal, error-correcting, repeatable The structure used and the space docking mechanism with large-scale, long-distance, multi-attitude capture and docking capabilities.

Description

Modular docking and service unit for micro-spacecraft

technical field

The utility model relates to a space docking mechanism suitable for miniature spacecraft, in particular to a docking and service unit for small and micro spacecraft based on the theory of modularization. the

Background technique

The spacecraft docking device is a device used to realize the docking, connection and separation between two orbiting spacecraft. Through this device, the mechanical, electrical, and hydraulic connections of the two spacecraft can be realized. After the two are docked to form an orbital complex, the transfer of personnel and materials can be realized. The docking mechanisms of modern spacecraft can be divided into two categories: docking rod-receiving cone type and androgynous type. the

Docking rod-receiving cone type: In space rendezvous, one spacecraft actively approaches another spacecraft for docking. The former is active in docking, and its docking device adopts the form of a "pin" with a docking rod in the center; the latter is in the It is passive in docking, and its docking device adopts the form of "taper hole". When docking, the docking rod makes the docking devices of the two spacecraft precisely align, the "pin" is inserted into the "taper hole", and the locking mechanism is automatically locked to complete the docking. the

Hermaphroditic type: the docking device is heterogeneous (can be used as both a screw and a nut), distributed along the periphery of the docking port, and all orientation and power components are installed around the hatch, so as to ensure the center of the docking device become the passageway space. Compared with the docking rod-receiving cone mechanism, the spacecraft using the hermaphroditic mechanism can be used as both the active party and the passive party in the docking mission, which is especially important for difficult space operations such as space rescue. the

With the rapid progress of space science and technology, tiny spacecraft such as "cube star", "chip satellite" and "smart dust" have gradually become research hotspots. In the future, spacecraft are developing towards the trend of miniaturization. The problem of the design of the docking mechanism of the device is also gradually highlighted. At present, traditional space docking missions are generally aimed at manned spacecraft, and the docking devices used in the mission are large in scale and complex in structure, which cannot meet the docking needs of tiny spacecraft. Therefore, it is a difficult problem to be solved urgently to design a kind of universal docking mechanism for micro-spacecraft. the

Contents of the invention

The purpose of the utility model is to provide a space docking mechanism with a general, tolerance and error correction, reusable structure and large-scale, long-distance, multi-posture capture and docking capabilities. the

In order to achieve the above object, the technical solution of the utility model is achieved in this way: the modular docking and service unit of the utility model miniature spacecraft includes a separate capture head, a locking chuck, a multi-rod telescopic arm, an internal meshing gear, Rotate the chassis and base, the separate capture head is provided with guide cones, docking rods, data communication contacts and power contacts, the base is provided with positioning holes, the separate capture head and the rotating The chassis is connected through the multi-rod telescopic arm, and the detachable capture head is locked and unlocked through the mutual cooperation of the locking chuck, multi-rod telescopic arm, internal gear, rotating chassis and base. the

Furthermore, the docking rods are distributed centrally symmetrically on the separate capture head. the

Furthermore, the contacts of the data communication contacts and the power contacts are metal spring contacts. the

Furthermore, the lock chuck is provided with fastening teeth symmetrically arranged in the center. the

Furthermore, the positioning holes on the base correspond to the position and quantity distribution of the docking rods. the

Furthermore, the multi-rod telescopic arm is composed of two rigid rods and a joint, and joints are left at both ends. the

The docking mechanism provided by the present invention can adapt to the very diverse space exploration tasks faced by micro-spacecraft, that is, it also has universal and tolerant Error-correcting, reusable structures and large-range, long-range, multi-attitude capture and docking capabilities. the

Description of drawings

Figure 1: Schematic diagram of the overall separate structure of the utility model. the

Figure 2: Schematic diagram of the structure of the separation type capture head of the utility model. the

Figure 3: Schematic diagram of the structure of the rotating chassis of the utility model. the

Fig. 4: Schematic diagram of the mutual locking of two separate capture heads with the structure of the utility model. the

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings. the

In conjunction with the accompanying drawings given in the description of the accompanying drawings, the modular docking and service unit of the miniature spacecraft of the present invention includes a separate capture head (1), a locking chuck (2), a multi-rod telescopic arm (3), internal meshing gear (4), rotating chassis (5) and base (6), the separate capture head (1) is provided with a guide taper hole (7), a docking rod (8), a data communication contact (9 ) and power contacts (10), the base (6) is provided with a positioning hole (11), the separate capture head (1) and the rotating chassis (5) pass through the multi-rod telescopic arm (3 ) connection, the separate capture head (1) is connected to each other through the locking chuck (2), multi-rod telescopic arm (3), internal meshing gear (4), rotating chassis (5) and base (6) Cooperate to realize tight locking and unlocking, the docking rods (8) are symmetrically distributed on the center of the separate capture head (1), and the contacts of the data communication contact (9) and the power contact (10) are a A metal spring contact, the locking chuck (2) is provided with fastening teeth symmetrically arranged in the center, the positioning hole (11) on the base and the position and quantity of the docking rod (8) Corresponding to the distribution, the multi-rod telescopic arm (3) is composed of two rigid rods and a joint, and joints are left at both ends. the

Assuming that the two space robots have completed precise approach, and the docking unit is within the allowable working range, the docking unit starts to work at this time. The main steps include capture, locking, connection, unlocking, separation, etc. The specific process is described in order As follows (hereinafter referred to as the docking unit of the present invention):

1. The docking unit stretches its own multi-rod telescopic arm (3) to separate the detachable capture head (1) from the base (6);

2. According to the information obtained by other sensors, coordinately control the joint motor of the multi-rod telescopic arm (3), and at the same time adjust the phase of the separate capture head (1) by rotating the chassis (5) to approach the separate capture head of the other docking unit;

3. When the three docking rods (8) of the detached capture head (1) enter into the guide cone hole (7) of the other capture head, the locking chuck (2) driven by the "worm gear-worm" mechanism locks the other party for docking The three docking rods (8) that the unit extends into, at this time the docking mechanism is locked;

4. If the task only requires the transmission of data or electric energy, it can be completed through a series of connected contacts (9) (10) on the separated capture head that has been docked tightly (skip to step 7);

5. If the two space robots still need to move after docking, it is necessary to shrink the multi-rod telescopic arm (3), tighten the separate capture head (1) to the base (6), and rotate the chassis (5) to restore the phase And adjust so that the locked docking rod (8) can be aligned with the positioning hole (11) on the base;

6. The multi-rod telescopic arm (3) shrinks further, so that the three docking rods (8) of the opponent are inserted into the three positioning holes (11) of the base;

7. After completing the scheduled operation tasks (electrical transmission, overall movement), drive the worm to unlock the locking chuck (2);

8. By extending the multi-rod telescopic arm (3) again, the two docking units or space robots are separated to a safe distance;

9. Shrink the multi-rod telescopic arm (3), and reset the detachable capture head (1). the

Among them, steps 1 to 6 describe the specific flow of operations such as capture, locking, and connection, and steps 7, 8 and 9 illustrate the unlocking and separation process after the predetermined task is completed. the

Claims (6)

1. the modularization of a minitype spacecraft is docked and service unit, it is characterized in that: comprise that separation type catches head, tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal, described separation type is caught and on head, is provided with guiding taper hole, to extension bar, data communication contact and power contact head, described pedestal is provided with knock hole, described separation type is caught head and is connected by described many bars telescopic boom with described swivel base, described separation type is caught head by described tight pintle hook lock dish, many bars telescopic boom, internal gear, swivel base and pedestal cooperatively interact and realize tight lock and release.

2. the modularization of minitype spacecraft according to claim 1 docking and service unit, is characterized in that: described that extension bar is caught to Tou Shang center in described separation type is symmetrical.

3. the docking of the modularization of minitype spacecraft according to claim 2 and service unit, is characterized in that: the contact of described data communication contact and power contact head is a kind of metal spring contact.

4. the docking of the modularization of minitype spacecraft according to claim 3 and service unit, is characterized in that: described tight pintle hook lock dish is provided with the fastening tooth that Central Symmetry is arranged.

5. the docking of the modularization of minitype spacecraft according to claim 4 and service unit, is characterized in that: the knock hole on described pedestal is with described corresponding to the position of extension bar and distributed number.

6. according to modularization docking and the service unit of the minitype spacecraft described in claim 1 or 2 or 3 or 4 or 5, it is characterized in that: described many bars telescopic boom is comprised of two rigid rods and a joint, and joint is left at two ends.