A smart on-track electro-hydraulic connection and docking device and method

Abstract

The present invention provides a smart on-orbit electro-hydraulic docking method, comprising an active end and a passive end; the passive end is a passive cavity structure, and the active end and the passive end have a universal interface, serving as a repeatable connection interface between the payload module and the aircraft, supporting on-orbit functional reconstruction of the aircraft; after the robotic arm provides initial docking conditions, the capture connection is completed according to the process of coarse correction-fine correction-disconnector plugging and forming an assembly; when separating, the separation is achieved according to the reverse process, that is, the mechanism unlocks, the disconnector is disconnected, and the assembly is separated in this order, and the active end and the passive end are subsequently transferred by the robotic arm. The present invention provides a smart on-orbit electro-hydraulic docking method, which can provide the aircraft with sufficient connection force and good connection stiffness during the locking stage, and has the characteristics of reliable connection; it also has the characteristics of high repeatability, simple and reliable structure, and lightweight.

Description

Technical Field

[0001] The present invention relates to a smart on-track electro-hydraulic conduction docking mechanism, a docking device and a method, and in particular to a small-sized, lightweight, on-track reliable docking mechanism. Background Art

[0002] With the rapid development of aerospace technology in recent years, humanity's demand for space exploration and development continues to grow. On-orbit electro-hydraulic refueling technology is a crucial means of enhancing the on-orbit capabilities of my country's high-orbit, high-value satellites, and the demand is urgent. my country continues to advance the research and verification of on-orbit electro-hydraulic refueling technology, and has initially developed the capability to build an on-orbit electro-hydraulic refueling system. Several aircraft currently in orbit and under development have been designed with refueling and receiving functions, and there is an urgent need to make the refueling equipment more universal and lightweight.

[0003] The on-orbit electro-hydraulic relay system, with the assistance of an external robotic arm or mechanism, can dock, lock, and maintain the interface, enabling propellant replenishment. This requires both universalization and standardization of the docking interface and a higher level of integration, while also being lighter and smaller than current on-orbit electro-hydraulic relay replenishment systems. However, existing products are designed for specific electro-hydraulic relay replenishment scenarios and cannot meet the future requirements for universal on-orbit electro-hydraulic relays across multiple models and devices.

[0004] The dexterous on-orbit electro-hydraulic docking method can complete the on-orbit mechanical connection between the two spacecraft with the assistance of the space robotic arm, while realizing the conduction of circuits, communications and fluid paths between the above-mentioned spacecraft, and thus realize on-orbit reconstruction, information connection, power replenishment and fuel addition between the two satellites. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a smart on-orbit electro-hydraulic docking device and method to achieve reliable mechanical, electrical and hydraulic connections between two aircraft under the premise of smaller size envelope and smaller weight cost.

[0006] The technical solution of the present invention is: a smart on-orbit electro-hydraulic conductive docking device, including an active end and a passive end; the passive end is a passive cavity structure, and the active end and the passive end have a universal interface, which serves as a repeatable connection interface between the payload module and the aircraft, supporting the on-orbit functional reconstruction of the aircraft; after the robotic arm provides the initial docking conditions, the capture connection is completed according to the process of coarse correction-fine correction-disconnector insertion and formation of the assembly; when separating, the separation is achieved according to the reverse process, that is, the mechanism is unlocked, the disconnector is disconnected, and the assembly is separated, and then the robotic arm is transferred to separate the active end and the passive end.

[0007] The active end includes a capture head assembly, a positioning and separation assembly, and a drive and measurement assembly; the capture head assembly is the core assembly of the electro-hydraulic conduction docking device, the capture head assembly is connected to the drive and measurement assembly, and the capture head assembly maintains axial movement through drive control; the capture head assembly is connected to the positioning and separation assembly, and is used to realize the correction and locking function during the connection process between the active end and the passive end.

[0008] The capture head assembly is used to realize the capture of the active end to the passive end, and adopts an umbrella-type capture method with three sets of rod mechanisms evenly distributed around the periphery, so that the rod mechanisms are opened when the active end and the passive end are locked, and the rod mechanisms are retracted when they are unlocked; at the same time, the rough correction and fine correction of the active end to the passive end are realized through the positioning and separation assembly, and finally the structural contact limit of the driving and measuring assembly is used to realize the rigid connection and maintenance between the active and passive ends.

[0009] The positioning and separation component includes: a floating platform frame, a retreat spring, a separation spring, and a positioning hole; the floating platform frame is located at the center of the active end base and floats on the active end base through the separation spring; the retreat spring is located in the positioning hole; the positioning and separation component uses the shaft hole to achieve axial guidance of the active end base and the passive end base, and the positioning and separation component is evenly distributed at three locations around it to achieve circumferential guidance of the active end base and the passive end base.

[0010] The capture head assembly includes a lead screw, a rod mechanism, a guide cylinder, a capture head base, and a lead screw base. The capture head assembly passes through the center of the active end base, the capture head base is fixed to the guide cylinder, and the lead screw is located in the center of the capture head assembly and can slide axially. During the axial sliding of the lead screw, the connecting rod mechanism expands like an umbrella.

[0011] The drive measurement component includes: a motor, a reduction box housing, a sensor and a gear reducer; the drive measurement component is fixed to the bottom of the active end base, the motor is fixed on the reduction box housing, and the gear reducer is located inside the reduction box housing.

[0012] The active end includes an active end base, a guide cylinder, a rod mechanism, a screw, a capture head base, a floating platform frame, a positioning hole, a separation spring, a retreat spring, an electric connector active end, a liquid connector active end, a screw base, a reduction gear housing, a motor, a gear reducer, and a liquid hose; the passive end includes a passive end base, a frame positioning pin, a baffle, an electric connector passive end, a liquid connector passive end, and a target.

[0013] The capture head assembly adopts a scheme with three sets of rod mechanisms evenly distributed around the periphery. When the lead screw and the capture head base move close to each other, the rod mechanism opens, and when they move away from each other, the rod mechanism closes. When the rod mechanism closes, it can extend into the capture cavity of the passive end base to adapt to the initial position deviation and provide a safe channel for the approach and withdrawal of the active and passive ends. When the rod mechanism opens, it can cooperate with the capture cavity of the passive end base to achieve capture and rough correction. Then the lead screw continues to pull back, and the axial distance between the active and passive ends is shortened by the cooperation between the end of the rod mechanism and the pressing surface of the passive end base. In this process, the cooperation between the passive end frame locating pin and the active end locating hole is used to achieve fine correction between the passive end and the active end floating platform. Then the lead screw continues to pull back to complete the plugging of the active end of the electrical connector and the passive end of the electrical connector, as well as the active end of the liquid connector and the passive end of the liquid connector. Then the capture locking mechanism continues to move to achieve the application of locking force between the active and passive ends, and uses structural contact limit to achieve rigid connection and maintenance between the active and passive ends.

[0014] The positioning and separation assembly is connected to the active end base by means of three separation springs and provides preload force; the three positioning holes on the active end cooperate with the three frame positioning pins on the passive end, and the docking surface of the floating platform cooperates with the docking surface of the passive end to achieve the precise correction required for the floating disconnector to be plugged in; during the process of inserting the frame positioning pin into the positioning hole, the frame positioning pin compresses the retreat spring; after the precise correction is completed, the floating platform and the passive end continue to move downward under the action of the capture head assembly and compress the separation spring; during the separation process, the separation spring pushes the floating platform and the passive end away from the active end base to achieve the disconnection of various circuits and fluid paths.

[0015] A method for performing smart on-track electro-hydraulic docking using the docking device includes:

[0016] Before the mission begins, the capture head assembly is driven to push out and retract the rod mechanism, waiting for the passive end to reach the initial condition range; the lead screw is driven to pull back, and the rod mechanism of the capture head assembly is opened to cooperate with the capture inner cavity of the passive end to complete the capture and rough correction, thereby realizing the capture and rough correction of the active end to the passive end; the lead screw continues to pull back, and through the cooperation between the end of the connecting rod mechanism and the pressing surface of the passive end, and at the same time, the cooperation between the frame locating pin and the locating hole, the fine correction between the passive end and the floating platform of the active end is realized; the lead screw continues to pull back to complete the plugging of each floating connector; finally, the locking force between the active and passive ends is applied through the elastic link in the transmission chain, and the rigid connection and maintenance between the active and passive ends are realized by using the structural contact limit;

[0017] When the assembly is separated, the driving measurement component drives the lead screw out, and the separation spring between the floating platform frame and the active end base is used to push out the floating platform frame and the passive end, disconnecting the circuits and fluid connections; then the capture head continues to move, and the retreat spring is used to ensure the separation of the floating platform frame and the passive end; then the lead screw continues to move, retracting the rod mechanism, releasing the active end's capture of the passive end, and providing a safe channel for the active and passive ends to evacuate; after the active and passive ends are safely evacuated, the lead screw is driven back to restore the initial state and prepare for the next docking; if the guide is stuck when the mechanism is separated, making it impossible to achieve the normal release and separation process, the passive end can be forcibly pushed out by pushing the capture device to the bottom of the passive end, thereby realizing emergency separation of the assembly.

[0018] The beneficial effects of the present invention compared to the prior art are:

[0019] (1) The present invention provides a smart on-orbit electro-hydraulic docking method, in which umbrella-type capture claws achieve central capture and locking of the mechanism, and floating circuit and fluid circuit disconnectors achieve electrical and fluid connection between the active and passive terminals. This method can achieve reliable mechanical, electrical, and hydraulic connections between two aircraft within a compact size envelope and at a low weight penalty.

[0020] (2) The passive end is a passive cavity structure. All actions during the docking process are completed by the active end. The active and passive ends are docked and precisely connected through the cooperation of the positioning pins and positioning holes. The passive end participates in the entire connection, retention and separation process in the form of a structural component, making the passive end extremely light, simple and reliable.

[0021] (3) The present invention provides a smart on-track electro-hydraulic docking method, in which the active and passive ends adopt an integrated solution of central capture and correction and peripheral interface connection and locking. The smart on-track electro-hydraulic docking device adopts an integrated structure of capture, correction, connection and locking to improve functional integration.

[0022] (4) The dexterous on-orbit electro-hydraulic docking method provided by the present invention has low dependence on the operating ability of the robotic arm, low requirements on the working coordination of the robotic arm, less disturbance in the capture process, high capture reliability, and can achieve low-impact and flexible capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the initial state of the active end of a smart on-track electro-hydraulic docking method provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the active end locking state of a smart on-track electro-hydraulic docking method provided by an embodiment of the present invention;

[0025] Figure 3A schematic diagram of the passive end of a smart on-track electro-hydraulic docking method provided by an embodiment of the present invention; DETAILED DESCRIPTION

[0026] The following, combined with the accompanying drawings and specific embodiments, further details the flexible on-track electro-hydraulic connection method proposed by the present invention. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are highly simplified and not to exact ratios, and are intended solely to facilitate and clarify the purpose of illustrating the embodiments of the present invention.

[0027] The core idea of ​​the present invention is that the present invention provides a smart on-orbit electro-hydraulic docking method, which can achieve reliable mechanical, electrical and hydraulic connections between two aircraft under the premise of a smaller size envelope and a smaller weight cost. At the same time, the method of the present invention can reduce the dependence on the robotic arm. The product is based on the connection and separation function. During the implementation of this function, the liquid and circuit connection and separation functions are completed synchronously. All actions can be completed by a single drive. The connection process is as follows: after the robotic arm provides the initial docking conditions, the capture connection is completed according to the process of coarse correction-fine correction-disconnector plug-in and formation of the assembly; when separating, the separation is achieved in the order of the reverse process, that is, the mechanism is unlocked, the disconnector is disconnected, and the assembly is separated. The subsequent transfer is performed by the robotic arm to separate the active end and the passive end.

[0028] The present invention provides a smart on-track electro-hydraulic connection and docking method. The active end includes an active end base 1, a guide cylinder 2, a rod mechanism 3, a lead screw 5, a capture head base 7, a floating platform frame 8, a positioning hole 9, a separation spring 10, a yield spring 11, an active end of an electrical connector 12, an active end of a fluid circuit connector 13, a lead screw base 15, a reduction gear housing 16, a motor 18, a gear reducer 19, and a fluid circuit hose 20. The passive end includes a passive end base 21, a frame positioning pin 22, a passive end of an electrical connector 23, a passive end of a fluid circuit connector 24, and a target 25.

[0029] The capture head assembly utilizes three sets of rod mechanisms 3 evenly distributed around the perimeter. These mechanisms expand when the lead screw 5 and capture head base 7 move toward each other and retract when they move away. When retracted, the rod mechanisms 3 extend into the capture cavity of the passive end base 21, accommodating initial position deviations and providing a safe path for the active and passive ends to approach and withdraw. When extended, the rod mechanisms 3 engage the capture cavity of the passive end base 21, enabling capture and coarse correction. Afterwards, the lead screw 5 continues to be pulled back, and the axial distance between the active and passive ends is shortened by the cooperation between the end of the rod mechanism 3 and the pressing surface of the passive end base 21, and in this process, the cooperation between the passive end frame positioning pin 22 and the active end positioning hole 9 is utilized to achieve the precise correction between the passive end and the active end floating platform; afterward, the lead screw 5 continues to be pulled back, completing the plugging of the active end 12 of the electrical connector and the passive end 23 of the electrical connector, as well as the active end 13 of the liquid circuit connector and the passive end 24 of the liquid circuit connector; afterward, the capture locking mechanism continues to move, realizing the application of the locking force between the active and passive ends, and utilizing the structural contact limit to realize the rigid connection and maintenance between the active and passive ends.

[0030] The positioning and separation assembly is connected to the active-end base 1 using three separation springs 10, providing preload. Three positioning holes 9 on the active end cooperate with three frame positioning pins 22 on the passive end, and the floating platform's docking surface cooperates with the passive end's docking surface to achieve the precise alignment required for the floating disconnect. As the frame positioning pins 22 insert into the positioning holes 9, they compress the yield springs. After precise alignment, the floating platform and passive end continue downward movement under the action of the capture head assembly, compressing the separation springs 10. During the separation process, the separation springs 10 push the floating platform and passive end away from the active-end base 1, disconnecting the various electrical and fluid paths.

[0031] The drive and measurement assembly drives the various movements of the smart feeding mechanism through the combination of the motor 18 and the lead screw 5. The use of sensors to control the position of the lead screw can realize the full process monitoring function of the position of the smart feeding mechanism.

[0032] Before the task begins, drive the capture head assembly to push out and retract the rod mechanism 3, waiting for the passive end to reach the initial condition range; drive the screw 5 to pull back, the capture head assembly rod mechanism 3 opens, and cooperates with the passive end capture cavity to complete the capture and rough correction, and realize the capture and rough correction of the active end to the passive end; the screw 5 continues to pull back, through the cooperation between the end of the connecting rod mechanism and the pressing surface of the passive end, and at the same time uses the cooperation between the frame positioning pin 22 and the positioning hole 9 to realize the fine correction between the passive end and the active end floating platform; the screw 5 continues to pull back to complete the insertion of each floating connector; finally, the elastic link in the transmission chain is used to realize the application of locking force between the active and passive ends, and the structural contact limit is used to realize the rigid connection and maintenance between the active and passive ends.

[0033] When the assembly is separated, the drive measurement assembly drives the lead screw 5 out, and the separation spring 10 between the floating platform frame 8 and the active end base 1 pushes out the floating platform frame 8 and the passive end, disconnecting all circuit and fluid connections. The capture head then continues to move, using the yield spring 11 to ensure the separation of the floating platform frame 8 and the passive end. The lead screw 5 then continues to move, retracting the rod mechanism 3, releasing the active end's capture of the passive end, and providing a safe passage for the active and passive ends to evacuate. After the active and passive ends have safely evacuated, the lead screw 5 is driven back to restore the initial state and prepare for the next docking. If the guide becomes stuck during separation, preventing the normal release and separation process, the capture device can be pushed to the bottom of the passive end to forcibly push the passive end out, achieving emergency separation of the assembly.

[0034] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A smart on-track electro-hydraulic connection and docking device, characterized in that: It includes an active end and a passive end; the passive end is a passive cavity structure, specifically a triangular prism closed cavity with a single-side opening in the non-docking direction; the active end and the passive end have a universal interface, which serves as a repeatable connection interface between the payload module and the spacecraft, supporting the on-orbit functional reconstruction of the spacecraft; after the robotic arm provides the initial docking conditions, the capture connection is completed according to the process of coarse correction-fine correction-disconnector insertion and merging to form an assembly; when separating, the separation is achieved according to the reverse process, that is, the mechanism is unlocked, the disconnector is disconnected, and the assembly is separated, and then the robotic arm transfers it to separate the active end and the passive end; The active end includes a capture head assembly, a positioning and separation assembly, and a drive and measurement assembly; the capture head assembly is the core assembly of the electro-hydraulic conduction docking device, and is connected to the drive and measurement assembly, and is driven and controlled to maintain axial movement of the capture head assembly; the capture head assembly is connected to the positioning and separation assembly, and is used to realize the correction and locking function during the connection between the active end and the passive end; The capture head assembly includes: a screw, a rod mechanism, a guide cylinder, a capture head base, and a screw base; the capture head assembly passes through the center of the active end base, the capture head base is fixed to the guide cylinder, the screw is located in the center of the capture head assembly and can slide axially, and the rod mechanism opens in an umbrella-like manner during the axial sliding of the screw; The capture head assembly adopts a scheme with three sets of rod mechanisms evenly distributed around the periphery. When the lead screw and the capture head base move closer, the rod mechanism opens, and when they move away, the rod mechanism closes. When the rod mechanism closes, it can extend into the capture cavity of the passive end base to adapt to the initial position deviation and provide a safe channel for the approach and withdrawal of the active and passive ends. When the rod mechanism opens, it can cooperate with the capture cavity of the passive end base to achieve capture and rough correction. After that, the lead screw continues to be pulled back, and the axial distance between the active and passive ends is shortened by the cooperation between the end of the rod mechanism and the pressing surface of the passive end base. In this process, the cooperation between the passive end frame locating pin and the active end locating hole is used to achieve fine correction between the passive end and the active end floating platform. After that, the lead screw continues to be pulled back to complete the plugging of the active end of the electrical connector and the passive end of the electrical connector, as well as the active end of the liquid connector and the passive end of the liquid connector. Afterwards, the capture locking mechanism continues to move to achieve the application of locking force between the active and passive ends, and utilizes structural contact limiting to achieve rigid connection and maintenance between the active and passive ends.

2. The smart on-track electro-hydraulic connection and docking device according to claim 1, characterized in that: The capture head assembly is used to realize the capture of the active end to the passive end, and adopts an umbrella-type capture method with three sets of rod mechanisms evenly distributed around the periphery, so that the rod mechanisms are opened when the active end and the passive end are locked, and the rod mechanisms are retracted when they are unlocked; at the same time, the rough correction and fine correction of the active end to the passive end are realized through the positioning and separation assembly, and finally the structural contact limit of the driving and measuring assembly is used to realize the rigid connection and maintenance between the active and passive ends.

3. The smart on-track electro-hydraulic connection and docking device according to claim 2, characterized in that: The positioning and separation component includes: a floating platform frame, a retreat spring, a separation spring, and a positioning hole; the floating platform frame is located at the center of the active end base and floats on the active end base through the separation spring; the retreat spring is located in the positioning hole; the positioning and separation component uses the shaft hole to achieve axial guidance of the active end base and the passive end base, and the positioning and separation component is evenly distributed at three locations around it to achieve circumferential guidance of the active end base and the passive end base.

4. The smart on-track electro-hydraulic connection and docking device according to claim 3, characterized in that: The drive measurement component includes: a motor, a reduction box housing, a sensor and a gear reducer; the drive measurement component is fixed to the bottom of the active end base, the motor is fixed on the reduction box housing, and the gear reducer is located inside the reduction box housing.

5. The smart on-track electro-hydraulic connection and docking device according to claim 4, characterized in that: The positioning and separation assembly is connected to the active end base using three separation springs and provides preload. The three positioning holes on the active end cooperate with the three frame positioning pins on the passive end, and the floating platform docking surface cooperates with the passive end docking surface to achieve the fine alignment required for the floating disconnector to be plugged in. When the frame positioning pins are inserted into the positioning holes, the frame positioning pins compress the springs. After the fine alignment is completed, the floating platform and the passive end continue to move downward under the action of the capture head assembly, compressing the separation springs. During the separation process, the separation spring pushes the floating platform and the passive end away from the active end base, thereby disconnecting the circuits and fluid paths.

6. A method for performing smart on-track electro-hydraulic docking using the docking device according to claim 5, characterized in that: include: Before the task begins, the capture head assembly is driven to push out and retract the rod mechanism, waiting for the passive end to reach the initial condition range; The driving screw is pulled back, and the rod mechanism of the capture head assembly opens and cooperates with the capture inner cavity of the passive end to complete the capture and rough correction, thereby realizing the capture and rough correction of the active end to the passive end; the screw continues to be pulled back, and the cooperation between the end of the rod mechanism and the pressing surface of the passive end, while the cooperation between the frame positioning pin and the positioning hole, realizes the fine correction between the passive end and the floating platform of the active end; the screw continues to be pulled back to complete the insertion and engagement of each floating connector; finally, the locking force between the active and passive ends is realized through the elastic link in the transmission chain, and the rigid connection and maintenance between the active and passive ends are realized by using the structural contact limit; When the assembly is separated, the driving measurement component drives the lead screw out, and the separation spring between the floating platform frame and the active end base is used to push out the floating platform frame and the passive end, disconnecting the circuits and fluid connections; then the capture head continues to move, and the retreat spring is used to ensure the separation of the floating platform frame and the passive end; then the lead screw continues to move, retracting the rod mechanism, releasing the active end's capture of the passive end, and providing a safe channel for the active and passive ends to evacuate; after the active and passive ends are safely evacuated, the lead screw is driven back to restore the initial state and prepare for the next docking; if the guide is stuck when the mechanism is separated, making it impossible to achieve the normal release and separation process, the passive end can be forcibly pushed out by pushing the capture device to the bottom of the passive end, thereby realizing emergency separation of the assembly.

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