Highly compact integrated interface device suitable for spacecraft on-orbit assembly

Abstract

The application provides a high-compact integrated interface device suitable for on-orbit assembly of a spacecraft, comprising a passive end assembly and an active end assembly, the passive end assembly comprising a passive end shell, a first permanent magnet and a locking piece, and the active end assembly comprising an active end shell, an electromagnet, a second permanent magnet, a locking assembly and an excitation control circuit; the electromagnet is arranged between the first permanent magnet and the second permanent magnet, and the magnetic pole arrangement directions of the first permanent magnet and the second permanent magnet are opposite; the locking piece is mounted on the end face of the passive end shell, and the locking assembly is correspondingly mounted in the active end shell. The application controls active adsorption and active separation between the passive end assembly and the active end assembly by passing positive current or reverse current to the electromagnet, has small space occupation, high compactness, is suitable for on-orbit docking of a small module, needs to consume energy only at the moment of switching between the locking and separation states, does not need to consume energy in normal state, and improves the service life.

Description

Technical Field

[0001] This invention relates to the field of spacecraft on-orbit docking technology, and more specifically, to a highly compact integrated interface device suitable for on-orbit assembly of spacecraft. Background Technology

[0002] With the development of aerospace technology, the on-orbit assembly of large space facilities has become an important development direction for aerospace engineering. Among them, interface devices are key components for achieving reliable connection and separation between modules, and their performance directly affects the efficiency and reliability of on-orbit assembly.

[0003] A Chinese patent with publication number CN107310754A discloses a positioning lock for a space docking mechanism, comprising: a housing, a motor, a locking arm, a gear mechanism, a locking arm, a lead screw slider, a serrated rubber block, a distance sensor, and an ear piece. The lead screw nut is connected to the slider, and the slider slides along the lead screw through the drive of the ball screw, thereby locking or unlocking the lock hook.

[0004] Currently, common docking structures typically employ motor-driven lead screws, worm gears, or linkage mechanisms to lock and unlock the docking surfaces. For example, the rotation of a motor drives the lead screw, causing multiple locking hooks to actuate simultaneously, thus achieving structural interlocking.

[0005] However, for some extremely small modules (such as battery modules, communication modules, and computing units), conventional interface devices have the following problems: First, traditional motor-screw drive structures need to accommodate components such as the motor body, reducer, screw-nut pair, and transmission linkage, while the internal installation space of these small modules is extremely limited, making it difficult to arrange the aforementioned complex transmission chain. Second, traditional locking mechanisms usually only provide active locking functions, and their unlocking and separation often rely on an additional drive source, resulting in the need to reserve additional space for the separation mechanism within the already compact interface.

[0006] Therefore, due to space constraints, it is difficult to install transmission interface devices and separation devices in extremely small modules. There is a need to provide a highly compact interface device that can install locking and separation structures in a very small installation space. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the purpose of this invention is to provide a highly compact integrated interface device suitable for on-orbit assembly of spacecraft.

[0008] According to the present invention, a highly compact integrated interface device suitable for on-orbit assembly of spacecraft includes: a passive end assembly and an active end assembly. The passive end assembly includes: a passive end housing, a first permanent magnet and a locking component. The active end assembly includes: an active end housing, an electromagnet, a second permanent magnet, a locking component and an excitation control circuit.

[0009] The passive end housing and the active end housing are matched in shape. The first permanent magnet is installed on the passive end housing, and the second permanent magnet is movably installed in the active end housing. The electromagnet is fixedly installed in the active end housing and is located between the first permanent magnet and the second permanent magnet. The magnetic poles of the first permanent magnet and the second permanent magnet are arranged in opposite directions. The locking element is installed on the end face of the passive end housing, and the locking assembly is correspondingly installed inside the active end housing; The second permanent magnet is connected to the locking assembly, and the excitation control circuit is electrically connected to the electromagnet; When the electromagnet is magnetically attracted and connected to the first permanent magnet, the passive end housing and the active end housing can approach each other, the locked part can be inserted into the active end housing and fastened to the locking assembly, and the passive end assembly and the active end assembly switch to the mechanical locking state. When the electromagnet is magnetically attracted and connected to the second permanent magnet, the locking assembly can be separated from the locked part by the drive of the second permanent magnet, the passive end housing and the active end housing can move away from each other, and the passive end assembly and the active end assembly switch to the unlocked state; When the electromagnet is de-energized, the passive end component separates from the active end component and is in a reset state.

[0010] Preferably, when the excitation control circuit supplies a positive current to the electromagnet, the electromagnet attracts the first permanent magnet and repels the second permanent magnet; when the excitation control circuit supplies a reverse current to the electromagnet, the electromagnet attracts the second permanent magnet and repels the first permanent magnet.

[0011] Preferably, a plurality of locking members are evenly distributed circumferentially on the end face of the passive end housing, and a plurality of insertion slots are correspondingly provided circumferentially on the end face of the active end housing; Each of the locked components has a second slot at its insertion end, and the locking assembly has a plurality of locking balls. When the locking balls move into the second slot, the locked component is securely connected to the locking assembly.

[0012] Preferably, the active end housing includes an inner shell, and the inner shell is provided with a first through groove, a third through groove and a second through groove in sequence from the end face of the active end housing towards the bottom of the shell; The locking ball is embedded in the first through groove, and the diameter of the locking ball is greater than the thickness of the first through groove; The second through groove is embedded with a limiting ball, and the diameter of the limiting ball is greater than the thickness of the first through groove.

[0013] Preferably, the locking assembly includes: a reset ring, a first reset spring, an upward push ring, a second reset spring, an unlocking ring, an intermediate ring, and a third reset spring. The reset ring, the first reset spring, the intermediate ring, and the third reset spring are arranged sequentially on the outer side of the inner shell from the end of the active end housing towards the bottom of the shell, and the upward push ring, the second reset spring, and the unlocking ring are arranged sequentially on the inner side of the inner shell from the end of the active end housing towards the bottom of the shell. The reset ring can be driven by the first reset spring to approach the end face of the active end housing, the intermediate ring can be driven by the first reset spring to approach the bottom of the housing, and the intermediate ring can be driven by the third reset spring to move away from the bottom of the housing. The push ring is driven by the second reset spring to approach the end face of the active end housing, and the unlocking ring is driven by the second reset spring to approach the bottom of the housing; When the passive end assembly and the active end assembly are in a mechanically locked state, the locked part is pressed against the reset ring, the magnetic attraction between the electromagnet and the first permanent magnet is greater than the elastic force of the first reset spring, and the elastic potential energy of the first reset spring is greater than the sum of the elastic potential energies of the second reset spring and the third reset spring.

[0014] Preferably, a connecting pin is provided on the side of the upper push ring near the inner shell, the connecting pin is correspondingly provided with the third through groove, and a corresponding pin hole is provided on the middle ring. The connecting pin passes through the third through groove and is inserted into the pin hole. The groove width of the third through groove is greater than the diameter of the connecting pin, and the connecting pin can move up and down in the third through groove. The push ring is provided with a first slot on the side near the inner shell. The first slot corresponds to the first through slot. When the middle ring drives the push ring to move downward through the connecting pin, the locking ball can move into the first slot, and the reset ring abuts against the locking ball.

[0015] Preferably, the unlocking ring is provided with a third slot on the side near the inner shell, the third slot is corresponding to the second through slot, the unlocking ring is fastened to the second permanent magnet, the unlocking ring can be driven away from the bottom of the shell by the second permanent magnet, the limiting ball can be moved into the third slot, and the middle ring is pressed against the limiting ball. The intermediate ring is provided with a stepped surface. When the limiting ball leaves the third slot, the two sides of the limiting ball abut against the bottom of the stepped surface and the unlocking ring, respectively.

[0016] Preferably, a fourth reset spring is provided between the second permanent magnet and the active end housing. The second permanent magnet can be driven away from the electromagnet by the fourth reset spring, and the elastic force of the fourth reset spring is less than the magnetic attraction force between the electromagnet and the second permanent magnet.

[0017] Preferably, the passive end housing includes a first outer shell, and the active end housing includes a second outer shell. The first outer shell is provided with a first concave-convex engaging member, and the second outer shell is correspondingly provided with a second concave-convex engaging member. The first concave-convex engaging member engages with the second concave-convex engaging member. The first concave-convex snap-fit ​​component is provided with a first guide slope, and the second concave-convex snap-fit ​​component is provided with a corresponding second guide slope, and the first guide slope and the second guide slope are fitted together.

[0018] Preferably, the first electrical connector is mounted on the end face of the passive end housing, and the second electrical connector is correspondingly mounted on the end face of the active end housing.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention controls the active attraction and separation between the passive and active components by passing a forward or reverse current through an electromagnet. It has a small footprint and high compactness, making it suitable for on-orbit docking of extremely small modules. After docking, it can achieve electrical and signal conduction as well as heat transfer, making it particularly suitable for microsatellites, CubeSats, or standard replaceable modules. Energy is only consumed during the switching between locking and separation states, and no energy is consumed under normal conditions, thus improving service life and making it very suitable for energy-constrained aerospace environments.

[0020] 2. This invention replaces the traditional motor / transmission capture mechanism with an electromagnetic component and uses a return spring to achieve automatic locking. The structure is extremely compact and reduces the difficulty of on-orbit assembly operations. It realizes a fully functional electromechanical and thermal integrated interface with an outer diameter of no more than 100mm, which is particularly suitable for microsatellites, CubeSats or standard replaceable modules. Electromagnetic force serves as the main power source for capture and unlocking, with fast response speed and precise control. It only consumes electrical energy at the moment of action and does not consume energy during normal locking, making it suitable for the energy-constrained environment of spacecraft.

[0021] 3. This invention achieves self-separation of the interface by simultaneously triggering mechanical unlocking and providing / assisting separation force using reverse current. It enables automatic adsorption locking and automatic unlocking separation between the passive end component and the active end component without relying on any external separation mechanism, greatly improving the system's autonomy and reliability, and further reducing space occupation. The locking state is purely mechanically maintained, eliminating the risk of power failure, and the moving parts are simple and reliable. The electromagnetic coil has no physical contact wear, and the overall device has an extremely long repeatable service life. Attached Figure Description

[0022] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Figure 1This is a schematic diagram illustrating the disassembled structure of the highly compact integrated interface device suitable for on-orbit assembly of spacecraft, which is the main feature of this invention. Figure 2 This is a schematic diagram illustrating the structure of the passive end component, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the structure of the active terminal component, which is the main feature of this invention. Figure 4 This is a cross-sectional view of the interface device before docking, which is the main feature of this invention. Figure 5 This is a cross-sectional schematic diagram illustrating the interface device after docking, which is the main feature of this invention. Figure 6 This is a schematic diagram illustrating the main features of the present invention when the interface device is unlocked; Figure 7 This is a cross-sectional schematic diagram illustrating the active terminal component, which is the main feature of this invention. Figure 8 This is a partial schematic diagram illustrating the locking component, which is the main feature of this invention.

[0023] As shown in the figure: 100, passive end assembly; 200, active end assembly; 1, first electrical connector; 2, second electrical connector; 3, passive end housing; 4, first permanent magnet; 5, locked component; 6, active end housing; 7, electromagnet; 8, second permanent magnet; 9, locking assembly; 10, fourth return spring; 31, first outer shell; 61, second outer shell; 62, inner shell; 63, third through slot; 51, second slot; 91, locking ball; 92, return ring; 93, first return spring; 94, push ring; 95, second return spring; 96, limit ball; 97, unlocking ring; 98, intermediate ring; 99, third return spring; 941, first slot; 942, connecting pin; 971, third slot; 981, pin hole. Detailed Implementation

[0024] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0025] like Figures 1 to 8As shown, a highly compact integrated interface device suitable for on-orbit assembly of spacecraft according to the present invention includes: a passive end assembly 100 and an active end assembly 200. The passive end assembly 100 includes: a passive end housing 3, a first permanent magnet 4, and a locking member 5. The active end assembly 200 includes: an active end housing 6, an electromagnet 7, a second permanent magnet 8, a locking member 9, and an excitation control circuit. The passive end housing 3 and the active end housing 6 are shaped to match each other. The first permanent magnet 4 is mounted on the passive end housing 3, and the second permanent magnet 8 is movably mounted inside the active end housing 6. The electromagnet 7 is fastened inside the active end housing 6 and disposed between the first permanent magnet 4 and the second permanent magnet 8. The magnetic poles of the first permanent magnet 4 and the second permanent magnet 8 are arranged in opposite directions. The locking member 5 is mounted on the end face of the passive end housing 3. The locking component 9 is installed inside the active end housing 6; the second permanent magnet 8 is connected to the locking component 9, and the excitation control circuit is electrically connected to the electromagnet 7; when the electromagnet 7 is magnetically attracted to the first permanent magnet 4, the passive end housing 3 and the active end housing 6 can approach each other, the locked part 5 can be inserted into the active end housing 6 and fastened to the locking component 9, and the passive end assembly 100 and the active end assembly 200 switch to the mechanical locking state; when the electromagnet 7 is magnetically attracted to the second permanent magnet 8, the locking component 9 can be separated from the locked part 5 by the drive of the second permanent magnet 8, the passive end housing 3 and the active end housing 6 can move away from each other, and the passive end assembly 100 and the active end assembly 200 switch to the unlocked state; when the electromagnet 7 is de-energized, the passive end assembly 100 and the active end assembly 200 separate and are in the reset state.

[0026] This application controls the active attraction and separation between the passive end component 100 and the active end component 200 by passing a forward or reverse current through the electromagnet 7. It has a small space occupation and high compactness, realizing the docking of extremely small modules with an outer diameter of no more than 100mm. It is particularly suitable for microsatellites, CubeSats or standard replaceable modules. Energy is only consumed during the moment of switching between locking and separating states, and no energy is consumed under normal conditions, which improves the service life and is very suitable for energy-constrained aerospace environments.

[0027] Electromagnet 7 is installed inside the active end housing 6, keeping the electromagnet 7 and the active end housing 6 relatively fixed. Specifically, the connection can be made by bolting or interference fit. Second permanent magnet 8 is movably installed inside the active end housing 6. Locking assembly 9 is connected to second permanent magnet 8. The direction of movement of second permanent magnet 8 is defined as the axial direction of the interface device, that is, the direction of relative movement when passive end assembly 100 and active end assembly 200 are docked.

[0028] Electromagnet 7 is located between the first permanent magnet 4 and the second permanent magnet 8, and the magnetic poles of the first permanent magnet 4 and the second permanent magnet 8 are arranged in opposite directions. That is, when electromagnet 7 is attracted to the first permanent magnet 4, it is repelled by the second permanent magnet 8; when electromagnet 7 is repelled by the first permanent magnet 4, it is attracted by the second permanent magnet 8.

[0029] The excitation control circuit is configured to supply a forward current or a reverse current to the electromagnet 7. When the excitation control circuit supplies a forward current to the electromagnet 7, the electromagnet 7 attracts the first permanent magnet 4 and repels the second permanent magnet 8, causing the passive end assembly 100 and the active end assembly 200 to attract and approach each other, and the locked member 5 and the locking assembly 9 switch to a mechanically locked state. That is, when a forward current is supplied, the electromagnet 7 attracts the first permanent magnet 4, causing the passive end assembly 100 and the active end assembly 200 to approach each other, and causing the locked member 5 to be inserted into the active end housing 6 and switch to a mechanically locked state with the locking assembly 9.

[0030] When the excitation control circuit supplies a reverse current to the electromagnet 7, the electromagnet 7 attracts the second permanent magnet 8 and repels the first permanent magnet 4. The locked part 5 and the locking assembly 9 switch to the unlocked state, and the passive end assembly 100 and the active end assembly 200 repel each other and move away. That is, when a reverse current is supplied, the electromagnet 7 attracts the second permanent magnet 8, thereby attracting the second permanent magnet 8 and causing it to move towards the electromagnet 7. When the second permanent magnet 8 moves, it drives the locking assembly 9 to operate, thereby causing the locking assembly 9 and the locked part 5 to switch to the unlocked state. Under the repulsive force between the electromagnet 7 and the first permanent magnet 4, the passive end assembly 100 and the active end assembly 200 separate from each other.

[0031] The purpose of this application is to switch the mechanical locking state and unlocking state between the locked part 5 and the locking assembly 9 by passing a positive or reverse current to the electromagnet 7, as well as to move the passive end assembly 100 and the active end assembly 200 closer and further apart. Under normal conditions, it is not necessary to pass current to the electromagnet 7, resulting in minimal energy consumption, high battery life, and long lifespan.

[0032] Furthermore, the excitation control circuit can be an H-bridge drive circuit, which uses its characteristics to select whether to input forward or reverse current to the electromagnet 7. A power supply is also installed inside the active end housing 6, connecting the excitation control circuit to the power supply and the electromagnet 7 to provide power to the electromagnet 7.

[0033] The first electrical connector 1 is mounted on the end face of the passive end housing 3, and the second electrical connector 2 is correspondingly mounted on the end face of the active end housing 6. When the passive end assembly 100 and the active end assembly 200 are connected, the first electrical connector 1 and the second electrical connector 2 are plugged into each other; when the passive end assembly 100 and the active end assembly 200 are separated, the first electrical connector 1 and the second electrical connector 2 are separated. After the passive end assembly 100 and the active end assembly 200 are connected, electrical and signal conduction, as well as heat transfer, can be realized.

[0034] Furthermore, thermal interface material is applied to the end faces of the passive end component 100 and the active end component 200 respectively to ensure a good heat transfer path between the passive end component 100 and the active end component 200 after docking.

[0035] The passive end housing 3 includes a first outer shell 31, and the active end housing 6 includes a second outer shell 61. The first outer shell 31 is provided with a first concave-convex engaging member, and the second outer shell 61 is correspondingly provided with a second concave-convex engaging member. The first and second concave-convex engaging members engage with each other. The first concave-convex engaging member is provided with a first guide slope, and the second concave-convex engaging member is correspondingly provided with a second guide slope, which is fitted together. The first concave-convex engaging member has a first guide slope that is inclined radially, and the second concave-convex engaging member has a second guide slope that fits against the first guide slope, thus achieving automatic alignment and automatic positioning during the docking process between the active end assembly 200 and the passive end assembly 100.

[0036] Multiple locking elements 5 are evenly distributed circumferentially on the end face of the passive end housing 3, and multiple insertion slots are correspondingly provided circumferentially on the end face of the active end housing 6. Each locking element 5 has a second slot 51 at its insertion end, and the locking assembly 9 has multiple locking balls 91. When the locking balls 91 move into the second slot 51, the locking element 5 is securely connected to the locking assembly 9, achieving circumferential multi-point locking.

[0037] The active end housing 6 includes an inner housing 62. The inner housing 62 has a first through groove, a third through groove 63, and a second through groove sequentially arranged from the end face of the active end housing 6 towards the bottom. A locking ball 91 is embedded in the first through groove, and the diameter of the locking ball 91 is greater than the thickness of the first through groove, so that at least one side of the locking ball 91 protrudes to the outside of the inner housing 62. A limiting ball 96 is embedded in the second through groove, and the diameter of the limiting ball 96 is greater than the thickness of the first through groove, so that at least one side of the limiting ball 96 protrudes to the outside of the inner housing 62.

[0038] The locking assembly 9 employs a ring-shaped structure for multiple components, enabling locking points to be formed circumferentially around the active end assembly 200, thereby improving the reliability after locking. The locking assembly 9 includes: a reset ring 92, a first reset spring 93, an upward push ring 94, a second reset spring 95, an unlocking ring 97, an intermediate ring 98, and a third reset spring 99. The reset ring 92, first reset spring 93, intermediate ring 98, and third reset spring 99 are sequentially arranged on the outer side of the inner shell 62 from the end face of the active end housing 6 towards the bottom of the shell. The upward push ring 94, second reset spring 95, and unlocking ring 97 are sequentially arranged on the inner side of the inner shell 62 from the end face of the active end housing 6 towards the bottom of the shell. The limiting ball 96, unlocking ring 97, intermediate ring 98, and third reset spring 99 constitute the unlocking assembly.

[0039] The reset ring 92 is driven by the first reset spring 93 to approach the end face of the active end housing 6. The first reset spring 93 abuts against the reset ring 92 and has elastic potential energy to drive the reset ring 92 toward the direction of the passive end assembly 100. The intermediate ring 98 is driven by the first reset spring 93 to approach the bottom of the housing, and the intermediate ring 98 is driven by the third reset spring 99 to move away from the bottom of the housing. That is, the first reset spring 93 is disposed between the reset ring 92 and the intermediate ring 98, and the third reset spring 99 is disposed between the intermediate ring 98 and the bottom of the active end housing 6. The push ring 94 is driven by the second reset spring 95 to approach the end face of the active end housing 6. The second reset spring 95 abuts against the push ring 94 and has elastic potential energy to drive the push ring 94 toward the direction of the passive end assembly 100. The unlocking ring 97 is driven by the second reset spring 95 to approach the bottom of the housing. The second reset spring 95 abuts against the unlocking ring 97 and has elastic potential energy to drive the unlocking ring 97 away from the push ring 94.

[0040] When the passive end assembly 100 and the active end assembly 200 are in a mechanically locked state, the locked member 5 and the reset ring 92 are pressed together. The size of the insertion groove on the end face of the active end housing 6 is smaller than the size of the reset ring 92, preventing the reset ring 92 from detaching from the active end housing 6. The magnetic attraction between the electromagnet 7 and the first permanent magnet 4 is greater than the elastic force of the first reset spring 93, and the elastic potential energy of the first reset spring 93 is greater than the sum of the elastic potential energies of the second reset spring 95 and the third reset spring 99.

[0041] A connecting pin 942 is provided on the side of the push ring 94 near the inner shell 62. The connecting pin 942 is correspondingly provided with the third through groove 63. The intermediate ring 98 is provided with a corresponding pin hole 981. The connecting pin 942 passes through the third through groove 63 and is inserted into the pin hole 981. The width of the third through groove 63 is greater than the diameter of the connecting pin 942, allowing the connecting pin 942 to move up and down within the third through groove 63. Because the diameter of the connecting pin 942 is smaller than the height of the pin hole 981, the intermediate ring 98 can move axially relative to the inner shell 62, allowing for a short-distance relative axial movement between the push ring 94 and the intermediate ring 98.

[0042] The push ring 94 has a first slot 941 on the side near the inner shell 62, which corresponds to the first through slot. When the intermediate ring 98 drives the push ring 94 downward via the connecting pin 942, the locking ball 91 can move into the first slot 941, and the reset ring 92 abuts against the locking ball 91. Before docking, the first slot 941 is aligned with the locking ball 91, and the reset ring 92 abuts against the locking ball 91, squeezing the locking ball 91 into the first slot 941, so that the locking assembly 9 is in a stable state.

[0043] When the passive end assembly 100 and the active end assembly 200 are docked, the locked member 5 aligns with the reset ring 92. The locked member 5 is inserted into the active end housing 6, pushing the reset ring 92 to move, thereby compressing the first reset spring 93. At this time, the reset ring 92 leaves the first through slot, causing the second slot 51 to move to align with the locking ball 91. The locking ball 91 is no longer restricted by the reset ring 92, allowing the second reset spring 95 to push the push ring 94 upward, thereby pushing the locking ball 91 into the second slot 51, so that the locking ball 91 locks the locked member 5 and the locking assembly 9.

[0044] A third slot 971 is provided on the side of the unlocking ring 97 near the inner shell 62. The third slot 971 corresponds to the second through slot. The unlocking ring 97 is securely connected to the second permanent magnet 8. Driven by the second permanent magnet 8, the unlocking ring 97 can move away from the bottom of the shell, allowing the limiting ball 96 to move into the third slot 971, and the intermediate ring 98 abuts against the limiting ball 96. The intermediate ring 98 has a stepped surface. When the limiting ball 96 leaves the third slot 971, both sides of the limiting ball 96 abut against the bottom of the stepped surface and the unlocking ring 97, respectively. The intermediate ring 98 has a stepped surface that abuts against the limiting ball 96, and the stepped surface is located between the reset ring 92 and the limiting ball 96, thereby preventing the intermediate ring 98 from moving downward.

[0045] Under normal conditions, namely the mechanically locked state and the separation reset state, the third slot 971 of the unlocking ring 97 is misaligned with the limiting ball 96, causing the unlocking ring 97 to press against the limiting ball 96 and push the limiting ball 96 partially outward of the inner shell 62. At this time, the limiting ball 96 abuts against the intermediate ring 98, restricting the intermediate ring 98 from moving away from the reset ring 92. When the limiting ball 96 moves to engage with the third slot 971, it no longer abuts against the stepped surface. At this time, the intermediate ring 98 moves downward, which can drive the push ring 94 to move a certain distance, thereby restoring the first slot 941 to the position aligned with the locking ball 91.

[0046] Furthermore, when the locked component 5 and the locking assembly 9 are in a mechanically locked state and the electromagnet 7 attracts the second permanent magnet 8, the elastic potential energy of the first return spring 93 is greater than the sum of the elastic potential energies of the second return spring 95 and the third return spring 99. This causes the first return spring 93 to drive the return ring 92 and the intermediate ring 98 away from each other, thereby driving the intermediate ring 98 to move downwards and causing the push ring 94 to move downwards. The unlocking assembly is connected to the second permanent magnet 8, causing the electromagnet 7 to attract the second permanent magnet 8 and drive the unlocking assembly to move, thereby causing the push ring 94 to move until it is aligned with the first slot 941 and the locking ball 91.

[0047] A fourth return spring 10 is disposed between the second permanent magnet 8 and the active end housing 6. The fourth return spring 10 has elastic potential energy to drive the second permanent magnet 8 away from the electromagnet 7. In the de-energized state, the second permanent magnet 8 can be driven away from the electromagnet 7 by the fourth return spring 10, maintaining the stability of the locked state. The elastic force of the fourth return spring 10 is less than the magnetic attraction force between the electromagnet 7 and the second permanent magnet 8.

[0048] The docking and decoupling process of this application is as follows: like Figure 4 and Figure 5As shown, during the docking-locking process, after the docking command is issued, the excitation control circuit supplies a positive current to the electromagnet 7, causing the electromagnet 7 to switch to a state where it attracts the first permanent magnet 4. This attracts the passive end component 100 closer to the active end component 200, and under the guidance of the first housing 31 and the second housing 61, it aligns and positions itself, completing the initial capture of the passive end component 100. During the continuous movement of the passive end component 100, the locked part 5 enters the insertion slot and abuts against the reset ring 92, pushing the reset ring 92 downward. At this time, the attraction between the electromagnet 7 and the first permanent magnet 4 needs to overcome the elastic potential energy of the first reset spring 93 until the locked part 5 moves to the second slot 51 and aligns with the locking ball 91. At this point, the locking ball 91 is no longer restricted by the reset ring 92 and tends to move toward the second slot 51. Under the action of the second reset spring 95, the push ring 94 moves upward and squeezes the locking ball 91 into the second slot 51. The locked member 5 and the locking assembly 9 switch to a mechanical locking state, which can maintain mechanical locking even after power is cut off. During this process, the electromagnetic attraction between the electromagnet 7 and the first permanent magnet 4 needs to overcome the elastic force of the first reset spring 93 and the contact resistance between the electrical connectors.

[0049] like Figure 6As shown, during the unlocking-separation process, after the unlocking command is issued, the excitation control circuit supplies a reverse current to the electromagnet 7, causing the electromagnet 7 to switch to a state where it attracts the second permanent magnet 8, attracting the second permanent magnet 8 to move closer to the electromagnet 7. During the movement of the second permanent magnet 8, the unlocking ring 97 moves upward, thereby aligning the third slot 971 on the unlocking ring 97 with the limiting ball 96. At this time, the limiting ball 96 tends to move towards the third slot 971, while the intermediate ring 98 loses the restriction of the limiting ball 96 and moves downward under the action of the first reset spring 93. When the intermediate ring 98 moves downward, it drives the push ring 94 to move downward through the connecting pin 942, thereby moving the first slot 941 to align with the locking ball 91. The locking ball 91 tends to move towards the first slot 941. As the current reverses, the electromagnet 7 and the first permanent magnet 4 repel each other. Under the action of electromagnetic repulsion, the locked part 5 tends to move upward, no longer restricting the reset ring 92. The reset ring 92 moves upward under the action of the first reset spring 93. During the upward movement of the reset ring 92, on the one hand, it pushes the locking ball 91 into the first slot 941, so that the locked part 5 contacts and locks the locking assembly 9, switching from the locked state to the unlocked state. On the other hand, the reset ring 92 also pushes the locked part 5 to move, so that the passive end assembly 100 and the active end assembly 200 are quickly separated. During this process, the elastic potential energy of the first reset spring 93 is greater than the sum of the elastic potential energies of the second reset spring 95 and the third reset spring 99, so that the first reset spring 93 drives the reset ring 92 and the intermediate ring 98 to move away from each other. It should be noted that when the first return spring 93 drives the intermediate ring 98 to move down, it also drives the return ring 92 to move up. At this time, the elastic potential energy of the first return spring 93 is released. Due to inertia, after the intermediate ring 98 moves down to the unbalanced position, it will move up under the action of the third return spring 99, and the upward movement distance satisfies the return of the limiting ball 96.

[0050] After the active end component 200 and the passive end component 100 are separated, the power is cut off, causing the second permanent magnet 8 to reset under the action of the fourth reset spring 10, thereby driving the unlocking ring 97 to move down, the limiting ball 96 to leave the third slot 971 and is once again squeezed by the unlocking ring 97 to extend outward toward the second side of the inner shell 62, and abut against the intermediate ring 98, reaching the reset state and waiting for the next docking.

[0051] This application enables automatic attraction, locking, and unlocking separation between the passive end component 100 and the active end component 200, with a small footprint and high compactness, suitable for on-orbit docking of extremely small modules. After docking, it enables electrical and signal conduction, as well as heat transfer. This application replaces the traditional motor / transmission capture mechanism with an electromagnetic component and utilizes a return spring for automatic locking. The extremely compact structure reduces the difficulty of on-orbit assembly operations, achieving a fully functional electromechanical-thermal integrated interface with an outer diameter not exceeding 100mm, particularly suitable for microsatellites, CubeSats, or standard replaceable modules. Electromagnetic force serves as the primary power source for capture and unlocking, offering fast response and precise control, consuming energy only during the moment of action and requiring no energy consumption during normal locking, making it suitable for the energy-constrained environment of spacecraft. The innovative use of reverse current to simultaneously trigger mechanical unlocking and provide / assist separation force achieves "self-separation" of the interface, eliminating reliance on any external separation mechanism, greatly improving system autonomy and reliability, and further reducing space requirements. The locking state is purely mechanically maintained, eliminating the risk of power failure; the moving parts are simple and reliable; the electromagnetic coil experiences no physical contact wear, and the entire device has an extremely long service life.

[0052] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0053] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A highly compact integrated interface device suitable for on-orbit assembly of spacecraft, characterized in that, include: The passive end assembly (100) and the active end assembly (200) are provided. The passive end assembly (100) includes a passive end housing (3), a first permanent magnet (4), and a locking component (5). The active end assembly (200) includes an active end housing (6), an electromagnet (7), a second permanent magnet (8), a locking component (9), and an excitation control circuit. The passive end housing (3) and the active end housing (6) are shaped to match each other. The first permanent magnet (4) is mounted on the passive end housing (3). The second permanent magnet (8) is movably mounted in the active end housing (6). The electromagnet (7) is fastened in the active end housing (6) and is positioned between the first permanent magnet (4) and the second permanent magnet (8). The magnetic poles of the first permanent magnet (4) and the second permanent magnet (8) are arranged in opposite directions. The locking member (5) is installed on the end face of the passive end housing (3), and the locking assembly (9) is correspondingly installed in the active end housing (6); The second permanent magnet (8) is connected to the locking assembly (9), and the excitation control circuit is electrically connected to the electromagnet (7); When the electromagnet (7) is magnetically attracted to the first permanent magnet (4), the passive end housing (3) and the active end housing (6) can approach each other, the locked part (5) can be inserted into the active end housing (6) and fastened to the locking assembly (9), and the passive end assembly (100) and the active end assembly (200) switch to the mechanical locking state. When the electromagnet (7) is magnetically attracted to the second permanent magnet (8), the locking assembly (9) can be separated from the locked part (5) by the drive of the second permanent magnet (8), the passive end housing (3) and the active end housing (6) can move away from each other, and the passive end assembly (100) and the active end assembly (200) switch to the unlocked state. When the electromagnet (7) is de-energized, the passive end assembly (100) separates from the active end assembly (200) and is in a reset state.

2. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 1, characterized in that, When the excitation control circuit supplies a positive current to the electromagnet (7), the electromagnet (7) attracts the first permanent magnet (4) and repels the second permanent magnet (8). When the excitation control circuit supplies a reverse current to the electromagnet (7), the electromagnet (7) attracts the second permanent magnet (8) and repels the first permanent magnet (4).

3. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 1, characterized in that, The passive end housing (3) has a plurality of locking parts (5) evenly distributed along the circumference on its end face, and the active end housing (6) has a plurality of insertion slots correspondingly provided along the circumference on its end face. Each of the locking components (5) has a second slot (51) at its insertion end. The locking assembly (9) has a plurality of locking balls (91) corresponding to it. When the locking ball (91) moves into the second slot (51), the locking component (5) is securely connected to the locking assembly (9).

4. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 3, characterized in that, The active end housing (6) includes an inner shell (62), and the inner shell (62) is provided with a first through groove, a third through groove (63) and a second through groove in sequence from the end face of the active end housing (6) towards the bottom of the shell; The locking ball (91) is embedded in the first through groove, and the diameter of the locking ball (91) is greater than the thickness of the first through groove; The second through groove is embedded with a limiting ball (96), and the diameter of the limiting ball (96) is greater than the thickness of the first through groove.

5. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 4, characterized in that, The locking assembly (9) includes: a reset ring (92), a first reset spring (93), an upward push ring (94), a second reset spring (95), an unlocking ring (97), an intermediate ring (98), and a third reset spring (99). The reset ring (92), the first reset spring (93), the intermediate ring (98), and the third reset spring (99) are arranged sequentially on the outer side of the inner shell (62) from the end of the active end housing (6) towards the bottom of the shell. The upward push ring (94), the second reset spring (95), and the unlocking ring (97) are arranged sequentially on the inner side of the inner shell (62) from the end of the active end housing (6) towards the bottom of the shell. The reset ring (92) is driven by the first reset spring (93) to approach the end face of the active end housing (6), the intermediate ring (98) is driven by the first reset spring (93) to approach the bottom of the housing, and the intermediate ring (98) is driven by the third reset spring (99) to move away from the bottom of the housing; The push ring (94) is driven by the second return spring (95) to approach the end face of the active end housing (6), and the unlocking ring (97) is driven by the second return spring (95) to approach the bottom of the housing; When the passive end assembly (100) and the active end assembly (200) are in a mechanically locked state, the locked part (5) and the reset ring (92) are pressed together, the magnetic attraction between the electromagnet (7) and the first permanent magnet (4) is greater than the elastic force of the first reset spring (93), and the elastic potential energy of the first reset spring (93) is greater than the sum of the elastic potential energies of the second reset spring (95) and the third reset spring (99).

6. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 5, characterized in that, The upper push ring (94) is provided with a connecting pin (942) on the side near the inner shell (62). The connecting pin (942) is provided with a corresponding third through groove (63). The middle ring (98) is provided with a corresponding pin hole (981). The connecting pin (942) passes through the third through groove (63) and is inserted into the pin hole (981). The width of the third through groove (63) is greater than the diameter of the connecting pin (942). The connecting pin (942) can move up and down in the third through groove (63). The push ring (94) is provided with a first slot (941) on the side near the inner shell (62). The first slot (941) is provided in correspondence with the first through slot. When the intermediate ring (98) drives the push ring (94) to move downward through the connecting pin (942), the locking ball (91) can move into the first slot (941), and the reset ring (92) abuts against the locking ball (91).

7. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 6, characterized in that, The unlocking ring (97) is provided with a third slot (971) on the side near the inner shell (62). The third slot (971) is provided in correspondence with the second through slot. The unlocking ring (97) is fastened to the second permanent magnet (8). The unlocking ring (97) can be driven away from the bottom of the shell by the second permanent magnet (8). The limiting ball (96) can move into the third slot (971), and the intermediate ring (98) abuts against the limiting ball (96). The intermediate ring (98) is provided with a stepped surface. When the limiting ball (96) leaves the third slot (971), the two sides of the limiting ball (96) abut against the bottom of the stepped surface and the unlocking ring (97) respectively.

8. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 1, characterized in that, A fourth reset spring (10) is provided between the second permanent magnet (8) and the active end housing (6). The second permanent magnet (8) can be driven away from the electromagnet (7) by the fourth reset spring (10). The elastic force of the fourth reset spring (10) is less than the magnetic attraction force between the electromagnet (7) and the second permanent magnet (8).

9. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 1, characterized in that, The passive end housing (3) includes a first outer shell (31), and the active end housing (6) includes a second outer shell (61). The first outer shell (31) is provided with a first concave-convex engaging member, and the second outer shell (61) is provided with a corresponding second concave-convex engaging member. The first concave-convex engaging member engages with the second concave-convex engaging member. The first concave-convex snap-fit ​​component is provided with a first guide slope, and the second concave-convex snap-fit ​​component is provided with a corresponding second guide slope, and the first guide slope and the second guide slope are fitted together.

10. The highly compact integrated interface device for on-orbit assembly of spacecraft as described in claim 1, characterized in that, The first electrical connector (1) is installed on the end face of the passive end housing (3), and the second electrical connector (2) is installed on the end face of the active end housing (6).

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