Docking and locking device and its docking method

Abstract

The docking locking device provided by the present invention mainly includes a passive end connected to the telescope and an active end connected to the docking base. The inner side of the passive end flange of the passive end is provided with an inner conical surface for positioning, and the inner conical surface matches the outer conical surface of the locator. An external thread is provided on the outer side of the inner conical surface for matching the inner thread of the turntable of the active end. The active end adopts a worm gear with a self-locking function for docking drive. The axis system of the docking locking device is compact and has extremely high structural stability and docking accuracy. The docking method provided by the present invention mainly uses guide pins and conical surfaces for positioning and guiding, and a worm gear drives the docking. The docking process is easy to position and has high positioning accuracy. It relies on the thread structure and the self-locking function of the worm gear for locking, and has extremely high stability and reliability after locking.

Description

Technical Field

[0001] The present invention relates to the technical field of space docking, and in particular provides a docking locking device for assembling a telescope on orbit and a docking method thereof. Background Art

[0002] Space telescopes feature sophisticated optical systems, placing extremely high demands on the stability and reliability of their overall structure, as well as high installation precision. An on-orbit assembly space telescope is an optical payload in which the telescope module is assembled on-orbit by a space robotic arm. After assembly, it undergoes on-orbit debugging to achieve operational status. The docking of the telescope module with the external environment requires a docking and locking device with high requirements for positioning precision and stability. During the robotic arm assembly process, the device guides, positions, and locks the telescope, while also enabling the insertion and removal of electrical connectors.

[0003] However, the locking devices in the prior art have problems such as complex structure, low positioning accuracy, and low locking stability, which makes it difficult to meet development needs. Summary of the Invention

[0004] To solve the above problems, the present invention provides a docking locking device and a docking method thereof, which mainly realize the functions of guiding, positioning, locking and plugging and unplugging electrical connectors of on-orbit telescopes, and provide a precise and stable device and docking method for on-orbit assembly of telescopes.

[0005] The docking locking device provided by the present invention comprises: a passive end connected to the telescope and an active end connected to the docking base;

[0006] The passive end includes: an inner conical surface for positioning is provided on the inner side of the passive end flange, an external thread is provided on the outer side of the inner conical surface, an electrical connector female port is provided at the center of the passive end flange, a sensor seat and at least three guide cone seats are provided around the electrical connector female port, and a Hall proximity switch is connected to the sensor seat;

[0007] The active end includes: a worm gear shaft system and a worm shaft system arranged inside the housing;

[0008] The worm gear shaft system includes: a positioner fixedly connected to the housing, the upper end of the positioner is shaped as an outer cone surface that matches the inner cone surface, the center of the upper end surface of the positioner is provided with an electrical connector male port, and the electrical connector male port is surrounded by an induction magnet and the same number of guide pins as the guide cone seat; the side of the positioner is coaxially connected to the worm gear through a bearing, the worm gear is relatively fixed to the turntable, and the inner side of the turntable is provided with an internal thread that matches the external thread of the passive end;

[0009] The worm shaft system includes: the two ends of the worm are respectively connected to the rotary encoder and the motor, and the worm and the worm wheel have a self-locking function.

[0010] Preferably, a blind hole is provided at the center of each guide cone seat for accommodating a guide pin for precise positioning.

[0011] Preferably, there are three guide pins, two of which are on the same diameter of the locator as the main guide pins, and the other is an auxiliary guide pin.

[0012] Preferably, the Hall proximity switch has an adjustable extension length and is used to output a locking start signal.

[0013] Preferably, the shell is in the shape of a quadrangular prism, including a bottom plate, two left side plates, two right side plates and an upper cover plate; the middle of the upper cover plate is a circular hollow with a radius larger than that of the turntable.

[0014] Preferably, the lower end of the positioner is connected to the fixing flange by screws, and the fixing flange is connected to the base plate by screws.

[0015] Preferably, the bearing is a cross roller bearing, and a bearing pressure ring is provided between the bearing and the fixed flange.

[0016] Preferably, the worm shaft system also includes: a worm base, a left end cover, a right end cover, an angular contact bearing, a coupling and a motor base. The worm base and the motor base are connected to the base plate by screws, and the shoulders on both sides of the worm base limit the worm through angular contact bearings and the left end cover and the right end cover.

[0017] Preferably, the worm is connected to the rotary encoder via a top screw, and the worm is connected to the output shaft of the motor via a coupling, and the motor is a stepping motor.

[0018] A docking method for a docking locking device, comprising the following steps:

[0019] Connect the passive end and active end to the components to be installed respectively. Under the visual guidance of the stereo target, the robotic arm moves the passive end close to the active end.

[0020] When the guide pin is ready to enter the blind hole of the guide cone seat, continue positioning and guiding according to the guide pin and the blind hole;

[0021] When the induction magnet enters the sensing area of the Hall proximity switch, the Hall proximity switch outputs a locking start signal, the motor drives the worm to rotate, the worm drives the worm wheel to drive the turntable to rotate, and the rotary encoder outputs the angle data;

[0022] The external thread of the passive end flange contacts the internal thread of the turntable and is screwed in, and then the female port of the electrical connector is plugged into the male port of the electrical connector. When the output angle of the rotary encoder remains unchanged, the motor is powered off and the docking is completed.

[0023] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0024] The structure of the present invention is simple and easy to process, and the compact shaft system ensures the structural stability of the docking locking device. The worm wheel and worm adopted have self-locking capabilities. At the same time, with the assistance of the threaded structure, the locked structure has extremely high reliability; the inner conical surface and the outer conical surface reduce the positioning difficulty and ensure good positioning accuracy. The guide pin ensures high guidance and docking tolerance during the docking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an axonometric view of a docking locking device provided according to an embodiment of the present invention;

[0026] Figure 2 is a structural diagram of the passive end of a docking locking device provided according to an embodiment of the present invention;

[0027] Figure 3 is a structural diagram of the active end of a docking locking device provided according to an embodiment of the present invention;

[0028] Figure 4 is a front cross-sectional view of the active end of the docking locking device provided according to an embodiment of the present invention;

[0029] Figure 5 is a top view of the active end of the docking locking device provided according to an embodiment of the present invention;

[0030] Figure 6 This is a cross-sectional view of a docking locking portion of a docking locking device provided according to an embodiment of the present invention;

[0031] Figure 7a is a schematic diagram of a docking and locking process of a docking and locking device provided according to an embodiment of the present invention;

[0032] Figure 7b 2 is a cross-sectional view of the docking and locking device provided in accordance with an embodiment of the present invention after docking and locking are completed.

[0033] Reference numerals include:

[0034] Passive end 100, active end 200, three-dimensional target 300;

[0035] Passive end flange 1, sensor base 2, Hall proximity switch 3, electrical connector female port 4, guide cone seat 5, base plate 6, left side plate 7, right side plate 8, upper cover 9, electrical connector male port 10, worm gear 11, turntable 12, cross roller bearing 13, positioner 14, main guide pin 15, auxiliary guide pin 16, fixing flange 17, bearing pressure ring 18, worm base 19, rotary encoder 20, left end cover 21, angular contact bearing 22, worm 23, right end cover 24, coupling 25, motor base 26, stepper motor 27, induction magnet 28;

[0036] Inner conical surface 41 , outer conical surface 42 , outer thread 51 , inner thread 52 . DETAILED DESCRIPTION

[0037] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, identical modules are denoted by identical reference numerals. In the case of identical reference numerals, their names and functions are also identical. Therefore, their detailed description will not be repeated.

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0039] Figure 1 The overall structure of the docking locking device provided according to an embodiment of the present invention is shown.

[0040] like Figure 1 As shown, the docking locking device provided by the embodiment of the present invention mainly includes: a passive end 100 connected to the telescope and an active end 200 connected to the docking base.

[0041] Figure 2 The structure of the passive end of the docking locking device provided according to an embodiment of the present invention is shown.

[0042] like Figure 2 As shown, the passive end 100 includes: a passive end flange 1, a sensor seat 2, a Hall proximity switch 3, an electrical connector female port 4 and a guide cone seat 5, and the specific connection relationship is as follows:

[0043] Among them, the passive end flange 1 is the installation base of the passive end 100. The passive end flange 1 is a circular structure, and a through hole for connecting to the outside is opened on its edge. The raised ring of the passive end flange 1 is an inner cone 41, that is, the inner open end of the raised ring of the passive end flange 1 is a circle with a larger radius, and the inner closed end is a circle with a smaller radius, while the outer side of the inner cone 41 has the same radius and is provided with a dense external thread 51. The electrical connector female port 4 is installed at the center position of the passive end flange 1. Three guide cone seats 5 and a sensor seat 2 are arranged around the electrical connector female port 4. The guide cone seat 5 and the sensor seat 2 are evenly arranged, and the axes are parallel to each other. A blind hole is opened in the center position of the guide cone seat 5 to accommodate a guide pin for precise positioning; the Hall proximity switch 3 is installed on the sensor seat 2 through a thread. The Hall proximity switch 3 can adjust the depth length. The Hall proximity switch 3 is used to output a locking start signal.

[0044] Figure 3 The structure of the active end of the docking locking device provided according to an embodiment of the present invention is shown.

[0045] Figure 4 The main cross-sectional structure of the active end of the docking locking device provided according to an embodiment of the present invention is shown.

[0046] like Figure 3 、 Figure 4 As shown, the active end 200 includes: a worm gear shaft system and a worm shaft system arranged inside the shell. The shell is a quadrangular prism, including a bottom plate 6, two left side plates 7, two right side plates 8 and an upper cover plate 9; the middle position of the upper cover plate 9 is a circular hollow with a radius greater than the radius of the turntable 12. There is a certain gap between the shell and the worm gear shaft system to avoid affecting their rotation.

[0047] Among them, the connection relationship of the specific structure of the worm gear shaft system is as follows:

[0048] The fixing flange 17 is fixed to the base plate 6 with screws, and the locator 14 is also fixed to the upper end of the fixing flange 17 with screws. The upper end of the locator 14 has an outer conical surface 42 that matches the inner conical surface 41. The lower portion of the locator 14 is cylindrical with a slightly smaller radius, and the inner side of the outer conical surface 42 is grooved. The center of the upper end surface of the locator 14 is provided with the electrical connector male port 10. The electrical connector male port 10 is positioned relative to the electrical connector female port 4, allowing for plugging and unplugging. The electrical connector male port 10 is evenly distributed around the electrical connector male port 10, along with the same number of guide pins as the guide cone 5. Two guide pins on the same diameter of the locator 14 are main guide pins 15, and the other is an auxiliary guide pin 16. During the docking process, both the main guide pin 15 and the auxiliary guide pin 16 enter the blind hole of the guide cone 5 for precise positioning. The position of the induction magnet 28 corresponds to the Hall proximity switch 3. The outer side of the lower cylinder of positioner 14 is coaxially connected to worm gear 11 via a compact cross-roller bearing 13, which can withstand significant axial and radial forces. Turntable 12 is coaxially connected to worm gear 11 via a lower lug. Internal threads 52 are provided on the inner side of turntable 12, matching the passive end 100. A bearing pressure ring 18 is also provided between cross-roller bearing 13 and fixed flange 17. This ring does not contact the inner iron ring of cross-roller bearing 13 and rotates with the outer iron ring.

[0049] Figure 5 The top view of the active end of the docking locking device provided according to an embodiment of the present invention is shown.

[0050] like Figure 5 As shown, the connection relationship of the specific structure of the worm shaft system is as follows:

[0051] The worm base 19 and the motor base 26 are mounted on the base plate 6 by screws. The shoulders on both sides of the worm base 19 support the worm 23 through angular contact bearings 22. The worm 23 is thinner at both ends, and the teeth in the middle match the teeth on the worm wheel 11. The worm wheel 11 and the worm 23 are self-locking. The contact position between the worm 23 and the shoulder is provided with a left end cap 21 and a right end cap 24. The shoulder cooperates with the left end cap 21 and the right end cap 24 to limit the position of the worm 23. One end of the worm 23 is connected to the rotary encoder 20 via a top screw. The rotary encoder 20 is used to output the angle data. The other end of the worm 23 is connected to the output shaft of the stepper motor 27 via a coupling 25. The stepper motor 27 is connected to the motor base 26.

[0052] Figure 6 The cross-sectional structure of the docking locking part of the docking locking device provided according to an embodiment of the present invention is shown.

[0053] Figure 7a The docking and locking process of the docking and locking device provided according to an embodiment of the present invention is shown.

[0054] Figure 7b The cross-sectional structure of the docking and locking device provided in accordance with an embodiment of the present invention after docking and locking is completed is shown.

[0055] like Figure 6 、 Figure 7a and Figure 7b As shown, the docking method of the docking locking device includes the following steps:

[0056] The passive end 100 and the active end 200 are respectively connected to the components to be installed. Under the visual guidance of the three-dimensional target 300, the robotic arm slowly moves the passive end 100 closer to the active end 200 for docking.

[0057] When the passive end 100 is 30 mm away from the active end 200, the guide pin is ready to enter the blind hole on the guide cone seat 5 through position adjustment, and positioning and guiding are continued based on the guide pin and the blind hole.

[0058] When the passive end 100 is 25 mm away from the active end 200, the induction magnet 28 enters the induction area of the Hall proximity switch 3, and the Hall proximity switch 3 outputs a locking start signal. The stepping motor 27 starts to start, driving the worm 23 to rotate. The worm 23 drives the worm wheel 11 to drive the turntable 12 to rotate. The worm 23 is connected to the rotary encoder 20 through the top screw, and the rotary encoder 20 outputs the angle data.

[0059] When the passive end 100 is 20 mm away from the active end 200, the external thread of the passive end flange 1 contacts the internal thread of the rotary disk 12 and is screwed in, and the passive end 100 and the active end 200 begin to dock and lock.

[0060] When the passive end 100 is 15 mm away from the active end 200 , the female port 4 of the electrical connector contacts the male port 10 of the electrical connector, and the female port 4 of the electrical connector is connected to the male port 10 of the electrical connector by continuing the docking.

[0061] The docking continues until the inner conical surface 41 of the passive end flange 1 contacts the outer conical surface 42 of the positioner to generate pressure. The locking and positioning are completed and the rotation of the turntable 12 stops.

[0062] The locking is continued. When it is detected that the output angle of the rotary encoder 20 no longer changes, the stepping motor 27 is powered off and stops working, and the docking is completed.

[0063] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0064] The above specific embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A docking locking device, characterized in that: include: A passive end connected to the telescope and an active end connected to the docking base; The passive end comprises: an inner conical surface for positioning is provided on the inner side of the passive end flange, an external thread is provided on the outer side of the inner conical surface, an electrical connector female port is provided at the center of the passive end flange, a sensor seat and at least three guide cone seats are provided around the electrical connector female port, and a Hall proximity switch is connected to the sensor seat; The active end includes: a worm gear shaft system and a worm shaft system arranged inside the housing; The worm gear shaft system includes: a positioner fixedly connected to the housing, the upper end of the positioner is shaped as an outer cone surface matching the inner cone surface, an electrical connector male port is provided at the center of the upper end surface of the positioner, and an induction magnet and the same number of guide pins as the guide cone seat are provided around the electrical connector male port; the side surface of the positioner is coaxially connected to the worm gear through a bearing, the worm gear is relatively fixed to the turntable, and the inner side of the turntable is provided with an internal thread matching the external thread of the passive end; The worm shaft system includes: two ends of the worm are respectively connected to the rotary encoder and the motor, and the worm and the worm wheel have a self-locking function; The worm shaft system also includes: a worm base, a left end cover, a right end cover, an angular contact bearing, a coupling and a motor base. The worm base and the motor base are connected to the bottom plate of the shell by screws. The shoulders on both sides of the worm base limit the worm through the angular contact bearing and the left end cover and the right end cover.

2. The docking locking device according to claim 1, characterized in that: A blind hole is provided at the center of each guide cone seat for accommodating the guide pin for precise positioning.

3. The docking locking device according to claim 1, wherein: There are three guide pins, two of which are on the same diameter of the positioner as the main guide pins, and the other is an auxiliary guide pin.

4. The docking locking device according to claim 1, wherein: The Hall proximity switch can adjust the extension length and is used to output a locking start signal.

5. The docking locking device according to claim 1, wherein: The shell is in the shape of a quadrangular prism and includes a bottom plate, two left side plates, two right side plates and an upper cover plate; the middle of the upper cover plate is a circular hollow with a radius larger than that of the turntable.

6. The docking locking device according to claim 5, characterized in that: The lower end of the positioner is connected to the fixing flange through screws, and the fixing flange is connected to the base plate through screws.

7. The docking locking device according to claim 6, characterized in that: The bearing is a cross roller bearing, and a bearing pressure ring is provided between the bearing and the fixing flange.

8. The docking locking device according to claim 1, wherein: The worm is connected to the rotary encoder via a top screw, and the worm is connected to the output shaft of the motor via the coupling, and the motor is a stepping motor.

9. The docking method of any one of claims 1 to 8, wherein: The following steps are involved: The passive end and the active end are respectively connected to the components to be installed, and under the visual guidance of the three-dimensional target, the robotic arm moves the passive end close to the active end; When the guide pin is ready to enter the blind hole of the guide cone seat, the positioning and guiding are continued according to the guide pin and the blind hole; When the induction magnet enters the induction area of the Hall proximity switch, the Hall proximity switch outputs a locking start signal, the motor drives the worm to rotate, the worm drives the worm wheel to drive the turntable to rotate, and the rotary encoder outputs rotation angle data; The external thread of the passive end flange contacts the internal thread of the turntable and is screwed in, and then the female port of the electrical connector is plugged into the male port of the electrical connector. When the output angle of the rotary encoder remains unchanged, the motor is powered off and the docking is completed.

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