A docking and locking mechanism and a mechanical docking device for multiple scenarios of its mating surface

Abstract

The present invention discloses a docking and locking mechanism and a mechanical docking device suitable for multiple scenarios. A hollow cavity is provided inside the locking mechanism body. A fixed rod extending along its axis is provided inside the hollow cavity. A sliding sleeve extending coaxially with it is sleeved on the fixed rod. An annular protrusion is provided at one end of the sliding sleeve, and a slider in a ring structure is slidably connected to the other end. A return spring is connected between the annular protrusion and the slider. A plurality of receiving grooves are provided at equal intervals in the circumferential direction on the outer peripheral wall of the locking mechanism body. A hook claw capable of expanding towards its outer peripheral side and engaging in a tapered sleeve is provided in each receiving groove. The hook claw extends along the axis of the hollow cavity. One end of it is hinged at the receiving groove, and a connecting rod for jacking up and expanding the hook claw is provided between the other end and the slider. The two ends of the connecting rod are respectively hinged on the slider and the hook claw. The entire docking and locking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, has a wide application range, and can be extended to scenarios with multiple mission requirements such as aerospace and navigation.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft mechanical docking, and particularly to a docking locking mechanism and a mechanical docking device for multiple scenarios of a mating surface. Background Art

[0002] Today, with the increasing development of outer space technology, in the space field, the docking demand is huge. The technology of spacecraft rendezvous and docking (RVD) is an essential technology for building a large space station. Using this technology, segmented functional modules can be rigidly connected into a sealed and connected spacecraft complex; the technology of spacecraft rendezvous and docking is also a key technology for implementing space rescue. A mechanical connection is established through the capture, attitude adjustment, approach, and locking of the active end and the passive end of the docking mechanism to achieve in-orbit combination. Among them, capture and attitude adjustment play important roles in the docking process. When an emergency occurs during space activities, other spacecraft can rendezvous and dock with it to rescue the astronauts in distress; spacecraft flying in orbit for a long time need activities such as refueling regularly, replacing astronauts, and transporting items. The above space activities all rely on the technology of space rendezvous and docking. In terms of the operation and maintenance of satellites in outer space, by using the docking technology, a tracking satellite can be docked with a target satellite to complete various tasks such as refueling the target satellite, changing its orbit, and scrapping treatment. The docking technology of spacecraft is of great significance. Most of the currently disclosed invention patents related to docking require very high relative motion accuracy between the two spacecraft in the early stage to complete the docking operation, and are particularly sensitive to the disturbance generated to the docking main body during the docking process, unable to achieve flexible docking and locking, and it is very easy to cause the failure of the docking process. Summary of the Invention

[0003] The object of the present invention is to provide a docking locking mechanism and a mechanical docking device for multiple scenarios of a mating surface to solve the problems existing in the above-mentioned prior art. The claw provided on the locking mechanism body can realize the automatic locking of the claw and the tapered sleeve by using the impact force during docking. The entire docking locking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, has a wide range of applications, and can be extended to scenarios with multiple mission requirements such as aerospace and navigation.

[0004] To achieve the above-mentioned purpose, the present invention provides the following scheme: the present invention provides a docking locking mechanism, comprising a locking mechanism body and a tapered sleeve respectively installed on a docking male head and a docking female head and plugged into and matched with each other, the locking mechanism body being provided with a hollow cavity, the hollow cavity being provided with a fixing rod extending along its axial direction, the fixing rod being sleeved with a sliding sleeve extending coaxially therewith, one end of the sliding sleeve being provided with an annular protrusion, the other end of which is slidably connected with a slider with an annular structure, a reset spring being connected between the annular protrusion and the slider, a plurality of accommodating grooves being provided on the outer peripheral wall of the locking mechanism body at equal intervals in the circumferential direction, each of the accommodating grooves being provided with a hook claw that can be opened toward its outer peripheral side and clamped in the tapered sleeve, the hook claw extending along the axis of the hollow cavity, one end of which is hinged at the accommodating groove, and a connecting rod for lifting and opening the hook claw is provided between the other end and the slider, the two ends of the connecting rod being hinged on the slider and the hook claw respectively.

[0005] Preferably, the fixing rod is a lead screw rotatably mounted in the hollow cavity, a ball nut is connected to the lead screw, and a driving mechanism for driving its rotation is provided at one end of the lead screw, the sliding sleeve is fixedly sleeved on the ball nut, and a limiting structure for limiting the rotation of the ball nut is also provided in the hollow cavity.

[0006] Preferably, the driving mechanism comprises a motor installed in the hollow cavity, the output shaft of the motor is transmission-connected with a reducer, and the output shaft of the reducer and the lead screw are transmission-connected with a coupling.

[0007] Preferably, a limiting nut is mounted on the sliding sleeve to prevent the sliding block from detaching, and the limiting nut is located on a side of the sliding block away from the annular protrusion.

[0008] A mechanical docking device suitable for multiple scenarios is also provided, comprising a docking male head and a docking female head, wherein the locking mechanism body is installed on one end of the docking male head for inserting into the docking female head, and the docking female head is provided with a conical sleeve that is plugged into and cooperates with the locking mechanism body, wherein the cross-section of the conical sleeve gradually decreases along the plugging direction of the docking male head, and an annular groove is coaxially provided on the inner circumferential wall of the conical sleeve, and the hook claw on the locking mechanism body is opened and engaged in the annular groove.

[0009] Preferably, a cone head is provided on the locking mechanism body at the front end along the plugging direction thereof, the cone head is a spherical structure convenient for insertion into the conical sleeve, and a plugging channel for plugging with the cone head is also provided at the center position of the conical sleeve.

[0010] Preferably, a buffer mechanism is further provided on the male docking head at the rear side of the locking mechanism body along its insertion direction. The buffer mechanism includes a connection block. An end of the connection block close to the locking mechanism body is provided with a first circular sleeve, which is slidably connected to the locking mechanism body along the axial direction. A shock-absorbing spring is sleeved on the first circular sleeve, and the shock-absorbing spring abuts between the connection block and a limiting projection on the locking mechanism body.

[0011] Preferably, a limiting sleeve is sleeved on the outer peripheral side of the shock-absorbing spring. One end of the limiting sleeve is connected to the connection block, and the other end passes over the limiting projection and is slidably connected to the outer peripheral wall of the locking mechanism body.

[0012] Preferably, a displacement compensation mechanism is further provided on the male docking head at the rear side of the buffer mechanism along its insertion direction. The displacement compensation mechanism includes a connection end cover and a Hooke's hinge connected between the connection end cover and the connection block. A support spring for providing stiffness support and a protective cover for preventing impurities are sleeved on the outer peripheral side of the Hooke's hinge, and the protective cover is sleeved on the outer peripheral side of the support spring.

[0013] Preferably, the Hooke's hinge includes two end joints and an intermediate joint located between the two end joints. A cross shaft for providing two degrees of freedom is hinged between the intermediate joint and each end joint.

[0014] The present invention has achieved the following technical effects compared with the prior art:

[0015] First, a hollow cavity is provided in the locking mechanism body, and a fixing rod extending along its axial direction is provided in the hollow cavity, and a sliding sleeve extending coaxially therewith is sleeved on the fixing rod, and an annular protrusion is provided at one end of the sliding sleeve, and a slider with an annular structure is slidably connected to the other end, and a reset spring is connected between the annular protrusion and the slider, and a plurality of accommodating grooves are provided on the outer peripheral wall of the locking mechanism body at equal intervals along the circumferential direction, and each accommodating groove is provided with a hook claw that can be opened toward its outer peripheral side and clamped in the conical sleeve, and the hook claw extends along the axis of the hollow cavity, and one end of the hook claw is hinged at the accommodating groove, and a connecting rod for lifting and opening the hook claw is provided between the other end and the slider, and the two ends of the connecting rod are respectively hinged to the slider and the hook claw, and because the reset spring abuts between the annular protrusion and the slider, the slider pushes the connecting rod The hook claw keeps the hook claw in an open state toward the outer peripheral side. At the beginning of docking, the impact force on the locking mechanism body is very huge. The huge impact force can cause the hook claw to swing around its hinge point into the accommodating groove. While swinging, the connecting rod is forced to drive the slider to overcome the compression of the reset spring and retreat. After the hook claw retreats, the locking mechanism body smoothly enters the tapered sleeve. After the locking mechanism body enters, the impact force disappears, and the reset spring returns to generate a restoring force to make the slider move forward and reset. The hook claw opens outward to hook the inner wall of the tapered sleeve, automatically completing the locking of the locking mechanism body and the tapered sleeve. The entire docking locking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, and has a wide range of applications. It can be expanded to scenarios with multiple mission requirements such as aerospace and navigation.

[0016] Second, the fixed rod is a screw that is rotatably mounted in the hollow cavity. A ball nut is connected to the screw, and a driving mechanism for driving its rotation is provided at one end. The sliding sleeve is fixedly sleeved on the ball nut. When the docking mechanism is released, the driving mechanism drives the screw to rotate. The rotation of the screw drives the ball bearing to move axially and gradually approach the driving mechanism, so that the entire sliding sleeve and the slider move under the drive of the ball bearing. The slider drives the connecting rod to move, thereby driving the claw to be retracted. After the claw is retracted, the locking mechanism body and the tapered sleeve can be separated, and the entire docking mechanism is unlocked. After the locking mechanism body and the tapered sleeve are completely separated, the screw is driven to rotate in the opposite direction through the driving mechanism, so that the ball bearing gradually moves away from the driving mechanism, so that the claw returns to the state before docking, which is convenient for the next docking. In addition, a limiting structure for limiting the rotation of the ball nut is also provided in the hollow cavity to prevent the screw from driving the ball nut to rotate circumferentially during the rotation process, resulting in the failure of the ball nut to move along the axial direction of the screw.

[0017] Third, the driving mechanism includes a motor installed in a hollow cavity, the output shaft of the motor is connected to a reducer, and the output shaft of the reducer and the lead screw are connected to a coupling. The reducer is used to adapt the drive shaft of the motor and increase the torque on the lead screw to ensure effective rotation of the lead screw. The coupling is set to complete the adaptation connection between the output shaft of the reducer and the lead screw, and the lead screw or reducer can be easily replaced.

[0018] Fourth, a limit nut for preventing the slider from detaching is installed on the sliding sleeve. The limit nut is located on the side of the slider away from the annular protrusion. On the one hand, by setting the limit nut, it prevents the slider from popping out and detaching from the sliding sleeve under the drive of the return spring. On the other hand, under the rotation of the lead screw, the ball nut drives the sliding sleeve to gradually approach the motor, and the limit nut on the sliding sleeve can synchronously push the slider to ensure that the slider can effectively pull the pull rod and the hook claw. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is the external view of the entire docking device;

[0021] Figure 2 It is the sectional view of the entire docking device;

[0022] Figure 3 It is the sectional view of the male docking head;

[0023] Figure 4 It is the view of the female docking head;

[0024] Figure 5 It is the sectional view of the displacement compensation mechanism;

[0025] Figure 6 It is the three-dimensional view of the displacement compensation mechanism;

[0026] Figure 7 It is the sectional view of the Hooke's hinge;

[0027] Figure 8 It is the partial view of the Hooke's hinge;

[0028] Figure 9 It is the three-dimensional view of the cross shaft;

[0029] Figure 10 It is the three-dimensional view of the Hooke's hinge;

[0030] Figure 11 It is the sectional view of the buffer mechanism;

[0031] Figure 12 It is the sectional view of the locking mechanism body;

[0032] Figure 13 It is the three-dimensional view of the locking mechanism body;

[0033] Figure 14It is the external view of the buffer mechanism;

[0034] Figure 15 It is the sectional view of the main body of the locking mechanism;

[0035] Figure 16 It is the three-dimensional view of the main body of the locking mechanism;

[0036] Figure 17 It is the three-dimensional view of the slider;

[0037] Figure 18 It is the three-dimensional view of the sliding sleeve;

[0038] Figure 19 It is the schematic diagram of the internal structure of the main body of the locking mechanism;

[0039] Figure 20 It is the three-dimensional view of the internal structure of the main body of the locking mechanism;

[0040] Among them, 1 - docking male head, 2 - docking female head, 10 - displacement compensation module mechanism, 101 - connecting end cover, 102 - Hooke hinge, 103 - support spring, 104 - protective sleeve, 1021 - end joint, 1022 - intermediate joint, 1023 - cross shaft, 1024 - centripetal needle roller bearing, 1025 - hole retaining ring, 1026 - bearing sleeve, 20 - buffer mechanism, 201 - connecting block, 202 - damping spring, 203 - limiting sleeve, 204 - main body of the locking mechanism, 205 - conical head, 30 - locking mechanism, 301 - motor, 302 - reducer, 303 - hook claw pin, 304 - hook claw, 305 - first connecting rod pin, 306 - connecting rod, 307 - second connecting rod pin, 308 - limiting nut, 309 - slider, 310 - return spring, 311 - sliding sleeve, 312 - ball nut, 313 - lead screw, 314 - lead screw fixing seat, 315 - coupling, 316 - motor adapter plate. Specific implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] The purpose of the present invention is to provide a docking and locking mechanism and a mechanical docking device applicable to multiple scenarios of its surface to solve the problems existing in the above-mentioned prior art. The hook claws provided on the main body of the locking mechanism can realize the automatic locking of the hook claws and the conical sleeve by using the impact force during docking. The entire docking and locking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, has a wide application range, and can be extended to scenarios with multiple mission requirements such as aerospace and navigation.

[0043] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] As Figures 1 to 20 shown, this embodiment provides a docking and locking mechanism, which includes a locking mechanism body 204 and a tapered sleeve that are respectively installed on the docking male head 1 and the docking female head 2 and are inserted and matched with each other. The locking mechanism body 204 is provided with a hollow cavity. A fixed rod extending along its axis is arranged in the hollow cavity. A sliding sleeve 311 extending coaxially with it is sleeved on the fixed rod. An annular protrusion is arranged at one end of the sliding sleeve 311, and a slider 309 in a ring structure is slidably connected to the other end. A return spring 310 is connected between the annular protrusion and the slider 309. A plurality of receiving grooves are arranged at equal intervals in the circumferential direction on the outer peripheral wall of the locking mechanism body 204. A hook 304 that can open toward its outer peripheral side and be clamped in the tapered sleeve is arranged in each receiving groove. The hook 304 extends along the axis of the hollow cavity. One end of it is hinged at the receiving groove, and a connecting rod 306 for jacking up and opening the hook 304 is arranged between the other end and the slider 309. Preferably, a hook pin 303 is rotatably arranged in the receiving groove, and the hook 304 is rotatably connected to the hook pin 303. The two ends of the connecting rod 306 are respectively hinged to the slider 309 and the hook 304. There is a triangular hollow in the middle of the hook 304 for the connecting rod 306 to pass through and be connected. Since the return spring 310 abuts between the annular protrusion and the slider 309, the slider 309 pushes the connecting rod 306 and the hook 304, so that the hook 304 remains in an open state toward the outer peripheral side. At the beginning of docking, the impact force received by the locking mechanism body 204 is very huge. The huge impact force can cause the hook 304 to swing into the receiving groove around its hinge point under force. While swinging, the connecting rod 306 drives the slider 309 to overcome the compression of the return spring 310 and retreat. After the hook 304 retreats, the locking mechanism body 204 can smoothly enter the tapered sleeve. After the locking mechanism body 204 enters, the impact force disappears, and the return spring 310 returns to generate a restoring force to make the slider 309 move forward and reset. The hook 304 opens outward to hook the inner wall of the tapered sleeve, automatically completing the locking of the locking mechanism body 204 and the tapered sleeve. The entire docking and locking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, has a wide range of applications, and can be extended to scenarios with multi-task requirements such as aerospace and navigation.

[0045] Among them, the fixed rod is a lead screw 313 rotatably installed in the hollow cavity. Preferably, a lead screw fixing seat 314 is provided in the hollow cavity. The lead screw 313 is rotatably installed on the lead screw fixing seat 314. A ball nut 312 is connected to the lead screw 313, and a driving mechanism for driving its self-rotation is provided at one end thereof. The sliding sleeve 311 is fixedly sleeved on the ball nut 312. Preferably, the sliding sleeve 311 and the ball nut 312 are tightened by screws. When releasing the docking mechanism, the driving mechanism drives the lead screw 313 to rotate. The rotation of the lead screw 313 drives the ball bearing to move axially and gradually approach the driving mechanism, so that the entire sliding sleeve 311 and the slider 309 move driven by the ball bearing. The slider 309 drives the connecting rod 306 to move, thereby driving the retraction of the hook 304. After the hook 304 is retracted, the separation of the locking mechanism body 204 and the tapered sleeve can be completed, and the entire docking mechanism is unlocked. Furthermore, after the locking mechanism body 204 and the tapered sleeve are completely separated, the driving mechanism drives the lead screw 313 to rotate in the reverse direction, so that the ball bearing gradually moves away from the driving mechanism, causing the hook 304 to return to the state before docking, facilitating the next docking. And a limiting structure for restricting the rotation of the ball nut 312 is also provided in the hollow cavity to prevent the lead screw 313 from driving the ball nut 312 to rotate circumferentially during rotation, resulting in the failure of the axial movement of the ball nut 312 along the lead screw 313. Preferably, the limiting structure is a bolt connecting the ball nut 312 to the sliding sleeve 311, etc. Specifically, threaded holes are opened on the ball nut 312 and the sliding sleeve 311, and they are connected by bolts on the two threaded holes to complete the fixation of the ball nut 312 on the sliding sleeve 311, fully preventing the lead screw 313 from driving the ball nut 312 to rotate circumferentially during rotation.

[0046] Further, the driving mechanism includes a motor 301 installed in the hollow cavity. Preferably, a motor adapter plate 316 is provided in the hollow cavity. The motor 301 and the speed reducer 302 are detachably installed on the motor adapter plate 316. The output shaft of the motor 301 is drivingly connected to the speed reducer 302. There is a coupling 315 drivingly connected between the output shaft of the speed reducer 302 and the lead screw 313. Specifically, the lead screw 313 passes through the lead screw fixing seat 314 and is connected to the coupling 315. The other end of the coupling 315 is connected to the speed reducer 302. The speed reducer 302 is used to adapt to the driving shaft of the motor 301 and increase the torque on the lead screw 313 to ensure the effective rotation of the lead screw 313. Moreover, by setting the coupling 315, the adaptation connection between the output shaft of the speed reducer 302 and the lead screw 313 is completed, and it is convenient to replace the lead screw 313 or the speed reducer 302, etc. Specifically, when releasing the docking mechanism, the motor 301 and the speed reducer 302 drive the lead screw 313 to rotate through the coupling 315. The rotation of the lead screw 313 drives the axial displacement of the ball bearing, so that the entire sliding sleeve 311 and the slider 309 move driven by the ball bearing. After the male docking head 1 and the female docking head 2 are completely separated, by the reverse rotation of the motor 301, the reverse rotation of the lead screw 313 is driven, so that the ball bearing moves back, and the entire docking device returns to the state before docking.

[0047] As a preferred embodiment of the present invention, a limit nut 308 for preventing the slider 309 from detaching is installed on the sliding sleeve 311. Preferably, a threaded structure for the rotational connection of the limit nut 308 is provided on the sliding sleeve 311. The limit nut 308 is located on the side of the slider 309 away from the annular protrusion. On the one hand, by setting the limit nut 308, it is prevented that the slider 309 pops out and detaches from the sliding sleeve 311 driven by the return spring 310. On the other hand, under the action of the rotation of the lead screw 313, the ball nut 312 drives the sliding sleeve 311 to gradually approach the motor 301, and the limit nut 308 on the sliding sleeve 311 can synchronously push the slider 309 to ensure that the slider 309 can effectively pull the pull rod and the hook 304. Preferably, a plurality of slots are evenly opened on the outer peripheral side of the slider 309. The slots are configured with a hole in the middle. One end of the connecting rod 306 is rotationally connected in the slot through the first connecting rod pin 305, and the other end is connected to the hook 304 through the second connecting rod pin 307.

[0048] Furthermore, a mechanical docking device for multiple scenarios is also provided, which is mainly applied to the docking requirements in the aerospace field and can be used in many scenarios such as the docking between spacecrafts and between satellites. The whole device includes a male docking head 1 and a female docking head 2. A locking mechanism 30 is provided on the male docking head 1. The locking mechanism body 204 is installed at one end of the male docking head 1 for inserting into the female docking head 2. A tapered sleeve which is in plug-in fit with the locking mechanism body 204 is provided on the female docking head 2. The cross-section of the tapered sleeve gradually decreases along the plugging direction of the male docking head 1, so that the locking mechanism body 204 can be inserted along the tapered sleeve, and the precise docking of two target objects can be realized within a certain circumferential range. An annular slot is coaxially opened on the inner peripheral wall of the tapered sleeve, and the claws 304 on the locking mechanism body 204 are snapped into the annular slot after being opened. Preferably, the thickness of the tapered sleeve gradually increases along the plugging direction of the male docking head 1, which is convenient for starting the annular slot on the inner peripheral wall at the rear end of the tapered sleeve to cooperate with the claws 304 on the locking mechanism body 204. Moreover, a disc is provided at the end of the female docking head 2 far from the locking mechanism body 204, and the female docking head 2 is conveniently connected to the docking main body through the disc.

[0049] Among them, a tapered head 205 is provided at the front end of the locking mechanism body 204 along its plugging direction. Preferably, the tapered head 205 is threadedly connected to the locking mechanism body 204. The tapered head 205 has a spherical structure convenient for inserting into the tapered sleeve for movement guidance, and an insertion channel which is in plug-in fit with the tapered head 205 is also provided at the central position of the tapered sleeve.

[0050] As a preference, a buffer mechanism 20 is also provided on the male docking head 1 at the rear side of the locking mechanism body 204 along its plugging direction. The buffer mechanism 20 includes a connecting block 201. A first circular sleeve is provided at the end of the connecting block 201 close to the locking mechanism body 204. The first circular sleeve is slidably connected to the locking mechanism body 204 along the axial direction. A shock-absorbing spring is sleeved on the first circular sleeve. The shock-absorbing spring 202 is used to cope with the impact force during the docking process and provide a buffering effect. The shock-absorbing spring abuts between the connecting block 201 and the limiting protrusion on the locking mechanism body 204 to provide the guidance and limitation for the whole buffer mechanism 20. Specifically, at the beginning of the docking, the tapered head 205 drives the whole locking mechanism body 204 to move backward after being impacted, and the shock-absorbing spring 202 provides a rebounding force after being stressed to complete the shock absorption during the docking process. Preferably, a second circular sleeve is provided at the end of the connecting block 201 far from the locking mechanism body 204, and the second circular sleeve is embedded into one end section 1021 of the displacement compensation mechanism 10 to improve its connection stiffness. And preferably, the first circular sleeve is sleeved on one end of the locking mechanism body 204 for movement guidance and limitation, and the other end of the locking mechanism body 204 is used to fix components such as the claws 304.

[0051] Furthermore, a limiting sleeve 203 is sleeved on the outer peripheral side of the shock-absorbing spring. One end of the limiting sleeve 203 is connected to the connecting block 201, and the other end passes over the limiting protrusion and is slidably connected to the outer peripheral wall of the locking mechanism body 204. The limiting sleeve 203 can also provide guidance for the movement during the docking process and can protect the shock-absorbing spring 202 at the same time. Preferably, there are threaded holes on both sides of the connecting block 201. One end of the connecting block 201 is connected to one end joint 1021 of the displacement compensation mechanism 10, and the other end is connected to the limiting sleeve 203. At the same time, a clamping structure for preventing the separation of the limiting sleeve 203 and the locking mechanism body 204 is provided. Specifically, annular flanges are provided on the inner peripheral wall of the limiting sleeve 203 and the outer peripheral wall of the locking mechanism body 204. After the limiting sleeve 203 and the locking mechanism body 204 move relative to each other to the corresponding positions, the two annular flanges are abutted against each other along the axial direction of the limiting sleeve 203, so as to realize the limiting effect of the limiting sleeve 203 on the locking mechanism body 204.

[0052] Moreover, a displacement compensation mechanism 10 is further provided on the docking male head 1 along the insertion direction thereof behind the buffer mechanism 20. The displacement compensation mechanism 10 includes a connecting end cover 101 and a Hooke's hinge 102 connected between the connecting end cover 101 and the connecting block 201. The connecting end cover 101 provides a bolt interface for connecting to the main body. The Hooke's hinge 102 provides the ability of multi-degree-of-freedom displacement compensation. A support spring 103 for providing stiffness support and a protective sleeve 104 for preventing impurities are sleeved on the outer peripheral side of the Hooke's hinge 102. The protective sleeve 104 is preferably made of a rubber sleeve or the like. The protective sleeve 104 is sleeved on the outer peripheral side of the support spring 103. The support spring 103 provides stiffness support for the rotation of the Hooke's hinge 102 and provides the axial reset ability of the Hooke's hinge 102. The protective sleeve 104 provides the ability of waterproof, dustproof, corrosion-proof and radiation-proof. The entire displacement compensation mechanism 10 can make up for the situation where the initial docking accuracy is not high, and ensure the docking accuracy through the circumferential swing of the displacement compensation mechanism 10.

[0053] Among them, the Hooke's hinge 102 includes two end joints 1021 and an intermediate joint 1022 located between the two end joints 1021. Cross shafts 1023 for providing two degrees of freedom are hinged between the intermediate joint 1022 and each end joint 1021. Each cross shaft 1023 can provide two degrees of freedom of rotation, and the entire Hooke's hinge 102 can provide four degrees of freedom of movement. Preferably, the cross shaft 1023 is a cross-cylindrical structure with a through hole in the middle. The existence of the through hole is used for the wiring of the locking mechanism motor 301. Centripetal needle roller bearings 1024, snap rings for holes 1025 and bearing sleeves 1026 are sleeved on the ends of each cross shaft 1023, which facilitates the rotational connection between the cross shaft 1023 and the intermediate joint 1022 and each end joint 1021.

[0054] The multi-scenario mechanical docking device proposed in the present invention can provide the docking requirements of the active end and the passive section of the docking even when the initial docking accuracy is low. At the same time, the docking mechanism provided by this solution can meet the docking needs in various complex environments, and has a wider range of applications. The present invention intends to solve the problem that when the initial relative motion accuracy of the spacecraft is not high, the device can still complete accurate docking and lock the spacecraft, and can allow the docking subject to complete the docking operation when external or internal disturbances occur during the docking process. During docking, the docking range can be controlled within the circumference of the female head. The displacement compensation module in the male head can realize large displacement compensation for the initial docking accuracy through its cross shaft 1023 and support spring 103, and at the same time, the docking process is flexible through this structure to avoid damage to the docking mechanism and the docking body caused by sudden disturbances of the spacecraft; the buffer mechanism 20 can dissipate the strong impact force during the docking process to avoid damage to the docking mechanism and the docking body by the impact force; the locking mechanism can realize automatic locking of the docking device by utilizing the impact force during docking. During the docking release process, the entire mechanism can be released by the rotation of the motor 301 to release the lock of the two bodies. The entire docking mechanism has a simple structure, a reliable implementation principle, is easy to process and implement, and has a wide range of applications. It can be extended to scenarios with multiple mission requirements such as aerospace and navigation.

[0055] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0056] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0057] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A docking and locking mechanism, characterized in that, It includes a locking mechanism body and a tapered sleeve respectively installed on the male docking head and the female docking head and inserted and matched with each other. A hollow cavity is provided in the locking mechanism body. A fixed rod extending along its axis is provided in the hollow cavity. A sliding sleeve extending coaxially with it is sleeved on the fixed rod. An annular protrusion is provided at one end of the sliding sleeve, and a slider in a ring structure is slidably connected to the other end. A return spring is connected between the annular protrusion and the slider. A plurality of receiving grooves are provided at equal intervals in the circumferential direction on the outer peripheral wall of the locking mechanism body. A hook claw capable of expanding toward its outer peripheral side and clamping in the tapered sleeve is provided in each of the receiving grooves. The hook claw extends along the axis of the hollow cavity. One end of it is hinged at the receiving groove, and a connecting rod for jacking up and expanding the hook claw is provided between the other end and the slider. The two ends of the connecting rod are respectively hinged on the slider and the hook claw; The fixed rod is a lead screw rotatably installed in the hollow cavity. A ball nut is connected to the lead screw, and a driving mechanism for driving its self-rotation is provided at one end of it. The sliding sleeve is fixedly sleeved on the ball nut, and a limiting structure for restricting the rotation of the ball nut is further provided in the hollow cavity.

2. The docking and locking mechanism according to claim 1, characterized in that, The driving mechanism includes a motor installed in the hollow cavity. The output shaft of the motor is drivingly connected with a speed reducer. A coupling is drivingly connected between the output shaft of the speed reducer and the lead screw.

3. The docking and locking mechanism according to claim 2, characterized in that, A limiting nut for preventing the slider from detaching is installed on the sliding sleeve. The limiting nut is located on the side of the slider away from the annular protrusion.

4. A mechanical docking device for multi-scene face applications using the docking and locking mechanism according to any one of claims 1 to 3, characterized in that, It includes a male docking head and a female docking head. The locking mechanism body is installed at one end of the male docking head for inserting into the female docking head. A tapered sleeve inserted and matched with the locking mechanism body is provided on the female docking head. The cross-section of the tapered sleeve gradually decreases along the insertion direction of the male docking head. An annular card slot is coaxially opened on the inner peripheral wall of the tapered sleeve. The hook claws on the locking mechanism body are clamped in the annular card slot after expanding.

5. The mechanical docking device for multi-scene face applications according to claim 4, characterized in that, A conical head is provided at the front end of the locking mechanism body along its insertion direction. The conical head has a spherical structure convenient for inserting into the tapered sleeve, and an insertion channel for cooperating with the conical head is further provided at the central position of the tapered sleeve.

6. The mechanical docking device for multi-scene face applications according to claim 5, characterized in that, A buffer mechanism is further provided on the male docking head at the rear side of the locking mechanism body along its insertion direction. The buffer mechanism includes a connecting block. A first circular sleeve is provided at the end of the connecting block close to the locking mechanism body. The first circular sleeve is slidably connected to the locking mechanism body along the axis. A shock-absorbing spring is sleeved on the first circular sleeve. The shock-absorbing spring abuts between the connecting block and a limiting protrusion on the locking mechanism body.

7. The mechanical docking device for multi-scene face applications according to claim 6, characterized in that, A limiting sleeve is sleeved on the outer peripheral side of the shock-absorbing spring. One end of the limiting sleeve is connected to the connecting block, and the other end passes over the limiting protrusion and is slidably connected to the outer peripheral wall of the locking mechanism body.

8. The mechanical docking device for multi-scene face applications according to claim 7, characterized in that, The docking male head is further provided with a displacement compensation mechanism located behind the buffer mechanism along its insertion direction. The displacement compensation mechanism includes a connection end cover and a Hooke's hinge connected between the connection end cover and the connection block. A support spring for providing stiffness support and a protective sleeve for preventing impurities are sleeved on the outer peripheral side of the Hooke's hinge, and the protective sleeve is sleeved on the outer peripheral side of the support spring.

9. The mechanical docking device for multi-scene face applications according to claim 8, characterized in that, The Hooke's hinge includes two end joints and an intermediate joint located between the two end joints. A cross shaft for providing two degrees of freedom is hinged between the intermediate joint and each end joint.

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