Docking mechanism and method for repeatable unlocking of micro-nano satellites

Abstract

The application discloses a docking mechanism and method capable of repeatedly unlocking micro-nano satellites, belongs to the technical field of on-orbit satellite capturing, and comprises an active docking mechanism and a passive docking mechanism; the active docking mechanism and the passive docking mechanism are respectively installed on two spacecrafts, an electromagnetic locking mechanism in a taper-rod type structure is used, electromagnetic lock cores installed on the active docking mechanism and the passive docking mechanism are matched with electromagnetic lock valves, two spacecrafts are guided to accurately dock and repeated locking and unlocking are realized. The taper-rod type docking is adopted, attitude angle control is relatively flexible, the capturing range is relatively large, good buffering performance is obtained by using a spring damper, and the passive mechanical locking mode, the laser beam intersection sensor technology and the electromagnetic device are combined, the reliability of the docking process is improved, and the docking mechanism has the functions of electric transmission and signal transmission.

Description

TECHNICAL FIELD

[0001] The application relates to a docking mechanism and method for repeatedly unlocking micro / nano satellites. BACKGROUND

[0002] The development and continuous improvement of orbital docking capability have been regarded as a very important target by space research institutions all over the world since the early space age, because it involves several different tasks of two or more spacecrafts. In the foreign research field, the achievements have been the space robot system developed and designed by Canada, the advanced space grappling robot, the American "Orbital Express", the Japanese engineering test satellite ETS-VLL and the like. The non-cooperative heterogeneous isomorphic peripheral docking mechanism is used in China, and the most important orbital docking mechanism is the three-prong grappling structure. The three-prong grappling structure is time-consuming in realizing accurate positioning, has a small capturing range, and at present, the connection of the structure is controlled through a traditional motor, so that the traditional motor is heavy, energy loss is caused, the energy utilization rate is reduced, the failure rate is high, and the precision is relatively low. SUMMARY

[0003] The application provides a docking mechanism and method for repeatedly unlocking micro / nano satellites, and the docking mechanism is small in size, low in power consumption, flexible in attitude angle control, and relatively large in capturing range.

[0004] To achieve the above object, the application adopts the following technical scheme:

[0005] A docking mechanism for repeatedly unlocking micro / nano satellites comprises an active docking mechanism and a passive docking mechanism.

[0006] The active docking mechanism comprises a conical front end of an active docking cylinder, six locking grooves uniformly distributed on the conical surface, a cylindrical boss arranged at the rear of the conical surface, a hollow interior, a line layout space and a hole for installing a guide rod; the bottom of the rod is arranged in the hole, and the size of the hole is matched with the bottom; a spring is coaxially installed on the outer surface of the rod for buffering, and a threaded hole is arranged at the front end of the rod and connected with a threaded hole at the bottom center of a passive magnet. The spring pins are used for electric connection and signal connection, and three spring pin male seat mounting holes are uniformly distributed on the cylindrical outer surface. A docking ring is arranged at the bottom of the active docking cylinder and matched with a clawed ring of the passive docking device.

[0007] The passive docking mechanism body is a cylinder, a conical guide groove is arranged in the cylinder, and the conical guide groove is matched with the shape of the active docking mechanism, and a connecting device corresponding to the electric connection and signal connection device on the active docking surface is arranged on the docking surface; a lock shell for mounting a locking device is arranged on the outside of the cylinder, and the outside of the cylinder is provided with a fixing device, an active electromagnet, a buffer device, a gear and rack structure, a motor driving device and a passive locking device, the passive locking device is composed of a clawed ring and a cylindrical lock; three spring needle female seat mounting holes matched with the end surface of the active docking mechanism are uniformly arranged on the outer end surface of the cylindrical body, and three lock shells are uniformly arranged around the cylindrical surface; a fixing member is arranged on the outside of the cylindrical body, four threaded holes are symmetrically arranged on the upper plate surface of the fixing member, four threaded holes are arranged on the front end surface, and a laser transmission type sensor mounting groove is arranged on the lower part in the axial direction; a guide groove with an opening outward is arranged at one end in the cylindrical body, and from front to back, the active electromagnet, the electromagnet mounting sliding block are coaxially arranged in sequence outside the guide groove. The electromagnet mounting sliding block is connected with the upper plate of the fixing member, the sliding rail, the rack, the gear and the motor in sequence from top to bottom. Four threaded holes are arranged on the surface of the sliding rail and matched with the upper plate surface of the fixing member, the sliding rail is slotted in the middle and matched with the electromagnet mounting sliding block; a magnet mounting hole, a connecting thread and a wire hole are arranged in the middle of the electromagnet mounting sliding block, four rack mounting holes are arranged on the lower part of the electromagnet mounting sliding block, the rack is matched with the gear, and a threaded hole is arranged at the center of the gear to be connected with the motor.

[0008] Beneficial effects: the docking mechanism and method for repeatedly unlocking micro-nano satellites are provided, and the docking mechanism and method have the following advantages compared with the prior art:

[0009] (1) The electromagnetic locking mechanism with a taper rod structure is adopted, locking is performed through cooperation of an electromagnetic lock core and an electromagnetic lock valve, compared with traditional mechanical rigid connection, the connection is more firm, the grabbing efficiency is improved, and the structure is simplified to a certain extent and the weight is reduced;

[0010] (2) The recognition is performed through the optical coupling sensor, and compared with a traditional motor, the precision is greatly improved;

[0011] (3) The taper-rod type docking is adopted, the attitude angle control is relatively flexible, the capture range is relatively large, good buffering performance is obtained through spring damping, and the passive mechanical locking mode, the laser transmission sensor technology and the electromagnetic device are combined, the reliability of the docking process is improved, and the docking mechanism has the functions of electric transmission and signal transmission. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a schematic view when the active mechanism and the passive mechanism are docked in the embodiment of the application;

[0013] Figure 2 It is an isometric view of the active docking mechanism in the embodiment of the application;

[0014] Figure 3 This is an isometric view of the passive docking mechanism in an embodiment of the present invention;

[0015] Figure 4 This is a left view of the passive docking mechanism in an embodiment of the present invention;

[0016] Figure 5 This is a front view of the passive docking mechanism in an embodiment of the present invention;

[0017] Figure 6 This is a cross-sectional view of the active docking mechanism in an embodiment of the present invention;

[0018] Figure 7 This is an isometric view of the slide rail in an embodiment of the present invention;

[0019] Figure 8 A cross-sectional view of the docking mechanism in the locked state in an embodiment of the present invention;

[0020] In the diagram, 1-active docking mechanism, 2-passive docking mechanism, 3-magnet, 4-telescopic rod, 5-spring a, 6-locking groove, 7-spring pin male seat mounting hole, 8-conical boss, 9-claw-type buffer ring, 10-spring b, 11-cylindrical nut, 12-cylindrical body, 13-threaded hole a, 14-slide rail, 15-base, 16-motor, 17-laser through-beam sensor fixing component, 18-spring pin female seat mounting hole, 19-cylindrical lock, 20-slider, 21-gear, 22-rack, 23-spring c, 24-electromagnet, 25-opening, 26-symmetrical through hole, 27-threaded hole b, 28-guide groove. Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0022] like Figures 1-7 As shown, a docking mechanism for repeatedly unlocking micro-nano satellites includes an active docking mechanism and a passive docking mechanism, which are respectively installed on two spacecraft to guide the two spacecraft to accurately dock and achieve repeated locking and unlocking;

[0023] The active docking mechanism 1 has a conical boss 8 as its main body. The upper end of the conical boss 8 is provided with an opening 25 and a telescopic rod 4 is connected to it. A magnet 3 is installed at the top of the telescopic rod 4. A spring a5 is installed between the top of the conical boss 8 and the telescopic rod 4. A locking groove 6 is provided on the cone of the conical boss 8. The lower end of the conical boss 8 is an annular platform. A spring pin male seat mounting hole 7 is provided on the annular platform, which matches the spring pin female seat mounting hole 18 on the passive docking mechanism.

[0024] The passive docking mechanism 2 comprises a base body 15, a cylindrical body 12, a columnar lock 19, a clawed buffer ring 9, a sliding rail 14, a sliding block 20, an electromagnet 24; the cylindrical body 12 is supported on a ring-shaped support in the base body 15, three mounting lock housings are evenly distributed around the column surface of the cylindrical body 12, and the mounting lock housings are matched with the columnar lock 19; a spring c 23 is mounted below the columnar lock 19 in the mounting lock housing; three spring needle female seat mounting holes 18 matched with the end surface of the active docking mechanism are evenly distributed on the outer end surface of the cylindrical body 12; an outwardly open guide groove 28 is arranged in the cylindrical body 12; the guide groove 28 is coaxially arranged from outside to inside, and the electromagnet 24 and the sliding block 20 are sequentially arranged in the guide groove 28; the sliding block 20 is matched with the sliding rail 14; four symmetric through holes 26 are opened on the upper surface of the sliding rail 14, and the through holes 26 are connected with four threaded holes a 13 arranged on the upper plate surface of the base body 15 through studs; a mounting hole of the electromagnet 24 and a wire through hole for electrifying the electromagnet are arranged in the middle of the sliding block 20; a transmission part is arranged at the lower part of the sliding block 20, the transmission part is composed of a rack 22 and a gear 21, and a threaded hole is arranged at the center of the gear to connect with a motor 16; an installation groove for installing a laser transmission sensor fixing part 17 is arranged on the lower plate surface of the base body 15 in an axial direction; the clawed buffer ring 9 is connected with four symmetric threaded holes b 27 arranged on the front end surface of the base body 15 through a cylindrical nut 11 and a spring b 10; the inner side of the claw of the clawed buffer ring 9 is in contact with the top end of the columnar lock 19.

[0025] When the active docking mechanism and the passive docking mechanism approach each other, the electromagnet 24 is electrified through sensor induction, and the magnet 3 on the active docking mechanism is attracted; in the docking process, the clawed buffer ring 9 pushes the columnar lock 19 to fall, the columnar lock 19 is locked in the locking groove 6 of the active docking mechanism 1 under the extrusion force of the ring claw, and the docking process is completed; when the active mechanism and the passive mechanism move away from each other, the columnar lock 19 is ejected from the active docking mechanism under the restoring force of the spring 23, the repeated locking and unlocking functions are realized, and automatic locking and unlocking can be realized through the cooperation of the stroke path. When the active mechanism and the passive mechanism approach each other, the clawed buffer ring 9 is in contact with the spring b 10, the buffering effect is realized, damage caused by excessive docking speed is prevented, docking and locking can be realized at a lower speed, and electrical and signal connections can be completed by relying on the interfaces reserved on the docking surface.

[0026] The above-mentioned mechanism repeated unlocking method of the micro-nano satellite docking comprises the following steps:

[0027] (1) The active docking mechanism 1 on the spacecraft and the passive docking mechanism 2 on the spacecraft are guided to realize precise docking by controlling the on-off of the current of the magnet in the active docking mechanism and the electromagnet in the passive docking mechanism;

[0028] (2) The clawed ring is matched with the columnar lock to realize the locking / unlocking of the two docking mechanisms;

[0029] (3) After the completion of the unlocking, the control electromagnet is powered off, the magnet is released, and the two spacecrafts are separated by the elastic force of the spring.

[0030] The locking / unlocking method in the above steps specifically includes the following steps:

[0031] (a) Under the guidance of the navigation and control system, the two spacecrafts gradually approach, and the active docking mechanism 1 and the passive docking mechanism 2 achieve preliminary docking (using the camera positioning or using AprilTag target positioning method, using image processing algorithm to position the position and attitude of the docking module; using PID control, combining the position information measured by the visual processing algorithm, and relying on the simulator device, the preliminary docking is completed);

[0032] (b) When the distance between the magnet 3 on the active docking mechanism 1 and the electromagnet 24 on the passive docking mechanism is less than the set value, the electromagnet on the passive docking mechanism is powered on to attract the active docking mechanism;

[0033] (c) During the docking process, if the speed is too large, the spring a on the active docking mechanism performs the first buffering, and the spring b on the claw buffering ring performs the second buffering, so that the final docking speed is reduced to a safe collision speed;

[0034] (d) Under the guidance of the guide groove 28 and the retractable rod 4 in the active docking mechanism, the retractable rod 4 and the guide groove 28 gradually approach until they are inlaid, and after the cylindrical lock 19 and the locking groove 6 on the active docking mechanism are locked, the locking is completed as shown in Figure 8

[0035] (e) Control the current of the electromagnet to generate repulsive force between the electromagnet 24 and the magnet 3, and at the same time, use the elastic force of the spring c 23 on the cylindrical lock and the spring b 10 on the cylindrical nut to gradually separate the two spacecrafts.

[0036] The above only describes the preferred embodiments of the present application. It should be noted that those skilled in the art can make some improvements without departing from the principles of the present application, and these improvements should also be considered as the protection scope of the present application.​

Claims

1. A docking mechanism for a micro-nano satellite that can be repeatedly unlocked, characterized in that, It comprises active docking mechanism (1) and passive docking mechanism (2) respectively installed on two spacecrafts; The active docking mechanism (1) is a conical boss (8), the upper end of the conical boss (8) is provided with an opening (25) connected with a telescopic rod (4), the top end of the telescopic rod (4) is installed with a magnet (3), a spring a (5) is installed between the top end of the conical boss (8) and the telescopic rod (4), a locking groove (6) is arranged on the cone of the conical boss (8), the lower end of the conical boss (8) is a ring-shaped platform, the ring-shaped platform is provided with a spring needle male seat mounting hole (7) matched with the spring needle female seat mounting hole (18) on the passive docking mechanism; The passive docking mechanism (2) comprises a base body (15), a cylindrical body (12), a cylindrical lock (19), a claw buffer ring (9), a sliding rail (14), a sliding block (20) and an electromagnet (24); the cylindrical body (12) is supported on the annular support in the base body (15), three mounting lock housings are uniformly distributed around the column surface of the cylindrical body (12) and matched with the cylindrical lock (19), a spring c (23) is installed below the cylindrical lock (19) in the mounting lock housing, three spring needle female seat mounting holes (18) matched with the end surface of the active docking mechanism are uniformly distributed on the outer end surface of the cylindrical body (12), an outward opening guide groove (28) is arranged in the cylindrical body (12), the guide groove (28) is coaxially arranged from outside to inside and sequentially arranged with the electromagnet (24) and the sliding block (20), the middle part of the sliding block (20) is provided with an installation hole of the electromagnet (24) and a wire through hole for electrifying the electromagnet, the claw buffer ring (9) is connected with four screw holes b (27) symmetrically arranged on the front end surface of the base body (15) through a cylindrical nut (11) and a spring b (10), the inner side of the claw of the claw buffer ring (9) is in contact with the top end of the cylindrical lock (19); In the docking process, the claw buffer ring (9) pushes the cylindrical lock (19) to fall, the cylindrical lock (19) is locked in the locking groove (6) of the active docking mechanism (1) by the extrusion force of the claw buffer ring (9), and the docking process is completed.

2. The docking mechanism of claim 1, wherein, The lower part of the sliding block (20) is provided with a transmission part composed of a rack (22) and a gear (21), and the gear (21) is provided with a threaded hole at the center to be connected with a motor (16).

3. The docking mechanism of claim 1, wherein, The lower plate surface of the base body (15) is axially provided with a mounting groove for mounting a laser transmission sensor fixing part (17).

4. The docking mechanism of claim 1, wherein, The sliding block (20) is matched with the sliding rail (14), the upper surface of the sliding rail (14) is provided with four symmetric through holes (26) connected with four screw holes a (13) arranged on the upper plate surface of the base body (15) through studs.

5. The method for repeated docking of micro-nano satellites according to any one of claims 1-4, characterized in that, The method comprises the following steps: (1) The active docking mechanism on the spacecraft and the passive docking mechanism on the spacecraft are guided to realize accurate docking by controlling the current on / off of the magnet in the active docking mechanism and the electromagnet in the passive docking mechanism; (2) The claw buffer ring realizes the locking / unlocking of the two docking mechanisms by cooperating with the cylindrical lock; (3) After the unlocking is completed, the electromagnet is controlled to be de-energized, the magnet is released, and the two spacecrafts are separated by the elastic force of the spring.

6. The method of claim 5, wherein the docking of the micro-nano satellite is repeated. The locking / unlocking method in the method specifically comprises the following steps: (a) When the distance between the magnet on the active docking mechanism and the electromagnet on the passive docking mechanism is less than a set value, the electromagnet on the passive docking mechanism is energized, attracting the active docking mechanism; (b) During the docking process, if the speed is too high, the spring on the active docking mechanism will provide the first buffer, and the spring on the claw buffer ring will provide the second buffer, so that the final docking speed is reduced to the safe collision speed. (c) Under the guidance of the telescopic rod in the guide groove and the active docking mechanism, the telescopic rod and the guide groove gradually approach each other until they match. The claw-buffered ring pushes the cylindrical lock down, and the cylindrical lock slides into the locking groove of the active docking mechanism and locks itself under the squeezing force of the claw-buffered ring. (d) Control the current of the electromagnet to generate a repulsive force between the electromagnet and the magnet, and at the same time use the elastic force of the cylindrical locking spring c and the spring b on the cylindrical nut to gradually separate the two spacecraft.

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