Spacecraft interface, spacecraft, and spacecraft docking method

Abstract

The present invention relates to a spacecraft interface, a spacecraft and a spacecraft docking method. The spacecraft interface includes a male port and a female port. Positioning is achieved between the male port and the female port by means of a positioning cone, a positioning hole, a guide cone plate and a guide groove plate. Then, locking is performed by an active locking ring, a passive locking ring, a drive ring, a guide ring and a power device. Finally, electrical connection between the spacecraft is completed by an electrical connector. The present invention reasonably standardizes the spacecraft interface to ensure that the spacecraft system has certain rigidity, strength, reliability and anti-interference ability. The interface can provide auxiliary locking force for docking, which facilitates the connection of other interfaces while eliminating the need for an on-orbit service space robot arm to provide additional thrust, thereby avoiding adverse effects on the robot arm, thereby further improving the on-orbit construction reliability and maintainability of large and ultra-large space equipment.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft technology, and in particular to a spacecraft interface, a spacecraft, and a spacecraft docking method. Background Art

[0002] With the rapid development of the aerospace sector, the demand for the construction of large-scale space platforms and infrastructure, such as space stations and space telescopes, which represent a nation's aerospace science and technology strength, is increasing. However, due to the limitations of launch vehicle propulsion capabilities, the construction of these large-scale space platforms and infrastructure is becoming feasible. Large spacecraft, such as these, are being designed modularly, transported into space in batches via launch vehicles, and then assembled in orbit using space robotic arms. Therefore, the interface design of modular spacecraft has become a current research hotspot.

[0003] Currently, most traditional spacecraft interfaces are plug-in type. This type of interface has defects, such as low reliability and unreliable electrical connection. It requires the auxiliary locking force of a space robotic arm, which will have a serious impact on the mechanical structure and control of the space robotic arm, and even affect the splicing accuracy of modular spacecraft, bringing great difficulties to on-orbit assembly. Moreover, existing traditional interfaces often do not have reliable unlocking capabilities, which brings certain difficulties to the subsequent maintenance and upgrade tasks of large-scale spacecraft facilities. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a spacecraft interface, a spacecraft and a spacecraft docking method.

[0005] A spacecraft interface comprises a female interface and a male interface;

[0006] The male interface includes a positioning cone, a guide cone plate, an active locking ring, a drive ring, a guide ring, a first bearing, a second bearing, a roller pin, a power unit and an output end of the electrical connector; the positioning cone is connected to the spacecraft connecting plate, the guide cone plate is connected to the inner ring of the spacecraft connecting plate, the guide ring is connected to the bottom surface of the guide cone plate, the inner ring of the first bearing is connected to the guide ring, the outer ring of the first bearing is connected to the drive ring, the power unit is connected to one side of the guide ring, the output end of the power unit is connected to the drive ring, the active locking ring is arranged between the guide ring and the drive ring, the roller pin is fixedly connected to the active locking ring, and the two ends of the roller pin are respectively matched with the curved grooves on the guide ring and the drive ring, the second bearing is arranged between the guide cone plate and the drive ring, and the lower surface of the working end of the active locking ring contacts the upper surface of the second bearing, and the output end of the electrical connector is arranged on the guide cone plate;

[0007] The female interface includes a guide groove plate, a passive locking ring and a receiving end of the electrical connector. The passive locking ring is installed in the guide cone groove of the guide groove plate and is matched with the working end of the active locking ring. A positioning hole is provided on the guide groove plate, and the positioning hole is matched with the positioning cone. The receiving end of the electrical connector is connected to the output end of the electrical connector, and the guide cone groove of the guide groove plate is matched with the frustum of the guide cone plate.

[0008] Furthermore, a spur gear is provided at the output end of the power device, and the spur gear is meshed and connected with a circle of spur teeth on the drive ring.

[0009] Furthermore, the working end of the passive locking ring is an elastic boss evenly distributed in the circumferential direction, and the working end of the active locking ring is an evenly distributed locking hook, which is cooperatively connected with the elastic boss.

[0010] Furthermore, the first bearing is a deep groove ball bearing, and the second bearing is a thrust needle roller bearing.

[0011] Furthermore, the power device is an electric motor.

[0012] Furthermore, a plurality of positioning holes are evenly distributed on the guide groove plate.

[0013] Furthermore, the length of the positioning cone is greater than the height of the frustum of the guide cone plate.

[0014] A spacecraft comprises any one of the above-mentioned spacecraft interfaces, wherein the female interface and the male interface are arranged on different planes of the spacecraft.

[0015] Furthermore, the spacecraft is a cubic structure, and female interfaces or male interfaces are provided on six faces of the spacecraft.

[0016] A spacecraft docking method based on the above-mentioned spacecraft is specifically as follows: a space robotic arm clamps a spacecraft to dock with another spacecraft, a positioning cone of one spacecraft first contacts the positioning hole of the other spacecraft, and when the space robotic arm drives the male interface to continue to move forward in the docking direction, the frustum surface of the guide cone plate and the guide cone groove of the guide groove plate begin to contact, when the male interface and the female interface are in a certain relative position, the power device is started to drive the drive ring to rotate, and under the action of the curved grooves of the drive ring and the guide ring, the two ends of the roller pin roll in the curved grooves of the guide ring and the drive ring respectively, thereby driving the active locking ring Perform a rotating forward movement in the docking direction. When the locking hook on the active locking ring begins to contact the elastic boss on the passive locking ring, the space robot arm releases the spacecraft. Under the action of the normal tension generated by the locking hook and the elastic boss surface, the two spacecraft are brought closer to each other. At this time, the power unit continues to work. When the conical surface of the guide cone plate fits with the guide cone groove surface of the guide groove plate, the output end and the receiving end of the electrical connector are also docked. The power unit is turned off and the locking process ends. When unlocking is required, the power unit rotates in the opposite direction until the locking hook on the active locking ring retracts into the male interface to complete the unlocking.

[0017] The technical solution of the present invention has the following advantages:

[0018] The present invention rationally standardizes the spacecraft interface to ensure that the spacecraft system has a certain degree of rigidity, strength, reliability and anti-interference capability. The interface can provide auxiliary locking force for docking, which facilitates the connection of other interfaces. At the same time, there is no need for the on-orbit service space robot to provide additional thrust, avoiding adverse effects on the robot arm, thereby further improving the on-orbit construction reliability and maintainability of large and ultra-large space equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the interface on the spacecraft;

[0021] Figure 2 This is a schematic diagram of the male and female interfaces during mating;

[0022] Figure 3 It is a cross-sectional view of the interface and the female interface after mating;

[0023] Figure 4 It is a schematic diagram of the cooperation between the positioning cone and the positioning hole;

[0024] Figure 5 Schematic diagram of the guide cone plate when the cone surface and the guide cone groove of the guide groove plate 7 begin to contact;

[0025] Figure 6 It is a schematic diagram of the locking hook and the elastic boss when they are engaged;

[0026] Figure 7 This is a schematic diagram of the male and female interfaces after docking;

[0027] Figure 8 is a schematic diagram of the guide ring;

[0028] Figure 9 is a schematic diagram of the drive ring;

[0029] Figure 10 is a schematic diagram of an active locking ring;

[0030] Figure 11 Schematic diagram of the passive locking ring.

[0031] Description of reference numerals:

[0032] 1-spacecraft; 2-female interface; 3-male interface;

[0033] 4- positioning cone; 5- positioning hole; 6- guide cone plate;

[0034] 7-guide groove plate; 8-active locking ring; 9-passive locking ring;

[0035] 10-driving ring; 11-guide ring; 12-first bearing;

[0036] 13-second bearing; 14-roller pin; 15-power unit;

[0037] 16-Electrical connector; 17-Spacecraft connection board. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0041] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] See also Figure 2 、 Figure 3 、 Figure 8 and Figure 9 , a spacecraft interface, comprising a female interface 2 and a male interface 3;

[0043] The male interface includes a positioning cone 4, a guide cone plate 6, an active locking ring 8, a drive ring 10, a guide ring 11, a first bearing 12, a second bearing 13, a roller pin 14, a power unit 15 and an output end of an electrical connector 16; the positioning cone 4 is connected to the spacecraft connecting plate 17, the guide cone plate 6 is connected to the inner ring of the spacecraft connecting plate 17, the guide ring 11 is connected to the bottom surface of the guide cone plate 6, the inner ring of the first bearing 12 is connected to the guide ring 11, the outer ring of the first bearing 12 is connected to the drive ring 10, the power unit 15 is connected to one side of the guide ring 11, and the power unit 15 is connected to the outer ring of the guide ring 11. The output end is connected to the drive ring 10, the active locking ring 8 is arranged between the guide ring 11 and the drive ring 10, the roller pin 14 is fixedly connected to the active locking ring 8, and the two ends of the roller pin 14 are respectively matched with the curved grooves on the guide ring 11 and the drive ring 10, the second bearing 13 is arranged between the guide cone plate 6 and the drive ring 10, and the lower surface of the working end of the active locking ring 8 is in contact with the upper surface of the second bearing 13, and the output end of the electrical connector 16 is arranged on the guide cone plate 6; the electrical connector 16 is an electrical connector with a large tolerance, which can adapt to changes in electrical parameters within a certain range.

[0044] The female interface 2 includes a guide groove plate 7, a passive locking ring 9 and a receiving end of the electrical connector 16. The passive locking ring 9 is installed in the guide cone groove of the guide groove plate 7 and is matched with the working end of the active locking ring 8. A positioning hole 5 is provided on the guide groove plate 7. The positioning hole 5 is matched with the positioning cone 4. The receiving end of the electrical connector 16 is connected to the output end of the electrical connector 16. The guide cone groove of the guide groove plate 7 is matched with the frustum of the guide cone plate 6.

[0045] When the male interface 3 and the female interface 2 are docked, the positioning cone 4 and the positioning hole 5 are first matched and connected for primary guidance, and the male interface 3 continues to move forward in the docking direction, and the frustum surface of the guide cone plate 6 begins to contact the guide cone groove of the guide groove plate 7 for secondary guidance. When the male interface 3 and the female interface 2 are in a certain relative position, the power device 15 is started to drive the drive ring 10 to rotate, and the guide ring 11 is always in a stationary state. Under the action of the curved grooves of the drive ring 10 and the guide ring 11, the two ends of the roller pin 14 roll in the curved grooves of the guide ring 11 and the drive ring 10 respectively, thereby driving the active locking ring 8 to rotate forward in the docking direction, thereby realizing the matched connection between the active locking ring 8 and the passive locking ring 9. When the frustum surface of the guide cone plate 6 fits the surface of the guide cone groove of the guide groove plate 7, the output end and the receiving end of the electrical connector 16 are also docked, and the docking is completed.

[0046] See also Figure 9 In this embodiment, a spur gear is provided at the output end of the power device 15, and the spur gear is meshed with a circle of spur teeth on the drive ring 10. This transmission method has a compact structure, reliable operation, high working efficiency and long service life, which meets the usage requirements of this scenario.

[0047] See also Figure 10 and Figure 11 In this embodiment, the working end of the passive locking ring 9 is an elastic boss uniformly distributed in the circumferential direction, and the working end of the active locking ring 8 is a locking hook uniformly distributed. The locking hook is cooperatively connected with the elastic boss. When locking, the elastic boss contacts the locking hook, which can generate auxiliary locking force to achieve docking and locking of other interfaces such as electrical connectors without the need for external force from a space robot arm. The locking hook and the elastic boss have no gap contact in the docking direction, and do not generate a large rigid force in the device, which will not cause adverse effects on the device.

[0048] In this embodiment, the first bearing 12 is a deep groove ball bearing, and the second bearing 13 is a thrust needle roller bearing. The deep groove ball bearing has the advantages of large load-bearing capacity, low friction, high speed, wear resistance and simple structure. The thrust needle roller bearing has high load-bearing capacity, high rigidity, high precision, low friction, low noise and long life, which meets the usage requirements of this scenario.

[0049] In this embodiment, the power device 15 is an electric motor, which has the advantages of stable transmission, easy control and low cost.

[0050] In this embodiment, a plurality of positioning holes 5 are evenly distributed on the guide groove plate 7. When the male interface 3 and the female interface 2 are docked, any positioning hole 5 can be selected for positioning, and then subsequent docking work can be carried out.

[0051] In this embodiment, the positioning cone 4 is of a conical rod design, and the length of the positioning cone 4 is greater than the height of the cone surface of the guide cone plate 6, so as to limit the three rotation directions and two degrees of freedom of movement of the spacecraft 1, and has sufficient tolerance capability to ensure the smooth assembly of the space robot system in the presence of errors and end vibrations caused by the flexibility of the robotic arm joints and arm rods.

[0052] The present invention also includes a spacecraft, comprising any one of the above-mentioned spacecraft interfaces, wherein the female interface 2 and the male interface 3 are arranged on different planes of the spacecraft 1 .

[0053] See also Figure 1 In this embodiment, the spacecraft 1 has a cubic structure, with female interfaces 2 or male interfaces 3 provided on each of its six faces. The standardized female interfaces 2 and male interfaces 3 ensure accurate and reliable docking between modular spacecraft 1. Furthermore, they can be locked without the assistance of a robotic arm, thus avoiding impacts on the robotic arm and reducing energy consumption. By ensuring the proper coordination of the male and female interfaces, the modular spacecraft 1 can facilitate the on-orbit construction and maintenance of large and ultra-large space equipment.

[0054] See also Figures 4 to 7 The present invention also includes a spacecraft docking method based on the above spacecraft, specifically: a space robot arm clamps a spacecraft 1 and docks it with another spacecraft 1, and the positioning cone 4 of one spacecraft 1 first contacts the positioning hole 5 of the other spacecraft 1 (such as Figure 4 ), when the space manipulator drives the male interface 3 to continue to move forward along the docking direction, the frustum surface of the guide cone plate 6 and the guide cone groove of the guide groove plate 7 begin to contact (such as Figure 5 ), when the male interface 3 and the female interface 2 are in a certain relative position, the power device 15 is started to drive the drive ring 10 to rotate. Under the action of the curved grooves of the drive ring 10 and the guide ring 11, the two ends of the roller pin 14 roll in the curved grooves of the guide ring 11 and the drive ring 10 respectively, thereby driving the active locking ring 8 to rotate and advance in the docking direction. When the locking hook on the active locking ring 8 begins to contact the elastic boss on the passive locking ring 9, the space robot arm releases the spacecraft 1, and under the action of the normal tension generated by the locking hook and the elastic boss surface, the two spacecraft 1 are brought closer to each other (such as Figure 6), at this time the power device 15 continues to work, when the cone surface of the guide cone plate 6 is in contact with the surface of the guide cone groove of the guide groove plate 7 (as Figure 7 ), the output end and the receiving end of the electrical connector 16 are also connected, the power device 15 is turned off, and the locking process is completed; when unlocking is required, the power device 15 rotates in the opposite direction until the locking hook on the active locking ring 8 is retracted into the male interface 3, and unlocking is completed. The entire locking and unlocking process is achieved without the auxiliary force of the robotic arm, avoiding impact on the robotic arm and reducing energy consumption.

[0055] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A spacecraft interface, characterized in that: It includes a female interface (2) and a male interface (3); The male interface comprises a positioning cone (4), a guide cone plate (6), an active locking ring (8), a drive ring (10), a guide ring (11), a first bearing (12), a second bearing (13), a roller pin (14), a power unit (15) and an output end of an electrical connector (16); the positioning cone (4) is connected to the spacecraft connecting plate (17), the guide cone plate (6) is connected to the inner ring of the spacecraft connecting plate (17), the guide ring (11) is connected to the bottom surface of the guide cone plate (6), the inner ring of the first bearing (12) is connected to the guide ring (11), the outer ring of the first bearing (12) is connected to the drive ring (10), and the power unit (15) is connected to the outer ring of the first bearing (12). 5) is connected to one side of the guide ring (11), the output end of the power device (15) is connected to the drive ring (10), the active locking ring (8) is arranged between the guide ring (11) and the drive ring (10), the roller pin (14) is fixedly connected to the active locking ring (8), and the two ends of the roller pin (14) are respectively matched with the curved grooves on the guide ring (11) and the drive ring (10), the second bearing (13) is arranged between the guide cone plate (6) and the drive ring (10), and the lower surface of the working end of the active locking ring (8) is in contact with the upper surface of the second bearing (13), and the output end of the electric connector (16) is arranged on the guide cone plate (6); The female interface (2) comprises a guide groove plate (7), a passive locking ring (9) and a receiving end of an electric connector (16); the passive locking ring (9) is installed in the guide cone groove of the guide groove plate (7) and is matched with the working end of the active locking ring (8); a positioning hole (5) is provided on the guide groove plate (7); the positioning hole (5) is matched with the positioning cone (4); the receiving end of the electric connector (16) is connected to the output end of the electric connector (16); and the guide cone groove of the guide groove plate (7) is matched with the cone surface of the guide cone plate (6).

2. The spacecraft interface according to claim 1, wherein: The output end of the power device (15) is provided with a spur gear, which is meshed and connected with a circle of spur teeth on the drive ring (10).

3. The spacecraft interface according to claim 1, wherein: The working end of the passive locking ring (9) is an elastic boss that is evenly distributed in the circumferential direction, and the working end of the active locking ring (8) is an evenly distributed locking hook, which is cooperatively connected with the elastic boss.

4. The spacecraft interface according to claim 1, wherein: The first bearing (12) is a deep groove ball bearing, and the second bearing (13) is a thrust needle roller bearing.

5. The spacecraft interface according to claim 1, wherein: The power device (15) is an electric motor.

6. The spacecraft interface according to claim 1, wherein: A plurality of positioning holes (5) are evenly distributed on the guide groove plate (7).

7. The spacecraft interface according to claim 1, wherein: The length of the positioning cone (4) is greater than the height of the cone surface of the guide cone plate (6).

8. A spacecraft, characterized in that: The spacecraft comprises the spacecraft interface according to any one of claims 1 to 7, wherein the female interface (2) and the male interface (3) are arranged on different planes of the spacecraft (1).

9. The spacecraft according to claim 8, characterized in that The spacecraft (1) is a cubic structure, and six faces of the spacecraft are each provided with a female interface (2) or a male interface (3).

10. A spacecraft docking method based on the spacecraft according to claim 9, characterized in that: Specifically, the space robot arm clamps the spacecraft (1) and docks with another spacecraft (1), the positioning cone (4) of one spacecraft (1) contacts the positioning hole (5) of the other spacecraft (1) first, and when the space robot arm drives the male interface (3) to continue moving forward in the docking direction, the cone surface of the guide cone plate (6) and the guide cone groove of the guide groove plate (7) begin to contact, and when the male interface (3) and the female interface (2) are in a certain relative position, the power device (15) is started to drive the driving ring (10) to rotate, and under the action of the curved groove of the driving ring (10) and the guide ring (11), the two ends of the roller pin (14) roll in the curved grooves of the guide ring (11) and the driving ring (10), respectively, thereby driving the active locking ring. (8) performs a rotational forward movement in the docking direction. When the locking hook on the active locking ring (8) comes into contact with the elastic boss on the passive locking ring (9), the space robot arm releases the spacecraft (1). Under the action of the normal tension generated by the locking hook and the elastic boss surface, the two spacecraft (1) are brought closer to each other. At this time, the power unit (15) continues to work. When the cone surface of the guide cone plate (6) fits the guide cone groove surface of the guide groove plate (7), the output end and the receiving end of the electrical connector (16) are also docked. The power unit (15) is turned off and the locking process ends. When unlocking is required, the power unit (15) rotates in the opposite direction until the locking hook on the active locking ring (8) is retracted into the male interface (3) to complete the unlocking.

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