A bridge broken space station intermodular connecting device

Abstract

The application belongs to the technical field of manned spaceflight, and discloses a kind of broken bridge type space station cabin interconnecting device.The device includes: main cabin end component, parking end component and base component;Wherein, the main cabin end component is detachably connected with the main cabin body, the base component is detachably connected with the parking cabin body, and the base component is inserted and connected with the parking end component;The main cabin end component and the parking end component are not directly connected, and together constitute the broken bridge type climbing channel between the main cabin body and the parking cabin body.The device is directly separated in emergency due to the absence of direct physical connection between the main cabin body and the parking cabin body, not only gains the processing time of emergency, improves the safety of space station, but also avoids the risk of emergency egress of astronauts.

Description

A type of thermally broken bridge connecting device for space station modules Technical Field

[0001] This invention belongs to the field of manned spaceflight technology, specifically relating to a broken-bridge type inter-module connection device for space stations. Background Technology

[0002] According to the plan for astronauts to conduct extravehicular maintenance missions on the space station, when the docking module (accompanying module) needs maintenance, it will dock with the main module of the space station. Astronauts will need to transfer from the main module to the work area of ​​the docking module to carry out maintenance work. During the transfer, it is necessary to cross the interface between the main module and the docking module. The space at the interface is narrow and there are no handrails for astronauts to hold onto. Therefore, a climbing tunnel needs to be built between the two modules, directly connecting the two modules from above the interface, to meet the astronauts' climbing and gripping needs.

[0003] Currently, the main module and docking modules are generally connected by a direct-connection inter-module linkage. Since the docking modules are only temporarily docked, not permanently, in emergencies, the temporarily docked modules need to be separated. In such cases, the direct-connection inter-module linkage cannot be disassembled, requiring astronauts to manually exit the spacecraft to remove the linkage. This operation is complex, time-consuming, and increases the risks to astronauts staying outside the spacecraft. Therefore, there is a need to develop a non-breakable inter-module linkage for the space station. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a broken bridge type inter-module connection device for space stations.

[0005] This invention provides a broken-bridge type inter-module connection device for space stations, which is used to realize a broken-bridge connection between the main module and the docking module. The broken-bridge type inter-module connection device includes: a main module end assembly, a docking end assembly, and a base assembly; wherein, the main module end assembly is detachably connected to the main module, the base assembly is detachably connected to the docking module, and the base assembly is plugged into the docking end assembly;

[0006] The main cabin end assembly and the docking end assembly are not directly connected, and together they form a broken bridge-like climbing passage between the main cabin and the docking cabin.

[0007] In addition, the thermal break type inter-module connection device for space stations according to the present invention may also have the following additional technical features:

[0008] Preferably, the main cabin includes a cabin body, on which a second ring handrail and a first ring handrail are arranged sequentially from near to far, and the second ring handrail, the first ring handrail and the cabin body are connected by multiple brackets;

[0009] The main cabin end assembly includes: a main gripper, an auxiliary gripper, a connecting rod, a first cantilever rod, and a first handrail; wherein, the main gripper and the auxiliary gripper are connected by the connecting rod, the first cantilever rod is mounted on the main gripper, and the first handrail is mounted on the first cantilever rod;

[0010] The main gripper is mounted on the first annular handrail, and the auxiliary gripper is mounted on the second annular handrail.

[0011] Preferably, the main gripper includes: a fixed gripper, a movable gripper, a first locking switch, a handle, and a control lever; wherein, the fixed gripper has a first groove that matches the first annular armrest, and the groove wall of the fixed gripper has a second groove that matches the bracket.

[0012] The handle is mounted on the fixed claw, and the movable claw is movably mounted on the handle. One end of the movable claw is provided with a control lever parallel to the handle, and the other end of the movable claw has a hook that engages with the first annular armrest. The first locking switch is used to lock and unlock the movable claw.

[0013] Preferably, the movable claw is connected to the grip via a first rotating shaft, and a first elastic element is sleeved on the first rotating shaft. One end of the first elastic element is connected to the movable claw, and the other end of the first elastic element is connected to the grip.

[0014] Preferably, the first locking switch includes: a first cam paddle, a second rotating shaft, a first pin, and a second elastic element; wherein, the first cam paddle is connected to the first pin via the second rotating shaft, and the second elastic element is disposed between the first pin and the grip;

[0015] The first cam paddle is used to rotate and switch between a first position and a second position. The first cam paddle has a first end and a second end that are bent and connected. When the first cam paddle is in the first position, the first end is in a stop-fitting engagement with the end face of the grip. The end of the first pin away from the second pivot passes through the grip and is inserted into the lug of the movable claw.

[0016] When the first cam paddle is in the second position, the second end engages with the end face of the grip, and the end of the first pin away from the second pivot is pulled out from the ear piece and the grip.

[0017] Preferably, the main gripper further includes an anti-loosening buffer mechanism, which is respectively disposed on both sides of the fixed gripper along the extension direction of the first annular handrail;

[0018] The anti-loosening buffer mechanism includes a support plate, a pressure plate, a third rotating shaft, and a third elastic element; wherein, one end of the support plate is screwed to the fixing claw, the other end of the support plate is rotatably connected to the pressure plate through the third rotating shaft, the third elastic element is sleeved on the third rotating shaft, one end of the third elastic element is connected to the support plate, and the other end of the third elastic element is connected to the pressure plate.

[0019] Preferably, the first handrail includes a first straight bar, a second straight bar, a third straight bar, a fourth straight bar, and a fifth straight bar connected in sequence;

[0020] One end of the first straight rod is connected to the end of the first cantilever rod near the first circular handrail, the other end of the first straight rod is connected to one end of the second straight rod, the middle part of the second straight rod is connected to one end of the third straight rod, the other end of the third straight rod is connected to one end of the fourth straight rod, and the other end of the fourth straight rod is connected to the other end of the first cantilever rod.

[0021] Preferably, the docking end assembly includes an installation and disassembly assembly, a second cantilever, and a second handrail, wherein the installation and disassembly assembly is detachably connected to the second cantilever, and the second handrail is provided on the second cantilever.

[0022] Preferably, the installation and disassembly assembly includes: a connecting post, a rotating rod, and a locking tongue; wherein the rotating rod is disposed inside the connecting post, and the locking tongue is disposed at the end of the rotating rod away from the second cantilever rod;

[0023] The rotational force of the rotating rod is converted into a linear movement force of the latch, causing the latch to insert into or extend from the base assembly.

[0024] Preferably, a drive shaft is provided inside the second cantilever rod, with one end of the drive shaft near the mounting and disassembly assembly connected to the rotating rod, and an extension lever provided at the other end of the drive shaft for driving the drive shaft to rotate.

[0025] Preferably, the second handrail includes a type B handrail and a type O handrail, wherein the type B handrail is screwed to the second cantilever rod, and the type O handrail is screwed to the type B handrail.

[0026] Preferably, the docking end assembly further includes a second locking switch for locking and unlocking the extension lever.

[0027] Further, preferably, the second locking switch includes a base, a second cam lever, a fourth rotating shaft, a second pin, and a fourth elastic element; wherein the base is screwed to the second cantilever rod, the second cam lever is connected to the second pin through the fourth rotating shaft, and the fourth elastic element is disposed between the second pin and the base.

[0028] Preferably, the base assembly includes a socket and a support that are screwed together, wherein the support is screwed to the docking compartment and the socket is plugged into the docking end assembly.

[0029] The space station inter-module connection device provided by the present invention is used to build a climbing passage from the main module of the space station to the docking module during extravehicular activities, thereby meeting the astronauts' gripping needs when climbing from the main module to the docking module. The space station inter-module connection device has no direct physical connection between the two modules, has low requirements for the docking accuracy of the two modules, and does not require docking accuracy tolerance devices. The structure is simple and reliable. Attached Figure Description

[0030] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0031] Figure 1 is a schematic diagram of the use of the thermally broken space station inter-module connection device provided in the embodiment of this application in the space station;

[0032] Figure 2 is a structural schematic diagram of a thermally broken space station inter-module connection device provided in an embodiment of this application;

[0033] Figure 3 is a schematic diagram of a main cabin end component structure provided in an embodiment of this application;

[0034] Figure 4 is a front view of a main gripper structure provided in an embodiment of this application;

[0035] Figure 5 is a schematic diagram of the back of a main gripper structure provided in an embodiment of this application;

[0036] Figure 6 is a cross-sectional view of a main gripper clamping state provided in an embodiment of this application;

[0037] Figure 7 is a cross-sectional view of a first locking switch in a locked state according to an embodiment of this application;

[0038] Figure 8 is a cross-sectional view of a first locking switch in a released state according to an embodiment of this application;

[0039] Figure 9 is a cross-sectional view of an anti-loosening buffer mechanism in its deployed state according to an embodiment of this application;

[0040] Figure 10 is a cross-sectional view of a loosening buffer mechanism in a compressed state according to an embodiment of this application;

[0041] Figure 11 is a schematic diagram of a first handrail structure provided in an embodiment of this application;

[0042] Figure 12 is a cross-sectional view of a main cabin end component provided in an embodiment of this application;

[0043] Figure 13 is a schematic diagram of the external structure of a docking end component provided in an embodiment of this application;

[0044] Figure 14 is a cross-sectional view of the internal mechanism of a docking end component provided in an embodiment of this application;

[0045] Figure 15 is an axial sectional view of an installation and disassembly assembly provided in an embodiment of this application;

[0046] Figure 16 is a radial cross-sectional view of an installation and disassembly assembly provided in an embodiment of this application;

[0047] Figure 17 is a cross-sectional view of an extended toggle lever provided in an embodiment of this application;

[0048] Figure 18 is a cross-sectional view of a second locking switch in a locked state according to an embodiment of this application;

[0049] Figure 19 is a schematic diagram of a base assembly structure provided in an embodiment of this application;

[0050] Figure 20 is a schematic diagram of the connection between a second handrail and an external control panel provided in an embodiment of this application.

[0051] In the above image:

[0052] 1. Main cabin; 11. Second ring handrail; 12. First ring handrail; 13. Support frame;

[0053] 2. Dock hull;

[0054] 3. Main cabin end assembly; 31. Main gripper; 311. Fixed gripper; 3111. First groove; 3112. Second groove; 312. Movable gripper; 3121. Ear piece; 313. First locking switch; 3131. First cam lever; 3132. Second pivot; 3133. First pin; 3134. Second elastic element; 314. Grip; 315. Control lever; 32. Auxiliary gripper; 33. Connecting rod; 34. First cantilever rod; 35. First handrail; 351. First straight rod; 352. Second straight rod; 353. Third straight rod; 354. Fourth straight rod; 355. Fifth straight rod; 36. First pivot; 37. First elastic element; 38. Anti-loosening buffer mechanism; 381. Support plate; 382. Pressure plate; 383. Third pivot; 384. Third elastic element;

[0055] 4. Dock end assembly; 41. Installation and disassembly assembly; 411. Rotating rod; 4111. Connecting rod; 4112. Fifth rotating shaft; 412. Locking tongue; 413. Connecting column; 42. Second cantilever rod; 421. Drive shaft; 422. Extension lever; 423. First adapter disc; 424. Second adapter disc; 43. Second handrail; 431. Type B handrail; 432. Type O handrail; 44. Second locking switch; 441. Base; 442. Second cam lever; 443. Fourth rotating shaft; 444. Second pin; 445. Fourth elastic element; 45. Flange;

[0056] 5. Base assembly; 51. Socket; 52. Support;

[0057] 6. External control panel; 61. Cargo boom. Detailed Implementation

[0058] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0059] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0060] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” as used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0061] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open and encompassing, that is, "including, but not limited to".

[0062] In the description of this specification, the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples," etc., are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0063] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0064] To solve the above-mentioned technical problems, as shown in Figure 1, which is an exemplary structural diagram of the space station inter-module connection device provided in this application embodiment, the space station inter-module connection device provided in this application embodiment is used to realize the connection between the main module 1 and the docking module 2. The space station inter-module connection device includes: a main module end component 3, a docking end component 4, and a base component 5; wherein, the main module end component 3 is detachably connected to the main module 1, the base component 5 is detachably connected to the docking module 2, and the base component 5 is plugged into the docking end component 4;

[0065] The main cabin end component 3 and the docking end component 4 are not directly connected, and together they form a broken bridge-like climbing passage between the main cabin 1 and the docking cabin 2.

[0066] Specifically, the space station module includes a main module 1 and a docking module 2 (or a companion module). The docking module 2 is a module that is temporarily docked and needs to be separated at any time. When astronauts conduct extravehicular activities, they can build a climbing passage from the main module 1 to the docking module 2 using the broken bridge-type inter-module connection device provided in this application embodiment. This not only meets the astronauts' climbing and gripping needs, but also meets the safety requirements for the docking module 2 to be separated at any time. The docking module 2 is easy to disassemble, which improves the safety of the space station and avoids the risk of astronauts having to perform emergency extravehicular activities.

[0067] As shown in Figures 1 and 2, the broken-bridge type inter-module connection device of the space station includes: main module end component 3, docking end component 4, and base component 5. The main module end component 3 is detachably connected to the main module 1, and the base component 5 is detachably connected to the docking module 2. The docking end component 4 can be inserted into or pulled out of the base component 5 to achieve a plug-in connection between the docking end component 4 and the base component 5. The main module end component 3 and the docking end component 4 are not directly connected and there is a certain gap between them. Together, they form a broken-bridge type climbing passage. Since there is no direct physical connection between the main module 1 and the docking module 2, they can be directly separated in an emergency. This not only saves time in handling emergencies and improves the safety of the space station, but also avoids the risk of astronauts having to make an emergency exit.

[0068] The space station inter-module connection device provided in this application embodiment has no direct physical connection between the main module 1 and the docking module 2. When the inter-module connection device is installed on the two modules, the module will not generate internal stress due to the increase in rigid connection between the two modules, thus improving the safety of the module.

[0069] Furthermore, direct-connection inter-module linkages require the space station's robotic arm and two astronauts to work together for installation and removal. If the robotic arm malfunctions during extravehicular activity (EVA) or if one astronaut becomes incapacitated, the direct-connection inter-module linkage cannot be removed. In contrast, the broken-bridge type inter-module linkage provided in this application can be removed by a single person upon reentry, significantly improving the space station's safety. Moreover, each segment of the broken-bridge type inter-module linkage provided in this application is relatively small, making it easy for astronauts to carry.

[0070] Furthermore, in the event of an emergency, the temporary docking module 2 needs to be separated urgently. A broken bridge-type inter-module connection device is used. Since there is no direct physical connection between the two modules, they can be separated directly without the need for astronauts to specially exit the spacecraft to remove the inter-module connection device. This not only saves time and improves the safety of the space station, but also avoids the risk of astronauts having to exit the spacecraft in an emergency.

[0071] In some embodiments, the main cabin 1 includes a cabin, on which a second ring handrail 11 and a first ring handrail 12 are arranged sequentially from near to far, and the second ring handrail 11, the first ring handrail 12 and the cabin are connected by a plurality of brackets 13.

[0072] The main cabin end assembly 3 includes: a main gripper 31, an auxiliary gripper 32, a connecting rod 33, a first cantilever rod 34, and a first handrail 35; wherein, the main gripper 31 and the auxiliary gripper 32 are connected by the connecting rod 33, the first cantilever rod 34 is installed on the main gripper 31, and the first handrail 35 is installed on the first cantilever rod 34.

[0073] The main gripper 31 is mounted on the first annular handrail 12, and the auxiliary gripper 32 is mounted on the second annular handrail 11.

[0074] Specifically, as shown in Figure 1, the main cabin 1 includes a cabin body. A second ring-shaped handrail 11 (lower ring) and a first ring-shaped handrail 12 (upper ring) are sequentially arranged on the cabin body from near to far. The second ring-shaped handrail 11, the first ring-shaped handrail 12, and the cabin body are connected by multiple longitudinally arranged supports 13. These supports 13 can be evenly or non-uniformly distributed circumferentially between the second ring-shaped handrail 11 and the first ring-shaped handrail 12. There can be multiple second ring-shaped handrails 11 and multiple first ring-shaped handrails 12. In two adjacent ring-shaped handrails, the one closer to the cabin body is the lower ring, and the one farther from the cabin body is the upper ring. The two ends of the supports 13 can be screwed to the second ring-shaped handrail 11 and the first ring-shaped handrail 12 respectively.

[0075] In this embodiment, the main cabin end assembly 3 is installed on the second ring handrail 11 and the first ring handrail 12 corresponding to the main cabin 1. Specifically, as shown in Figure 3, if two adjacent ring handrails are the second ring handrail 11 and the first ring handrail 12, then the main gripper 31 is installed on the first ring handrail 12. The main gripper 31 serves as a gripping component for the astronaut and can control the opening and closing of the main gripper 31. The auxiliary gripper 32 is installed on the second ring handrail 11 at the position corresponding to the main gripper 31, and the main gripper 31 and the auxiliary gripper 32 are connected by a connecting rod 33. The auxiliary gripper 32 shares the torque in the pitch direction, reducing the stress on the first ring handrail 12. The side wall of the main gripper 31 away from the main cabin 1 is screwed to the horizontally arranged first cantilever rod 34 by screws. The first cantilever rod 34 is used to support the astronaut's load. The first cantilever rod 34 is detachably connected to the first handrail 35 by screws, and the first handrail 35 is used for the astronaut to grip.

[0076] In some embodiments, as shown in Figures 3, 4 and 5, the main gripper 31 includes: a fixed gripper 311, a movable gripper 312, a first locking switch 313, a handle 314 and a control lever 315; wherein, the fixed gripper 311 has a first groove 3111 that matches the first annular armrest 12, and the groove wall of the fixed gripper 311 has a second groove 3112 that matches the bracket 13;

[0077] The grip 314 is mounted on the fixed claw 311, and the movable claw 312 is movably mounted on the grip 314. One end of the movable claw 312 is provided with a control lever 315 parallel to the grip 314, and the other end of the movable claw 312 has a hook that engages with the first annular armrest 12. The first locking switch 313 is used to lock and unlock the movable claw 312.

[0078] Specifically, as shown in Figures 3 and 4, a U-shaped grip 314 is installed on the upper part of the fixed claw 311 for astronauts to grip. The grip 314 is used for single-handed gripping during installation and provides mounting holes for the movable claw 312 and the first locking switch 313. If necessary, the grip 314 has interfaces for the left and right loading rods 61 of the extravehicular operating platform 6 (as shown in Figure 20), enabling the device to be transferred and transported extravehicularly when the extravehicular operating platform 6 is moved using the space station's robotic arm.

[0079] As shown in Figures 3 and 4, the lower part of the fixing claw 311 has a first groove 3111 that matches the first annular handrail 12, and the first groove 3111 extends through both ends along the extension direction of the first annular handrail 12. The fixing claw 311 slides and clamps the first annular handrail 12 through the first groove 3111, and can move circumferentially and vertically along the first annular handrail 12, restricting four degrees of freedom except for vertical sliding and circumferential movement along the first annular handrail 12. The two groove walls of the fixing claw 311 opposite to the main cabin 1 have second grooves 3112 that match the bracket 13. When the astronaut is installing, while the fixing claw 311 clamps the first annular handrail 12 through the first groove 3111, the second groove 3112 on the fixing claw 311 can align with the bracket 13 on the first annular handrail 12. The setting of the second groove 3112 restricts the fixing claw 311 to move only circumferentially along the first annular handrail 12, restricting the circumferential degree of freedom.

[0080] As shown in Figure 5, the movable claw 312 is used to clamp the first annular handrail 12, restricting its vertical sliding degree of freedom. Thus, all six degrees of freedom are restricted. The movable claw 312 includes two L-shaped rods, the upper parts of which are connected to a control lever 315 parallel to the handle 314. This allows the astronaut to release the movable claw 312 when gripping the handle 314, ensuring that the main gripper 31 can be installed with one hand.

[0081] As shown in Figure 5, each L-shaped member of the movable claw 312 is movably mounted on the handle 314, allowing the movable claw 312 to rotate around the handle 314. Each L-shaped member is connected to the handle 314 via a first locking switch 313, enabling the movable claw 312 to be locked and unlocked. When the movable claw 312 is in the locked state, it cannot rotate, and the hook at the lower end of the movable claw 312 is engaged with the first annular armrest 12, restricting the downward movement freedom of the fixed claw 311.

[0082] In some embodiments, the movable claw 312 is connected to the grip 314 via a first rotating shaft 36, on which a first elastic element 37 is sleeved. One end of the first elastic element 37 is connected to the movable claw 312, and the other end of the first elastic element 37 is connected to the grip 314.

[0083] Specifically, as shown in Figure 6, the movable claw 312 is movably connected to the grip 314 as follows: the movable claw 312 is connected to the grip 314 via a first rotating shaft 36 and can rotate around the first rotating shaft 36. The first elastic element 37 can be a torsion spring. The first elastic element 37 is pressed between the movable claw 312 and the grip 314 to keep the movable claw 312 in a normally closed state, pressing the first annular armrest 12 into the fixed claw 311, so that the main gripper 31 is in a pressed state. When the upper end of the movable claw 312 moves around the first rotating shaft 36 towards the side closer to the grip 314, the hook at the lower end of the movable claw 312 releases the lock on the first annular armrest 12, so that the main gripper 31 is in a non-pressed state.

[0084] In this example, the movable claw 312 is normally closed under the action of the first elastic element 37 (the hook is engaged with the first annular handrail 12). The movable claw 312 can automatically open when squeezed on the lower slope surface (hook). That is, it returns to the clamping state under the action of the first elastic element 37; or, by gripping the control lever 315, the hook of the movable claw 312 is released from its locking position on the first annular handrail 12. After releasing the control lever 315, it returns to the clamping state under the action of the first elastic element 37. Therefore, when the astronaut releases the grip 314, the control lever 315 returns to its original position, and the movable claw 312 automatically clamps the first annular handrail 12 under the action of the first elastic element 37.

[0085] In some embodiments, as shown in Figures 7 and 8, the first locking switch 313 includes: a first cam lever 3131, a second rotating shaft 3132, a first pin 3133, and a second elastic element 3134; wherein, the first cam lever 3131 is connected to the first pin 3133 via the second rotating shaft 3132, and the second elastic element 3134 is disposed between the first pin 3133 and the grip 314;

[0086] The first cam paddle 3131 is used to rotate and switch between a first position and a second position. The first cam paddle 3131 has a first end and a second end that are bent and connected. When the first cam paddle 3131 is in the first position, the first end is in a stop-fitting engagement with the end face of the grip 314. The end of the first pin 3133 away from the second rotating shaft 3132 passes through the grip 314 and is inserted into the ear piece 3121 of the movable claw 312.

[0087] When the first cam paddle 3131 is in the second position, the second end is engaged with the end face of the grip 314, and the end of the first pin 3133 away from the second pivot 3132 is pulled out from the ear piece 3121 and the grip 314.

[0088] Specifically, as shown in Figures 4, 7 and 8, the first locking switch 313 is used to lock and release the movable claw 312. The grip 314 also serves as the base of the first locking switch 313. The first cam lever 3131 is connected to the first pin 3133 via the second rotating shaft 3132. The first cam lever 3131 can rotate around the grip 314 from a first position to a second position. The angle between the first position and the second position can be 90°. The first cam lever 3131 is connected to one end of the first pin 3133 via the second rotating shaft 3132. A protrusion is provided on the side wall of the other end of the first pin 3133, and a second elastic element 3134 is provided between the protrusion and the grip. The second elastic element 3134 can be a spring. When the first cam lever 3131 rotates and switches between the first position and the second position, it can drive the first pin 3133 to insert into the ear piece 3121 of the movable claw 312, or pull it out from the ear piece 3121 of the movable claw 312, thus completing the locking and releasing of the movable claw 312. The ear piece 3121 can be screwed to the L-shaped rod of the movable claw 312 by screws.

[0089] Figure 7 shows a cross-sectional view of the first locking switch 313 in the locked state. When the first cam lever 3131 is in the first position, its first end is engaged with the end face of the grip 314, that is, the first end of the first cam lever 3131 is close to the grip 314. At this time, under the restoring force of the second elastic member 3134, the first pin 3133 is pushed upward, and its end is inserted into the ear piece 3121 of the movable claw 312, so that the movable claw 312 cannot rotate and its position is locked.

[0090] Figure 8 shows a cross-sectional view of the first locking switch 313 in the unlocked state. The first cam lever 3131 is in the second position, and its second end is engaged with the end face of the grip 314. At this time, the first pin 3133 is pulled downward by the first cam lever 3131, and the second elastic member 3134 is compressed between the protrusion of the grip 314 and the first pin 3133. The end of the first pin 3133 is pulled out from the ear piece 3121 of the movable claw 312, so that the movable claw 312 can rotate freely and its position is released.

[0091] In some embodiments, as shown in Figures 4, 9 and 10, the main gripper 31 further includes an anti-loosening buffer mechanism 38, which is respectively disposed on both sides of the fixed gripper 311 along the extending direction of the first annular handrail 12.

[0092] The anti-loosening buffer mechanism 38 includes a support plate 381, a pressure plate 382, ​​a third rotating shaft 383, and a third elastic element 384. One end of the support plate 381 is screwed to the fixing claw 311, and the other end of the support plate 381 is rotatably connected to the pressure plate 382 through the third rotating shaft 383. The third elastic element 384 is sleeved on the third rotating shaft 383. One end of the third elastic element 384 is connected to the support plate 381, and the other end of the third elastic element 384 is connected to the pressure plate 382.

[0093] Specifically, two anti-loosening buffer mechanisms 38 can be respectively provided on the main gripper 31 and the auxiliary gripper 32. The internal structure of the anti-loosening buffer mechanism 38 is a spring compression mechanism. The two anti-loosening buffer mechanisms 38 on the main gripper 31 are used to eliminate the gap between the fixed gripper 311 and the first annular handrail 12, and to provide a certain clamping effect to prevent the astronaut from drifting freely after releasing their grip; at the same time, they provide a certain buffering effect between the auxiliary gripper 31 and the first annular handrail 12. The two anti-loosening buffer mechanisms 38 on the auxiliary gripper 32 are used to eliminate the gap between the auxiliary gripper 32 and the second annular handrail 11, and to provide a certain clamping effect to prevent the astronaut from drifting freely after releasing their grip; at the same time, they provide a certain buffering effect between the auxiliary gripper 32 and the second annular handrail 11.

[0094] As shown in Figures 9 and 10, the anti-loosening buffer mechanism 38 includes a support plate 381, a pressure plate 382, ​​a third rotating shaft 383, and a third elastic element 384. The upper end of the support plate 381 is connected to the fixing claw 311 (or auxiliary clamping claw 32) via two screws. The lower end of the support plate 381 is connected to the pressure plate 382 via the third rotating shaft 383. The pressure plate 382 can rotate around the third rotating shaft 383. The third elastic element 384 (which can be a torsion spring) is installed between the support plate 381 and the pressure plate 382. One end of the third elastic element 384 is connected to the support plate 381, and the other end is connected to the pressure plate 382.

[0095] Figure 9 shows a cross-sectional view of the anti-loosening buffer mechanism 38 in its unfolded state, with the pressure plate 382 in the unfolded state under the force of the third elastic element 384. Figure 10 shows a cross-sectional view of the anti-loosening buffer mechanism 38 in its pressed state. When the first annular handrail 12 is pressed into the fixing claw 311 (or the second annular handrail 11 is pressed into the auxiliary clamping claw 32), the first annular handrail 12 will press against the pressure plate 382, ​​causing it to rotate around the third rotating shaft 383 and come close to the support plate 381. When the external force is removed, the pressure plate 382 rotates around the third rotating shaft 383 in the unfolding direction under the force of the third elastic element 384, pressing the first annular handrail 12, thereby eliminating the installation gap between the second handrail 43 and the fixing claw 311 and providing a certain buffering effect.

[0096] In some embodiments, as shown in Figures 11 and 12, the first handrail 35 includes a first straight rod 351, a second straight rod 352, a third straight rod 353, a fourth straight rod 354, and a fifth straight rod 355 connected in sequence.

[0097] One end of the first straight rod 351 is connected to the end of the first cantilever rod 34 near the first ring handrail 12, the other end of the first straight rod 351 is connected to one end of the second straight rod 352, the middle part of the second straight rod 352 is connected to one end of the third straight rod 353, the other end of the third straight rod 353 is connected to one end of the fourth straight rod 354, and the other end of the fourth straight rod 354 is connected to the other end of the first cantilever rod 34.

[0098] Specifically, as shown in Figures 11 and 12, the first handrail 35 is a T-shaped handrail, consisting of a closed loop formed by a first straight rod 351, a portion of a second straight rod 352, a third straight rod 353, a fourth straight rod 354, a fifth straight rod 355, and a first cantilever rod 34. The remaining portion of the second straight rod 352 is an outward-extending section. The closed loop is used for astronauts to grip and attach safety hooks, while the outward-extending section is used for temporary gripping by astronauts, reducing the span of the broken bridge.

[0099] In some embodiments, the docking end assembly 4 includes: an installation and removal assembly 41, a second cantilever 42, and a second handrail 43, wherein the installation and removal assembly 41 is detachably connected to the second cantilever 42, and the second handrail 43 is provided on the second cantilever 42.

[0100] Specifically, as shown in Figures 13 and 14, the installation / disassembly assembly 41 can be plugged into the socket 51 on the base assembly 5. The installation / disassembly assembly 41 and the external structure of the second cantilever 42 are connected via an adapter flange 45. The left side of the adapter flange 45 is connected to the second cantilever 42 with screws, and the right side of the adapter flange 45 is connected to the installation / disassembly assembly 41 with screws, thus achieving a secure connection between the installation / disassembly assembly 41 and the second cantilever 42. The second handrail 43 is detachably installed on the second cantilever 42 with screws, used by astronauts to climb over it and remove the docking end assembly 4 with one hand.

[0101] In some embodiments, the installation and disassembly assembly 41 includes: a connecting post 413, a rotating rod 411, and a locking tongue 412; wherein the rotating rod 411 is disposed within the connecting post 413, and the locking tongue 412 is disposed at the end of the rotating rod 411 away from the second cantilever rod 42;

[0102] The rotational force of the rotating rod 411 is converted into the linear movement force of the latch 412, causing the latch 412 to insert into or extend from the base assembly 5.

[0103] Specifically, as shown in Figures 15 and 16, the installation and disassembly assembly 41 includes: a connecting post 413, a rotating rod 411, and a locking tongue 412. The connecting post 413 has a horizontally arranged rotating rod 411. One end of the rotating rod 411, away from the second cantilever rod 42, is connected to the locking tongue 412 via a connecting rod 4111 and a fifth rotating shaft 4112. Specifically, as shown in Figure 16, one end of the connecting rod 4111 is connected to the locking tongue 412 via the fifth rotating shaft 4112, and the other end of the connecting rod 4111 is connected to the rotating rod 411 via the fifth rotating shaft 4112. This converts the rotational force of the rotating rod 411 into the linear movement force of the locking tongue 412, allowing the locking tongue 412 to extend and retract. Ultimately, the rotation of the rotating rod 411 controls the extension and retraction of the locking tongue 412, enabling the locking tongue 412 to insert into or extend from the groove of the base assembly 5.

[0104] In some embodiments, a drive shaft 421 is provided inside the second cantilever rod 42. One end of the drive shaft 421 near the mounting and disassembly assembly 41 is connected to the rotating rod 411, and the other end of the drive shaft 421 is provided with an extension lever 422, which is used to drive the drive shaft 421 to rotate.

[0105] Specifically, as shown in Figures 13, 14, and 15, a drive shaft 421 is installed inside the second cantilever rod 42, and a rotating rod 411 is installed inside the connecting column 413 of the installation and disassembly assembly 41. The second cantilever rod 42 and the installation and disassembly assembly 41 are externally connected by a flange 45. The internal drive shaft 421 and the rotating rod 411 are connected by a first adapter disc 423. The left side of the first adapter disc 423 is connected to the drive shaft 421 by screws, and the right side of the first adapter disc 423 is connected to the rotating shaft by screws, thereby achieving the purpose of transmitting the rotation of the drive shaft 421 to the rotating rod 411.

[0106] Figure 17 shows a cross-sectional view of the extension lever 422. A second adapter disk 424 is installed inside the second cantilever 42 on the side near the second handrail 43. The upper and lower sides of the second adapter disk 424 are connected to the two extension levers 422 by screws. The center of the second adapter disk 424 is connected to the drive shaft 421 by screws, thus transmitting the rotation of the extension levers 422 to the drive shaft 421.

[0107] In some embodiments, the second handrail 43 includes a type b handrail 431 and an type O handrail 432, wherein the type b handrail 431 is screwed to the second cantilever rod 42, and the type O handrail 432 is screwed to the type b handrail 431.

[0108] Specifically, as shown in Figure 13, the "b"-shaped handrail is used by astronauts to climb over and pull off the docking end component 4 with one hand, while the "O"-shaped handrail is used by astronauts to cross the docking surface of the docking module and climb to the handrail on the back, while also providing a place to attach the safety belt. The "b"-shaped handrail can be used to clamp and lock the docking end component 4 onto the left and right load bars 61 of the extravehicular operating platform 6 during the extravehicular transfer phase (as shown in Figure 20).

[0109] In some embodiments, as shown in Figures 13, 14 and 18, the docking end assembly 4 further includes a second locking switch 44 for locking and unlocking the extension lever 422.

[0110] Specifically, the structure of the second locking switch 44 is the same as or similar to that of the first locking switch 313, and their working principles are the same as or similar. As shown in Figure 18, a cross-sectional view of the second locking switch 44 in its locked state, the second locking switch 44 includes a base 441, a second cam lever 442, a fourth rotating shaft 443, a second pin 444, and a fourth elastic element 445. The base 441 is connected to the second cantilever rod 42 with screws. The second cam lever 442 is connected to the second pin 444 via the fourth rotating shaft 443. The second pin 444 has a protrusion, and the fourth elastic element 445 is disposed between the protrusion and the base 441. The second pin 444 is inserted into the base 441, pressing the fourth elastic element 445 between the protrusion of the second pin 444 and the base 441. Figure 18 shows the locked state, with the second pin 444 extending out, its end blocking the extension lever 422, preventing the extension lever 422 from rotating, and locking its position. When the second pin 444 is retracted, its end no longer obstructs the extension lever 422, allowing the extension lever 422 to rotate freely and its position to be released.

[0111] In this embodiment, the installation / disassembly assembly 41 mainly consists of a rotating rod 411, a locking tongue 412, and a connecting post 413, while the second cantilever rod 42 mainly consists of an extension lever 422 and a drive shaft 421. Rotating the extension lever 422 drives the drive shaft 421 to rotate, which in turn drives the rotating rod 411 to rotate, causing the locking tongue 412 to extend and insert into the groove of the base assembly 5 for fixation. The extension lever 422 is equipped with a second locking switch 44 for secondary locking of the extension lever 422, replacing the original locking / unlocking assembly and achieving remote secondary locking of the extension lever 422. There are two second locking switches 44 for double safety. The end of the extension lever 422 (a T-shaped lever) is flush with the second cantilever rod 42, making it less likely for astronauts to accidentally activate the second locking switches 44 while climbing using the handrail. With the above-mentioned extension lever 422 and second locking switch 44, remote operation of installation and disassembly of component 41 is realized. This meets the special requirement that when the space station's robotic arm fails and cannot be transported back into the capsule by the robotic arm, the astronaut can open the second locking switch 44 and the extension lever 422 on the outermost side of the second handrail 43 to remove the docking end component 4 and carry it back into the capsule by a single astronaut using a tether.

[0112] In some embodiments, the base assembly 5 includes a socket 51 and a support 52 that are screwed together, wherein the support 52 is screwed to the docking compartment 2 and the socket 51 is plugged into the docking end assembly 4.

[0113] Specifically, as shown in Figure 19, the support 52 is fixed to the interface reserved in the docking hull 2 ​​by screws. The support 52 provides an installation interface for the socket 51, and the installation interface between the support 52 and the socket 51 is connected by screws. The socket 51 has a groove for inserting the installation and disassembly assembly 41 inside the docking end assembly 4, thereby fixing the docking end assembly 4 to the docking hull 2. It should be noted that the support 52 is first connected to the socket 51 by screws, and then pre-installed on the interface reserved in the docking hull 2 ​​by screws, and then launched with the docking hull 2. The specific structure of the socket 51 can be found in patent CN113968363A "A mounting base 441 for installing external tools", which will not be described in detail in this embodiment.

[0114] The usage process of the thermally broken bridge-type inter-module connection device for space stations provided in this application embodiment is as follows:

[0115] I. Launch Uplink Phase

[0116] The base assembly 5 is pre-installed at the rear of the docking hull 2 ​​and is launched along with the docking hull 2, requiring no operation throughout the entire process.

[0117] The main cabin assembly 3 and the docking end assembly 4 are housed in a soft package and launched with the main cabin 1 (or cargo spacecraft).

[0118] II. Cabin Preparation Phase

[0119] After the main module assembly 3 and docking module 4 are in orbit, the astronauts remove the soft packs, take out the main module assembly 3 and docking module 4, and place them in the airlock.

[0120] III. Extravehicular Transfer Phase

[0121] The safety harness attached to the docking end component 4 is handed out by astronaut 02, placed by astronaut 01 on the left and right cargo rods 61 of the extravehicular operating platform 6, clamped and locked, and then transferred to the tail of the docking cabin 2 by the robotic arm.

[0122] The main cabin end component 3 is attached to the safety belt and crawls with astronaut 02 to the second ring handrail 11 and the first ring handrail 12 of the main cabin 1.

[0123] IV. Retrieval Stage

[0124] The main cabin end component 3 crawls with astronaut 02 and can be directly taken out for use.

[0125] The docking end assembly 4 is attached to the safety belt by the astronaut 01 on the robotic arm, and then unlocked and removed from the left and right load poles 61 of the extravehicular control panel 6.

[0126] V. Operation and Usage Phase

[0127] Main cabin end component 3 operation and usage section:

[0128] 1) Astronaut 02 can open the movable claw 312 by gripping the control stick 315 and the handle 314;

[0129] 2) Align the openings of the main gripper 31 and the auxiliary gripper 32 with the first ring handrail 12 and the second ring handrail 11 respectively, and adjust the circumferential alignment with the bracket 13. Press down to press the first ring handrail 12 into the fixing claw 311 of the main gripper 31 and the second ring handrail 11 into the auxiliary gripper 32.

[0130] 3) After pressing in place, release the control lever 315, and under the action of the first elastic element 37, the movable claw 312 returns to the clamping state;

[0131] 4) Close the first locking switches 313 on both sides of the fixing claw 311;

[0132] 5) After the connection is complete, remove the safety belt.

[0133] Dock end component 4 operation usage section:

[0134] 1) Align the connecting post 413 with the socket 51 of the base assembly 5, and insert the connecting post 413 into the socket 51;

[0135] 2) Close the extension lever 422 of the installation / removal assembly 41;

[0136] 4) Close the second locking switch 44;

[0137] 5) After the connection is complete, remove the safety belt.

[0138] VI. Return Phase

[0139] Normally, the main module assembly 3 and the docking assembly 4 do not need to be removed. When removal is necessary, astronaut 02 removes the main module assembly 3 from the second ring handrail 11 or the first ring handrail 12. The removal procedure is the reverse of the operation and use section. The main module assembly 3 crawls back into the cabin with astronaut 02. Astronaut 01 removes the docking assembly 4. The removal procedure is the reverse of the operation and use section. The docking assembly 4 returns with astronaut 01 aboard the robotic arm. VII. Removal and Return Section in Robotic Arm Failure Mode

[0140] When the robotic arm malfunctions, astronaut 01 returns from the docking module 2 side, passing by docking end component 4:

[0141] 1) Astronaut 01 attaches one end of the safety belt to the second handrail 43 of the docking end component 4;

[0142] 2) Astronaut 01 holds the T-shaped handrail of the first handrail 35 of the main module end component 3 with one hand, and first hooks one end of the safety belt to the handrail of the docking end component 4 with the other hand.

[0143] 3) Open the second locking switch 44;

[0144] 4) Open the extension lever 422;

[0145] 5) Then grasp the type b handrail 431 and type O handrail 432 of the docking end assembly 4 and pull them out of the socket 51 of the base assembly 5.

[0146] 6) Dock end component 4 climbed back into the cabin with astronaut 01.

[0147] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A thermally broken inter-module connection device for a space station, wherein the thermally broken inter-module connection device is used to realize a thermally broken connection between the main module (1) and the docking module (2), characterized in that, The broken-bridge type inter-module connection device of the space station includes: a main module end assembly (3), a docking end assembly (4), and a base assembly (5); wherein, the main module end assembly (3) is detachably connected to the main module (1), the base assembly (5) is detachably connected to the docking module (2), and the base assembly (5) is plugged into the docking end assembly (4); the main module end assembly (3) and the docking end assembly (4) are not directly connected, and together they form a broken-bridge type climbing passage between the main module (1) and the docking module (2); the main module (1) includes The cabin has a second ring handrail (11) and a first ring handrail (12) arranged sequentially from near to far. The second ring handrail (11), the first ring handrail (12) and the cabin are connected by multiple brackets (13). The main cabin end assembly (3) includes: a main gripper (31), an auxiliary gripper (32), a connecting rod (33), a first cantilever rod (34) and a first handrail (35). The main gripper (31) and the auxiliary gripper (32) are connected by the connecting rod (33), and the first handrail (35) is mounted on the main gripper (31). A cantilever arm (34) is provided, on which the first handrail (35) is mounted; the main gripper (31) is mounted on the first annular handrail (12), and the auxiliary gripper (32) is mounted on the second annular handrail (11); the main gripper (31) includes: a fixed gripper (311), a movable gripper (312), a first locking switch (313), a handle (314), and a control lever (315); wherein, the fixed gripper (311) has a first groove (3111) that matches the first annular handrail (12), and the fixed gripper... A second groove (3112) matching the bracket (13) is provided on the groove wall of (311); the handle (314) is installed on the fixed claw (311), the movable claw (312) is movably installed on the handle (314), one end of the movable claw (312) is provided with an operating lever (315) parallel to the handle (314), and the other end of the movable claw (312) has a hook and is engaged with the first annular armrest (12); the first locking switch (313) is used to lock and unlock the movable claw (312).

2. The thermally broken bridge-type inter-module connection device for space stations according to claim 1, characterized in that, The movable claw (312) and the grip (314) are connected by a first rotating shaft (36). A first elastic element (37) is sleeved on the first rotating shaft (36). One end of the first elastic element (37) is connected to the movable claw (312), and the other end of the first elastic element (37) is connected to the grip (314).

3. The thermally broken bridge-type inter-module connection device for space stations according to claim 1, characterized in that, The first locking switch (313) includes: a first cam lever (3131), a second rotating shaft (3132), a first pin (3133), and a second elastic element (3134); wherein, the first cam lever (3131) is connected to the first pin (3133) through the second rotating shaft (3132), and the second elastic element (3134) is disposed between the first pin (3133) and the grip (314); the first cam lever (3131) is used to rotate and switch between a first position and a second position, and the first cam lever (3131) has a first end and a second end that are bent and connected. When the first cam paddle (3131) is in the first position, the first end is engaged with the end face of the grip (314), and the end of the first pin (3133) away from the second pivot (3132) passes through the grip (314) and is inserted into the ear piece (3121) of the movable claw (312); when the first cam paddle (3131) is in the second position, the second end is engaged with the end face of the grip (314), and the end of the first pin (3133) away from the second pivot (3132) is pulled out from the ear piece (3121) and the grip (314).

4. The thermally broken bridge type inter-module connection device for space stations according to any one of claims 1-3, characterized in that, The main gripper (31) further includes an anti-loosening buffer mechanism (38), which is respectively disposed on both sides of the fixed gripper (311) along the extension direction of the first annular handrail (12); the anti-loosening buffer mechanism (38) includes a support plate (381), a pressure plate (382), a third rotating shaft (383), and a third elastic element (384); wherein, one end of the support plate (381) is screwed to the fixed gripper (311), and the other end of the support plate (381) is rotatably connected to the pressure plate (382) through the third rotating shaft (383), and the third elastic element (384) is sleeved on the third rotating shaft (383), one end of the third elastic element (384) is connected to the support plate (381), and the other end of the third elastic element (384) is connected to the pressure plate (382).

5. The thermally broken bridge type inter-module connection device for space stations according to any one of claims 1-3, characterized in that, The first handrail (35) includes a first straight rod (351), a second straight rod (352), a third straight rod (353), a fourth straight rod (354), and a fifth straight rod (355) connected in sequence; one end of the first straight rod (351) is connected to the end of the first cantilever rod (34) near the first ring handrail (12), the other end of the first straight rod (351) is connected to one end of the second straight rod (352), the middle part of the second straight rod (352) is connected to one end of the third straight rod (353), the other end of the third straight rod (353) is connected to one end of the fourth straight rod (354), and the other end of the fourth straight rod (354) is connected to the other end of the first cantilever rod (34).

6. The thermally broken bridge type inter-module connection device for space stations according to any one of claims 1-3, characterized in that, The docking end assembly (4) includes: an installation and disassembly assembly (41), a second cantilever (42), and a second handrail (43), wherein the installation and disassembly assembly (41) is detachably connected to the second cantilever (42), and the second handrail (43) is provided on the second cantilever (42).

7. The thermally broken bridge-type inter-module connection device for space stations according to claim 6, characterized in that, The installation and disassembly assembly (41) includes: a connecting column (413), a rotating rod (411), and a locking tongue (412); wherein, the rotating rod (411) is disposed inside the connecting column (413), and the locking tongue (412) is disposed at the end of the rotating rod (411) away from the second cantilever rod (42); the rotational force of the rotating rod (411) is used to convert into the linear movement force of the locking tongue (412), and to cause the locking tongue (412) to insert into or extend out of the base assembly (5).

8. The thermally broken bridge-type inter-module connection device for space stations according to claim 7, characterized in that, A drive shaft (421) is provided inside the second cantilever (42). One end of the drive shaft (421) near the mounting and disassembly assembly (41) is connected to the rotating rod (411). An extension lever (422) is provided at the other end of the drive shaft (421). The extension lever (422) is used to drive the drive shaft (421) to rotate. A second locking switch (44) is also provided on the second cantilever (42). The second locking switch (44) is used to lock and unlock the extension lever (422).

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