Satellite modular universal docking, locking and releasing mechanism

Abstract

The application discloses a satellite modular general docking, locking and releasing mechanism, which comprises a locking seat, a buffer mechanism, a pushing mechanism, a clamping and pressing mechanism, a yoke mechanism, a lock plate mechanism, an upper pressing mechanism and a padlock mechanism; the pushing mechanism is installed at the bottom of the locking seat and is in sliding cooperation with the locking seat; a curved stroke groove is arranged on the pushing mechanism; the first end of the yoke mechanism is in rolling cooperation with the curved stroke groove; the pushing mechanism moves along the curved stroke groove and drives the clamping mechanism to contact the target; the clamping and pressing mechanism drives the target to move downward; the yoke mechanism rotates around the hinge shaft at the bottom of the locking seat; the tail of the yoke mechanism drives the upper pressing mechanism to move upward; the upper pressing mechanism drives the lock plate mechanism to rotate around the rotary shaft and press the outer edge of the target downward until the bottom surface of the target is attached to the buffer mechanism on the locking seat; after being pressed, the buffer mechanism triggers the locking signal to the control system; the pushing mechanism continues to move; and the padlock mechanism limits and locks the upper pressing mechanism. The application can realize the positioning, centering, connecting, locking and releasing of the target.

Description

Technical Field

[0001] This invention relates to the field of spacecraft technology, specifically to a modular universal docking, locking, and releasing mechanism for satellites. Background Technology

[0002] As a complex and critical space mechanism, the spacecraft docking mechanism has always been an important indicator of the development and improvement of the aerospace field. With the continuous improvement of space research, development and application, the structure and composition of spacecraft are becoming increasingly complex. In this context, facing problems such as component failure, orbital deviation and fuel depletion that may occur after some spacecraft enter orbit, how to perform safe and reliable on-orbit maintenance, refueling and auxiliary maneuvers to restore normal operation is an urgent problem to be solved in future spacecraft on-orbit servicing. However, the premise for carrying out the above tasks is that the servicing satellite can safely and reliably capture and dock with the servicing satellite and establish a strong and stable rigid connection.

[0003] Based on the published research literature on spacecraft on-orbit docking mechanisms, these mechanisms can be categorized into cooperative and non-cooperative types, depending on whether the capture lock and the captured mechanism are pre-installed on the servicing satellite. Cooperative docking lock mechanisms, such as the V-lock mechanism used in the rendezvous and docking demonstration of Japan's Engineering Test Satellite VII (ETS-VII) in 1998, use a handle on the target satellite and a docking V-lock on the mission satellite, along with a movable arm, to complete the docking lock. A similar mechanism is also used on the cargo bay-truss docking mechanism MTAS on the US International Space Station. Another typical cooperative mechanism is exemplified by the US Orbital Express program. For small and lightweight spacecraft, the express system employs a three-finger actuator at the end of a robotic arm. Through a three-finger limiting cam, it performs demonstration tests of capturing the passive end interface mechanism on the target satellite and transferring docking cargo. A similar approach has been applied to the Japanese Nozomi Experiment Module (JEM-EF). Another cooperative docking mechanism, as disclosed, uses an active V-lock combined with a bolt-type docking lock for docking and locking. This approach has been used in the US RTAS truss docking mechanism and the International Space Station SSAS truss docking mechanism, according to published information. These cooperative docking mechanisms require the servicing satellite to have a passive docking mechanism pre-installed, severely limiting the target range for docking services. To address this issue, a non-cooperative docking mechanism without a pre-designed docking end has been proposed. This non-cooperative docking mechanism utilizes the target spacecraft... The docking capture mechanism utilizes the geometric features of the spacecraft's structural characteristics, such as engine nozzles and spacecraft docking rings, as the points of action for docking capture. This gives it high versatility. Referring to published data, the hook-type capture lock used on the International Space Station's universal docking mechanism (Illi, 1992) is installed on the active docking mechanism. Driven by the control system, the cantilever hooks, under the action of the drive linkage, hook onto the outer edge of the target satellite's docking frame. Then, the drive modules of each capture lock rotate, bringing the docking frame closer and locking it. Additionally, according to available data, the CX-OLEV satellite has three independent spacecraft docking ring locking mechanisms. These mechanisms are distributed in a 120° circle around the docking surface. When the two spacecraft are within the working distance, the retraction mechanism opens, and each set of two locking hooks clamps the spacecraft docking ring disc.

[0004] Based on the above analysis of applications in this field, existing technologies for non-cooperative perimeter capture and docking mechanisms all adopt the locking hook form of independent drive modules. The mechanism only has the locking hook closing action, and the mechanism has a single function. It can only complete the locking function after precise alignment. At the same time, the consistency of the actions of multiple modules is highly dependent on the control unit. Summary of the Invention

[0005] In view of this, the present invention provides a modular universal docking, locking, and releasing mechanism for satellites, which can position, center, connect, lock, and release satellite docking rings and other mechanisms with flange edges or flange-like edges.

[0006] The technical solution adopted in this invention is as follows:

[0007] A modular universal docking, locking, and releasing mechanism for satellites includes a locking seat, a buffer mechanism, a pushing mechanism, a clamping and pressing mechanism, a fork mechanism, a locking plate mechanism, an upper lifting mechanism, and a padlock mechanism.

[0008] The pushing mechanism is installed at the bottom of the locking seat and slides with the locking seat; the pushing mechanism is provided with a curved travel groove, and the first end of the shift fork mechanism rolls with the curved travel groove, which includes a straight section and an oblique section; the external control system drives the pushing mechanism to move, and the pushing mechanism moves along the straight section to drive the clamping mechanism to move forward. After the clamping mechanism contacts the target, it provides a horizontal force to the target, causing the target to shift towards the center and correcting the target's center position deviation; then the clamping pressing mechanism drives the target to move downward and pulls the target closer.

[0009] Simultaneously, when the pushing mechanism moves to the inclined segment, it presses down the shift fork mechanism. The shift fork mechanism rotates around the bottom hinge axis of the locking seat, and the tail of the shift fork mechanism drives the upper lifting mechanism to move upward, which in turn drives the locking plate mechanism to rotate around its rotation axis and press down on the outer edge of the target until the bottom plane of the target is in contact with the buffer mechanism on the upper plane of the locking seat. After pressing, the buffer mechanism triggers and sends a locking signal to the control system. The pushing mechanism continues to move, and the padlock mechanism limits the upper lifting mechanism to complete the locking.

[0010] Furthermore, the locking seat includes a mounting seat, a pushing seat, a locking plate seat, a guide trigger switch, and a guide frame;

[0011] The pusher seat is installed at the bottom of the mounting base. Buffer seat holes are provided on both sides of the front of the mounting base for installing the buffer mechanism. Locking plate seats are provided on both sides of the mounting base behind the buffer seat holes for installing the locking plate mechanism. The included angle θ formed by the two locking plate seats is adjustable according to the arc angle of the target contour to adapt to targets with different arc angles. A guide frame is provided on the mounting base. The upper part of the guide frame has a guide slope to correct the lateral deviation of the target during the target approach. The lower part of the guide frame has a vertical straight surface to constrain the lateral deviation of the target. Two sets of guide frame trigger switches are installed on the left and right sides of the guide frame. When the lateral deviation of the target is corrected and it enters the constraint range, a trigger signal is given to the external control system to start the locking action.

[0012] Furthermore, the buffer mechanism includes a buffer seat, a buffer spring, and a trigger switch;

[0013] The buffer seat is equipped with a buffer spring and a trigger switch. During the locking process, the buffer spring is compressed and stores energy, which provides vertical buffering for the target. During separation, the buffer spring provides separation force for the target. The trigger switch is used to send a locking signal to the external control system.

[0014] Furthermore, the pushing mechanism includes a front frame, a pull ring, and a curved groove plate;

[0015] A pull ring is fixed at the front of the front frame, and a curved groove guide rail is provided at the upper part of the front frame for sliding engagement with the guide rail groove on the push seat; a curved groove plate is fixed at the rear of the front frame, and curved stroke grooves are symmetrically arranged on both sides of the curved groove plate. A square recess is provided at the rear end of the curved groove plate for installing the clamping and pressing mechanism.

[0016] Furthermore, the clamping and pressing mechanism includes a clamping plate, a clamping connecting rod, a connecting plate, a clamping seat, rollers, a clamping spring, and a clamping spring cylinder;

[0017] The upper end of the clamping seat is hinged to the connecting plate and the clamping link, respectively. The connecting plate is located above the clamping link, and the clamping plate is hinged to both the connecting plate and the clamping link. The clamping plate, clamping seat, connecting plate, and clamping link form a parallelogram mechanism. Rollers are provided on both sides of the upper part of the clamping plate for rolling cooperation with the target surface. The side of the clamping seat is provided with a limit angle limiting platform to limit the angle of the clamping link. One end of the clamping spring cylinder is hinged to the rotary slot provided at the rear end of the clamping seat, and the other end is hinged to the middle of the clamping plate. A clamping spring is provided inside the clamping spring cylinder to provide initial clamping force and provide radial attitude correction power for the target. When the target attitude is corrected to the center position, the limiting platform on the clamping seat rigidly restricts the clamping link, realizing rigid limiting after target centering. A square platform is provided at the bottom of the clamping seat for installation in cooperation with the square groove on the pushing mechanism.

[0018] Furthermore, the upper lifting mechanism includes a slide rod, a linear bearing, a locking spring, an upper lifting slider, and a apex assembly;

[0019] The slide rod is fixed on the upper sliding block, and the linear bearing is installed on the slide rod. The rollers on the left and right sides of the linear bearing cooperate with the tail of the shift fork mechanism. The locking spring is sleeved on the slide rod and located between the linear bearing and the upper sliding block. The upper sliding block has linear bosses on the left and right sides, which form a vertical sliding pair with the vertical guide rail groove on the locking seat. The top corner assembly is fixed on the top of the linear boss on the outer side of the upper sliding block. The top corner assembly is in rolling cooperation with the locking plate mechanism, while the two sides of the upper sliding block are in sliding cooperation with the locking seat.

[0020] Furthermore, the locking mechanism includes a pressure plate and rollers;

[0021] One end of the pressure plate is equipped with a roller, and the other end is a U-shaped plate. The U-shaped plate has drive grooves on both sides for cooperating with the top corner assembly.

[0022] Furthermore, the padlock mechanism includes a latch, a padlock mounting base, a spring guide rod, a padlock spring, and an unlocking plate;

[0023] The padlock mounting base is fixedly connected to the locking seat and is located outside the clamping and pressing mechanism. The top of the padlock mounting base has a limiting slope to rigidly limit the clamping plate, thus constraining the clamping plate of the clamping and pressing mechanism in the activated position. The padlock mounting base is equipped with a padlock spring and an unlocking plate to form a spring cylinder structure. The spring guide rod is connected to the padlock plate by a nut, and the padlock spring is fitted on the spring guide rod. The latch is fixed to the side of the padlock mounting base. The clamping seat pushes the unlocking plate backward, causing the latch to move backward and release the constraint from the hanging groove.

[0024] Beneficial effects:

[0025] 1. This invention adopts a functional module combination approach, with each module having multiple functions. Each functional module can be used individually or in combination. The power source for each functional mechanism component is a single power source, which facilitates module assembly and application. Through the coordinated action of each mechanism, it is possible to realize the action of clamping, centering, locking, and releasing the target.

[0026] 2. All functional actions of this invention employ a flexible-rigid transformation to avoid rigid impacts during the docking process. For example, in the clamping and pressing mechanism 1, the spring cylinder initially clamps flexibly, using flexible force for centering. Once centering is nearly complete, a limiting platform restricts the position of the clamping linkage, and the mechanism transforms into a rigid constraint. In the locking process 2, a linear bearing compresses the locking spring, which provides the initial locking force. When locking is complete, the inner sleeve of the locking spring rigidly abuts against the upper sliding block plane, and the locking spring is no longer compressed. In the locking process 3, a buffer abuts against the target bottom plane to cushion the locking process.

[0027] 3. The structure of this invention extensively uses rolling pair structures, which effectively reduces the energy consumption of the mechanism and improves the driving force transmission efficiency.

[0028] 4. The padlock mechanism used in this invention releases via end-drive and reuses the timing sequence of the curved stroke groove structure during the release process. After the clamping and pressing mechanism retracts to a position where it is completely in line with the target, the padlock mechanism is opened to effectively avoid collision between the target and the mechanism during the release process.

[0029] 5. The guide frame of this invention adopts a combination of oblique lines and straight lines. The oblique line segment guides the target, while the straight line segment serves as a release channel. This reliably enables the target to achieve axial separation under the action of the buffer spring, avoiding the need for additional separation mechanisms and reducing system complexity.

[0030] 6. The locking plate mechanism of this invention has an adjustable opening angle θ, which can be applied to docking targets with different curvatures, greatly improving the versatility of the mechanism. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2This is a schematic diagram of the overall structure of the present invention from another perspective.

[0033] Figure 3(a) is a schematic diagram of the locking seat structure of the present invention.

[0034] Figure 3(b) is a schematic diagram of the locking seat of the present invention from another perspective.

[0035] Figure 3(c) is a top view of the locking seat of the present invention.

[0036] Figure 3(d) is a schematic diagram of the buffer mechanism.

[0037] Figure 4(a) is a schematic diagram of the pushing mechanism.

[0038] Figure 4(b) is a top view of the pushing mechanism.

[0039] Figure 5(a) is a schematic diagram of the clamping and pressing mechanism.

[0040] Figure 5(b) is a cross-sectional view of the clamping and pressing mechanism.

[0041] Figure 6(a) is a schematic diagram of the installation of the locking mechanism and the locking seat.

[0042] Figure 6(b) is a side view of the locking mechanism and locking seat installation.

[0043] Figure 6(c) is a side view of the locking mechanism.

[0044] Figure 7(a) is a schematic diagram of the installation of the padlock mechanism and the locking seat.

[0045] Figure 7(b) is a schematic diagram of the padlock mechanism's padlock action.

[0046] Figure 7(c) is a partial sectional view of the padlock mechanism (the sectional view at point A in Figure 7(a)).

[0047] Figure 8 This is a schematic diagram of the clamping and locking action process of the present invention.

[0048] Figure 9 This is a schematic diagram of the release action process of the present invention.

[0049] Figure 10 This is the fully functional locking module of the present invention.

[0050] Figure 11(a) is a top view of Embodiment Example 1 of the present invention.

[0051] Figure 11(b) is a side view of embodiment example 1 of the present invention.

[0052] Figure 12 This is embodiment 2 of the present invention.

[0053] Among them, 1-locking seat, 2-buffering mechanism, 3-pushing mechanism, 4-locking mechanism, 5-clamping and pressing mechanism, 6-topping mechanism, 7-pressure plate, 8-padlocking mechanism, 9-mounting seat, 10-pushing seat, 12-buffering seat, 13-locking plate seat, 14-guide frame trigger switch, 15-guide frame, 16-longitudinal guide rail groove, 18-vertical guide rail groove, 20-buffering spring, 21-trigger switch I, 22-curved groove plate, 23-front frame, 24-pull ring, 25-front and rear position trigger switch II, 26-switch bracket, 27-front and rear position trigger switch I, 28-curved groove guide rail, 29-curved stroke groove, 30-square recess, 31-clamping plate, 3 2-Clamping seat, 33-Clamping spring cylinder, 34-Clamping connecting rod, 35-Limiting platform, 36-Connecting plate, 37-Rotation slot, 39-Rotation shaft, 40-Roller I, 41-Square platform, 42-Shift fork roller, 43-Internal tension spring, 44-Top corner assembly, 45-Top corner roller, 46-Drive slot I, 47-Drive slot II, 48-Roller II, 49-Shift fork mechanism, 50-Linear bearing, 51-Locking spring, 52-Top slider, 53-Roller III, 54-Slide rod, 55-Hinge shaft II, 56-Hanging slot, 57-Lock, 58-Padlock mounting seat, 59-Spring guide rod, 60-Padlock spring, 61-Unlocking plate, 62-Limiting slope. Detailed Implementation

[0054] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] This invention provides a modular universal docking, locking, and releasing mechanism for satellites, such as... Figure 1 , Figure 2 As shown, it includes a locking seat 1, a buffer mechanism 2, a pushing mechanism 3, a clamping and pressing mechanism 5, a locking mechanism 4, and a padlock mechanism 8. Combined with the guide frame trigger switch 14, the front and rear position trigger switch I 27, and the front and rear position trigger switch II 25, it realizes the clamping, centering, and locking actions of the target.

[0056] like Figure 3(a) , 3(b) As shown in 3(c), the locking seat 1 includes a mounting seat 9, a push seat 10, a locking plate seat 13, a guide frame trigger switch 14, and a guide frame 15.

[0057] Mounting base 9 is the base of the mechanism and its function is to connect other functional components. The bottom of mounting base 9 has a square straight opening for mounting push seat 10. Push seat 10 is mounted on the bottom of mounting base 9 and fixed to mounting base 9 by the square straight opening and screws. A vertical guide rail groove 18 is provided at the rear of mounting base 9 for mounting top slider 52.

[0058] As shown in Figure 3(d), the buffer mechanism 2 includes a buffer seat 12, a buffer spring 20, and a trigger switch I 21. Buffer seat holes are provided on both sides of the front of the mounting base 9, and two buffer seats 12 are fixed together by screws for mounting the buffer mechanism 2. The locking process buffers the target. The buffer seat 12 has a buffer spring 20 and a trigger switch I 21 installed inside it. During the locking process, the buffer spring 20 is compressed and stores energy, which plays a vertical buffering role on the target. During separation, the buffer spring 20 provides separation power to the target. The trigger switch I 21 is used to send a locking signal to the external control system.

[0059] Mounting base 9 has locking plate seats 13 on its left and right sides for mounting the locking plate mechanism. The locking plate seats 13 are fixedly connected to mounting base 9 by screws and rotating holes. The included angle θ formed by the two locking plate seats 13 can be adjusted according to the arc angle of the target contour to adapt to targets with different arc angles. Mounting base 9 has a guide frame 15 on it. The guide frame 15 has a guide slope to correct the target's lateral deviation during the target's approach. The lower part of the guide frame 15 has a vertical straight surface to constrain the target's lateral deviation. Two sets of guide frame trigger switches 14 are installed on the left and right sides of the guide frame 15. When the target's lateral deviation is corrected and it enters the constraint range, a trigger signal is given to the satellite control system, and the locking action of the mechanism begins.

[0060] like Figure 4(a) , 4(b) As shown, the pushing mechanism 3 includes a pull ring 24, a front frame 23, a curved groove plate 22, a switch bracket 26, a front and rear position trigger switch I 27 and a front and rear position trigger switch II 25, which, together with the pushing seat 10, enable the mechanism to move longitudinally in a straight line under the drive of the control system.

[0061] A pull ring 24 is fixed to the front of the front frame 23, and a curved groove guide rail 28 is provided on the upper part of the front frame 23 for sliding engagement with the longitudinal guide rail groove 16 on the push seat 10. A curved groove plate 22 is fixed to the rear of the front frame 23, and curved stroke grooves 29 are symmetrically arranged on both sides of the curved groove plate 22. The curved stroke grooves 29 include straight segments and inclined segments, and their structural form is set according to the sequence of clamping and locking actions, for cooperating with the shift fork mechanism 49. A square recessed groove 30 is provided at the tail of the curved groove plate 22 for installing the clamping and pressing mechanism 5. The front and rear position trigger switch I 27 is fixed to the pull ring 24 through the switch bracket 26 to provide a zero position signal for the control system. The front and rear position trigger switch II 25 is located at the tail of the curved groove plate 22 to provide a stroke end signal for the control system.

[0062] like Figure 5(a) , 5(b) As shown, the clamping and pressing mechanism 5 includes a clamping plate 31, a clamping connecting rod 34, a connecting plate 36, a clamping seat 32, a roller I 40, a clamping spring, and a clamping spring cylinder 33.

[0063] The upper end of the clamping seat 32 is hinged to the connecting plate 36 and the clamping rod 34 respectively. The connecting plate 36 and the clamping rod 34 are installed on the clamping seat 32. The connecting plate 36 is located above the clamping rod 34. The clamping plate 31 is simultaneously hinged to the connecting plate 36 and the clamping rod 34. Both ends of the connecting plate 36 and the clamping rod 34 are hinged to the clamping seat 32 and the clamping plate 31 through the hinge shaft I. The clamping plate 31, the clamping seat 32, the connecting plate 36, and the clamping rod 34 form a parallelogram mechanism to realize the parallel movement of the clamping plate 31. Rollers I 40 are provided on both sides of the upper part of the clamping plate 31 for rolling cooperation with the target surface to reduce friction energy consumption. Under the action of the push-pull mechanism 3, the clamping plate 31 clamps the target and presses down on the target simultaneously by limiting the contact between the rollers I 40 on the clamping plate 31 and the outer contour surface of the target.

[0064] The clamping seat 32 serves as the base of the mechanism. A limit angle limiting platform 35 is provided on the side of the clamping seat 32 to limit the angle of the clamping link 34. One end of the clamping spring cylinder 33 is hinged to a rotary groove 37 at the rear end of the clamping seat 32, and the other end is hinged to the middle of the clamping plate 31 via a hinge shaft. The clamping spring cylinder 33 is hinged to the rotary groove 37 via a rotary shaft 39. The rotary groove 37 and the rotary shaft 39 form a hinge pair under the action of spring force. The rotary groove 37 is designed as a barb, ensuring easy installation while effectively limiting the clamping position through spring force, preventing the spring cylinder 33 from detaching from the clamping seat 32. A clamping spring is installed inside the clamping spring cylinder 33 to provide initial clamping force and radial attitude correction power to the target. When the target attitude is corrected to the center position, the limiting platform 35 on the clamping seat 32 rigidly restricts the clamping link 34, achieving rigid limitation after target centering. The clamping seat 32 engages with the square recess 30 at the tail of the curved groove plate 22 via a square platform 41 at the bottom, and is secured with screws.

[0065] like Figure 6(a) , 6(b) As shown, the locking mechanism 4 includes a shift fork mechanism 49, an upper lifting mechanism 6, and a locking plate mechanism.

[0066] The locking mechanism includes a pressure plate 7 and a roller II 48. One end of the pressure plate 7 is equipped with the roller II 48, and the other end is a U-shaped plate. The U-shaped plate has drive grooves II 47 on both sides for cooperating with the top corner assembly 44.

[0067] The upper lifting mechanism 6 includes a slide rod 54, a linear bearing 50, a locking spring 51, an upper lifting slider 52, and a apex assembly 44. The slide rod 54 is fixed to the upper lifting slider 52 by screws. The linear bearing 50 is installed on the slide rod 54, and the inner hole of the linear bearing 50 slides in fit with the slide rod 54. The rollers III 53 on the left and right sides of the linear bearing 50 cooperate with the drive groove I 46 at the tail end of the shift fork mechanism 49. The locking spring 51 is fitted on the slide rod 54 and is located between the linear bearing 50 and the upper lifting slider 52. The locking spring 51 can adjust the upper lifting force by adjusting the position of the adjusting screw. The upper lifting slider 52 has linear bosses on the left and right sides, which form a vertical sliding pair with the vertical guide rail groove 18 on the mounting base 9. The upper lifting slider 52 is H-shaped. The apex assembly 44 includes an apex and an apex roller 45. The cylindrical platform at the top of the straight boss on the outer side of the upper slider 52 forms a rotary joint with the apex, enabling the adjustment of the angle θ of the pressure plate 7. Two apex rollers 45 are provided on the left and right sides of the apex, which form rolling contact with the drive groove II 47 on the pressure plate 7, reducing drive energy consumption. The lower part of the straight boss on the inner side of the upper slider 52 is provided with a hanging groove 56, which is used to cooperate with the latch 57 of the padlock mechanism 8.

[0068] The shift fork mechanism 49 is hinged to the mounting base 9 via the hinge shaft II 55. The end of the shift fork mechanism 49 is equipped with a hinge bearing as a shift fork roller 42, which rolls in cooperation with the curved stroke groove 29. The end of the shift fork mechanism 49 is provided with a drive groove I 46, which cooperates with the rollers III 53 on the left and right sides of the linear bearing 50. At the same time, the inner plane of the shift fork mechanism 49 limits the rotation of the linear bearing 50.

[0069] The locking mechanism 4 achieves its locking function by assembling with the mounting base 9 and the pushing mechanism 3. The pushing mechanism 3 moves longitudinally and, through the curved stroke groove 29, engages with the shift fork roller 42 on the shift fork mechanism 49, causing the shift fork mechanism 49 to rotate around the mounting base 9. Through the drive groove I 46 at the end of the shift fork mechanism 49, it drives the linear bearing 50 to compress the locking spring 51, causing the upper sliding block 52 to move up and down linearly under the constraint of the vertical guide rail groove 18. The upper sliding block 52, through the action of its top corner and the corner roller 45, drives the pressure plate 7 to move along the drive groove II 47, realizing the rotation of the pressure plate 7 around its hinge axis.

[0070] like Figure 7(a) , 7(b) As shown in 7(c), the padlock mechanism 8 includes a latch 57, a padlock mounting base 58, a spring guide rod 59, a padlock spring 60, and an unlocking plate 61.

[0071] The padlock mounting base 58 is the basic component of the padlock mechanism 8. The main body of the padlock mounting base 58 is a U-shaped frame structure. Its bottom has a straight opening that is fixed to the mounting base 9 by screws. It is located outside the clamping and pressing mechanism 5. The upper surface of the frame structure of the padlock mounting base 58 has vertical rods on both sides. The top of the vertical rods has a limiting slope 62, which rigidly limits the clamping plate 31, so that the clamping plate 31 of the clamping and pressing mechanism 5 is constrained in the activated position. The padlock mounting base 58 has a padlock spring 60 and an unlocking plate 61 forming a spring cylinder structure. The spring guide rod 59 is connected to the padlock plate 61 by a nut. Adjusting the tail nut can adjust the padlock force. The padlock spring 60 is fitted on the spring guide rod 59. The latch 57 is fixed to the side of the padlock mounting base 58. During installation, the padlock spring 60 is compressed and stores energy. When the clamping and pressing mechanism 5 moves forward, the spring force pushes the latch 57 forward, so that the front end of the latch 57 abuts against the upper slider 52. When the shift fork mechanism 49 drives the upper slider 52 to the locking position, the hanging groove 56 on the upper slider 52 engages with the latch 57, thereby limiting the upper slider 52.

[0072] The padlock spring 60 engages the latch 57 with the slot 56 on the upper slider 52, preventing the upper slider 52 from falling back after pressing against the pressure plate 7. When the pushing mechanism 3 of the mechanism drives the clamping and pressing mechanism 5 to move backward into place, the clamping seat 32 pushes the unlocking plate 61 to move backward, causing the latch 57 to move backward and release the constraint from the slot 56. Under the action of its internal tension spring 43, the upper slider 52 quickly pulls down to return to its original position, causing the pressure plate 7 to quickly open and complete the release action, as shown in Figure 6(c).

[0073] The coordinated operation of each function can simultaneously complete guiding, centering, clamping, pressing, and locking actions, such as... Figure 10 As shown, the detailed process is as follows:

[0074] like Figure 8As shown, when the external control system drives the pushing mechanism 3 to move, the pushing mechanism 3 drives the clamping and pressing mechanism 5 to move forward. When the front roller I 40 of the clamping plate 31 contacts the target, under the action of the clamping spring force, the clamping plate 31 provides a horizontal force to the target, causing the target to shift towards the center and correcting the target's center position deviation. When the lateral movement resistance of the target is greater than the action of the clamping spring force, the clamping plate 31 compresses the clamping spring. Under the action of the parallelogram linkage formed by the clamping link 34 and the connecting plate 36, the clamping plate 31 generates a vertical displacement. When the roller I 40 abuts against the target's edge, due to the action of the parallelogram linkage, the roller I 40 on the clamping plate 31 drives the target to move downward, pulling the target closer. When the pushing mechanism 3 completes the straight section length before the curved stroke groove 29, the fork roller 42 of the fork mechanism 49 moves in the curved stroke groove 29. Under the action of the 9th oblique segment, the downward pressing fork mechanism 49 causes the fork mechanism 49 to rotate around the bottom hinge shaft II 55 of the mounting base 9. The fork at the tail end of the fork mechanism 49 drives the linear bearing 50 to rise. The linear bearing 50 moves vertically, and through the locking spring 51 on the slide rod 54, it drives the upper sliding block 52 to move vertically, which drives the top corner assembly 44 installed on the upper sliding block 52 to drive the pressure plate 7 to rotate around its rotation shaft 39. The pressure plate 7 is driven to press down on the outer edge of the star-rocket docking ring until the bottom plane of the star-rocket docking ring is in contact with the upper plane of the mounting base 9. At the end of the pressing process, the bottom plane of the target first compresses the buffer spring 20, which buffers the target and avoids rigid impact between the target and the mounting base 9. After pressing, the trigger switch I 21 in the buffer mechanism 2 gives a locking signal, and the pushing mechanism 3 continues to move until the trigger switch II at the bottom of the locking mechanism 4 gives a trigger signal. At this time, the locking spring 51 on the slide bar 54 is compressed, providing locking force; the latch 57 of the padlock mechanism 8 engages with the padlock groove 56 on the upper slider 52, and the mechanism completes locking.

[0075] like Figure 9 As shown, when the mechanism needs to be released, the control system reverses the movement of the pushing mechanism 3. Through the coordinated action of various mechanisms, the clamping and pressing mechanism 5 retracts and moves aside, and the locking plate is quickly released. The detailed process is as follows:

[0076] When the control system drives the pushing mechanism 3 to move in the reverse direction, the pushing mechanism 3 drives the clamping and pressing mechanism 5 to move backward. Under the action of the clamping spring force, the clamping plate 31 gradually opens up as the mechanism moves backward until the roller I 40 on the clamping plate 31 disengages from the outer contour surface of the target. At the same time, the tail of the upper slider 52 is caught by the latch 57, and the locking plate is in a locked state. The target is restricted by the bottom buffer spring 20 and the pressure plate 7 and cannot be released. The pushing mechanism 3 continues to move backward until the clamping seat 32 contacts the unlocking plate 61, and the clamping and pressing mechanism 5... Fully open, the clamping plate 31 moves back to the rear of the straight section of the guide frame 15, completely eliminating interference with the target space. The pushing mechanism 3 continues to move backward, pushing the unlocking plate 61 to move backward. The latch 57 of the padlock mechanism 8 gradually disengages from the hanging groove 56 of the upper slider 52. When the latch 57 is completely disengaged, the upper slider 52 is quickly released under the action of its internal tension spring 43, opening the pressure plate 7, releasing the constraint on the edge of the target. The target separates from the locking mechanism 4 under the action of the bottom buffer spring, and the mechanism completes the release action.

[0077] Specific Implementation Case 1

[0078] This implementation method is as follows: Figure 11(a) , 11(b) As shown, four sets of fully modular locking mechanisms 4 are evenly distributed circumferentially from the working surface of the service satellite. The service satellite acquisition system captures and pulls the target satellite closer. When the target satellite-rocket docking ring enters the working range of the evenly distributed guide frame 15, the guide frame 15 guides and centers the target satellite-rocket docking ring. When the guide frame trigger switch 14 is triggered, the driving mechanism of each locking module starts to drive. The clamping and centering mechanism clamps and centers the cylindrical surface of the satellite-rocket docking ring. At the same time, the clamping spring cylinder 33 provides radial force to correct the coaxial attitude of the target within a certain range. After the target satellite-rocket docking ring is coaxially corrected, the roller I 40 on the clamping plate 31 provides circumferential movement. The power drives the target satellite docking ring downwards into the release channel area formed by the straight section of the guide frame 15. When the curved stroke groove 29 of the pushing mechanism 3 enters the inclined section working area, the curved groove plate 22 drives the shift fork mechanism 49 to rotate and drive the pressure plate 7 to flip, locking the target flange frame until the bottom plane of the target satellite docking ring is close to the service satellite support plane. The pushing mechanism 3 continues to move to the limit position, and the bottom position trigger switch II of the locking mechanism 4 is triggered. The locking spring 51 on the upper slider 52 is compressed to the locking state, providing the required locking force. At the same time, the internal limit cylinder of the locking spring 51 abuts against the limit plane of the upper slider 52, completing the rigid limit.

[0079] Specific Implementation Case 2

[0080] This implementation method is as follows: Figure 12As shown, for locking applications of docked targets, a symmetrical layout can be adopted. The control system adopts a shaft-pull type, with two symmetrical modules driving simultaneously. When the target and the service platform actively or assistedly approach each other, the control system drives the clamping and pressing mechanism 5 to clamp and center the target. At the same time, the clamping spring cylinder 33 provides clamping and centering force. When the inclined segment of the curved groove plate 22 is working, the locking plate mechanism begins to lock the target frame until the bottom plane of the target frame is in contact with the platform. The control system continues to drive until the maximum locking force is reached, thus completing the locking of the target.

[0081] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A modular universal docking, locking, and releasing mechanism for satellites, characterized in that, It includes a locking seat, a buffer mechanism, a pushing mechanism, a clamping and pressing mechanism, a shift fork mechanism, a locking plate mechanism, an upper lifting mechanism, and a padlock mechanism; The pushing mechanism is installed at the bottom of the locking seat and slides with the locking seat; the pushing mechanism is provided with a curved stroke groove, and the first end of the shift fork mechanism rolls with the curved stroke groove, which includes a straight section and an oblique section; the external control system drives the pushing mechanism to move, and the pushing mechanism moves along the straight section to drive the clamping and pressing mechanism to move forward. After the clamping and pressing mechanism contacts the target, it provides a horizontal force to the target, causing the target to shift towards the center and correcting the target's center position deviation; Then, the clamping and pressing mechanism drives the target downward, pulling the target closer; Simultaneously, when the pushing mechanism moves to the inclined segment, it presses down the shift fork mechanism. The shift fork mechanism rotates around the bottom hinge axis of the locking seat, and the tail of the shift fork mechanism drives the upper lifting mechanism to move upward, which in turn drives the locking plate mechanism to rotate around its rotation axis and press down on the outer edge of the target until the bottom plane of the target is in contact with the buffer mechanism on the upper plane of the locking seat. After the locking plate mechanism is pressed, the buffer mechanism triggers and sends a locking signal to the control system. The pushing mechanism continues to move, and the padlock mechanism limits the upper lifting mechanism to complete the locking. The pushing mechanism includes a front frame, a pull ring, and a curved groove plate; the pull ring is fixed at the front of the front frame, and a curved groove guide rail is provided at the upper part of the front frame for sliding cooperation with the guide rail groove on the pushing seat; the curved groove plate is fixed at the rear of the front frame, and curved stroke grooves are symmetrically arranged on both sides of the curved groove plate, and a square recess is provided at the rear end of the curved groove plate for installing the clamping and pressing mechanism. The clamping and pressing mechanism includes a clamping plate, a clamping connecting rod, a connecting plate, a clamping seat, rollers, a clamping spring, and a clamping spring sleeve. The upper end of the clamping seat is hinged to the connecting plate and the clamping connecting rod, respectively. The connecting plate is located above the clamping connecting rod, and the clamping plate is simultaneously hinged to both the connecting plate and the clamping connecting rod. The clamping plate, clamping seat, connecting plate, and clamping connecting rod form a parallelogram mechanism. Rollers are provided on both sides of the upper part of the clamping plate for rolling contact with the target surface. An extreme angle limiting platform is provided on the side of the clamping seat. The clamping linkage angle is limited; one end of the clamping spring cylinder is hinged to the rotary slot at the rear end of the clamping seat, and the other end is hinged to the middle of the clamping plate; a clamping spring is installed inside the clamping spring cylinder to provide initial clamping force and provide radial attitude correction power for the target; when the target attitude is corrected to the center position, the limiting platform on the clamping seat rigidly restricts the clamping linkage, realizing rigid limiting after the target is centered; a square platform is provided at the bottom of the clamping seat for installation with the square sinker on the pushing mechanism.

2. The satellite modular universal docking, locking, and releasing mechanism as described in claim 1, characterized in that, The locking seat includes a mounting seat, a pushing seat, a locking plate seat, a guide trigger switch, and a guide frame; The pusher seat is installed at the bottom of the mounting base. Buffer seat holes are provided on both sides of the front of the mounting base for installing the buffer mechanism. Locking plate seats are provided on both sides of the mounting base, located behind the buffer seat holes, for installing the locking plate mechanism. The included angle θ formed by the two locking plate seats is adjustable according to the arc angle of the locked target contour to adapt to targets with different arc angles. A guide frame is provided on the mounting base. The upper part of the guide frame has a guide slope to correct the lateral deviation of the target during the target approach. The lower part of the guide frame has a vertical straight surface to constrain the lateral deviation of the target. Two sets of guide frame trigger switches are installed on the left and right sides of the guide frame. When the lateral deviation of the target is corrected and it enters the constraint range, a trigger signal is given to the external control system to start the locking action.

3. The satellite modular universal docking, locking, and releasing mechanism as described in claim 2, characterized in that, The buffer mechanism includes a buffer seat, a buffer spring, and a trigger switch; The buffer seat is equipped with a buffer spring and a trigger switch. During the locking process, the buffer spring is compressed and stores energy, which provides vertical buffering for the target. During separation, the buffer spring provides separation force for the target. The trigger switch is used to send a locking signal to the external control system.

4. The satellite modular universal docking, locking, and releasing mechanism as described in claim 1, characterized in that, The upper lifting mechanism includes a slide rod, a linear bearing, a locking spring, an upper lifting slider, and a apex assembly; The slide rod is fixed on the upper sliding block, and the linear bearing is installed on the slide rod. The rollers on the left and right sides of the linear bearing cooperate with the tail of the shift fork mechanism. The locking spring is sleeved on the slide rod and located between the linear bearing and the upper sliding block. The upper sliding block has linear bosses on the left and right sides, which form a vertical sliding pair with the vertical guide rail groove on the locking seat. The top corner assembly is fixed on the top of the linear boss on the outer side of the upper sliding block. The top corner assembly is in rolling cooperation with the locking plate mechanism, while the two sides of the upper sliding block are in sliding cooperation with the locking seat.

5. The satellite modular universal docking, locking, and releasing mechanism as described in claim 4, characterized in that, The locking mechanism includes a pressure plate and rollers; One end of the pressure plate is equipped with a roller, and the other end is a U-shaped plate. The U-shaped plate has drive grooves on both sides for cooperating with the top corner assembly.

6. The satellite modular universal docking, locking, and releasing mechanism as described in claim 4 or 5, characterized in that, The padlock mechanism includes a latch, a padlock mounting base, a spring guide rod, a padlock spring, and an unlocking plate; The padlock mounting base is fixedly connected to the locking seat and located outside the clamping and pressing mechanism. The top of the padlock mounting base has a limiting slope to rigidly limit the clamping plate, thus constraining the clamping plate of the clamping and pressing mechanism in the activated position. The padlock mounting base is equipped with a padlock spring and an unlocking plate to form a spring cylinder structure. The spring guide rod is connected to the unlocking plate by a nut, and the padlock spring is fitted onto the spring guide rod. The latch is fixed to the side of the padlock mounting base. The lower part of the straight boss on the inner side of the upper sliding block is provided with a hanging groove for cooperating with the latch of the padlock mechanism. The clamping seat pushes the unlocking plate backward, causing the latch to move backward and release the constraint from the hanging groove.

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