A modular satellite docking interface device

Abstract

This invention discloses a modular satellite docking interface device, which includes a locking mechanism, a compliant mechanism, a first docking surface, and a second docking surface. The first and second docking surfaces have the same structure, both being isomorphic conical structures with segmented cone shapes. The first docking surface is fixedly installed in the locking mechanism, forming an active docking interface. The second docking surface is rotatable at a predetermined angle and installed in the compliant mechanism, forming a passive docking interface. The locking mechanism is used for locking and unlocking the active and passive docking interfaces after docking. The compliant mechanism has an automatic alignment function, used to release the impact between the active and passive docking interfaces during the docking process and to ensure compliant docking contact force. The above-mentioned interface device can achieve high-tolerance compliant docking, and can also achieve active locking and unlocking.

Description

Technical Field

[0001] This invention relates to the field of space satellite docking technology, and more specifically to a modular satellite docking interface device. Background Technology

[0002] Large structures are widely used in aerospace engineering, such as space telescopes, space solar power stations, and antennas. Their large-scale structures are restricted during rocket transportation and need to be assembled in orbit. At the same time, as the structure of individual spacecraft operating in orbit becomes increasingly complex, problems gradually emerge in the harsh space environment, requiring on-orbit maintenance to extend their service life. Modular design provides the possibility for on-orbit assembly and maintenance services, and the docking interface between modular structures is one of the key technologies. The current problems with docking interfaces are as follows: (1) The docking interface faces a tight design space, has a relatively complex structure, and lacks the ability to be universal; (2) Whether it is controlled by a robotic arm or performed autonomous docking, the rigid docking process will cause damage to the docking interface, and it does not have the ability to dock flexibly; (3) The one-way docking locking interface has poor docking reliability and does not have the ability to separate and reuse the interface. Summary of the Invention

[0003] This invention provides a modular satellite docking interface device that enables smooth docking with high tolerance, and also allows for active locking and unlocking.

[0004] The present invention adopts the following specific technical solution:

[0005] A modular satellite docking interface device includes a locking mechanism, a compliant mechanism, a first docking surface, and a second docking surface.

[0006] The first docking surface and the second docking surface have the same structure, both being isomorphic structures with conical lobes;

[0007] The first mating surface is fixedly installed in the locking mechanism, forming an active mating interface;

[0008] The second mating surface can be rotated at a predetermined angle and installed in the compliant mechanism to form a passive mating interface;

[0009] The locking mechanism is used for locking and unlocking the active docking interface and the passive docking interface after they are docked.

[0010] The compliant mechanism has an automatic alignment function, which is used to release the impact between the active docking interface and the passive docking interface during the docking process and to compliantly handle the docking contact force.

[0011] Furthermore, the locking mechanism includes a locking ring, a mounting plate, a moving claw, an internal gear ring, a driving external gear, a motor cover plate, and a drive motor;

[0012] The locking ring, the mounting plate, the internal gear ring, and the motor cover are arranged coaxially in sequence.

[0013] The first mating surface is located inside the locking ring and is fixedly connected to the mounting plate;

[0014] At least three moving claws are provided between the locking ring and the mounting plate, which are evenly distributed along the circumference of the locking ring.

[0015] A locking groove corresponding to each of the moving claws is provided on the outer peripheral surface of the second docking surface;

[0016] Along the radial direction of the locking ring, the middle part of the moving claw is rotatably connected to the mounting plate, the outer end of the moving claw is rotatably connected to the locking ring, and the inner end of the moving claw is used to cooperate with the corresponding locking groove on the outer peripheral surface of the second mating surface;

[0017] The locking ring, the mounting plate, and the moving claw form a four-bar linkage.

[0018] The locking ring is fixedly connected to the internal gear ring;

[0019] The internal gear ring is rotatably mounted on the motor cover plate;

[0020] The drive motor is fixedly installed on the side of the motor cover plate away from the internal gear ring, and the output shaft passes through the motor cover plate and is fixedly connected to the drive external gear.

[0021] The driving external gear meshes with the internal gear ring to transmit the power generated by the drive motor to the locking ring to drive it to rotate.

[0022] The mounting plate is fixedly connected to the motor cover plate;

[0023] The outer diameter of the locking ring and the outer diameter of the internal gear ring are both larger than the outer diameter of the mounting plate.

[0024] Furthermore, a first circular hole is provided in the middle of the moving claw;

[0025] The mounting plate is provided with a first column corresponding to the first circular hole;

[0026] The first column is fitted with the first circular hole with a clearance, allowing the moving claw to rotate around the first column;

[0027] The motor cover plate has at least two circumferentially evenly distributed positioning posts on the side surface facing the internal gear ring.

[0028] The internal gear ring is provided with an arc-shaped sliding groove that extends through its thickness and corresponds one-to-one with the positioning post;

[0029] The positioning post is inserted into the corresponding arc-shaped groove.

[0030] Furthermore, the outer end of the moving claw is provided with a protruding second post;

[0031] The locking ring is provided with an arc-shaped through groove corresponding to each of the moving claws and a U-shaped groove that communicates with the top of the arc-shaped through groove and is open on the outer peripheral surface.

[0032] The arc-shaped through groove is provided to penetrate the wall thickness of the locking ring along its radial direction;

[0033] The second column is clearance-fitted with the U-shaped groove, and the outer end of the moving claw is accommodated in the corresponding arc-shaped through groove;

[0034] When the drive motor rotates, the moving claw can rotate around the first column in sequence through the transmission of the drive external gear, the internal gear ring, the locking ring and the second column, so that the inner end of the moving claw engages with the locking groove corresponding to the second docking surface, thereby realizing the locking and unlocking of the second docking surface.

[0035] Furthermore, the first mating surface has at least two third posts on the side facing the mounting plate;

[0036] The mounting plate is provided with a second circular hole that corresponds one-to-one with the third column;

[0037] The third column is interference-fitted with the corresponding second circular hole.

[0038] Furthermore, the locking ring has at least two fourth posts on one side surface facing the internal gear ring;

[0039] The internal gear ring is provided with a third circular hole that corresponds one-to-one with the fourth column;

[0040] The fourth column is interference-fitted with the corresponding third circular hole.

[0041] Furthermore, the compliant mechanism includes at least two first elastic elements, an inner ring, a middle ring, an outer ring, a second elastic element, and a fixing plate;

[0042] Along the axial direction of the second mating surface, the second mating surface, the outer ring, and the fixing plate are arranged sequentially;

[0043] Along the radial direction of the second mating surface, the outer ring, the middle ring, and the inner ring are sequentially rotated and connected from the outside to the inside;

[0044] The outer ring is fastened to one side surface of the fixing plate by screws;

[0045] The inner ring is rotatably mounted within the middle ring about a first axis extending radially therein;

[0046] The middle ring is rotatably mounted within the outer ring about a second axis extending radially therein;

[0047] The second axis is perpendicular to the first axis;

[0048] The second mating surface is rotatably mounted on the inner ring about its axis; at least two first elastic elements are installed between the second mating surface and the inner ring, evenly distributed along the circumference of the inner ring; when the second mating surface and the inner ring rotate relative to each other, the first elastic elements extend and restrict the relative rotation between the second mating surface and the inner ring through elastic deformation.

[0049] Four second elastic elements are evenly distributed along the circumference of the other side surface of the fixed plate; two of the second elastic elements are arranged opposite each other along the first axis and abut against the middle ring, and are used to restore the middle ring after rotation by elastic deformation; the other two second elastic elements are distributed along the second axis and abut against the inner ring, and are used to restore the inner ring after rotation by elastic deformation.

[0050] Furthermore, the compliant mechanism also includes two first rotating shafts and two second rotating shafts; the centerlines of the two first rotating shafts coincide with the first axis; the centerlines of the two second rotating shafts coincide with the second axis.

[0051] The outer circumferential surface of the inner ring is provided with a fourth circular hole that corresponds one-to-one with the first rotating shaft.

[0052] The inner circumferential surface of the middle ring is provided with a fifth circular hole corresponding to the first rotating shaft, and the outer circumferential surface is provided with a sixth circular hole corresponding to the second rotating shaft.

[0053] The inner circumferential surface of the outer ring is provided with a seventh circular hole that corresponds one-to-one with the second rotating shaft;

[0054] One end of the first rotating shaft is tightly fitted with the corresponding fourth circular hole, and the other end is loosely fitted with the corresponding fifth circular hole.

[0055] One end of the second rotating shaft is tightly fitted with the corresponding sixth circular hole, and the other end is loosely fitted with the corresponding seventh circular hole.

[0056] Furthermore, the second mating surface has at least two fifth pillars evenly distributed along its circumference on the side facing the inner ring.

[0057] The inner ring is provided with arc-shaped grooves that correspond one-to-one with the fifth column; the central angle of the arc-shaped groove is equal to a predetermined angle;

[0058] The fifth column is fitted into the corresponding arc-shaped groove.

[0059] Furthermore, the first elastic element is a tension spring; the second elastic element is a Z-shaped spring sheet;

[0060] The second mating surface has a sixth column on the side facing the inner ring, which corresponds to the first elastic element.

[0061] The inner ring has a seventh column on the side surface facing the fixed plate, which corresponds to the first elastic element.

[0062] One end of the tension spring is attached to the sixth column, and the other end is attached to the seventh column.

[0063] Beneficial effects:

[0064] 1. The modular satellite docking interface device provided by the present invention includes an active docking interface and a passive docking interface; the active docking interface is composed of a first docking surface fixedly installed on a locking mechanism; the passive docking interface is composed of a second docking surface that can be rotated at a predetermined angle and installed on a compliant mechanism; both the first and second docking surfaces adopt a conical, segmented, heterogeneous isomorphic structure; the locking mechanism locks and unlocks the active docking interface and the passive docking interface that are docked together; the compliant mechanism with an automatic centering function can release the impact during the docking process. Therefore, the interface device of the present invention can achieve large-tolerance compliant docking, and can also achieve active locking and unlocking.

[0065] 2. The locking mechanism of the present invention includes a locking ring, a mounting plate, an internal gear ring, and a motor cover plate arranged coaxially in sequence. A drive motor is mounted on the motor cover plate, and a moving pawl is installed between the locking ring and the mounting plate to lock and unlock the second mating surface. The driving external gear is driven by the drive motor and meshes with the internal gear ring. The compliant mechanism includes a second mating surface, an outer ring, and a fixing plate arranged in sequence along the axial direction of the second mating surface, and an outer ring, a middle ring, and an inner ring arranged in sequence from the outside to the inside along the radial direction of the second mating surface. Since both the locking mechanism and the compliant mechanism are composed of coaxially connected components, the interface device has the characteristics of compact size, simple structure, and strong versatility.

[0066] 3. In the locking mechanism of the present invention, the locking ring, the mounting plate and the moving claw form a four-bar linkage. After the drive motor transmits power through the drive external gear and the internal gear ring in sequence, the locking ring rotates. The locking ring can drive multiple moving claws to move synchronously, which has the ability to actively lock and unlock, and improves the reliability of interface docking.

[0067] 4. The compliant mechanism of the present invention provides three rotational degrees of freedom for the second docking surface. Each degree of freedom is equipped with an elastic element for buffering collision force and compliant contact force, which increases the flexibility of the docking interface. At the same time, the three rotational degrees of freedom also expand the attitude tolerance of the interface docking. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the docking structure of the modular satellite docking interface device of the present invention;

[0069] Figure 2 This is a schematic diagram of the active interface structure;

[0070] Figure 3 This is a schematic diagram of the passive docking interface.

[0071] Figure 4 for Figure 2 An exploded view of the active docking interface;

[0072] Figure 5 for Figure 3 An exploded view of the passive docking interface.

[0073] Among them, 1-locking mechanism, 2-compliant mechanism, 3-first mating surface, 4-second mating surface, 11-locking ring, 12-mounting plate, 13-moving claw, 14-internal gear ring, 15-driving external gear, 16-motor cover plate, 17-drive motor, 21-first elastic element, 22-inner ring, 23-middle ring, 24-outer ring, 25-second elastic element, 26-fixed plate, 27-first rotating shaft, 28-second rotating shaft, 41-locking groove, 42-fifth column, 111-arc-shaped through groove, 112-U-shaped groove, 113-fourth column, 121-first column, 122-second round hole, 131-second column, 141-third round hole, 142-arc-shaped sliding groove, 161-positioning post, 221-arc-shaped groove, 222-first limiting protrusion, 231-second limiting protrusion Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] like Figure 1 As shown in the structure, this embodiment of the invention provides a modular satellite docking interface device, which includes a locking mechanism 1, a compliant mechanism 2, a first docking surface 3, and a second docking surface 4; the first docking surface 3 and the second docking surface 4 have the same structure, both being isomorphic structures with conical segments; as shown in the structure... Figure 2 and Figure 3 As shown in the structure, both the first mating surface 3 and the second mating surface 4 have four conical mating blocks evenly distributed along the circumference. The conical mating blocks of the first mating surface 3 can be precisely embedded in the space between the conical mating blocks of the second mating surface 4, and the space between the conical mating blocks of the first mating surface 3 can be precisely embedded in the conical mating blocks of the second mating surface 4.

[0076] The first mating surface 3 is fixedly installed in the locking mechanism 1 to form an active mating interface; the second mating surface 4 is rotatably installed in the compliant mechanism 2 at a predetermined angle to form a passive mating interface; the locking mechanism 1 is used to lock and unlock the active mating interface and the passive mating interface after they are mated; the compliant mechanism 2 has an automatic centering function to release the impact of the active mating interface and the passive mating interface during the mating process and to compliantly handle the mating contact force.

[0077] The aforementioned modular satellite docking interface device includes an active docking interface and a passive docking interface. The active docking interface is composed of a first docking surface 3 fixedly installed on the locking mechanism 1. The passive docking interface is composed of a second docking surface 4 that can be rotated at a predetermined angle and installed on the compliant mechanism 2. Both the first and second docking surfaces adopt a conical, segmented, heterogeneous isomorphic structure. The locking mechanism 1 locks and unlocks the active and passive docking interfaces that are docked together. The compliant mechanism 2, which has an automatic centering function, can release the impact during the docking process. Therefore, the interface device of the present invention can achieve high-tolerance compliant docking, and can also achieve active locking and unlocking.

[0078] In one specific implementation, such as Figure 2 and Figure 4As shown, the locking mechanism 1 includes a locking ring 11, a mounting plate 12, a moving claw 13, an internal gear ring 14, a driving external gear 15, a motor cover plate 16, and a drive motor 17; the locking ring 11, the mounting plate 12, the internal gear ring 14, and the motor cover plate 16 are all annular structures; the locking ring 11, the mounting plate 12, the internal gear ring 14, and the motor cover plate 16 are arranged coaxially in sequence;

[0079] The first mating surface 3 is located inside the locking ring 11 and is fixedly connected to the mounting plate 12; the first mating surface 3 has at least two third posts on the side facing the mounting plate 12, and the number of third posts can be two, three, four or more, and the third posts are evenly distributed along the circumference of the first mating surface 3; the mounting plate 12 is provided with second circular holes 122 corresponding to the third posts; the third posts and the corresponding second circular holes 122 are interference-fitted; in addition to the post-hole fit, other fixed connection methods can also be used between the first mating surface 3 and the mounting plate 12;

[0080] At least three moving claws 13 are provided between the locking ring 11 and the mounting plate 12, evenly distributed circumferentially along the locking ring 11; Figure 4 The following explanation uses four moving claws 13 as an example;

[0081] Locking grooves 41 corresponding to the moving claws 13 are provided on the outer peripheral surface of the second docking surface 4. The number and position of the locking grooves 41 on the outer peripheral surface of the second docking surface 4 correspond to the moving claws 13. The docking and locking of the first docking surface 3 and the second docking surface 4 are achieved by the moving claws 13 extending into the locking grooves 41, thereby completing the docking connection.

[0082] Along the radial direction of the locking ring 11, the middle part of the moving pawl 13 is rotatably connected to the mounting plate 12, the outer end of the moving pawl 13 is rotatably connected to the locking ring 11, and the inner end of the moving pawl 13 is used to cooperate with the corresponding locking groove 41 on the outer peripheral surface of the second mating surface 4; such as Figure 4As shown, the overall structure of the moving claw 13 is a long strip extending radially; each moving claw 13 has a first circular hole in the middle; the mounting plate 12 has a first column 121 corresponding to the first circular hole; the first column 121 and the first circular hole are fitted with a clearance, so that the moving claw 13 can rotate around the first column 121; each moving claw 13 has a protruding second column 131 at its outer end; the locking ring 11 has an arc-shaped through groove 111 corresponding to each moving claw 13 and a U-shaped groove 112 that communicates with the top of the arc-shaped through groove 111 and is open on the outer circumferential surface; The arc-shaped through groove 111 is provided radially through the wall thickness of the locking ring 11, allowing the outer end of the moving claw 13 to enter the arc-shaped through groove 111 from the inside of the locking ring 11; the second column 131 is clearance-fitted with the U-shaped groove 112, and the second column 131 is always located in the U-shaped groove 112. The rotation of the locking ring 11 drives the second column 131 to rotate around the first column 121 in the middle of the moving claw 13, while simultaneously realizing the rotation of the inner end of the moving claw 13 around the first column 121 in the middle; the outer end of the moving claw 13 is accommodated in the corresponding arc-shaped through groove 111.

[0083] The locking ring 11, the mounting plate 12, and the moving pawl 13 form a four-bar linkage;

[0084] The locking ring 11 is fixedly connected to the internal gear ring 14; the locking ring 11 has at least two fourth posts 113 on one side facing the internal gear ring 14; the internal gear ring 14 has third round holes 141 corresponding to the fourth posts 113; the fourth posts 113 are interference-fitted with the corresponding third round holes 141; Figure 4 The following is an example of four fourth pillars 113 evenly distributed along the circumference. Correspondingly, four third circular holes 141 are provided on the internal gear ring 14, which correspond one-to-one with the four fourth pillars 113.

[0085] The internal gear ring 14 is rotatably mounted on the motor cover plate 16; the motor cover plate 16 has at least two circumferentially evenly distributed positioning posts 161 on its surface facing the internal gear ring 14; the internal gear ring 14 has arc-shaped grooves 142 that penetrate its thickness and correspond one-to-one with the positioning posts 161; the positioning posts 161 are inserted into the corresponding arc-shaped grooves 142; such as Figure 4 As shown, the motor cover plate 16 is provided with two positioning posts 161 extending toward one side of the internal gear ring 14. The two positioning posts 161 are distributed at a distance of 180°. Correspondingly, the internal gear ring 14 is provided with two arc-shaped sliding grooves 142 that correspond one-to-one with the two positioning posts 161. The circumferential length of the arc-shaped sliding grooves 142 is greater than the diameter of the positioning posts 161, so that the positioning posts 161 can move circumferentially within the arc-shaped sliding grooves 142, thereby realizing the rotation of the internal gear ring 14 circumferentially. The circumferential length of the arc-shaped sliding grooves 142 is calculated according to the angle that the moving claw 13 needs to rotate, thereby realizing the locking and unlocking of the moving claw 13 on the second docking surface 4.

[0086] The drive motor 17 is fixedly installed on the side of the motor cover plate 16 away from the internal gear ring 14. The output shaft passes through the motor cover plate 16 and is fixedly connected to the drive external gear 15. It is used to drive the drive external gear 15 to rotate in the forward and reverse directions to lock and unlock the moving pawl 13.

[0087] The external gear 15 meshes with the internal gear ring 14 to transmit the power generated by the drive motor 17 to the locking ring 11 to drive it to rotate.

[0088] The mounting plate 12 is fixedly connected to the motor cover plate 16; the mounting plate 12 can be fixedly connected to the motor cover plate 16 by screws or other fasteners.

[0089] The outer diameter of the locking ring 11 and the outer diameter of the internal gear ring 14 are both larger than the outer diameter of the mounting plate 12;

[0090] When the drive motor 17 rotates, the moving claw 13 can rotate around the first column 121 through the transmission of the drive external gear 15, the internal gear ring 14, the locking ring 11 and the second column 131 in sequence, so that the inner end of the moving claw 13 cooperates with the locking groove 41 corresponding to the second docking surface 4, thereby realizing the locking and unlocking of the second docking surface 4.

[0091] The locking mechanism 1 includes a locking ring 11, a mounting plate 12, an internal gear ring 14, and a motor cover plate 16 arranged coaxially in sequence. A drive motor 17 is mounted on the motor cover plate 16, and a moving pawl 13 is installed between the locking ring 11 and the mounting plate 12 to lock and unlock the second mating surface 4. The driving external gear 15 is driven by the drive motor 17 and meshes with the internal gear ring 14. The compliant mechanism 2 includes a second mating surface 4, an outer ring 24, and a fixing plate 26 arranged in sequence along the axial direction of the second mating surface 4, and an outer ring 24, a middle ring 23, and an inner ring 22 that are rotatably connected from the outside to the inside along the radial direction of the second mating surface 4. Since both the locking mechanism 1 and the compliant mechanism 2 are composed of coaxially connected components, the interface device has the characteristics of compact size, simple structure, and strong versatility.

[0092] Furthermore, in the aforementioned locking mechanism 1, the locking ring 11, the mounting plate 12, and the moving claw 13 form a four-bar linkage. After the drive motor 17 transmits power through the drive external gear 15 and the internal gear ring 14 in sequence, the locking ring 11 rotates. The locking ring 11 can drive multiple moving claws 13 to move synchronously, thus possessing the ability to actively lock and unlock, thereby improving the reliability of the interface docking.

[0093] like Figure 3 and Figure 5 As shown, the compliance mechanism 2 includes at least two first elastic elements 21, an inner ring 22, a middle ring 23, an outer ring 24, a second elastic element 25, and a fixing plate 26; in Figure 5The following description uses an example of two first elastic elements 21 and four second elastic elements 25. Along the axial direction of the second mating surface 4, the second mating surface 4, the outer ring 24, and the fixing plate 26 are arranged sequentially. Along the radial direction of the second mating surface 4, the outer ring 24, the middle ring 23, and the inner ring 22 are rotatably connected from the outside to the inside. The inner ring 22, the middle ring 23, and the outer ring 24 are all annular structures. The outer diameter of the inner ring 22 is smaller than the inner diameter of the middle ring 23, and the outer diameter of the middle ring 23 is smaller than the inner diameter of the outer ring 24. The outer ring 24 is fastened to one side surface of the fixing plate 26 by screws.

[0094] The inner ring 22 is rotatably mounted inside the middle ring 23 about a first axis extending radially therefrom; the middle ring 23 is rotatably mounted inside the outer ring 24 about a second axis extending radially therefrom; the second axis is perpendicular to the first axis, so that the assembly structure of the inner ring 22, the middle ring 23 and the outer ring 24 can realize rotational freedom in two directions;

[0095] The second mating surface 4 is rotatably mounted on the inner ring 22 about its axis; such as Figure 5 As shown, the second mating surface 4 has at least two fifth pillars 42 evenly distributed circumferentially on the side facing the inner ring 22; the inner ring 22 has arc-shaped grooves 221 corresponding one-to-one with the fifth pillars 42, so as to... Figure 5 Taking the setting of four arc-shaped grooves 221 as an example, when the inner ring 22 is provided with four arc-shaped grooves 221, the second mating surface 4 is correspondingly provided with four fifth pillars 42; the central angle corresponding to the arc-shaped groove 221 is equal to the predetermined angle that the second mating surface 4 can rotate; the fifth pillars 42 are fitted into the corresponding arc-shaped grooves 221 with clearance; at least two first elastic elements 21 are installed between the second mating surface 4 and the inner ring 22 and are evenly distributed along the circumference of the inner ring 22; when the second mating surface 4 and the inner ring 22 rotate relative to each other, the first elastic elements 21 extend and restrict the relative rotation between the second mating surface 4 and the inner ring 22 through elastic deformation; the first elastic element 21 can be a tension spring; the second mating surface 4 is provided with a sixth pillar corresponding to the first elastic element 21 on the side facing the inner ring 22; the inner ring 22 is provided with a seventh pillar corresponding to the first elastic element 21 on the side facing the fixing plate 26; one end of the tension spring is attached to the sixth pillar and the other end is attached to the seventh pillar;

[0096] Four second elastic elements 25 are evenly distributed along the circumference of the other side surface of the fixed plate 26; two of the opposite second elastic elements 25 are distributed along the first axis and abut against the middle ring 23, and are used to restore the middle ring 23 after rotation by elastic deformation; the other two second elastic elements 25 are distributed along the second axis and abut against the inner ring 22, and are used to restore the inner ring 22 after rotation by elastic deformation; the second elastic elements 25 can be Z-shaped spring sheets.

[0097] To facilitate the rotation of the inner ring 22 relative to the middle ring 23 around the first axis, and the rotation of the middle ring 23 relative to the outer ring 24 around the second axis, as follows: Figure 5 As shown, the compliant mechanism 2 also includes two first rotating shafts 27 and two second rotating shafts 28; the center lines of the two first rotating shafts 27 coincide with the first axis; the center lines of the two second rotating shafts 28 coincide with the second axis; the outer circumferential surface of the inner ring 22 is provided with a fourth circular hole corresponding to each of the first rotating shafts 27; the inner circumferential surface of the middle ring 23 is provided with a fifth circular hole corresponding to each of the first rotating shafts 27, and the outer circumferential surface is provided with a sixth circular hole corresponding to each of the second rotating shafts 28; the inner circumferential surface of the outer ring 24 is provided with a seventh circular hole corresponding to each of the second rotating shafts 28; one end of the first rotating shaft 27 is tightly fitted with the corresponding fourth circular hole, and the other end is loosely fitted with the corresponding fifth circular hole; one end of the second rotating shaft 28 is tightly fitted with the corresponding sixth circular hole, and the other end is loosely fitted with the corresponding seventh circular hole.

[0098] As shown in the figure, the outer circumferential surface of the inner ring 22 is provided with two first limiting protrusions 222, which are perpendicular to the first axis. The inner circumferential surface of the middle ring 23 is provided with a first limiting groove that matches the shape of the two first limiting protrusions 222. The outer circumferential surface of the middle ring 23 is provided with two second limiting protrusions 231, which are perpendicular to the second axis. The inner circumferential surface of the outer ring 24 is provided with a second limiting groove that matches the shape of the two second limiting protrusions 231. The gap fit between the first limiting groove and the first limiting protrusion 222 can limit the rotation amplitude of the inner ring 22 around the first axis. Similarly, the gap fit between the second limiting groove and the second limiting protrusion 231 can limit the rotation amplitude of the middle ring 23 around the second axis, thus preventing the inner ring 22 and the middle ring 23 from rotating too much and damaging the second elastic element 25.

[0099] The aforementioned compliant mechanism 2 can simultaneously provide three rotational degrees of freedom for the second docking surface 4 through the inner ring 22, the middle ring 23 and the outer ring 24, and provide buffer collision force and compliant contact force for each degree of freedom through the first elastic element 21 and the second elastic element 25, thereby increasing the flexibility of the docking interface. At the same time, the three rotational degrees of freedom also expand the attitude tolerance of the interface docking.

[0100] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A modular satellite docking interface device, characterized in that, Includes a locking mechanism, a compliant mechanism, a first mating surface, and a second mating surface; The first docking surface and the second docking surface have the same structure, both being isomorphic structures with conical lobes; The first mating surface is fixedly installed in the locking mechanism, forming an active mating interface; The second mating surface can be rotated at a predetermined angle and installed in the compliant mechanism to form a passive mating interface; The locking mechanism is used for locking and unlocking the active docking interface and the passive docking interface after they are docked. The compliant mechanism has an automatic alignment function, which is used to release the impact between the active docking interface and the passive docking interface during the docking process and to compliantly handle the docking contact force. The locking mechanism includes a locking ring, a mounting plate, a moving claw, an internal gear ring, a driving external gear, a motor cover plate, and a drive motor; The locking ring, the mounting plate, the internal gear ring, and the motor cover are arranged coaxially in sequence. The first mating surface is located inside the locking ring and is fixedly connected to the mounting plate; At least three moving claws are provided between the locking ring and the mounting plate, which are evenly distributed along the circumference of the locking ring. A locking groove corresponding to each of the moving claws is provided on the outer peripheral surface of the second docking surface; Along the radial direction of the locking ring, the middle part of the moving claw is rotatably connected to the mounting plate, the outer end of the moving claw is rotatably connected to the locking ring, and the inner end of the moving claw is used to cooperate with the corresponding locking groove on the outer peripheral surface of the second mating surface; The locking ring, the mounting plate, and the moving claw form a four-bar linkage. The locking ring is fixedly connected to the internal gear ring; The internal gear ring is rotatably mounted on the motor cover plate; The drive motor is fixedly installed on the side of the motor cover plate away from the internal gear ring, and the output shaft passes through the motor cover plate and is fixedly connected to the drive external gear. The driving external gear meshes with the internal gear ring to transmit the power generated by the drive motor to the locking ring to drive it to rotate. The mounting plate is fixedly connected to the motor cover plate; The outer diameter of the locking ring and the outer diameter of the internal gear ring are both larger than the outer diameter of the mounting plate.

2. The interface device as described in claim 1, characterized in that, The moving claw has a first circular hole in the middle; The mounting plate is provided with a first column corresponding to the first circular hole; The first column is fitted with the first circular hole with a clearance, allowing the moving claw to rotate around the first column; The motor cover plate has at least two circumferentially evenly distributed positioning posts on the side surface facing the internal gear ring. The internal gear ring is provided with an arc-shaped sliding groove that extends through its thickness and corresponds one-to-one with the positioning post; The positioning post is inserted into the corresponding arc-shaped groove.

3. The interface device as described in claim 2, characterized in that, The outer end of the moving claw is provided with a protruding second column; The locking ring is provided with an arc-shaped through groove corresponding to each of the moving claws and a U-shaped groove that communicates with the top of the arc-shaped through groove and is open on the outer peripheral surface. The arc-shaped through groove is provided to penetrate the wall thickness of the locking ring along its radial direction; The second column is clearance-fitted with the U-shaped groove, and the outer end of the moving claw is accommodated in the corresponding arc-shaped through groove; When the drive motor rotates, the moving claw can rotate around the first column in sequence through the transmission of the drive external gear, the internal gear ring, the locking ring and the second column, so that the inner end of the moving claw engages with the locking groove corresponding to the second docking surface, thereby realizing the locking and unlocking of the second docking surface.

4. The interface device as described in claim 3, characterized in that, The first mating surface has at least two third posts on the side facing the mounting plate; The mounting plate is provided with a second circular hole that corresponds one-to-one with the third column; The third column is interference-fitted with the corresponding second circular hole.

5. The interface device as described in claim 2, characterized in that, The locking ring has at least two fourth posts on one side of its surface facing the internal gear ring; The internal gear ring is provided with a third circular hole that corresponds one-to-one with the fourth column; The fourth column is interference-fitted with the corresponding third circular hole.

6. The interface device as described in claim 1, characterized in that, The compliant mechanism includes at least two first elastic elements, an inner ring, a middle ring, an outer ring, a second elastic element, and a fixing plate; Along the axial direction of the second mating surface, the second mating surface, the outer ring, and the fixing plate are arranged sequentially; Along the radial direction of the second mating surface, the outer ring, the middle ring, and the inner ring are sequentially rotated and connected from the outside to the inside; The outer ring is fastened to one side surface of the fixing plate by screws; The inner ring is rotatably mounted within the middle ring about a first axis extending radially therein; The middle ring is rotatably mounted within the outer ring about a second axis extending radially therein; The second axis is perpendicular to the first axis; The second mating surface is rotatably mounted on the inner ring about its axis; at least two first elastic elements are installed between the second mating surface and the inner ring, evenly distributed along the circumference of the inner ring; when the second mating surface and the inner ring rotate relative to each other, the first elastic elements extend and restrict the relative rotation between the second mating surface and the inner ring through elastic deformation. Four second elastic elements are evenly distributed along the circumference of the other side surface of the fixed plate; two of the second elastic elements are arranged opposite each other along the first axis and abut against the middle ring, and are used to restore the middle ring after rotation by elastic deformation; the other two second elastic elements are distributed along the second axis and abut against the inner ring, and are used to restore the inner ring after rotation by elastic deformation.

7. The interface device as described in claim 6, characterized in that, The compliant mechanism further includes two first rotating shafts and two second rotating shafts; the centerlines of the two first rotating shafts coincide with the first axis; the centerlines of the two second rotating shafts coincide with the second axis. The outer circumferential surface of the inner ring is provided with a fourth circular hole that corresponds one-to-one with the first rotating shaft. The inner circumferential surface of the middle ring is provided with a fifth circular hole corresponding to the first rotating shaft, and the outer circumferential surface is provided with a sixth circular hole corresponding to the second rotating shaft. The inner circumferential surface of the outer ring is provided with a seventh circular hole that corresponds one-to-one with the second rotating shaft; One end of the first rotating shaft is tightly fitted with the corresponding fourth circular hole, and the other end is loosely fitted with the corresponding fifth circular hole. One end of the second rotating shaft is tightly fitted with the corresponding sixth circular hole, and the other end is loosely fitted with the corresponding seventh circular hole.

8. The interface device as described in claim 6, characterized in that, The second mating surface has at least two fifth columns evenly distributed along its circumference on the side facing the inner ring. The inner ring is provided with arc-shaped grooves that correspond one-to-one with the fifth column; the central angle of the arc-shaped groove is equal to a predetermined angle; The fifth column is fitted into the corresponding arc-shaped groove.

9. The interface device according to any one of claims 6-8, characterized in that, The first elastic element is a tension spring; the second elastic element is a Z-shaped spring sheet; The second mating surface has a sixth column on the side facing the inner ring, which corresponds to the first elastic element. The inner ring has a seventh column on the side surface facing the fixed plate, which corresponds to the first elastic element. One end of the tension spring is attached to the sixth column, and the other end is attached to the seventh column.

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