A payload quick-change interface and quick-change method for electromagnetic power-off type space on-orbit control

Abstract

A quick-change interface and quick-change method for electromagnetic power-off type space on-orbit manipulation of loads, belonging to the field of space on-orbit service technology. In order to solve the problem that the existing space docking interface is large in size and complicated in structure. The movable plate in the present invention is installed at the suction end of the electromagnetic power-off type brake assembly, and a slot is formed between the central through hole of the electromagnetic power-off type brake assembly and the movable plate and the bottom wall of the support frame, and the passive locking mechanism is inserted into the slot; a circle of receiving grooves is formed between the inner circumferential wall of the movable plate and the bottom wall of the support frame, and is connected to the slot; the locking steel balls are evenly distributed in the receiving grooves in the circumferential direction; the return components are evenly distributed around the slots and are installed on the top surface of the electromagnetic power-off type brake assembly; the locking steel balls are partially squeezed out of the receiving grooves under the thrust of the movable plate, and inserted into the positioning locking section of the passive locking mechanism to achieve locking of the passive locking mechanism. The present invention is mainly used for on-orbit operation of loads by space robots.

Description

Technical Field

[0001] The present invention belongs to the field of space on-orbit service technology, and relates to a quick-change interface, specifically a payload quick-change interface and a quick-change method for electromagnetic power-off type space on-orbit control. Background Art

[0002] On-orbit space servicing technology is a highly competitive field among nations worldwide and a crucial indicator of a nation's comprehensive national strength. Space manipulation is a crucial capability in on-orbit space servicing technology. Because it can replace humans in highly complex tasks such as space station assembly, installation, maintenance, and repair, orbital debris removal, space asset maintenance, and the capture, release, and recovery of satellites, research and development of this technology has always been a hot topic for major aerospace technology powers.

[0003] In on-orbit servicing missions, most of the captured target spacecraft are cooperative targets. That is, cooperative targets are cooperative, and they are usually equipped with features for measurement and devices for robotic arm grasping or docking. However, conventional robot end-grip devices and grasping handles are usually large in size and complex in structure. For example, the "three-finger grasping and positioning mechanism" disclosed in the Chinese patent "CN102514015A" has a large overall size and complex structure, which greatly limits its use conditions. With the urgent demand for interfaces with smaller volume, size and mass, the development of a universal standard interface technology with smaller volume, size and mass suitable for on-orbit manipulation is imminent. It is also a key technology for on-orbit servicing and faces huge challenges. Summary of the Invention

[0004] In order to solve the problems of large volume and size and complex structure of existing space docking interfaces, the present invention provides a payload quick-change interface and quick-change method for electromagnetic power-off type space on-orbit control.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A load quick-change interface for electromagnetic power-off type space on-orbit control, the quick-change interface includes an active locking mechanism and a passive locking mechanism; the active locking mechanism includes a support frame, an electromagnetic power-off type brake assembly, a movable plate, a locking steel ball and a return assembly; the movable plate is coaxially installed at the suction end of the electromagnetic power-off type brake assembly and moves up and down along the axial direction of the electromagnetic power-off type brake assembly, the electromagnetic power-off type brake assembly and the movable plate are both annular structures and are fixedly installed in the support frame, an axial slot is formed between the central through hole of the electromagnetic power-off type brake assembly and the movable plate and the bottom wall of the support frame for the insertion of the passive locking mechanism; a circle of accommodating grooves is formed between the inner circumferential wall of the movable plate and the bottom wall of the support frame, and is connected to the slots; a number of the locking steel balls are evenly arranged circumferentially in the accommodating grooves; the return assemblies are evenly distributed around the slots and are installed on the top surface of the electromagnetic power-off type brake assembly;

[0007] The passive locking mechanism includes an interface guide head, an interface positioning block and a positioning pin. The interface positioning block is fixedly mounted on the top of the interface guide head. The positioning pins are evenly distributed around the interface guide head and fixedly mounted on the bottom of the interface positioning block.

[0008] During the locking process of the active locking mechanism and the passive locking mechanism, the interface guide head is inserted into the slot, and the positioning pin presses the return assembly. The locking steel ball is partially squeezed out of the accommodating groove under the thrust of the moving plate and inserted into the positioning locking section of the interface guide head to achieve locking of the passive locking mechanism.

[0009] Preferably, the support frame is groove-shaped, and a groove and an annular limiting groove centered on the groove are opened at the center position of the bottom wall of the support frame; the groove is located directly below the slot and becomes one with the slot; an accommodating groove is formed between the annular limiting groove and the inner circumferential wall of the movable plate to provide an accommodating space for the locking steel ball.

[0010] Preferably, the inner and outer annular walls of the annular limit groove are higher than the plane where the bottom of the support frame groove is located, the distance between the lower end face of the electromagnetic power-off brake assembly and the bottom of the annular limit groove on the support frame is greater than the diameter of the locking steel ball, and the distances between the lower end face of the electromagnetic power-off brake assembly and the inner and outer annular walls of the annular limit groove are both smaller than the diameter of the locking steel ball.

[0011] Preferably, the electromagnetic power-off brake assembly includes a stator housing, an electromagnetic coil and a compression spring I; the stator housing is an annular housing structure, the movable plate is coaxially arranged at the bottom of the stator housing and is slidably installed on the stator housing; the bottom of the stator housing is centered on the central through hole and has a circle of annular grooves and several bottom mounting grooves evenly arranged in the circumferential direction; the electromagnetic coil is installed in the annular groove; and an axially arranged compression spring I is installed in each bottom mounting groove.

[0012] Preferably, the electromagnetic power-off brake assembly also includes a guide column and a locking nut; the top of the stator housing is provided with a plurality of top mounting grooves evenly arranged circumferentially with the central through hole as the center of the circle, and a through hole is provided at the bottom of each top mounting groove that passes through the bottom of the stator housing; one end of the guide column is provided with an external thread, and the other end is provided with an abutment portion, the threaded end of the guide column passes through the through hole on the movable plate and the through hole at the bottom of the top mounting groove in turn, and is screwed together with the locking nut; the guide column and the movable plate are clearance-fitted.

[0013] Preferably, two mounting through holes with shaft shoulders are symmetrically opened on the top of the stator housing with the central through hole as the center; and the recovery assembly is installed in the mounting through holes.

[0014] Preferably, the return assembly includes a cone sleeve, a compression spring II and a locking stud. The cone sleeve, compression spring II and locking stud are sequentially inserted into the mounting through hole of the stator housing from the bottom of the stator housing. The cone sleeve is slidably connected to the mounting through hole. One end of the compression spring II abuts against the bottom surface of the cone sleeve, and the other end of the compression spring II abuts against the top surface of the locking stud. The locking stud is screwed onto the internal thread section of the mounting through hole to achieve the overall fixation of the return assembly.

[0015] Preferably, the inner ring wall of the movable plate is designed as a conical surface, and the flared end of the movable plate faces the locking steel ball.

[0016] Preferably, a V-shaped groove is radially opened on the top of the stator housing and passes through the central through hole. The interface positioning block adopts a V-shaped design and cooperates with the V-shaped groove on the top of the stator housing to achieve angular positioning when the passive locking mechanism and the active locking mechanism are locked.

[0017] A method for quick-changing payloads for electromagnetic power-off space on-orbit control is provided. The specific quick-changing process is as follows:

[0018] S1, initial stage:

[0019] The electromagnetic coil is always energized and generates an electromagnetic attraction force. The movable plate overcomes the elastic force of the compression spring I and is attracted to the lower end surface of the stator housing. At this time, the locking steel ball is in the receiving groove formed by the annular limit groove and the inner ring wall of the movable plate.

[0020] S2, docking and locking stage:

[0021] S21: The space manipulator drives the active locking mechanism to move toward the passive locking mechanism. The interface guide head in the passive locking mechanism is inserted into the slot formed by the electromagnetic power-off brake assembly and the movable plate. Simultaneously, the two positioning pins on the passive locking mechanism squeeze the return assembly, which stores a certain preload force.

[0022] S22, when the positioning and locking section of the interface guide head is facing the receiving groove, the locking steel ball is located in the annular limiting groove on the support frame, the inner ring wall of the movable plate, and the surrounding circle of the positioning and locking section of the interface guide head, and is in a free moving state;

[0023] S23, the electromagnetic coil is de-energized, the electromagnetic attraction force disappears, and the compression spring I in the compressed state provides a downward thrust for the movable plate. The movable plate moves axially downward and generates a radial thrust on the locking steel ball. A part of the locking steel ball extends out of the receiving groove and is inserted into the positioning locking section of the passive locking mechanism. At this time, the locking steel ball contacts the annular limit groove on the support frame, the inner ring wall of the movable plate and the positioning locking section of the interface guide head respectively, and remains fixed to realize the locking function.

[0024] S3, unlocking and releasing stage:

[0025] S31, the electromagnetic coil is energized and generates an electromagnetic attraction force, thereby attracting the movable plate to overcome the elastic force of the compression spring I and move axially upward until the upper surface of the movable plate is in contact with the lower end surface of the stator housing, and the compression spring I is in a compressed pre-tightened state; at the same time, the movable plate no longer generates a radial driving force on the locking steel ball. Since the movable plate is away from the annular limit groove on the support frame, the space in the accommodating groove is increased, and the locking steel ball is in a free-moving state;

[0026] S32, the passive locking mechanism moves upward under the action of the preload force in the return assembly, and the conical surface of the positioning locking section on the interface guide head generates a thrust on the locking steel ball. The locking steel ball returns from the positioning locking section to the receiving groove and no longer produces a locking effect on the passive locking mechanism. The active locking mechanism is disengaged and unlocked from the passive locking mechanism.

[0027] The beneficial effects of the present invention compared with the prior art are:

[0028] 1. The present invention uses the principle of electromagnetic power-off braking to drive the moving plate to move up and down. The inner ring wall of the moving plate generates an extrusion force on the locking steel ball, which causes the locking steel ball to lock the passive locking mechanism, thereby realizing the locking of the active locking mechanism and the passive locking mechanism, and further realizing the rapid docking of the space robot arm and the payload.

[0029] 2. The present invention adopts a standard payload interface for electromagnetic power-off type space on-orbit control. It has no active drive components such as motors, and has the advantages of light weight, low power consumption and simple control. The cooperation between the electromagnetic power-off brake component and the dynamic plate greatly reduces the volume and mass of the active locking mechanism. At the same time, the structural requirements of the passive locking mechanism are small, making the overall structure of the passive locking mechanism simple, with small mass and volume, meeting the light weight requirements of the space robot.

[0030] 3. The overall volume, size and mass of the present invention are small, making it an ideal interface for on-orbit space manipulation, and is particularly suitable for on-orbit manipulation tasks with stringent space requirements, such as on-orbit plugging, unplugging, and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are incorporated in and constitute a part of this application and are used to provide a further understanding of the present invention.

[0032] Figure 1 This is the axonometric drawing of the electromagnetic power-off type load quick-change interface;

[0033] Figure 2 This is a top view of the electromagnetic power-off type load quick-change interface;

[0034] Figure 3 for Figure 2 Cross-section at AA in the middle;

[0035] Figure 4 for Figure 2 Cross-section at the middle BB;

[0036] Figure 5 is a structural diagram of the support frame;

[0037] Figure 6 Schematic diagram of the structure of the electromagnetic power-off brake assembly and the dynamic plate assembly Figure 1 ;

[0038] Figure 7 Schematic diagram of the structure of the electromagnetic power-off brake assembly and the dynamic plate assembly Figure 2 ;

[0039] Figure 8 Schematic diagram of the structure of the stator housing;

[0040] Figure 9 Schematic diagram of the passive locking mechanism;

[0041] Figure 10 for Figure 3 A partial enlarged view of point C in the middle.

[0042] Explanation of the reference numerals: 1-active locking mechanism; 2-passive locking mechanism; 11-support frame; 12-electromagnetic power-off brake assembly; 13-moving plate; 14-locking steel ball; 15-return assembly; 16-slot; 21-interface guide head; 22-interface positioning block; 23-locating pin; 111-groove; 112-annular limit groove; 122-stator housing; 123-electromagnetic coil; 124-compression spring I; 125-adjusting pad; 126-guide column; 127-locking nut; 151-taper sleeve; 152-compression spring II; 153-locking stud; 211-guide docking section; 212-positioning locking section; 1221-center through hole; 1222-annular groove; 1223-bottom mounting groove; 1224-top mounting groove; 1225-mounting through hole; 1226-V-shaped groove. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0044] Example 1:

[0045] This embodiment is to solve the problem that the existing space docking interface is large in size and complex in structure, and provide an electromagnetic power-off type space on-orbit control payload quick-change interface, see Figure 1 The quick-change interface includes an active locking mechanism 1 and a passive locking mechanism 2; the active locking mechanism 1 is installed at the end of the space robot's manipulator arm through stopper positioning and screw connection, and the passive locking mechanism 2 is installed on the payload. The space robot controls the capture and release of the passive locking mechanism 2 by the active locking mechanism 1, thereby facilitating the on-orbit control of the space robot over the payload.

[0046] See also Figure 1The active locking mechanism 1 includes a support frame 11, an electromagnetic de-energized brake assembly 12, a movable plate 13, a locking steel ball 14 and a return assembly 15; the movable plate 13 is coaxially installed at the suction end of the electromagnetic de-energized brake assembly 12 and moves up and down along the axial direction of the electromagnetic de-energized brake assembly 12. The electromagnetic de-energized brake assembly 12 and the movable plate 13 are both annular structures and are fixedly installed in the support frame 11. An axial slot 16 is formed between the central through hole of the electromagnetic de-energized brake assembly 12 and the movable plate 13 and the bottom wall of the support frame 11 for inserting the passive locking mechanism 2; the inner circumferential wall of the movable plate 13 is connected to the bottom wall of the support frame 11. A circle of receiving grooves is formed between the walls and is connected to the slot 16; several locking steel balls 14 are evenly arranged in the receiving groove in the circumferential direction, and the locking steel balls 14 are partially squeezed out of the receiving groove under the thrust of the movable plate 13 and move toward the side of the slot 16 to achieve locking of the passive locking mechanism 2; the number of the return components 15 can be determined according to needs, and this embodiment is preferably two, and the two return components 15 are symmetrically arranged on both sides of the slot 16 and installed on the top surface of the electromagnetic power-off brake component 12; in the process of the passive locking mechanism 2 being inserted into the slot 16, the passive locking mechanism 2 squeezes the return component 15, so that the return component 15 stores a certain preload force.

[0047] In this embodiment, the electromagnetic de-energized brake assembly 12 provides driving force for the up and down movement of the movable plate 13. The movable plate 13 and the electromagnetic de-energized brake assembly 12 constitute a small and lightweight electromagnetic de-energized brake. When the electromagnetic de-energized brake assembly 12 is powered on, the electromagnetic de-energized brake assembly 12 generates an electromagnetic attraction force on the movable plate 13. The movable plate 13 moves axially upward and is attracted to the electromagnetic de-energized brake assembly 12. It no longer generates an extrusion pressure on the locking steel ball 14, and the locking steel ball 14 is in a free state.

[0048] See also Figure 1 The support frame 11 is groove-shaped, and a groove 111 and an annular limiting groove 112 centered on the groove 111 are opened at the center of the bottom wall of the support frame 11; the groove 111 is located directly below the slot 16 and is integrated with the slot 16, providing axial movement space for the insertion of the passive locking mechanism 2 while reducing the axial height of the support frame 11, thereby reducing the volume and mass of the active locking mechanism 1; a receiving groove is formed between the annular limiting groove 112 and the inner circumferential wall of the movable plate 13, providing an accommodating space for the locking steel ball 14.

[0049] Furthermore, the inner and outer annular walls of the annular limit groove 112 are slightly higher than the plane where the bottom of the supporting frame 11 is located. The distance between the lower end face of the electromagnetic power-off brake assembly 12 and the bottom of the annular limit groove 112 on the supporting frame 11 is greater than the diameter of the locking steel ball 14. The distance between the lower end face of the electromagnetic power-off brake assembly 12 and the inner and outer annular walls of the annular limit groove 112 are both smaller than the diameter of the locking steel ball 14, thereby preventing the locking steel ball 14 from escaping from the accommodating groove.

[0050] In this embodiment, before the active locking mechanism 1 and the passive locking mechanism 2 are locked, the electromagnetic power-off brake assembly 12 is always in an energized state and provides an electromagnetic attraction force for the movable plate 13. The movable plate 13 will not generate a pushing force on the locking steel ball 14. The locking steel ball 14 is always in the accommodating groove formed between the annular limit groove 112 on the support frame 11 and the inner ring wall of the movable plate 13.

[0051] See also Figure 1 The electromagnetic power-off brake assembly 12 includes a stator housing 122, an electromagnetic coil 123, a compression spring I 124, an adjustment pad 125, a guide column 126 and a locking nut 127; the stator housing 122 serves as the upper cover of the support frame 11, and is installed at the upper opening of the support frame 11 by means of stopper positioning and screw connection, and also serves as the mounting shell of the electromagnetic power-off brake assembly 12, extending into the support frame 11; the stator housing 122 is an annular housing structure, and the moving plate 13 is coaxially arranged at the bottom of the stator housing 122 and is slidably mounted on the stator housing 122 by means of several groups of guide columns 126 and locking nuts 127; the bottom of the stator housing 122 is provided with a circle of annular grooves 1222 and several circumferentially uniform grooves centered on the central through hole 1221 A bottom mounting groove 1223 is set, and the number of the bottom mounting grooves 1223 can be determined according to actual conditions, and four, six or eight can be selected; the electromagnetic coil 123 is installed in the annular groove 1222, and the electromagnetic coil 123 is energized to provide an attractive force for the movable plate 13; the bottom mounting groove 1223 is located between the annular groove 1222 and the center through hole 1221, and an adjustment pad 125 and a compression spring I 124 are installed in each bottom mounting groove 1223, the top end of the compression spring I 124 abuts on the adjustment pad 125, and the bottom end of the compression spring I 124 abuts on the movable plate 13. When the electromagnetic coil 123 loses power, the movable plate 13 moves downward under the preload of the compression spring I 124, and generates a radial pushing force on the locking steel ball 14.

[0052] Furthermore, the top of the stator housing 122 is provided with a plurality of top mounting grooves 1224 uniformly arranged in the circumferential direction with the central through hole 1221 as the center of the circle, and a through hole that penetrates the bottom of the stator housing 122 is provided at the bottom of each top mounting groove 1224; one end of the guide column 126 is provided with an external thread, and the other end is provided with an abutment portion, and the threaded end of the guide column 126 passes through the through hole on the movable plate 13 and the through hole at the bottom of the top mounting groove 1224 in turn, and is screwed together with the locking nut 127; the guide column 126 and the movable plate 13 are clearance-fitted, which realizes the installation between the movable plate 13 and the stator housing 122 and facilitates the axial movement of the movable plate 13.

[0053] Furthermore, two mounting holes 1225 with shaft shoulders are symmetrically opened on the top of the stator housing 122 with the central through hole 1221 as the center of the circle, and each mounting through hole 1225 is located between the central through hole 1221 and the top mounting groove 1224; the recovery component 15 is installed in the mounting through hole 1225.

[0054] Furthermore, a V-shaped groove 1226 is radially opened on the top of the stator housing 122 and penetrates the central through hole 1221 for positioning the active locking mechanism 1 and the passive locking mechanism 2 .

[0055] In this embodiment, when the compression spring I 124 is selected, the preload force provided by the compression spring I 124 can be adjusted by changing the height of the adjustment pad 125 .

[0056] In this embodiment, when the electromagnetic coil 123 is energized, it generates an electromagnetic attraction force, thereby attracting the armature-made movable plate 13 to overcome the elastic force of the compression spring I 124 and move axially upward until the upper surface of the movable plate 13 and the lower end surface of the stator housing 122 are in contact with each other, with a zero gap. The compression spring I 124 is in a compressed and preloaded state, and a certain spring preload force exists between the movable plate 13 and the stator housing 122. The movable plate 13 no longer exerts a radial force on the locking ball 14. When the electromagnetic coil 123 is de-energized, the electromagnetic attraction force disappears, and the compressed compression spring I 124 provides a downward thrust on the movable plate 13. Guided by the guide post 126, the movable plate 13 moves axially downward and exerts a radial force on the locking ball 14, causing a portion of the locking ball 14 to extend out of the receiving slot and insert into the passive locking mechanism 2, thus achieving the locking function.

[0057] See also Figure 1 The inner ring wall of the movable plate 13 is designed as a conical surface, and the flared end of the movable plate 13 faces the locking steel ball 14. During the axial downward movement of the movable plate 13, the conical surface of the movable plate 13 generates an extrusion force on the locking steel ball 14, so that a part of the locking steel ball 14 extends out of the accommodating groove.

[0058] See also Figure 1 The return assembly 15 includes a cone sleeve 151, a compression spring II 152 and a locking stud 153. The cone sleeve 151, the compression spring II 152 and the locking stud 153 are sequentially inserted into the mounting through hole 1225 of the stator housing 122 from the bottom of the stator housing 122. The cone sleeve 151 is slidably connected to the mounting through hole 1225. One end of the compression spring II 152 abuts against the bottom surface of the cone sleeve 151, and the other end of the compression spring II 152 abuts against the top surface of the locking stud 153. The locking stud 153 is screwed onto the internal thread section of the mounting through hole 1225 to achieve the overall fixation of the return assembly 15.

[0059] Furthermore, the cone sleeve 151 is a cylindrical structure and communicates with the mounting through hole 1225 . The inner diameter of the cone sleeve 151 gradually increases from bottom to top and approaches the inner diameter of the mounting through hole 1225 .

[0060] Furthermore, the lower end of the tapered sleeve 151 is provided with a shaft shoulder, which cooperates with the shaft shoulder in the mounting through hole 1225 to form a mechanical limit to prevent the tapered sleeve 151 from detaching from the mounting through hole 1225.

[0061] In this embodiment, when the passive locking mechanism 2 is inserted into the slot 16 , the passive locking mechanism 2 generates a downward thrust on the cone sleeve 151 , and the cone sleeve 151 moves downward and squeezes the compression spring II 152 , which stores a certain preload force.

[0062] In this embodiment, the resultant force F2 of all compression springs I 124 is smaller than the attraction force F1 generated by the electromagnetic coil 123 , and larger than the resultant force F3 of all compression springs II 152 . The specific value can be set according to actual conditions.

[0063] See also Figure 1 The passive locking mechanism 2 includes an interface guide head 21, an interface positioning block 22 and two positioning pins 23. The interface positioning block 22 is fixedly installed on the top of the interface guide head 21 by screws. The two positioning pins 23 are symmetrically arranged on both sides of the interface guide head 21 and fixedly installed on the bottom of the interface positioning block 22. When the active locking mechanism 1 and the passive locking mechanism 2 are locked, the positioning pins 23 are inserted into the cone sleeve 151 of the return assembly and generate a downward thrust on the cone sleeve 151.

[0064] Furthermore, the interface guide head 21 is used as a locking member for the passive locking mechanism 2 and the active locking mechanism 1. The interface guide head 21 is a cylindrical structure, and is provided with a truncated cone-shaped guide docking section 211 and an annular limit groove-shaped positioning locking section 212 from bottom to top along the axial direction of the interface guide head 21. The guide docking section 211 is truncated cone-shaped, and its cross-sectional area gradually decreases from top to bottom, which facilitates the rapid insertion of the interface guide head 21; the positioning locking section 212 is obtained by a circle of grooves opened on the outer circumferential wall of the interface guide head 21, which is used to cooperate with the locking steel ball 14 for locking. The end faces on both sides of the groove are conical surfaces. When the passive locking mechanism 2 pops out from the active locking mechanism 1, the conical surface of the positioning locking section 212 generates a thrust on the locking steel ball 14, causing the locking steel ball 14 to reset.

[0065] Furthermore, the interface positioning block 22 adopts a V-shaped design and cooperates with the V-shaped groove 1226 on the top of the stator housing 122 to achieve angular positioning when the passive locking mechanism 2 and the active locking mechanism 1 are locked.

[0066] Furthermore, the positioning pin 23 is designed to have a conical surface, and the cross-sectional size of the positioning pin 23 gradually decreases from top to bottom, and cooperates with the inner wall of the cone sleeve 151 to achieve extrusion of the cone sleeve 151.

[0067] In this embodiment, the interface guide head 21 is inserted into the slot 16 within the active locking mechanism 1 under the guidance of the guide docking section 211 until the positioning locking section 212 of the interface guide head 21 is aligned with the receiving slot. At this time, the electromagnetic coil 123 is de-energized, the electromagnetic attraction force disappears, and the compressed compression spring I 124 provides a downward thrust for the movable plate 13. Under the guidance of the guide column 126, the movable plate 13 moves axially downward and generates a radial thrust on the locking steel ball 14, causing a portion of the locking steel ball 14 to extend out of the receiving slot and insert into the positioning locking section 212 of the passive locking mechanism 2, thereby achieving the locking function. At the same time, the two positioning pins 23 of the passive locking mechanism 2 are respectively inserted into the two mounting holes 1225 and squeeze the cone sleeve 151 downward. The cone sleeve 151 squeezes the compression spring II 152, which stores a certain preload force and provides the ejection force for unlocking the passive locking mechanism 2.

[0068] In this embodiment, the interface guide head 21 is relatively small in size and simple in structure, and can achieve locking and positioning with the locking steel ball 14 by only utilizing its own positioning and locking section 212 .

[0069] In this embodiment, during the process of inserting the passive locking mechanism 2 into the active locking mechanism 1, after the interface positioning block 22 is fully docked with the V-groove 1112, it can be determined that the interface guide head 21 has been fully inserted into the locking steel ball bracket 132, and then the electromagnetic coil 123 is powered off again to achieve the locking of the active locking mechanism 1 and the passive locking mechanism 2.

[0070] Example 2:

[0071] In order to better illustrate the docking process of the quick-change interface, this embodiment provides a method for quick-changing a payload for electromagnetic power-off type on-orbit space manipulation. The specific quick-changing process is as follows:

[0072] S1, initial stage:

[0073] The electromagnetic coil 123 is always energized and generates an electromagnetic attraction force. The movable plate 13 overcomes the elastic force of the compression spring I 124 and is attracted to the lower end surface of the stator housing 122. At this time, the locking steel ball 14 is in the receiving groove formed between the annular limit groove 112 and the conical surface of the movable plate 13.

[0074] S2, docking and locking stage:

[0075] S21: The space manipulator drives the active locking mechanism 1 to move toward the passive locking mechanism 2. The interface guide head 21 in the passive locking mechanism 2 is inserted into the slot 16 formed by the electromagnetic deenergized brake assembly 12 and the movable plate 13 under the guidance of the guide docking section 211. At the same time, the active locking mechanism 1 is rotated so that the interface positioning block 22 is aligned with the V-shaped groove 1226 on the stator housing 122.

[0076] S22: The active locking mechanism 1 continues to move toward the passive locking mechanism 2, and the interface guide head 21 continues to be inserted into the slot 16. At the same time, the two positioning pins 23 on the passive locking mechanism 2 are inserted into the mounting through holes 1225 of the stator housing 122. The positioning pins 23 squeeze the cone sleeve 151 downward, and the cone sleeve 151 squeezes the compression spring II 152, which stores a certain preload force.

[0077] S23, when the interface positioning block 22 is fully inserted into the V-shaped groove 1226 on the stator housing 122, the positioning and locking section 212 of the interface guide head 21 is facing the receiving groove, and the locking steel ball 14 is in the circle surrounded by the annular limiting groove on the support frame, the conical surface of the movable plate 12, and the positioning and locking section 212 of the interface guide head 21, and is in a free-moving state; and the recovery assembly 15 stores the maximum preload force;

[0078] S24, the electromagnetic coil 123 is de-energized, the electromagnetic attraction force disappears, and the compression spring I124 in a compressed state provides a downward thrust for the movable plate 13. Under the guidance of the guide column 126, the movable plate 13 moves axially downward and generates a radial thrust on the locking steel ball 14. A part of the locking steel ball 14 extends out of the accommodating groove and is inserted into the positioning locking section 212 of the passive locking mechanism 2. At this time, the locking steel ball 14 is in contact with the annular limit groove on the support frame, the conical surface of the movable plate 12 and the positioning locking section 212 of the interface guide head 21, respectively, and remains fixed to achieve the locking function.

[0079] S3, unlocking and releasing stage:

[0080] S31, the electromagnetic coil 123 is energized and generates an electromagnetic attraction force, thereby attracting the movable plate 13 made of the armature material to overcome the elastic force of the compression spring I 124 and move axially upward until the upper surface of the movable plate 13 and the lower end surface of the stator housing 122 are in contact. The compression spring I 124 is in a compressed pre-tightened state, and a certain spring pre-tightening force exists between the movable plate 13 and the stator housing 122; at the same time, the movable plate 13 no longer generates a radial driving force on the locking steel ball 14. Since the movable plate 13 is away from the annular limit groove on the support frame, the space of the accommodating groove is increased, and the locking steel ball 14 is in a free-moving state;

[0081] S32, under the action of the preload force of the compression spring II 152 in the return assembly 15, the conical sleeve 151 pushes the positioning pin 23 to move upward, thereby driving the passive locking mechanism 2 to move upward, and the conical surface of the positioning locking section 212 on the interface guide head 21 generates a thrust on the locking steel ball 14, and the locking steel ball 14 returns from the positioning locking section 212 to the receiving groove, and no longer produces a locking effect on the passive locking mechanism 2, and the active locking mechanism 1 is disengaged and unlocked from the passive locking mechanism 2.

[0082] This application utilizes the principle of electromagnetic deenergized braking to drive the vertical movement of movable plate 13. The inner ring wall of movable plate 13 exerts a compressive force on locking steel ball 14, causing locking steel ball 14 to lock passive locking mechanism 2, thereby locking active locking mechanism 1 and passive locking mechanism 2, thereby achieving rapid docking of the space robot's manipulator and payload. Due to the inherent light weight and small size of electromagnetic deenergized braking assembly 12, the volume and mass of active locking mechanism 1 are significantly reduced. Simultaneously, the structural requirements for passive locking mechanism 2 are minimal, resulting in a simple overall structure and low mass and volume for passive locking mechanism 2, thus meeting the lightweight requirements of space robots.

[0083] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A quick-change interface for electromagnetic power-off type on-orbit space manipulation of payloads, characterized by: The quick-change interface comprises an active locking mechanism (1) and a passive locking mechanism (2); the active locking mechanism (1) comprises a support frame (11), an electromagnetic power-off brake assembly (12), a movable plate (13), a locking steel ball (14) and a return assembly (15); the movable plate (13) is coaxially mounted on the suction end of the electromagnetic power-off brake assembly (12) and moves up and down along the axis of the electromagnetic power-off brake assembly (12); the electromagnetic power-off brake assembly (12) and the movable plate (13) are both annular structures and are fixedly mounted on the support frame (11). 1), an axial slot (16) is formed between the central through hole of the electromagnetic power-off brake assembly (12) and the movable plate (13) and the bottom wall of the support frame (11) for inserting the passive locking mechanism (2); a circle of receiving grooves is formed between the inner circumferential wall of the movable plate (13) and the bottom wall of the support frame (11), and is communicated with the slot (16); a plurality of locking steel balls (14) are evenly arranged in the receiving groove in the circumferential direction; the return assembly (15) is evenly distributed around the slot (16) and is installed on the top surface of the electromagnetic power-off brake assembly (12); The passive locking mechanism (2) comprises an interface guide head (21), an interface positioning block (22) and a positioning pin (23), wherein the interface positioning block (22) is fixedly mounted on the top of the interface guide head (21), and the positioning pin (23) is evenly distributed around the interface guide head (21) and fixedly mounted on the bottom of the interface positioning block (22); During the locking process of the active locking mechanism (1) and the passive locking mechanism (2), the interface guide head (21) is inserted into the slot (16), and the positioning pin (23) presses the return assembly (15), and the locking steel ball (14) is partially squeezed out of the receiving groove under the thrust of the movable plate (13) and inserted into the positioning locking section (212) of the interface guide head (21), thereby achieving locking of the passive locking mechanism (2); The electromagnetic power-off brake assembly (12) includes a stator housing (122), an electromagnetic coil (123) and a compression spring I (124); the stator housing (122) is an annular housing structure, and the movable plate (13) is coaxially arranged at the bottom of the stator housing (122) and slidably mounted on the stator housing (122); the bottom of the stator housing (122) is provided with a circle of annular grooves (1222) and a plurality of circumferentially uniformly arranged bottom mounting grooves (1223) with the central through hole (1221) as the center; the electromagnetic coil (123) is mounted in the annular groove (1222); and an axially arranged compression spring I (124) is mounted in each bottom mounting groove (1223); The inner ring wall of the movable plate (13) is designed as a conical surface, and the flared end of the movable plate (13) faces the locking steel ball (14).

2. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 1, characterized in that: The support frame (11) is groove-shaped, and a groove (111) and an annular limiting groove (112) centered on the groove (111) are provided at the center of the bottom wall of the support frame (11); the groove (111) is located directly below the slot (16) and is integrated with the slot (16); an accommodating groove is formed between the annular limiting groove (112) and the inner circumferential wall of the movable plate (13), providing an accommodating space for the locking steel ball (14).

3. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 2, characterized in that: The inner and outer ring walls of the annular limiting groove (112) are higher than the plane where the bottom of the supporting frame (11) is located; the distance between the lower end surface of the electromagnetic power-off brake assembly (12) and the bottom of the annular limiting groove (112) on the supporting frame (11) is greater than the diameter of the locking steel ball (14); and the distances between the lower end surface of the electromagnetic power-off brake assembly (12) and the inner and outer ring walls of the annular limiting groove (112) are both less than the diameter of the locking steel ball (14).

4. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 1, characterized in that: The electromagnetic power-off brake assembly (12) further includes a guide column (126) and a locking nut (127); the top of the stator housing (122) is provided with a plurality of top mounting grooves (1224) uniformly arranged in a circumferential direction with the central through hole (1221) as the center, and a through hole penetrating the bottom of the stator housing (122) is provided at the bottom of each top mounting groove (1224); one end of the guide column (126) is provided with an external thread, and the other end is provided with an abutment portion, the threaded end of the guide column (126) passes through the through hole on the movable plate (13) and the through hole at the bottom of the top mounting groove (1224) in sequence, and is screwed together with the locking nut (127); the guide column (126) and the movable plate (13) are clearance-fitted.

5. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 1, characterized in that: Two mounting through holes (1225) with shaft shoulders are symmetrically opened on the top of the stator housing (122) with the central through hole (1221) as the center of the circle; the return assembly (15) is installed in the mounting through hole (1225).

6. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 5, characterized in that: The return assembly (15) includes a tapered sleeve (151), a compression spring II (152) and a locking stud (153). The tapered sleeve (151), the compression spring II (152) and the locking stud (153) are sequentially inserted into the mounting through hole (1225) of the stator housing (122) from the bottom of the stator housing (122). The tapered sleeve (151) and the mounting through hole (1225) are slidably connected. One end of the compression spring II (152) abuts against the bottom surface of the tapered sleeve (151), and the other end of the compression spring II (152) abuts against the top surface of the locking stud (153). The locking stud (153) is screwed onto the internal thread section of the mounting through hole (1225) to achieve the overall fixation of the return assembly (15).

7. The electromagnetic power-off type space on-orbit control payload quick-change interface according to claim 1, characterized in that: A V-shaped groove (1226) is radially opened on the top of the stator housing (122) and passes through the central through hole (1221). The interface positioning block (22) adopts a V-shaped design and cooperates with the V-shaped groove (1226) on the top of the stator housing (122) to achieve angular positioning when the passive locking mechanism (2) and the active locking mechanism (1) are locked.

8. A method for quick-changing payloads for electromagnetic power-off space on-orbit control, characterized by: Based on the electromagnetic power-off type on-orbit space manipulation payload quick-change interface according to any one of claims 1 to 7, the specific quick-change process is as follows: S1, initial stage: The electromagnetic coil (123) is always in an energized state and generates an electromagnetic attraction force, the movable plate (13) overcomes the elastic force of the compression spring I (124) and is attracted to the lower end surface of the stator housing (122), and the locking steel ball (14) is in the receiving groove formed by the annular limiting groove (112) and the inner ring wall of the movable plate (13); S2, docking and locking stage: S21, the space manipulator drives the active locking mechanism (1) to move toward the passive locking mechanism (2), and the interface guide head (21) in the passive locking mechanism (2) is inserted into the slot (16) formed by the electromagnetic power-off brake assembly (12) and the movable plate (13); at the same time, the two positioning pins (23) on the passive locking mechanism (2) squeeze the return assembly (15), and the return assembly (15) stores a certain preload force; S22, when the positioning locking section (212) of the interface guide head (21) is facing the accommodating groove, the locking steel ball (14) is in the encirclement of the annular limiting groove on the support frame (11), the inner ring wall of the movable plate (13) and the positioning locking section (212) of the interface guide head (21), and is in a free moving state; S23, the electromagnetic coil (123) is powered off, the electromagnetic attraction force disappears, and the compression spring I (124) in the compressed state provides a downward thrust for the movable plate (13), the movable plate (13) moves axially downward, and generates a radial thrust on the locking steel ball (14), a portion of the locking steel ball (14) extends out of the receiving groove and is inserted into the positioning locking section (212) of the passive locking mechanism (2), at which time the locking steel ball (14) contacts the annular limit groove on the support frame, the inner ring wall of the movable plate (13) and the positioning locking section (212) of the interface guide head (21), respectively, and remains fixed, thereby realizing the locking function; S3, unlocking and releasing stage: S31, the electromagnetic coil (123) is energized and generates an electromagnetic attraction force, thereby attracting the movable plate (13) to overcome the elastic force of the compression spring I (124) and move axially upward until the upper surface of the movable plate (13) and the lower end surface of the stator housing (122) are in contact, and the compression spring I (124) is in a compressed pre-tightened state; at the same time, the movable plate (13) no longer generates a radial driving force on the locking steel ball (14), and since the movable plate (13) is away from the annular limiting groove on the support frame, the space of the accommodating groove is increased, and the locking steel ball (14) is in a free moving state; S32, the passive locking mechanism (2) moves upward under the action of the pre-tightening force in the return assembly (15), and the conical surface of the positioning locking section (212) on the interface guide head (21) generates a thrust on the locking steel ball (14), and the locking steel ball (14) returns from the positioning locking section (212) to the receiving groove, and no longer generates a locking effect on the passive locking mechanism (2), and the active locking mechanism (1) is disengaged and unlocked from the passive locking mechanism (2).

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