Capture docking mechanism and docking method

Abstract

The present application discloses a capture and docking mechanism and a docking method, which belong to the field of spacecraft capture and docking equipment. The outer cylinder of the shearing structure of the mechanism is sleeved on the inner cylinder and extends the first end of the inner cylinder; two shearing rods are relatively arranged at the first end of the inner cylinder, and the other two shearing rods are relatively arranged at the first end of the outer cylinder; the first drive assembly is arranged at the second end of the inner cylinder, and is configured to drive the inner cylinder and the outer cylinder to rotate relative to each other; the first pair of joints of the docking structure are arranged at the first end of the inner cylinder, the shearing structure is arranged on the first device to be docked, and the second pair of joints are arranged on the second device to be docked; two sets of telescopic structures are symmetrically arranged on the second device to be docked, and both include a guide assembly, a sliding assembly and a second drive assembly; the guide assembly is arranged on the second device to be docked; the sliding assembly is inserted into the guide assembly and can slide along the guide assembly under the drive of the second drive assembly. The present application has a large tolerance, strong versatility, and a simple structure.

Description

Technical Field

[0001] The present application relates to the technical field of spacecraft capture and docking equipment, and in particular to a capture and docking mechanism and a docking method. Background Art

[0002] A capture and docking mechanism, a general term for both capture and docking mechanisms, is a system that integrates multiple functions, including capture, connection, release, separation, and reuse. It typically consists of two parts: an active end and a passive end, installed on two spacecraft or two compartments of the same spacecraft. Spacecraft docking control has limited precision, and docking deviations typically need to be eliminated at the end. Existing capture and docking methods include insertion (such as rod-cone capture and docking mechanisms) and grasping (such as mechanical claw capture and docking mechanisms).

[0003] Rod-cone capture docking mechanisms use large guide grooves to eliminate docking deviations at the end of the docking process. However, since these large guide grooves are required to achieve wide tolerances, they are generally suitable for large spacecraft, limiting their versatility. Mechanical claw capture docking mechanisms require an end effector, which has narrow tolerances and specific matching requirements for the target, resulting in a more complex structure. Summary of the Invention

[0004] The embodiments of the present application provide a capture and docking mechanism and a docking method, which can solve the problem that existing capture and docking mechanisms cannot simultaneously achieve large tolerance, strong versatility and simple structure.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present invention is:

[0006] In the first aspect, an embodiment of the present invention provides a capture and docking mechanism, including a shearing structure, a docking structure and two groups of telescopic structures; the shearing structure includes an outer cylinder, an inner cylinder, a first drive assembly and four shearing rods; the outer cylinder is sleeved on the inner cylinder and extends the first end of the inner cylinder; two shearing rods are relatively arranged at the first end of the inner cylinder, and the other two shearing rods are relatively arranged at the first end of the outer cylinder; the first drive assembly is arranged at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relative to each other; the docking structure includes a first pair of joints and a second pair of joints that can dock with each other; the first pair of joints is arranged at the first end of the inner cylinder, the shearing structure is arranged on the first device to be docked, and the second pair of joints is arranged on the second device to be docked; the two groups of telescopic structures are symmetrically arranged on the second device to be docked, and both include a guide assembly, a sliding assembly and a second drive assembly; the guide assembly is arranged on the second device to be docked; the sliding assembly is inserted into the guide assembly and can slide along the guide assembly under the drive of the second drive assembly.

[0007] In combination with the first aspect, in a possible implementation, the shearing structure further includes an opening and closing assembly; the opening and closing assembly is connected to the shearing rod and the outer cylinder, and is configured to control the opening and closing of the shearing rod.

[0008] In combination with the first aspect, in a possible implementation, the opening and closing assembly includes a first ring sleeve, a second ring sleeve, a connecting rod and a first pushing member; each of the shear rods is equipped with a connecting rod, and a guide groove is provided on the shear rod. One end of the two connecting rods is respectively arranged in the guide groove of the shear rod located on the inner cylinder, and the other end is respectively hinged to the first ring sleeve, and one end of the other two connecting rods is respectively arranged in the guide groove of the shear rod located on the outer cylinder, and the other end is respectively hinged to the second ring sleeve; the first ring sleeve is sleeved on the second ring sleeve and can rotate around the central axis of the second ring sleeve; the second ring sleeve is sleeved on the outer cylinder, and the first pushing member is configured to control the second ring sleeve to move axially along the outer cylinder to make the shear rod open and close.

[0009] In combination with the first aspect, in a possible implementation, the guide assembly includes two first rod barrels; the sliding assembly includes a second pushing member, a blocking rod and two sliding rods; the two rod barrels are arranged in parallel on the second docking device, one end of the two sliding rods is respectively inserted into one of the first rod barrels, and the other ends are fixed to the blocking rod; the second pushing member is configured to drive the sliding rod to slide along the rod barrel.

[0010] In combination with the first aspect, in a possible implementation, the telescopic structure also includes a T-rod, a second rod barrel and a third drive assembly; the second rod barrel is arranged parallel to the two first rod barrels; the T-rod is inserted into the second rod barrel; the third drive assembly is configured to drive the T-rod to slide along the second rod barrel.

[0011] In combination with the first aspect, in a possible implementation, the first pair of joints includes a first ring piece, a second ring piece, a guide cone head and an elastic member; the first ring piece and the second ring piece are arranged in parallel; the elastic member is arranged between the first ring piece and the second ring piece; the guide cone head is arranged on the side of the first ring piece away from the elastic member, and its outer wall is an arc surface; the second pair of joints includes a socket, a plurality of buckles and a plurality of locking and unlocking controllers; the socket is provided with a groove recessed inward from the end surface, and the inner wall shape of the groove matches the outer wall shape of the guide cone head; a plurality of locking and unlocking controllers are evenly distributed around the central axis of the socket; a buckle is provided at the corresponding position of each locking and unlocking controller, and the buckle can move radially along the socket.

[0012] In combination with the first aspect, in a possible implementation, the first drive assembly includes a first gear, a second gear and a motor; the second gear is sleeved on the output shaft of the motor; the first gear is sleeved on the second end of the inner cylinder; the first gear and the second gear are meshed.

[0013] In a second aspect, another embodiment of the present invention provides a docking method using a capture docking mechanism, using the capture docking mechanism described above, comprising:

[0014] When the first device to be docked and the second device to be docked approach each other to a close distance, the sliding assembly of the telescopic structure provided on the second device to be docked slides out along the guide assembly under the drive of the second driving assembly, so that the two sets of telescopic structures form a capture space area;

[0015] The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, so that the shearing rod provided on the inner cylinder and the shearing rod provided on the outer cylinder are relatively unfolded, and the unfolding angle is able to cross the front end of the telescopic structure, and the first device to be docked and the second device to be docked continue to approach each other;

[0016] When the shear rods are located in the capture space, the two sets of telescopic structures respectively enter the opposite side areas of the X-shape formed by the four shear rods;

[0017] The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, and the shearing rod shears the sliding assembly of the telescopic structure;

[0018] The sliding assembly is driven by the second driving assembly to slide and retract along the guide assembly, and the sliding assembly pulls the shear rod toward the second device to be docked;

[0019] The first pair of joints of the docking structure provided on the first device to be docked and the second pair of joints provided on the second device to be docked are docked and locked by an external force.

[0020] In conjunction with the second aspect, in a possible implementation, the docking method of the capture docking mechanism further includes:

[0021] The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, so that the shear rods provided on the inner cylinder and the shear rods provided on the outer cylinder are relatively unfolded, and the unfolding angle can pass through the front end of the telescopic structure. Then the first pushing rod drives the opening and closing assembly to control the shear rods to close and fold.

[0022] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0023] An embodiment of the present invention provides a capture docking mechanism comprising a shearing structure, a docking structure, and two sets of telescopic structures. The shearing structure comprises an outer cylinder, an inner cylinder, a first drive assembly, and four shearing rods. The outer cylinder is sleeved within the inner cylinder, extending from the first end of the inner cylinder. Two shearing rods are disposed relative to each other at the first end of the inner cylinder, while another two shearing rods are disposed relative to each other at the first end of the outer cylinder. The first drive assembly is disposed at the second end of the inner cylinder and is configured to drive relative rotation between the inner cylinder and the outer cylinder. The docking structure comprises a first pair of joints and a second pair of joints capable of docking with each other. The first pair of joints is disposed at the first end of the inner cylinder, the shearing structure is disposed on a first docking device, and the second pair of joints is disposed on a second docking device. The two telescopic structures are symmetrically disposed on the second docking device and each comprises a guide assembly, a sliding assembly, and a second drive assembly. The guide assembly is disposed on the second docking device. The sliding assembly is inserted into the guide assembly and can slide along the guide assembly under the drive of the second drive assembly.

[0024] In the capture docking mechanism provided by the present invention, when a first and second docking devices approach each other to a point of proximity, the sliding assembly of the telescopic structure on the second docking device, driven by a second drive assembly, slides out along a guide assembly, allowing the two telescopic structures to form a capture space. The first drive assembly drives the inner cylinder and outer cylinder to rotate relative to each other, causing the shear rods on the inner cylinder and the outer cylinder to expand relative to each other, with the expansion angle spanning the front end of the telescopic structure. The first and second docking devices continue to approach each other. When the shear rods are within the capture space, the two telescopic structures enter opposite sides of the X-shaped region formed by the four shear rods. The first drive assembly drives the inner cylinder and outer cylinder to rotate relative to each other, causing the shear rods to shear the sliding assembly of the telescopic structure. Driven by the second drive assembly, the sliding assembly slides back along the guide assembly, pulling the shear rods toward the second docking device. The first and second docking joints of the docking structure on the first docking device and the second and second docking joints on the second docking device are locked together by an external force. The capture docking structure provided by the embodiment of the present invention utilizes the shearing motion of the four shear rods and the telescopic motion of the sliding assembly of the telescopic structure to cooperate with each other to achieve the end capture of the first device to be docked and the second device to be docked, eliminate the eccentric deviation and pitch-yaw deviation, and achieve the docking of the first pair of joints and the second pair of joints. The tolerance is large, and a large range of capture and large docking deviation reduction can be achieved. At the same time, the simple structure and light weight and shearing capture characteristics make it highly versatile. There is no limit to the size of the device to be docked. As long as its size is within the stretched diameter of the four shear rods, it can be captured. It is suitable for various large and small devices to be docked. In the future, it can be used for general berthing ports, spacecraft fuel replenishment mechanisms, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 Schematic diagram of the capture docking structure provided in the embodiment of the present application Figure 1 ;

[0027] Figure 2 Schematic diagram of the capture docking structure provided in the embodiment of the present application Figure 2 ;

[0028] Figure 3 Schematic diagram of the structure of the shear structure provided in the embodiment of the present application Figure 1 ;

[0029] Figure 4 Schematic diagram of the structure of the shear structure provided in the embodiment of the present application Figure 2 ;

[0030] Figure 5 Schematic diagram of the telescopic structure provided in the embodiment of the present application Figure 1 ;

[0031] Figure 6 Schematic diagram of the telescopic structure provided in the embodiment of the present application Figure 2 ;

[0032] Figure 7 A schematic structural diagram of the first pair of connectors provided in an embodiment of the present application;

[0033] Figure 8 A schematic structural diagram of a second pair of connectors provided in an embodiment of the present application;

[0034] Figure 9 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 1 ;

[0035] Figure 10 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 2 ;

[0036] Figure 11 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 3 ;

[0037] Figure 12 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 4 ;

[0038] Figure 13 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 5 ;

[0039] Figure 14 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 6 ;

[0040] Figure 15 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 7 ;

[0041] Figure 16 Schematic diagram of the docking process of the capture docking mechanism provided in the embodiment of the present application Figure 8 .

[0042] Figure markings: 1-twisting shear structure; 11-outer cylinder; 12-inner cylinder; 13-twisting shear rod; 131-guide groove; 14-opening and closing assembly; 141-first ring sleeve; 142-second ring sleeve; 143-connecting rod; 2-docking structure; 21-first pair of joints; 211-first ring piece; 212-second ring piece; 213-guide cone head; 214-elastic member; 22-second pair of joints; 221-seat; 222-clip; 223-locking and unlocking controller; 3-telescopic structure; 31-guide assembly; 311-first rod barrel; 32-sliding assembly; 321-blocking rod; 322-sliding rod; 33-T-rod; 34-second rod barrel; 4-second device to be docked. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] In the description of the embodiments of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0045] Please refer to Figure 1 and Figure 2 As shown, the embodiment of the present invention provides a capture docking mechanism, comprising a shearing structure 1, a docking structure 2 and two sets of telescopic structures 3. Figure 3 and Figure 4 As shown, the shearing structure 1 includes an outer cylinder 11, an inner cylinder 12, a first drive assembly, and four shearing rods 13. The inner cylinder 12 can be a solid cylinder or a cylindrical body. When the inner cylinder 12 is a cylindrical body, the weight of the shearing structure 1 can be reduced.

[0046] The outer cylinder 11 is sleeved on the inner cylinder 12 and the first end of the inner cylinder 12 is extended to facilitate the installation of the shear rod 13. Two shear rods 13 are relatively arranged at the first end of the inner cylinder 12, and the other two shear rods 13 are relatively arranged at the first end of the outer cylinder 11, so that the four shear rods 13 form an X shape. The first drive assembly is arranged at the second end of the inner cylinder 12 and is configured to drive the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, that is, the outer cylinder 11 can rotate freely around the inner cylinder 12. The inner cylinder 12 and the outer cylinder 11 rotate relative to each other, and the inner cylinder 12 rotates while the outer cylinder 11 does not rotate. At this time, the first drive assembly includes a first gear, a second gear and a motor. The second gear is sleeved on the output shaft of the motor. The first gear is sleeved on the second end of the inner cylinder 12. The first gear and the second gear are meshed. When the motor rotates, its output shaft drives the second gear to rotate. Due to the meshing of the first gear and the second gear, the second gear drives the first gear to rotate. The first gear is sleeved on the second end of the inner cylinder 12, so that the first gear drives the inner cylinder 12 to rotate, thereby achieving relative rotation between the inner cylinder 12 and the outer cylinder 11. The first drive assembly provided in the embodiment of the present application has a simple structure, applies torque to the inner cylinder 12, and is easy to control and implement.

[0047] It is also possible that the inner cylinder 12 does not rotate and the outer cylinder 11 rotates. In this case, the first drive assembly includes a third gear, a fourth gear and a motor. The fourth gear is sleeved on the output shaft of the motor, and the third gear is sleeved on the second end of the outer cylinder 11. The third gear and the fourth gear are engaged. At this time, the working process of the first drive assembly will not be described in detail. It is also possible that the inner cylinder 12 and the outer cylinder 11 rotate relative to each other at the same time. In this case, the first drive assembly can also use gear transmission, which will not be described here. Of course, the first drive assembly can also use a belt transmission method connected by a belt to realize its function. The advantage of belt transmission is that it is a flexible transmission, which can control the torque transmitted to the root of the inner cylinder and the outer cylinder within a certain range. If it exceeds the root torque range specified by the structure, the belt will slide relative to limit the sliding.

[0048] like Figure 1 and Figure 2 As shown, the docking structure 2 includes a first pair of joints 21 and a second pair of joints 22 that can dock with each other. The first pair of joints 21 is arranged at the first end of the inner cylinder 12, and the shear structure 1 is arranged on the first device to be docked, that is, the first pair of joints 21 is a male joint, and the second pair of joints 22 is arranged on the second device to be docked 4, that is, the second pair of joints 22 is a female joint.

[0049] like Figure 1 、 Figure 2 and Figure 5 As shown, two sets of telescopic structures 3 are symmetrically arranged on the second docking device 4, each comprising a guide assembly 31, a sliding assembly 32, and a second drive assembly. The guide assembly 31 is mounted on the second docking device 4. The sliding assembly 32 is inserted into the guide assembly 31 and can slide along the guide assembly 31 under the drive of the second drive assembly. The telescopic structures 3 are installed in pairs on the second docking device 4, symmetrically around the docking joint.

[0050] The first device to be docked and the second device to be docked 4 in the embodiment of the present application can be two spacecraft or two compartments of the same spacecraft. For example, when the first device to be docked is a mother spacecraft, the second device to be docked 4 is a daughter spacecraft. Considering the heavy weight of the shear rod 13 and the drive assembly as a whole, we choose to install the telescopic structure 3 on a smaller daughter spacecraft, such as a satellite, a small space probe, etc. The shear structure 1 can generally be installed on a mother spacecraft that is heavier and larger in size, such as the truss of the International Space Station, a large spacecraft, etc.

[0051] The specific working process of the capture docking mechanism provided in the embodiment of the present application is as follows: when the first device to be docked and the second device to be docked 4 approach each other to a close distance, the sliding assembly 32 of the telescopic structure 3 provided on the second device to be docked 4 slides out along the guide assembly 31 under the drive of the second drive assembly, so that the two groups of telescopic structures 3 form a capture space area. The first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, so that the shearing rod 13 provided on the inner cylinder 12 and the shearing rod 13 provided on the outer cylinder 11 are relatively unfolded, and the unfolding angle can cross the front end of the telescopic structure 3, and the first device to be docked and the second device to be docked 4 continue to approach each other. When the shearing rod 13 is in the capture space area, the two groups of telescopic structures 3 respectively enter the opposite side areas of the X-shape formed by the four shearing rods 13. The first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, and the shearing rod 13 shears the sliding assembly 32 of the telescopic structure 3. Driven by the second drive assembly, the sliding assembly 32 slides and retracts along the guide assembly 31, pulling the shear rods 13 toward the second docking device 4. The first pair of joints 21 of the docking structure 2 on the first docking device and the second pair of joints 22 on the second docking device 4 are locked and docked together by an external force. The capture docking structure 2 provided in this embodiment of the present invention utilizes the shearing motion of the four shear rods 13 and the telescopic motion of the sliding assembly 32 of the telescopic structure 3 to achieve the end-capture of the first and second docking devices 4, eliminate eccentricity and pitch-yaw deviation, and dock the first and second joints 21, 22. This structure has a wide tolerance, enabling capture over a wide range and reducing significant docking deviations. Furthermore, its simple structure, light weight, and shearing capture characteristics make it highly versatile. The size of the docking device is not limited; any size within the expanded diameter of the four shear rods 13 can be captured. This makes it suitable for a variety of docking devices, both large and small, and could potentially be used in general-purpose berthing ports and spacecraft refueling mechanisms.

[0052] Reference Figure 3 and Figure 4 As shown, the shear structure 1 further includes an opening and closing assembly 14. The opening and closing assembly 14 is connected to the shear rod 13 and the outer cylinder 11, and is configured to control the opening and closing of the shear rod 13, thereby enabling the shear structure 1 to be closed and opened.

[0053] Further, continue to refer to Figure 3 and Figure 4As shown, the opening and closing assembly 14 includes a first collar 141, a second collar 142, a connecting rod 143, and a first pusher. Each shear rod 13 is equipped with a connecting rod 143, which is provided with a guide groove 131. Two connecting rods 143 have one end disposed within the guide groove 131 of the shear rod 13 located on the inner cylinder 12, and the other end is hinged to the first collar 141. The other two connecting rods 143 have one end disposed within the guide groove 131 of the shear rod 13 located on the outer cylinder 11, and the other end is hinged to the second collar 142. The first collar 141 is sleeved on the second collar 142 and can rotate about the central axis of the second collar 142.

[0054] The second ring sleeve 142 is sleeved on the outer cylinder 11, and the first pusher is configured to control the second ring sleeve 142 to move axially along the outer cylinder 11 to open and close the shear rod 13. That is, the first ring sleeve 141 has the freedom to rotate around the central axis of the outer cylinder 11, while the second ring sleeve 142 can only move along the central axis of the outer cylinder 11 and cannot rotate around its central axis. Figure 3 As shown, a radially recessed annular groove is provided on the outer wall of the outer cylinder 11, and the second ring sleeve 142 moves axially in the annular groove.

[0055] In the opening and closing assembly 14 provided in the embodiment of the present application, when the four shear rods 13 need to be deployed, the first pusher pushes the second collar 142 to move axially toward the first end of the outer tube 11. Since the first collar 141 is sleeved on the second collar 142, the first collar 141 also moves axially along the outer tube 11. One end of the connecting rod 143 is disposed in the guide groove 131 of the shear rod 13 and can slide along the guide groove 131. The other end is hinged to the first collar 141 or the second collar 142, so that the shear rods 13 can move toward the first end of the outer tube 11 until the four shear rods 13 are deployed. When the four shear rods 13 need to be closed, the first pusher pushes the second ring sleeve 142 to move axially toward the second end of the outer tube 11. Since the first ring sleeve 141 is sleeved on the second ring sleeve 142, the first ring sleeve 141 also moves axially toward the second end of the outer tube 11, so that the shear rods 13 can move toward the second end of the outer tube 11 until the four shear rods 13 are closed.

[0056] The opening and closing assembly 14 provided in the embodiment of the present application has a first collar 141 that can rotate about the central axis of the second collar 142. When the first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, the rotation of the first collar 141 does not affect the shearing action of the shearing rod 13. The opening and closing assembly 14 provided in the embodiment of the present application has a simple structure and is easy to implement.

[0057] Among them, the first pushing member can be a screw transmission. Specifically, a screw is arranged axially on the outer cylinder 11, and a rotating nut is arranged on the second ring sleeve 142. The rotating nut is sleeved on the screw. The driving device drives the screw to rotate, and the screw converts its own rotational motion into the axial motion of the second ring sleeve 142 along the outer cylinder 11. The second ring sleeve 142 moves toward the second end of the outer cylinder 11, which will drive the connecting rod 143 to pull the shear rod 13 to close. The second sleeve moves toward the first end of the outer cylinder 11, which will drive the connecting rod 143 to push the shear rod 13 to expand, thereby driving the opening and closing assembly 14 to control the opening and closing of the shear rod 13.

[0058] like Figure 5 and Figure 6 As shown, the guide assembly 31 includes two first rod barrels 311. The sliding assembly 32 includes a second pusher, a stopper 321, and two slide rods 322. The two rod barrels are arranged parallel to each other on the second docking device 4. One end of each slide rod 322 is inserted into a first rod barrel 311, and the other end is fixed to the stopper 321, forming a Pi-shaped rod of the sliding assembly 32. The second pusher is configured to drive the slide rod 322 to slide along the first rod barrel 311.

[0059] In the guide assembly 31 provided in this embodiment of the present application, when the second pusher applies driving force to the sliding assembly 32, the sliding assembly 32 slides along the two first rod barrels 311, allowing it to extend or retract from the first rod barrels 311. The stopper 321 at the end of the Pi-shaped rod acts as a stopper, generating a reaction force with the shear rod 13, thereby pulling the shear rod 13. Configuring the sliding assembly 32 with two slide rods 322 provides a more stable structure.

[0060] Further, if Figure 6 As shown, the telescopic structure 3 further includes a T-bar 33, a second rod barrel 34, and a third drive assembly. The second rod barrel 34 is disposed parallel to and between the two first rod barrels 311. The T-bar 33 is inserted into the second rod barrel 34. The third drive assembly is configured to drive the T-bar 33 to slide along the second rod barrel 34.

[0061] If only the Π-shaped rod is provided, the two constrained degrees of freedom in the relative approach direction control the three degrees of freedom of pullback movement, resulting in a missing degree of control freedom. That is, the telescopic structure 3 can only pull the shear rod 13 close to the second docking device 4. The provision of the T-shaped rod 33, however, adds a constrained degree of freedom. When used in conjunction with the Π-shaped rod, it enables the shear rod 13 to be pushed and pulled. Furthermore, when the shear rod 13 is pulled toward the second docking device 4 via the Π-shaped rod, the T-shaped rod 33 simultaneously extends outward, cooperating to clamp the shear rod 13. This allows the shear rod 13 to move freely toward and away from the second docking device 4, effectively controlling the articulated rod to eliminate tolerances and perform docking, achieving full drive control.

[0062] Further, if Figure 7 As shown, the first joint 21 includes a first ring piece 211, a second ring piece 212, a guide cone head 213 and an elastic member 214. The elastic member 214 can be a plurality of springs arranged in a circular array around the central axis of the first ring piece 211. The first ring piece 211 and the second ring piece 212 are arranged in parallel. The elastic member 214 is arranged between the first ring piece 211 and the second ring piece 212. The guide cone head 213 is arranged on the side of the first ring piece 211 away from the elastic member 214, and its outer wall is an arc surface. As shown Figure 8 As shown, the second connector 22 includes a base 221, multiple buckles 222, and multiple locking and unlocking controls 223. The base 221 is provided with a groove that extends inward from its end surface. The inner wall shape of the groove matches the outer wall shape of the guide cone 213. The multiple locking and unlocking controls 223 are evenly distributed around the central axis of the base 221. A buckle 222 is positioned at a corresponding position of each locking and unlocking control 223, and the buckles 222 are movable radially along the base 221.

[0063] The first pair of joints 21 of the embodiment of the present application has a guide cone head 213, which can slide into the second pair of joints 22 to achieve tolerance-reducing docking when there is a small tolerance in the final section of the docking. The guide cone head 213 is also attached with an elastic member 214 to prevent rigid collision from damaging the components. The socket 221 of the second pair of joints 22 is used to snap into the guide cone head 213, and cooperate with the guide cone head 213 to eliminate the final section error. When the guide cone head 213 is connected, the elastic member 214 is pressed in a certain distance and pops out to buckle the first pair of joints 21 to achieve locking during docking. When unlocked, the buckle 222 retracts, and the elastic member 214 on the first pair of joints 21 will release elastic potential energy to bounce the two docking parts apart. The docking structure 2 of the embodiment of the present application has a simple structure and is easy to implement.

[0064] The docking structure 2 can also be a tapered rod type space intersection docking joint, etc., which is specifically designed according to actual conditions and mainly plays the role of docking and locking.

[0065] Another embodiment of the present invention provides a docking method using a capture docking mechanism, using the capture docking mechanism described above, comprising:

[0066] Step 1: If Figure 9 As shown, when the first device to be docked and the second device to be docked 4 approach each other to a close distance, as shown in FIG. Figure 10 As shown, the sliding assembly 32 of the telescopic structure 3 provided on the second docking device 4 slides out along the guide assembly 31 under the drive of the second driving assembly, so that the two groups of telescopic structures 3 form a capture space area.

[0067] Step 2: Continue to refer to Figure 10As shown, the first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, so that the shear rods 13 provided on the inner cylinder 12 and the shear rods 13 provided on the outer cylinder 11 are relatively unfolded, and the unfolding angle is such that it can cross the front end of the telescopic structure 3, and the first and second devices to be docked 4 continue to approach each other. Generally, the shear rods 13 provided on the inner cylinder 12 and the shear rods 13 provided on the outer cylinder 11 are relatively unfolded until they are perpendicular to each other, forming a cross shape.

[0068] Step 3: When the shear rods 13 are located in the capture space, the two sets of telescopic structures 3 enter the opposite side areas of the X-shaped region formed by the four shear rods 13. Figure 11 As shown, when the telescopic structure 3 is located in the left and right areas of the second structure to be docked 2, the two groups of telescopic structures 3 respectively enter the left and right areas of the X shape formed by the four shear rods 13.

[0069] Step 4: If Figure 12 As shown, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, and the shearing rod 13 shears the sliding assembly 32 of the telescopic structure 3 .

[0070] Ideally, the axes of the first pair of joints 21 on the first device to be docked and the second pair of joints 22 on the second device to be docked should coincide with each other on the same straight line to ensure precise docking of the first pair of joints 21 and the second pair of joints 22. However, in practice, the first pair of joints 21 on the first device to be docked and the second pair of joints 22 on the second device to be docked 4 may be eccentric, meaning that the axes of the first pair of joints 21 and the second pair of joints 22 are parallel but do not coincide.

[0071] The first driving component drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, and controls the four cross-shaped shearing rods 13 to shear the telescopic structures 3 on both sides of the second device to be docked 4 like scissors. First, the two shearing rods 13 on one side will be sheared to the telescopic structure 3 on that side. The two shearing rods 13 that are sheared to the telescopic structure 3 first will be subjected to the resistance of the telescopic structure 3, generating a force that causes the shearing structure 1 to translate and approach to the other side, thereby causing the shearing structure 1 to translate and approach the telescopic structure 3 on the other side. At this time, the central axes of the first pair of joints 21 and the second pair of joints 22 will get closer and closer until the two shearing rods 13 corresponding to the telescopic structures 3 on both sides are sheared to the telescopic structure 3, and the forces on both sides of the shearing structure 1 are balanced. At this time, the central axes of the first pair of joints 21 and the second pair of joints 22 coincide on the same straight line, and the eccentric deviation of the first pair of joints 21 and the second pair of joints 22 is eliminated, so that they can be docked accurately.

[0072] Step 5: If Figure 13 As shown, the sliding assembly 32 slides and retracts along the guide assembly 31 under the drive of the second driving assembly, and the sliding assembly 32 pulls the shear rod 13 toward the second device to be docked 4.

[0073] In actual situations, the first pair of joints 21 provided on the first device to be docked and the second pair of joints 22 provided on the second device to be docked 4 may also be in a situation where their axes intersect but are not parallel, which belongs to the pitch-yaw situation. The yaw situation is defined as the situation where the axes of the first pair of joints 21 are in the plane determined by the sliding assembly 32 of the telescopic structure 3 of the second device to be docked 4 (when the sliding assembly 32 includes a second pusher, a blocking rod 321 and two sliding rods 322, the plane is the plane determined by the two sliding rods 322). At this time, the axes of the first pair of joints 21 and the second pair of joints 22 intersect but are in the plane. Correspondingly, the pitch situation is defined as the situation where the axes of the first pair of joints 21 and the second pair of joints 22 are perpendicular to the plane determined by the sliding assembly 32.

[0074] In general, when there is no eccentric deviation, the situation where the two axes intersect but are not parallel can be decomposed into linear components of pitch and yaw through orthogonal decomposition. One set of sliding components 32 is differentially retracted and extended, and the other set of sliding components 32 is stationary, driving the second device to be docked 4 to perform yaw movement to eliminate the tolerance, thereby eliminating the yaw deviation. When the sliding component 32 is set as a Π-shaped rod, the pitch deviation is eliminated by the unbalanced interaction between the blocking rod 321 of the Π-shaped rod as an upper and lower limiter and the four shear rods 13 during retraction and extension. Specifically, when there is a pitch deviation, the opposite shear rod 13 at one end of the X-shaped rod composed of the four shear rods 13 will contact the limit component in advance, and when the Π-shaped rod is retracted, a pitch torque will be generated to eliminate the deviation. Continue to retract until the upper and lower limit parts contact the cross rod, reaching a force balance state to reduce the deviation. The core idea of ​​the tolerance control of the capture docking mechanism is that the unbalanced force generates a torque on the center of mass of the docking mechanism to achieve tolerance reduction.

[0075] Step 6: If Figure 14 As shown, the first pair of joints 21 of the docking structure 2 provided on the first device to be docked and the second pair of joints 22 provided on the second device to be docked are docked and locked by an external force.

[0076] Another embodiment of the present invention provides a docking method for a capture docking mechanism, wherein the sliding assembly 32 includes a second pusher, a stopper 321, and two sliding rods 322. The two rod barrels are arranged parallel to each other on the second docking device 4. One end of each sliding rod 322 is inserted into one of the first rod barrels 311, and the other end is fixed to the stopper 321 to form a Pi-shaped rod. The shear structure 1 also includes an opening and closing assembly 14.

[0077] Step 1: When the first device to be docked and the second device to be docked 4 are close to each other, as shown in FIG. Figure 10As shown, the Π-shaped rod of the telescopic structure 3 set on the second docking device 4 slides out along the guide component 31 under the drive of the second driving component, so that the two groups of telescopic structures 3 form a capture space area, that is, the docking equipment stage.

[0078] Step 2: Continue to refer to Figure 10 As shown, the first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, so that the shear rods 13 provided on the inner cylinder 12 and the shear rods 13 provided on the outer cylinder 11 are relatively expanded, and the expansion angle is such that it can cross the front end of the telescopic structure 3, and the first and second devices to be docked 4 continue to approach each other. Generally, the shear rods 13 provided on the inner cylinder 12 and the shear rods 13 provided on the outer cylinder 11 are relatively expanded to be perpendicular to each other, forming a cross shape. At this time, the center of the first joint 21 is roughly aligned with the center of the second joint 22, and the second device to be docked 4 slowly approaches, i.e., the approaching stage.

[0079] Step 3: When the shear rods 13 are located in the capture space, the two groups of Π-shaped rods enter the opposite side areas of the X-shaped region formed by the four shear rods 13. Figure 11 As shown, when the Π-shaped rods are located on the left and right sides of the second structure to be connected 2, the two groups of Π-shaped rods enter the left and right areas of the X shape formed by the four shear rods 13 respectively.

[0080] Step 4: If Figure 12 As shown, the first drive assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, and the shearing rods 13 shear the Π-shaped rods. At this time, the four shearing rods 13 preliminarily capture the second device to be docked 4, that is, the shearing stage.

[0081] Step 5: If Figure 13 As shown, the Π-shaped rod, driven by the second drive assembly, slides and retracts along the first rod barrel 311. The sliding assembly 32 pulls the shear rod 13 toward the second docking device 4. At this point, the friction between the Π-shaped rod and the shear rod 13 is low, causing the shear rod 13 to slide relative to the Π-shaped rod. The stopper 321 at the end of the Π-shaped rod acts as a stopper, generating a reaction force against the shear rod 13. At this point, the second docking device 4 pulls the shear structure 1 toward it, marking the Π-shaped rod retraction phase.

[0082] Step 6: If Figure 14 As shown, the first pair of joints 21 of the docking structure 2 provided on the first docking device and the second pair of joints 22 provided on the second docking device 4 are docked and locked by an external force. When the external force reaches a certain level, the elastic member 214 pressing against the first pair of joints 21 will deform to a certain extent, causing the second pair of joints 22 to release the latch 222, and the joints are locked, i.e., the locking stage.

[0083] Step 7: If Figure 15As shown, the first driving assembly drives the inner cylinder 12 and the outer cylinder 11 to rotate relative to each other, so that the shear rod 13 provided on the inner cylinder 12 and the shear rod 13 provided on the outer cylinder 11 are relatively unfolded, and the unfolding angle can pass through the front end of the telescopic structure 3, as shown in FIG. Figure 16 As shown, the first push rod then drives the opening and closing assembly 14 to control the shear rod 13 to close and fold, which is the stabilization stage.

[0084] During flight, the connection between the two cooperating spacecraft is mainly maintained by the rigid connection of the joints.

[0085] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0086] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A capture docking mechanism, characterized in that: It includes twist shear structure, docking structure and two sets of telescopic structures; The shearing structure comprises an outer cylinder, an inner cylinder, a first driving assembly, an opening and closing assembly and four shearing rods; The outer cylinder is sleeved on the inner cylinder and extends the first end of the inner cylinder; Two of the shear rods are oppositely arranged at the first end of the inner cylinder, and the other two of the shear rods are oppositely arranged at the first end of the outer cylinder; The first driving assembly is disposed at the second end of the inner cylinder and is configured to drive the inner cylinder and the outer cylinder to rotate relative to each other; The opening and closing assembly is connected to the twisting shear rod and the outer cylinder, and is configured to control the opening and closing of the twisting shear rod; The four shear rods are symmetrically distributed in a cross shape in the unfolded state; The docking structure includes a first pair of joints and a second pair of joints capable of docking with each other; The first pair of joints is arranged at the first end of the inner column, the shear structure is arranged on the first device to be docked, and the second pair of joints is arranged on the second device to be docked; The two sets of telescopic structures are symmetrically arranged on the second docking device, and each includes a guide assembly, a sliding assembly and a second driving assembly; The guide assembly is provided on the second device to be docked; The sliding assembly is inserted into the guide assembly and can slide along the guide assembly under the drive of the second driving assembly.

2. The capture docking mechanism according to claim 1, characterized in that: The opening and closing assembly includes a first ring sleeve, a second ring sleeve, a connecting rod and a first pushing member; Each of the shear rods is equipped with a connecting rod, and a guide groove is provided on the shear rod. One end of the two connecting rods is respectively arranged in the guide groove of the shear rod located on the inner cylinder, and the other end is respectively hinged to the first ring sleeve. One end of the other two connecting rods is respectively arranged in the guide groove of the shear rod located on the outer cylinder, and the other end is respectively hinged to the second ring sleeve. The first ring sleeve is sleeved on the second ring sleeve and can rotate around the central axis of the second ring sleeve; The second ring sleeve is sleeved on the outer cylinder, and the first pusher is configured to control the second ring sleeve to move axially along the outer cylinder to open and close the shear rod.

3. The capture and docking mechanism according to claim 1, characterized in that: The guide assembly includes two first rod barrels; the sliding assembly includes a second pusher, a blocking rod and two sliding rods; The two rod barrels are arranged in parallel on the second docking device, one end of the two sliding rods is respectively inserted into one of the first rod barrels, and the other ends are fixed to the blocking rod; The second pushing member is configured to drive the sliding rod to slide along the shaft barrel.

4. The capture docking mechanism according to claim 3, characterized in that: The telescopic structure further comprises a T-shaped rod, a second rod barrel and a third drive assembly; The second rod barrel is arranged in parallel between the two first rod barrels; The T-shaped rod is inserted into the second rod tube; The third drive assembly is configured to drive the T-bar to slide along the second barrel.

5. The capture and docking mechanism according to claim 1, characterized in that: The first pair of joints includes a first ring piece, a second ring piece, a guide cone head and an elastic member; The first ring piece and the second ring piece are arranged in parallel; The elastic member is arranged between the first ring piece and the second ring piece; The guide cone head is arranged on a side of the first ring piece away from the elastic member, and the outer wall of the guide cone head is an arc surface; The second pair of connectors includes a card seat, a plurality of buckles and a plurality of locking and unlocking controllers; The holder is provided with a groove recessed inward from the end surface, and the inner wall shape of the groove matches the outer wall shape of the guide cone head; A plurality of locking and unlocking controllers are evenly distributed around the central axis of the card seat; A buckle is provided at a corresponding position of each locking and unlocking controller, and the buckle can move along the radial direction of the base.

6. The capture docking mechanism according to claim 1, characterized in that: The first drive assembly includes a first gear, a second gear and a motor; The second gear is sleeved on the output shaft of the motor; The first gear is sleeved on the second end of the inner cylinder; The first gear and the second gear are meshed.

7. A docking method for capturing a docking mechanism, characterized in that: The capture and docking mechanism according to any one of claims 1 to 6 comprises: When the first device to be docked and the second device to be docked approach each other to a close distance, the sliding assembly of the telescopic structure provided on the second device to be docked slides out along the guide assembly under the drive of the second driving assembly, so that the two sets of telescopic structures form a capture space area; The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, so that the shearing rod provided on the inner cylinder and the shearing rod provided on the outer cylinder are relatively unfolded, and the unfolding angle is able to cross the front end of the telescopic structure, and the first device to be docked and the second device to be docked continue to approach each other; When the shear rods are located in the capture space, the two sets of telescopic structures respectively enter the opposite side areas of the X-shape formed by the four shear rods; The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, and the shearing rod shears the sliding assembly of the telescopic structure; The sliding assembly is driven by the second driving assembly to slide and retract along the guide assembly, and the sliding assembly pulls the shear rod toward the second device to be docked; The first pair of joints of the docking structure provided on the first device to be docked and the second pair of joints provided on the second device to be docked are docked and locked by an external force.

8. The docking method of the capture docking mechanism according to claim 7, characterized in that: Also includes: The first driving assembly drives the inner cylinder and the outer cylinder to rotate relative to each other, so that the shear rods provided on the inner cylinder and the shear rods provided on the outer cylinder are relatively unfolded, and the unfolding angle can pass through the front end of the telescopic structure. Then the first pushing rod drives the opening and closing assembly to control the shear rods to close and fold.

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