Multi-configuration adaptable out-opening manned spacecraft hatch device
By using a spatial linkage mechanism and a repetitive locking mechanism, the problems of sealing reliability and space utilization of manned spacecraft hatches under irregular cabin shapes have been solved, achieving reliable sealing and efficient operation of multi-shape adaptable hatches.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF SPACECRAFT SYST ENG
- Filing Date
- 2023-09-28
- Publication Date
- 2026-05-19
AI Technical Summary
Most existing manned spacecraft hatches open inwards, occupying space inside the cabin and having low sealing reliability. Outward-opening hatches are difficult to design when the cabin shape is irregular, and cannot effectively coordinate the hatch with the cabin shape.
The system employs a spatial linkage mechanism and a repeating locking mechanism, including a door frame structure, a door body structure, a door hinge mechanism, and a repeating locking mechanism. The spatial linkage mechanism with single drive and multiple latch pins enables the hatch to adapt to various shapes. By utilizing the synergistic effect of elastic seals and latch pins, the system achieves reliable sealing of the hatch and maximizes space utilization.
It achieves reliable sealing of the hatch on spacecraft cabins of different shapes, improves the utilization of cabin space, maintains stable locking under severe vibration environment, simplifies unlocking and locking operations, reduces wear and increases service life.
Smart Images
Figure CN117306971B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of manned spacecraft hatch technology, specifically relating to an outward-opening manned spacecraft hatch device with multiple shape adaptability. Background Technology
[0002] The hatch is a crucial component of the sealed cabin of a manned spacecraft, used to open and seal the passageway for astronauts to enter and exit the cabin or the space exit. The location of hatches on manned spacecraft varies, and the timing of their opening also differs. Some hatches open after two spacecraft dock, some open when ground personnel enter the spacecraft, and some open during spacewalks.
[0003] Currently, most manned spacecraft hatches internationally open inwards. This is partly due to functional and layout limitations, and partly because in the vacuum of space, the hatch body, rather than the latch, bears the pressure load of the internal atmosphere, resulting in a more reliable seal. However, inward-opening hatches inevitably occupy some internal space, while outward-opening hatches make better use of that space. In certain special circumstances, hatches must be designed to open outwards.
[0004] Therefore, under certain special requirements, the hatch needs to be designed to open to the outside. In this case, if the external shape of the spacecraft cabin is irregular, the shape design of the spacecraft hatch also needs to be coordinated with the shape of the spacecraft cabin, and the locking device on the spacecraft hatch also needs to be coordinated with the shape of the spacecraft hatch. Summary of the Invention
[0005] In view of this, the present invention provides an outward-opening manned spacecraft hatch device with multiple shape adaptability, which adopts a space linkage mechanism and can adapt to spacecraft cabins with different external shapes.
[0006] The present invention adopts the following technical solution:
[0007] A multi-shape adaptable outward-opening manned spacecraft hatch device includes a door frame structure, a door body structure, a door hinge mechanism, and a repeat locking mechanism.
[0008] The door frame structure is set on the outer circumferential surface of the cabin, and the door frame structure is provided with an opening for use as a cabin door passage;
[0009] The door structure is hinged to the door frame structure via the door hinge mechanism, and the inner surface edge of the door structure is provided with an elastic sealing element; the door structure can be rotated around the door hinge mechanism to cooperate with the opening, thereby enabling the door structure to close inward and open outward relative to the door frame structure.
[0010] The repeating locking mechanism is a single-drive, multi-latch linkage spatial linkage mechanism that is mounted on the inner surface of the door structure via a support. After the door structure closes inward relative to the door frame structure, the multiple latches in the repeating locking mechanism can abut together against the inner surface of the door frame structure, and the door structure can compress the elastic seal to achieve a seal at the contact point between the door frame structure and the door structure.
[0011] Furthermore, the repeatable locking mechanism includes a drive source, two spatial linkage transmission mechanisms, and multiple latch pins;
[0012] The drive source is located on the inner surface of the door structure and has two power output ends;
[0013] The two spatial linkage transmission mechanisms are respectively connected to the two power output ends of the drive source;
[0014] Each of the spatial linkage transmission mechanisms includes a main transmission section, two sub-transmission sections, and two execution sections; one end of the main transmission section is hinged to one of the power output ends via a spherical hinge, and the other end is hinged to one end of each of the two sub-transmission sections via a spherical hinge; the other ends of each of the two sub-transmission sections are respectively hinged to one of the execution sections via spherical hinges; the execution sections are arranged along the periphery of the door structure, and multiple locking units are spaced apart on the execution sections, each locking unit being provided with a latch pin;
[0015] When the door structure is closed inward relative to the door frame structure, under the drive of the drive source, the plurality of latches can abut together against the inner surface of the door frame structure.
[0016] Furthermore, the driving source is a gear transmission mechanism disposed on the inner surface of the door structure, including a handle serving as a power input end and two oppositely disposed power output ends.
[0017] Furthermore, the locking unit is a crank-slider mechanism;
[0018] When the door structure closes inward relative to the door frame structure, the latch pin is at the dead point position of the crank-slider mechanism.
[0019] Furthermore, the inner surface of the door structure is provided with protrusions that correspond one-to-one with the latch pins, and each protrusion has a through hole through which the latch pins pass.
[0020] Furthermore, the inner surface of the door frame structure is provided with latch seats corresponding to the latches one by one, and the latch seats are provided with opposing upper cam surfaces and lower cam surfaces;
[0021] When the door structure is closed inward relative to the door frame structure, the latch pin can extend from the through hole and climb along the upper cam surface to the end of the stroke.
[0022] When the door structure opens outward relative to the door frame structure, the latch can exit the latch seat along the lower cam surface, causing the door structure to be lifted outward relative to the door frame structure.
[0023] Furthermore, a roller is provided at the end of the latch pin.
[0024] Furthermore, when the door structure opens outward, the door hinge mechanism enables the door structure to first translate outward a set distance relative to the door frame structure in the normal direction, and then rotate to open to a set angle.
[0025] Furthermore, the door hinge mechanism includes a first door hinge connecting plate, a second door hinge connecting plate, a door frame connecting seat, a door body connecting seat, a first door hinge link, a second door hinge link, a third door hinge link, and a fourth door hinge link;
[0026] The first connecting plate of the door hinge is hinged to the second connecting plate of the door hinge; the door frame connecting seat is fixed to the inner surface of the door frame structure; the door body connecting seat is fixed to the inner surface of the door body structure;
[0027] The first and second door hinge links are hinged together to form a first link group; the third and fourth door hinge links are hinged together to form a second link group; the first and second link groups are symmetrically arranged on both sides of the first and second door hinge connecting plates, and one end of each link group is hinged to the door frame connecting seat, and the other end is hinged to the door body connecting seat. The two sides of the second door hinge connecting plate are respectively hinged to the first and third door hinge links located on both sides of the first door hinge connecting plate.
[0028] Furthermore, the outer contour of the door structure is trapezoidal, and the inner surface is concave.
[0029] Beneficial effects:
[0030] 1. The repeat locking mechanism in the hatch device of the present invention is a single-drive multi-latch linkage spatial linkage mechanism that is set on the inner surface of the door structure by a support; after the door structure closes inward relative to the door frame structure, multiple latches can abut against the inner surface of the door frame structure together, and the door structure can compress the elastic sealing element to achieve sealing at the contact point between the door frame structure and the door structure.
[0031] Thus, the use of a space linkage mechanism enables the repeating locking mechanism to be arranged and moved in three-dimensional space, which can adapt to spacecraft doors of different shapes; moreover, multiple latches abut against the inner surface of the door frame structure together, and the air pressure inside the cabin can exert a pressure on the latches perpendicular to the inner surface of the door frame, making the locking more reliable.
[0032] 2. The repeating locking mechanism includes a drive source, two spatial linkage transmission mechanisms, and multiple latches. The drive source is a gear transmission mechanism located on the inner surface of the door structure, including a handle as a power input end and two power output ends. The two spatial linkage transmission mechanisms are arranged in a tree-like structure. Each spatial linkage mechanism includes a main transmission section, two sub-transmission sections, and two execution sections. One end of the main transmission section is connected to the power output end, and the other end is hinged to one end of each of the two sub-transmission sections via a ball hinge. The other ends of each of the two sub-transmission sections are respectively hinged to an execution section via a ball hinge. The execution sections are arranged along the periphery of the door structure and are connected in series with multiple locking units. Each locking unit is equipped with a latch.
[0033] Thus, compared with the mechanism in which each clamping point is connected in series, the present invention achieves a similar force transmission path length for each clamping point with a limited number of links, thereby making the transmission efficiency of each clamping point similar, which is conducive to the uniform application of the locking load. In addition, the unlocking and locking operations are simple and convenient, which is conducive to opening the hatch in a short time.
[0034] 3. The locking unit is a crank-slider mechanism. When the door structure closes inward relative to the door frame structure, the latch pin is at the dead point of the crank-slider mechanism. Thus, theoretically, no matter how much axial force is applied to the latch pin at this dead point position, the gear transmission mechanism, as the drive source, will not reverse. This ensures that even if the spacecraft is under severe vibration, the door device can achieve stable and reliable locking.
[0035] 4. When the door structure closes inward relative to the door frame structure, the handle is turned in the locking direction, and multiple latches can extend out from the through hole together and climb up along the upper cam surface to the end of the stroke, so that the door structure presses inward relative to the door frame structure and compresses the elastic seal, making the sealing performance of the door device more reliable when locked.
[0036] When the door structure opens outward relative to the door frame structure, the handle is turned in the unlocking direction, the elastic seal releases the clamping force, and multiple latches can exit the latch seat along the lower cam surface and retract into the through hole, causing the door structure to be lifted outward relative to the door frame structure. This creates a gap between the elastic seal structure and the door frame structure, allowing the door to quickly balance the air pressure on both sides of the door in an environment where the outside air pressure is greater than the inside air pressure, making it easier to push the door open.
[0037] 5. Rollers are provided at the end of the latch pin, which makes the movement of the latch pin smoother, reduces wear, and increases service life.
[0038] 6. When the door structure opens outward, the door hinge mechanism enables the door structure to first translate outward a set distance relative to the door frame structure in the normal direction, and then rotate to open to a set angle. In this way, the door structure can smoothly avoid the wall thickness of the spacecraft cabin and leave enough passage for entering and exiting the cabin. Attached Figure Description
[0039] Figure 1 This is a schematic diagram of the open state of an outward-opening manned spacecraft hatch device with multi-shape adaptability according to the present invention, viewed from outside the cabin.
[0040] Figure 2 This is a schematic diagram of the closed state of an outward-opening manned spacecraft hatch device with multiple shape adaptability according to the present invention, viewed from inside the cabin.
[0041] Figure 3 yes Figure 1 Schematic diagram of the folded state of the door hinge structure when the middle cabin door is closed;
[0042] Figure 4 yes Figure 1 A schematic diagram of the door hinge structure in its fully extended state when the middle cabin door is opened to its maximum position;
[0043] Figure 5 yes Figure 1 A schematic diagram of the repeating locking mechanism (unlocked state);
[0044] Figure 6 yes Figure 5 A schematic diagram of the central locking unit in the unlocked state of the hatch (the door structure is not shown).
[0045] Figure 7 for Figure 5 A schematic diagram of the locking unit in the locked state of the hatch (the hatch structure is not shown).
[0046] Among them, 1-door frame structure, 2-door body structure, 3-door hinge structure, 301-first door frame connecting seat, 302-door hinge first connecting rod, 303-door hinge second connecting rod, 304-door hinge first connecting plate, 305-door hinge second connecting plate, 306-first door body connecting seat, 307-second door frame connecting seat, 308-door hinge third connecting rod, 309-door hinge fourth connecting rod, 310-second door body connecting seat, 4-repeating locking mechanism, 401-handle, 402-gearbox, 403-locking unit, 404-connecting unit, 405-main transmission section, 406-latch pin, 407-roller, 408-latch pin seat, 409-actuating section, 5-rubber sealing ring, 6-thickened protrusion block. Detailed Implementation
[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0048] Reference Figures 1-7 A multi-shape adaptable outward-opening manned spacecraft hatch device includes a door frame structure 1, a door body structure 2, a door hinge mechanism 3, and a repeatable locking mechanism 4, wherein:
[0049] A door frame structure 1 is disposed on the outer circumferential surface of a frustum-shaped cabin. The door frame structure 1 has an opening (i.e., hatch) serving as a hatch passage. The door body structure 2, serving as the hatch, is hinged to one side of the door frame structure 1 via a door hinge mechanism 3. The shape of the door body structure 2 matches the shape of the cabin at the corresponding position. In this embodiment, the door body structure 2 has a trapezoidal outer contour and a concave inner surface. Furthermore, an elastic sealing element is provided on the inner surface edge of the door body structure 2. In this embodiment, the elastic sealing element is a rubber sealing ring 5, which serves as a static seal between the door frame structure 1 and the door body structure 2 after the hatch is closed. The door structure 2 can rotate around the door hinge mechanism 3 to cooperate with the opening on the door frame structure 1, so that the door structure 2 can be closed inward and opened outward relative to the door frame structure 1; the repeat locking mechanism 4 is a single-drive multi-latch linkage spatial linkage mechanism that is set on the inner surface of the door structure 2 (i.e. the side inside the cabin when the door is closed) by a support; after the door structure 2 is closed inward relative to the door frame structure 1, the multiple latches 406 in the repeat locking mechanism 4 can abut against the inner surface of the door frame structure 1 together, and the door structure 2 can compress the rubber sealing ring 5 to achieve a seal at the contact point between the door frame structure 1 and the door structure 2.
[0050] Thus, the use of a space linkage mechanism enables the repeatable locking mechanism 4 to be arranged and moved in three-dimensional space, which can adapt to different shapes of spacecraft hatches, such as rectangular, circular or other special shapes; moreover, multiple latches 406 abut against the inner surface of the door frame structure 1 together, and the pressure direction of the air pressure inside the cabin transmitted to the latches 406 through the door body is perpendicular to the extension direction of the latches, making the locking more reliable.
[0051] The following details the construction of the door frame structure 1, door body structure 2, door hinge mechanism 3, and repeating locking mechanism 4 in this invention:
[0052] The door frame structure 1 is a thin-shell pressure-bearing structure. The central opening of the door frame structure 1 serves as a hatch passage, and the opening is thickened around its perimeter. One side of the inner surface of the door frame structure 1 is hinged to the door body structure 2 via a door hinge mechanism 3. When the door body structure 2 is locked, the outer surface of the thickened part around the opening contacts the inner side of the door body structure 2 and compresses the rubber sealing ring 5.
[0053] The door structure 2 is a thin-shell pressure-bearing structure with cross ribs on the inner surface. The inner edge of the door structure 2 has a circumferential groove for installing the rubber sealing ring 5. The area formed by the rubber sealing ring 5 is surrounded by a ring of thickened protruding ribs.
[0054] The repeatable locking mechanism 4 includes a drive source, two spatial linkage transmission mechanisms, and multiple latches 406. The drive source is a gear transmission mechanism located on the inner side of the door structure 2. This drive source includes a gearbox 402, which houses the gear transmission mechanism. The power input end of this gear transmission mechanism is connected to a handle 401, which serves as the torque input end for the gear transmission mechanism within the gearbox 402. The handle 401 can rotate clockwise and counterclockwise to input torque, which is amplified by the gearbox 402. The output end of the gearbox 402 rotates in the opposite direction to the handle 401. Furthermore, this gear transmission mechanism has two power output ends, each connected to one of the two spatial linkage transmission mechanisms.
[0055] Each of the aforementioned spatial linkage transmission mechanisms is a tree-like structure composed of multiple transmission links hinged together by ball joints. The ball joints ensure that the entire transmission mechanism can move in three-dimensional space. Specifically, in this example, each spatial linkage mechanism includes a main transmission segment 405 and two sub-transmission segments. Each sub-transmission segment includes two execution segments 409, each corresponding to one side of the door structure 2. One end of the main transmission segment 405 is connected to a power output end, and the other end is hinged to one end of each of the two sub-transmission segments via a connecting unit 404 (or crank unit). (Each crank unit has three connecting rod heads, one of which is the force input end, and the other two connecting rod heads output force to the two sub-transmission segments.) The other ends of the two sub-transmission segments are respectively hinged to an execution segment 409 via ball joints. Each execution segment 409 is arranged along the corresponding side length direction of the door structure 2. In this embodiment, the two spatial linkage transmission mechanisms have a total of four execution segments 409. Figure 5 The upper and lower two execution sections 409 are connected in series by three links, and the left and right two execution sections 409 are connected in series by two links. Each execution section 409 is provided with multiple locking units 403 at intervals, and each locking unit 403 is provided with a latch pin 406. In this embodiment, the spatial linkage transmission mechanism is provided with four locking units 403 on the upper and lower sides of the inner side of the door structure 2, and three locking units 403 on the left and right sides, for a total of fourteen locking units 403 and fourteen latch pins 406.
[0056] When the door structure 2 is closed inward relative to the door frame structure 1, rotating the handle 401 in the locking direction (clockwise in this embodiment) causes the fourteen latch pins 406 to move outward together and abut against the inner surface of the door frame structure 1, thus locking the hatch. When the door structure 2 is opened outward relative to the door frame structure 1, rotating the handle 401 in the unlocking direction (counterclockwise in this embodiment) causes the fourteen latch pins 406 to disengage together from the inner surface of the door frame structure 1, thus unlocking the hatch. Additionally, it should be noted that... Figure 5 The four execution segments 409 in the middle, top, bottom, left and right are not connected end to end. The four execution segments 409 are independent of each other. Moreover, it is understandable that the number of locking units 403 can be flexibly set on each execution segment 409 as needed.
[0057] Thus, by rotating the handle 401, power can be transmitted to the latch 406 through two tree-shaped spatial linkage transmission mechanisms, causing the latch 406 to actuate and thereby lock and unlock the door structure 2 and the door frame structure 1. Furthermore, the torque output from the gearbox 402 is divided into two branches for torque transmission, and each branch is further divided into two branches for torque transmission, finally transmitting to the four sides. With a limited number of linkages, the force transmission path length at each clamping point is approximately equal. Compared to a mechanism where each clamping point is connected end-to-end, this makes the transmission efficiency of each clamping point more similar, which is more conducive to the uniform application of the locking load. In addition, the unlocking and locking operations are simple and convenient, facilitating the opening of the hatch in a short time.
[0058] Specifically, the locking unit 403 is designed as a crank-slider mechanism, with the latch pin 406 acting as the slider in this mechanism. The actuating section 409 provides rotational power to the crank in the crank-slider mechanism. When the door structure 2 is closed and locked inward relative to the door frame structure 1, the latch pin 406 is at the dead point position of the crank-slider mechanism. Thus, theoretically, no matter how much force is applied to the latch pin 406 along its axial direction at this dead point position, the handle 401 will not reverse (i.e., the transmission teeth in the gear transmission mechanism will not reverse), and the latch pin 406 will not disengage from the inner surface of the door frame structure 1. This achieves the effect of self-locking using the dead point, enabling the door device to achieve stable and reliable locking even when the manned spacecraft is under severe vibration conditions.
[0059] More specifically, the inner surface of the door structure 2 is provided with thickened protrusions 6 corresponding to the latch pins 406 one by one. The thickened protrusions 6 are provided with through holes, through which the latch pins 406 pass. The thickened protrusions 6 serve as slider guides, allowing the latch pins 406 to move linearly. Moreover, the inner surface of the door frame structure 1 is provided with latch pin seats 408 corresponding to the latch pins 406 one by one. The latch pin seats 408 are provided with opposing upper cam surfaces and lower cam surfaces. The end of the latch pins 406 is provided with rollers 407, which can make the movement of the latch pins 406 smoother, reduce wear, and improve service life.
[0060] When the door structure 2 is closed inward relative to the door frame structure 1, rotating the handle 401 in the locking direction causes fourteen latch pins 406 to extend from the through holes and the rollers 407 to climb up the upper cam surface to the end of their stroke, thereby pressing the door structure 2 inward relative to the door frame structure 1 to compress the rubber sealing ring. This makes the sealing performance of the door device more reliable when locked. When the door structure 2 is opened outward relative to the door frame structure 1, rotating the handle 401 in the unlocking direction allows the fourteen latch pins 406 to extend from the through holes and the rollers 407 to climb up the upper cam surface to the end of their stroke. This causes the door structure 2 to press inward relative to the door frame structure 1 to compress the rubber sealing ring, making the sealing performance of the door device more reliable when locked. The transmission mechanism of the interlocking rod causes the rollers 407 on the fourteen latch pins 406 to exit the latch pin seats 408 along the lower cam surface and retract into the through hole. The door structure 2 is lifted outward relative to the door frame structure 1, and the rubber sealing ring 5 releases the clamping force. This creates a gap between the rubber sealing ring 5 and the door frame structure 1, so that the air pressure on the inside and outside of the door structure 2 can be quickly balanced when there is a pressure difference on both sides of the door and the external pressure is greater than the internal pressure. This makes it easier to push the door structure 2 open in the subsequent operation.
[0061] The door hinge mechanism 3 includes a first door hinge connecting plate 304, a second door hinge connecting plate 305, a door frame connecting seat (including a first door frame connecting seat 301 and a second door frame connecting seat 307), a door body connecting seat (including a first door body connecting seat 306 and a second door body connecting seat 310), a first door hinge link 302, a second door hinge link 303, a third door hinge link 308, and a fourth door hinge link 309, wherein:
[0062] The first connecting plate 304 and the second connecting plate 305 of the door hinge are hinged together, and the first door frame connecting seat 301 and the second door frame connecting seat 307 are symmetrically hinged to the two sides of the first connecting plate 304 away from the second connecting plate 305, respectively. The first door body connecting seat 306 and the second door body connecting seat 310 are symmetrically hinged to the two sides of the second connecting plate 305 away from the first connecting plate 304, respectively. Moreover, the door frame connecting seat is fixed to the inner surface of the door frame structure 1, and the door body connecting seat is fixed to the inner surface of the door body structure 2. The first connecting rod 302 and the second connecting rod 303 are hinged together to form the first connecting rod group. The third link 308 and the fourth link 309 are hinged together to form the second link group; the first link group and the second link group are symmetrically arranged on both sides of the first connecting plate 304 and the second connecting plate 305, and one end of the first link group is hinged to the first door frame connecting seat 301, and the other end is hinged to the first door body connecting seat 306; one end of the second link group is hinged to the second door frame connecting seat 307, and the other end is hinged to the second door body connecting seat 310. Moreover, the two sides of the second connecting plate 305 are respectively hinged to the first door hinge link 302 and the third door hinge link 308 located on both sides of the first door hinge connecting plate 304.
[0063] Reference Figure 3 The door hinge mechanism 3 has a small outer envelope when folded, as shown in the reference. Figure 4 A schematic diagram of the door hinge structure in its fully opened state is shown. When the door hinge mechanism 3 unfolds, the door structure 2 first translates approximately along the hatch normal. After the door thickness completely moves out of the cabin's envelope, it then approximately rotates open, ultimately opening to a angle that fully exposes the hatch passage. The door hinge mechanism 3 has a long unfolding distance. In this embodiment, it allows the door structure 2 to open outward at an angle greater than 90° and move a sufficient set distance along the hatch normal. This allows the door structure 2 to smoothly and fully avoid the spacecraft cabin wall thickness, leaving sufficient space for entry and exit. It can be seen that the door hinge mechanism 3 is a multi-bar combination, with its two ends fixedly installed to the door frame structure 1 and the door structure 2, respectively. After unlocking, pushing the door structure 2 allows it to gradually unfold with the door hinge mechanism 3, first translating along the approximate hatch normal to open and avoid the cabin wall thickness, then rotating to a predetermined angle, thus fully exposing the hatch passage.
[0064] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A multi-shape adaptable outward-opening manned spacecraft hatch device, characterized in that, This includes the door frame structure, door body structure, door hinge mechanism, and repeat locking mechanism; The door frame structure is set on the outer circumferential surface of the cabin, and the door frame structure is provided with an opening for use as a cabin door passage; The door structure is hinged to the door frame structure via the door hinge mechanism, and the inner surface edge of the door structure is provided with an elastic sealing element; the door structure can be rotated around the door hinge mechanism to cooperate with the opening, thereby enabling the door structure to close inward and open outward relative to the door frame structure. The repeating locking mechanism is a single-drive, multi-latch linkage spatial linkage mechanism that is mounted on the inner surface of the door structure via a support. After the door structure closes inward relative to the door frame structure, the multiple latches in the repeating locking mechanism can abut against the inner surface of the door frame structure together, and the door structure can compress the elastic seal to achieve a seal at the contact point between the door frame structure and the door structure. The repeating locking mechanism includes a drive source, two spatial linkage transmission mechanisms, and multiple latches; The drive source is located on the inner surface of the door structure and has two power output ends; The two spatial linkage transmission mechanisms are respectively connected to the two power output ends of the drive source; Each of the spatial linkage transmission mechanisms includes a main transmission section, two sub-transmission sections, and two execution sections; one end of the main transmission section is hinged to one of the power output ends via a spherical hinge, and the other end is hinged to one end of each of the two sub-transmission sections via a spherical hinge; the other ends of each of the two sub-transmission sections are respectively hinged to one of the execution sections via spherical hinges; the execution sections are arranged along the periphery of the door structure, and multiple locking units are spaced apart on the execution sections, each locking unit being provided with a latch pin; When the door structure is closed inward relative to the door frame structure, under the drive of the drive source, the plurality of latches can abut together against the inner surface of the door frame structure; The locking unit is a crank-slider mechanism; when the door structure is closed inward relative to the door frame structure, the latch is at the dead point position of the crank-slider mechanism.
2. The multi-shape adaptable outward-opening manned spacecraft hatch device according to claim 1, characterized in that, The drive source is a gear transmission mechanism disposed on the inner surface of the door structure, including a handle as a power input end and two oppositely disposed power output ends.
3. The multi-shape adaptable outward-opening manned spacecraft hatch device according to claim 1, characterized in that, The inner surface of the door structure is provided with protrusions that correspond one-to-one with the latch pins. Each protrusion has a through hole, and the latch pins pass through the through holes.
4. A multi-shape adaptable outward-opening manned spacecraft hatch device according to claim 3, characterized in that, The inner surface of the door frame structure is provided with latch seats that correspond one-to-one with the latch pins, and the latch seats are provided with opposing upper cam surfaces and lower cam surfaces; When the door structure is closed inward relative to the door frame structure, the latch pin can extend from the through hole and climb along the upper cam surface to the end of the stroke. When the door structure opens outward relative to the door frame structure, the latch can exit the latch seat along the lower cam surface, causing the door structure to be lifted outward relative to the door frame structure.
5. A multi-shape adaptable outward-opening manned spacecraft hatch device according to claim 4, characterized in that, The end of the latch is provided with a roller.
6. A multi-shape adaptable outward-opening manned spacecraft hatch device according to any one of claims 1-5, characterized in that, When the door structure is opened outward, the door hinge mechanism enables the door structure to first translate outward a set distance relative to the door frame structure in the normal direction, and then rotate to open to a set angle.
7. A multi-shape adaptable outward-opening manned spacecraft hatch device according to claim 6, characterized in that, The door hinge mechanism includes a first door hinge connecting plate, a second door hinge connecting plate, a door frame connecting seat, a door body connecting seat, a first door hinge link, a second door hinge link, a third door hinge link, and a fourth door hinge link; The first connecting plate of the door hinge is hinged to the second connecting plate of the door hinge; the door frame connecting seat is fixed to the inner surface of the door frame structure; the door body connecting seat is fixed to the inner surface of the door body structure; The first and second door hinge links are hinged together to form a first link group; the third and fourth door hinge links are hinged together to form a second link group; the first and second link groups are symmetrically arranged on both sides of the first and second door hinge connecting plates, and one end of each link group is hinged to the door frame connecting seat, and the other end is hinged to the door body connecting seat. The two sides of the second door hinge connecting plate are respectively hinged to the first and third door hinge links located on both sides of the first door hinge connecting plate.
8. A multi-shape adaptable outward-opening manned spacecraft hatch device according to any one of claims 1-5 and 7, characterized in that, The outer contour of the door structure is trapezoidal, and the inner surface is concave.