Two-stage floating docking on-orbit replaceable mechanism and pallet device thereof

Abstract

The application provides a two-stage floating butt joint on-orbit replaceable mechanism and a pallet device thereof, and the on-orbit replaceable mechanism comprises an outer shell and a cargo carrying assembly, a mechanical active butt joint locking assembly and a two-stage floating electrical interface assembly; the two-stage floating electrical interface assembly comprises an active butt joint part and a passive butt joint part; the active butt joint part is arranged on the outer shell of the outer shell and the cargo carrying assembly, and the passive butt joint part is arranged on a passive butt joint spacecraft; the active butt joint part and the passive butt joint part are matched to realize electrical interface butt joint; the butt joint locking mechanism of the mechanical active butt joint locking assembly is installed on the outer shell and the cargo carrying assembly; the mechanical active butt joint locking assembly drives the connecting rod structure of the butt joint locking mechanism to stretch and retract through a motor driving screw nut structure, so that the butt joint locking mechanism and an external device with a locking hole realize butt joint and locking. The application has the characteristics of high butt joint precision, strong butt joint rigidity, good carrying stability and convenient on-orbit operation.

Description

Technical Field

[0001] This invention relates to a two-stage floating docking on-orbit replaceable mechanism and its pallet device, belonging to the field of docking. Background Technology

[0002] In the field of aerospace technology, with the continuous development of high technology, the performance of many hardware facilities has been greatly improved. However, this also presents the challenge of upgrading some hardware components of older aircraft, such as satellites and space stations, to match modern science and technology and improve their performance. Furthermore, future technological levels will inevitably surpass current levels, and even the new generation of aircraft currently being launched into space will inevitably face the same challenges in the near future. Due to the unique characteristics of outer space, aircraft maintenance is extremely difficult. Traditional disposable aircraft are gradually being phased out due to the difficulty of upgrading, the difficulty of repairing damaged aircraft, and the high cost per launch.

[0003] To address this issue, on-orbit servicing technology has gradually emerged. By using on-orbit replaceable units carried by spacecraft for on-orbit servicing, modules can be replaced, docked, and locked together under the action of a robotic arm. Through docking at different interfaces, the exchange of matter, information, and other energy between the two can be achieved, thereby enabling the upgrading and maintenance of the target spacecraft. Therefore, ensuring the high-precision docking and reliable locking of the on-orbit replaceable mechanism onto the target spacecraft is an important prerequisite for realizing on-orbit servicing. To address this issue, this invention designs a two-stage floating docking on-orbit replaceable mechanism and its pallet assembly. Summary of the Invention

[0004] The technical solution provided by this invention is as follows: This invention provides a two-stage floating docking type on-rail replaceable mechanism and its pallet device, which adopts a screw and nut drive and uses a telescopic linkage mechanism to complete the docking and locking. It also has a two-stage floating electrical interface and a matching pallet assembly. It has the characteristics of high docking accuracy, strong docking rigidity, good mounting stability and easy on-rail operation.

[0005] The technical solution adopted in this invention is: a two-stage floating docking on-orbit replaceable mechanism, comprising: an outer shell and cargo-carrying assembly, a mechanical active docking and locking assembly, and a two-stage floating electrical interface assembly;

[0006] The dual-stage floating electrical interface assembly includes an active docking part and a passive docking part; the active docking part is installed on the outer shell of the outer shell and the cargo-carrying assembly, and the passive docking part is installed on the passive docking spacecraft. The active docking part and the passive docking part cooperate to achieve electrical interface docking; the docking locking mechanism of the mechanical active docking locking assembly is installed on the outer shell and the cargo-carrying assembly. The mechanical active docking locking assembly drives the lead screw nut structure by a motor to drive the linkage structure of the docking locking mechanism to extend and retract, so that the docking locking mechanism docks and locks with the external device with locking holes.

[0007] Furthermore, the outer shell and cargo-carrying assembly includes a shell side plate, a shell front plate, a shell rear plate, connecting angle irons, a passive clamping device, a guide rail slider, auxiliary light spots, a motor fixing plate, a middle fixing plate, and an upper fixing plate; the shell side plate is connected and assembled with the shell front plate and the shell rear plate through connecting angle irons to form a square shell; the passive clamping device is fixed at the center of the shell rear plate; the auxiliary light spots are respectively fixed at each vertex of the shell rear plate; the motor fixing plate, the middle fixing plate, and the upper fixing plate are all fixed in the internal space of the square shell through the inner sliding groove of the shell side plate; the guide rail slider is installed on the shell side plate.

[0008] Furthermore, the mechanical active docking locking assembly includes a motor, coupling, lead screw fixing device, integral locking lead screw, fixed nut, moving nut, collar, fixed flange, inner moving claw and docking locking mechanism;

[0009] The motor is fixed to the motor mounting plate, and the motor output shaft is connected to the integral locking screw device via a coupling. The screw fixing device is installed on the middle mounting plate, and internally it is installed with the shaft shoulders and fixing nuts of the integral locking screw device on both sides through a shaft collar and bearing, so as to achieve axial positioning of the integral locking screw device on one side. The threaded section of the integral locking screw is installed with the moving nut, and the moving nut is connected and fixed at the center of the inner moving claw. The three vertices of the inner moving claw are respectively fixed with the docking locking mechanism. The fixing flange is fixed to the upper mounting plate, and the integral locking screw is installed with the fixing flange through bearings and spring washers.

[0010] Furthermore, the docking locking mechanism includes a locking shaft, a locking cover, a locking sleeve, a locking bushing, a first spring, a front fixed sleeve, a rear fixed sleeve, a first connecting rod, a second connecting rod, a cotter pin, a connecting shaft, a locking ring, and a docking cap. The three locking shafts are mounted on the inner moving claw in an equilateral triangle. The locking shafts are installed inside the front fixed sleeve, the rear fixed sleeve, the locking cover, and the locking bushing. The locking sleeve has a limiting part that mates with the locking bushing. The side wall of the locking bushing has a space for placing the first spring. The bottom of the first spring is placed in the groove inside the locking cover and installed on the locking bushing. Inside the side wall space, one end of the locking sleeve is fixed to the locking cover. The front fixing sleeve and the rear fixing sleeve are respectively installed on both sides of the telescopic structure formed by the locking cover, the locking sleeve, and the locking bushing. The first connecting rod is symmetrically arranged about the locking shaft. One end of the first connecting rod is rotatably connected to the rear fixing sleeve through a connecting shaft and a cotter pin. The other end of the first connecting rod is rotatably connected to one end of the second connecting rod through a connecting shaft and a cotter pin. The other end of the second connecting rod is rotatably connected to the locking ring through a connecting shaft and a cotter pin. The locking ring and the locking shaft are concentrically fitted and fixed by a mating cap. The locking sleeve is installed in the mounting hole on the front plate of the housing.

[0011] Furthermore, the active docking section includes an active docking device and an electrical appliance mounting device; the electrical appliance mounting device is fixed in the active docking device, and the electrical appliance mounting device is provided with a reserved fixing position for electrical appliances to be loaded as needed; the active docking device is installed at the center of the front plate of the housing, located at the center of the three sets of docking locking mechanisms; the active docking device is provided with a docking rod at its end;

[0012] Furthermore, the passive docking portion includes a floating interface shell, a secondary floating interface, a second spring, a third spring, and a passive docking interface. The floating interface shell is fixed to the passive docking spacecraft. The inner wall of the floating interface shell has several longitudinal inner grooves for fixing the second spring, and the bottom of the floating interface shell has an inner mounting groove for fixing the third spring. The outer wall of the secondary floating interface is fixed to the second spring. The second spring is located between the inner wall of the floating interface shell and the outer wall of the secondary floating interface. The third spring is installed at the bottom of the secondary floating interface. The upper part of the secondary floating interface has a conical hole that mates with the docking rod of the active docking device. The passive docking interface is installed inside the secondary floating interface, and the passive docking interface also has a reserved electrical fixing position that matches the interface of the electrical onboard device.

[0013] A two-stage floating docking type on-rail replaceable mechanism for mounting pallets is characterized in that it includes the aforementioned two-stage floating docking type on-rail replaceable mechanism, pallet main support frame, clamping flexible buffer, fixed end bearing seat, pallet clamping plate, pallet clamping device base plate, miniature ball linear guide, slider, robot adapter, miniature lead screw and pallet guide.

[0014] Each mounting surface of the main support frame of the pallet has a storage position for the dual-stage floating docking type on-rail replaceable mechanism. Each storage position has a locking hole on its side wall that cooperates with the docking locking mechanism of the mechanical active docking locking assembly. Each storage position is provided with a storage structure, which is used to clamp the dual-stage floating docking type on-rail replaceable mechanism and provide guidance.

[0015] Furthermore, the storage structure includes: a base plate for the pallet clamping device, a fixed end bearing seat, a miniature ball linear guide, a slider, a robot adapter, a miniature lead screw, and a pallet guide;

[0016] The base plate of the pallet clamping device is fixed to the bottom surface of the storage position. The fixed end bearing seat and the miniature ball linear guide are installed on the base plate of the pallet clamping device. The fixed end bearing seat is located at one end of the miniature ball linear guide. The sliders are respectively located below the pallet clamping plates and cooperate with the miniature ball linear guide. The miniature lead screw is connected to the pallet clamping plates on the left and right sides through a pair of miniature nuts. One end of the screw is connected to the robot adapter through a shaft pin and a cotter pin, and the other end is fixed to the fixed end bearing seat. The pallet guide is fixed to the top surface of each storage position.

[0017] Furthermore, the storage structure also includes a clamping flexible buffer; the clamping flexible buffer is fixed to the surface of the tray clamping plate and the inner surface of each storage location by adhesive.

[0018] Furthermore, in the non-working state, the first and second connecting rods of the dual-stage floating docking on-rail replaceable mechanism are in an extended state, and the pallet clamping plate is in a clamped state. When the dual-stage floating docking on-rail replaceable mechanism is working, the robotic arm cooperates with the robotic arm adapter to drive the micro screw to unlock, thereby unlocking the pallet clamping plate. At this time, the dual-stage floating docking on-rail replaceable mechanism will not detach under the action of the pallet guide rail. The robotic arm cooperates with the passive gripping device, and the motor is energized. Under the action of the motor rotating forward, the inner moving claw drives the locking shaft to move forward, causing the first and second connecting rods to change from the extended state to the retracted state. At this time, the locking hole of the pallet device no longer restricts the movement of the dual-stage floating docking on-rail replaceable mechanism, and the robotic arm removes the dual-stage floating docking on-rail replaceable mechanism from the storage position of the pallet main support frame.

[0019] When the dual-stage floating docking on-orbit replaceable mechanism reaches the initial position for docking with the target spacecraft, the docking cap, driven by the robotic arm, guides the docking locking mechanism into the locking hole of the target spacecraft. At this time, the motor reverses its operation, causing the first and second connecting rods to change from the retracted state back to the extended state and lock with the locking hole. Simultaneously, the active docking part and the passive docking part of the dual-stage floating electrical interface assembly dock.

[0020] The advantages of this invention compared to the prior art are:

[0021] (1) The present invention uses a screw and nut structure as a locking transmission component and a telescopic linkage structure to achieve positioning and locking. The movement process has a reverse stroke self-locking characteristic, thereby improving the locking reliability. Its locking front flexible locking cap can effectively alleviate the impact of collision and can achieve a large initial docking tolerance requirement. The docking safety and stability are high.

[0022] (2) This invention designs a high-precision floating electrical docking component for complex future aviation missions. When the primary docking cannot meet the positioning requirements, a floating docking interface is adopted, which enables the passive electrical interface to adapt to the docking error, ensuring that the precision electrical interface docking is completed without impact and with high precision. It can adapt to docking error requirements of up to 0.5mm.

[0023] (3) In combination with the actual launch and on-orbit storage status of the replaceable mechanism, the present invention proposes a pallet assembly for reliably storing the replaceable mechanism. The pallet is compatible with the replacement unit locking device and is equipped with a flexible clamping assembly to effectively ensure that the position of the replaceable mechanism is fixed and absorbs vibration during the launch, on-orbit and recovery phases. The reserved area in the center of the pallet can carry the power, processing and other equipment for future directional missions to realize internal charging, equipment upgrade and other operations of the replaceable mechanism. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the outer shell assembly structure of the present invention;

[0026] Figure 3 This is a schematic diagram of the mechanical active docking and locking assembly structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the two-stage floating electrical interface component of the present invention;

[0028] Figure 5 This is a schematic diagram of the on-orbit replaceable mechanism with a pallet assembly according to the present invention;

[0029] Figure 6 This is a schematic diagram of the locking mechanism of the present invention in its expanded and retracted states;

[0030] Figure 7 This is a schematic diagram of the docking process of the present invention; Detailed Implementation

[0031] The present invention will be described in conjunction with the accompanying drawings.

[0032] like Figures 1-7 As shown, a two-stage floating docking on-orbit replaceable mechanism includes an outer shell and cargo-carrying assembly 1, a mechanical active docking and locking assembly 2, and a two-stage floating electrical interface assembly 3. Figure 1 As shown;

[0033] like Figure 2 As shown, the outer shell and cargo-carrying assembly 1 includes a shell side plate 1-1, a shell front plate 1-2, a shell rear plate 1-3, a connecting angle iron 1-4, a passive clamping device 1-5, a guide rail slider 1-6, auxiliary light spots 1-7, a motor fixing plate 1-8, a middle fixing plate 1-9, and an upper fixing plate 1-10. There are four shell side plates 1-1, which are connected to the shell front plate 1-2 and shell rear plate 1-3 via connecting angle irons 1-4 and screws to form a square shell. The passive clamping device 1-5 is fixed to the center of the shell rear plate 1-3 with bolts. There are four auxiliary light spots 1-7, which are fixed to the four vertices of the shell rear plate 1-3 by adhesive. The motor fixing plate 1-8, the middle fixing plate 1-9, and the upper fixing plate 1-10 are all fixed in the internal space of the square shell via inner sliding grooves on the shell side plates 1-1. The guide rail slider 1-6 is installed on the shell side plate 1-1 with bolts.

[0034] like Figure 3As shown, the mechanical active docking locking assembly 2 includes a motor 2-1, a coupling 2-2, a lead screw fixing device 2-3, an integral locking lead screw 2-4, a fixing nut 2-5, a moving nut 2-6, a collar 2-7, a fixing flange 2-8, an inner moving claw 2-9, a locking shaft 2-10, a locking cover 2-11, a locking sleeve 2-12, a locking bushing 2-13, a first spring 2-14, a front fixing sleeve 2-15, a rear fixing sleeve 2-16, a first connecting rod 2-17, a second connecting rod 2-18, a cotter pin 2-19, a connecting shaft 2-20, a locking ring 2-21, and a docking cap 2-22; the motor 2-1 is fixed to the motor fixing plate 1-8 by bolts, and the output shaft of the motor 2-1 is connected to the integral locking lead screw via the coupling 2-2. The screw device 2-4 is connected in conjunction with the screw fixing device 2-3, which is positioned and installed by bolts to the middle fixing plate 1-9. Internally, the screw 2-3 is axially positioned on one side by a collar 2-7, a bearing, a shoulder of the integral locking screw device 2-4, and a fixing nut 2-5. The threaded section of the integral locking screw 2-4 mates with the moving nut 2-6, which is externally fixed to the center of the inner moving claw 2-9 by bolts. The inner moving claw 2-9 is fixed to three locking shafts 2-10 by bolts. The fixing flange 2-8 is fixed to the upper fixing plate 1-10 by bolts. The integral locking screw 2-4 is axially positioned by bearings and spring washers, with the bearing and fixing flange 2-8 at this position being connected. The locking screw 2-4 is positioned and installed in conjunction with the locking mechanism. The three locking shafts 2-10 are arranged in an equilateral triangle and mounted on the inner moving claw 2-9. The locking shafts 2-10 are installed inside the front fixed sleeve 2-15, rear fixed sleeve 2-16, locking cover 2-11, and locking bushing 2-13. The locking sleeve 2-12 can mate with the locking bushing 2-13 and has a limiting portion. The side wall of the locking bushing 2-13 has a space for placing the first spring 2-14. The bottom of the first spring 2-14 can be placed in the internal groove of the locking cover 2-11 and installed in the internal space of the side wall of the locking bushing 2-13. The locking sleeve 2-12 is fixed to the locking cover 2-11 by an interference fit. The front fixed sleeve 2-15 and rear fixed sleeve... 2-16 are respectively installed on both sides of the telescopic structure formed by locking cover 2-11, locking sleeve 2-12 and locking bushing 2-13; one end of the first connecting rod 2-17 is positioned by cooperating with the rear fixing sleeve 2-16 through connecting shaft 2-20 and cotter pin 2-19, and the other end of the first connecting rod 2-17 is positioned by cooperating with one end of the second connecting rod 2-18 through the same connecting shaft 2-20 and cotter pin 2-19, and the other end of the second connecting rod 2-18 is connected to the locking ring 2-21 through the same connecting shaft 2-20 and cotter pin 2-19; ​​the locking ring 2-21 is concentrically engaged with the locking shaft 2-10 and fixed by mating cap 2-22; the locking sleeve 2-12 is installed in the mounting hole on the front plate 1-2 of the housing through a flange.

[0035] like Figure 4 As shown, the dual-stage floating electrical interface assembly 3 includes an active docking device 3-1, an electrical appliance mounting device 3-2, a floating interface shell 3-3, a secondary floating interface 3-4, a second spring 3-5, a third spring 3-6, and a passive docking interface 3-7. The electrical appliance mounting device 3-2 is bolted to the active docking device 3-1, and the electrical appliance mounting device 3-2 has reserved fixing positions for electrical appliances to be loaded as needed. The active docking device 3-1 is bolted to the center of the front plate 1-2 of the shell, located at the center of the three sets of docking locking mechanisms. The active docking device 3-1 has a docking rod at its end. The floating interface shell 3-3 is bolted to the passive docking spacecraft. The inner wall of the floating interface 3-3 has several longitudinal grooves for fixing the second spring 3-5, and the bottom of the floating interface housing 3-3 has an inner mounting groove for fixing the third spring 3-6; the outer wall of the secondary floating interface 3-4 can be fixed with the second spring 3-5, the second spring 3-5 is provided between the inner wall of the floating interface housing 3-3 and the outer wall of the secondary floating interface 3-4, the third spring 3-6 is installed at the bottom of the secondary floating interface 3-4, and the upper part of the secondary floating interface 3-4 has a conical hole that cooperates with the docking rod of the active docking device 3-1; the passive docking interface 3-7 is installed inside the secondary floating interface 3-4, and the passive docking interface 3-7 has an electrical pre-reserved fixing position that matches the interface of the electrical mounting device 3-2;

[0036] like Figure 5As shown, the on-orbit replaceable mechanism equipped with pallet device 4 includes a two-stage floating docking type on-orbit replaceable mechanism, pallet main support frame 4-1, clamping flexible buffer body 4-2, fixed end bearing seat 4-3, pallet clamping plate 4-4, pallet clamping device base plate 4-5, miniature ball linear guide rail 4-6, slider 4-7, robot adapter 4-8, miniature lead screw 4-9, and pallet guide rail 4-10. The main support frame 4-1 of the pallet has four mounting surfaces, each with a storage position for a replaceable mechanism. Each storage position has locking holes on its side wall that mate with three docking caps 2-22 in the mechanical active docking locking assembly 2. Each storage position has the following storage structure: the pallet clamping device base plate 4-5 is bolted to the underside of the storage position for the replaceable mechanism on the main support frame 4-1, and is further secured to the fixed end bearing seat 4-3 and the miniature ball linear guide rail 4-6 via bolts and screws; there are a total of four sliders 4-7. Its upper surface is connected to the pallet clamping plate 4-4 by screws, and its lower part mates with the miniature ball linear guide 4-6; the miniature lead screw 4-9 is connected to the pallet clamping plates 4-4 on the left and right sides by a pair of miniature nuts, one end of which is connected to the robot adapter 4-8 by a shaft pin and a cotter pin, and the other end is fixed to the fixed end bearing seat 4-3; the clamping flexible buffer 4-2 is fixed to the surface of the pallet clamping plate 4-4 and the inner surface of each replaceable mechanism storage position by adhesive; the pallet guide 4-10 is fixed to the upper side of each replaceable mechanism storage position by bolts;

[0037] In this embodiment, the main function of the connecting angle iron 1-4 is to connect the housing side plate 1-1, the housing front plate 1-2, and the housing rear plate 1-3 to form the main shell structure of the on-orbit replaceable mechanism; the main function of the passive clamping device 1-5 is to cooperate with the space robotic arm to complete the on-orbit replaceable mechanism's repositioning or relocation operation; the main functions of the motor fixing plate 1-8, the middle fixing plate 1-9, and the upper fixing plate 1-10 are to fix the motor 2-1, the fixing nut 2-5, and the fixing flange 2-8, respectively, and to mount the internal working machine of the on-orbit replaceable mechanism; the main function of the motor 2-1 and the coupling 2-2 is to transmit the output rotation of the motor 2-1 to the locking device to provide a locking power source; overall locking. The main function of the lead screw 2-4, fixed nut 2-5, and moving nut 2-6 is to complete the movement of the moving nut 2-6 along the lead screw axis under the drive of the motor 2-1; the main function of the moving inner jaw 2-9 is to cooperate with the locking shaft to move axially under the drive of the moving nut 2-6; the function of the locking sleeve 2-12 is to fix the locking assembly to the front plate 1-2 of the housing; the main function of the locking shaft 2-10 is to push the first connecting rod 2-17 and the second connecting rod 2-18 during axial movement, so that the first connecting rod 2-17 and the second connecting rod 2-18 can expand and contract regularly; the main function of the first spring 2-14 is to allow the first connecting rod 2-17 and the second connecting rod 2-18 to expand and contract regularly after docking. The connecting rod 2-18 provides continuous thrust, thus achieving pre-tightening; the cotter pin 2-19, connecting shaft 2-20, and locking ring 2-21 primarily function to fix the first connecting rod 2-17, the second connecting rod 2-18, and the rear fixing sleeve 2-16; the docking cap 2-22 primarily functions to reduce rigid collision impact during docking; the active docking device 3-1 primarily functions to perform secondary positioning of the already mounted electrical mounting device 3-2 with the target spacecraft's passive electrical docking device; the passive docking interface 3-7 primarily functions to mount the target's corresponding electrical interface assembly; the secondary floating interface 3-4, the second spring 3-5, and the third spring 3-6 primarily function to generate floating amounts in the X, Y, and Z directions, achieving secondary... The first-stage floating docking adapts to the docking accuracy requirements at the interface of electrical components; the main function of the floating interface shell 3-3 is to fix the second-stage floating docking device to the target spacecraft; the main function of the pallet main support frame 4-1 is to carry the on-orbit replaceable mechanism and reserve the mounting position; the main function of the pallet clamping device base plate 4-5, micro ball linear guide 4-6, slider 4-7, and micro lead screw 4-9 is to drive the pallet clamping plate 4-4 to move along the axial direction of the micro lead screw 4-9, thereby realizing the clamping of the on-orbit replaceable mechanism; the function of the clamping flexible buffer 4-2 is to prevent the on-orbit replaceable mechanism from over-positioning in the pallet assembly, and its compressible material properties ensure that the main structure is not damaged while clamping the on-orbit replaceable mechanism;The main function of pallet guide rails 4-10 is to cooperate with guide rail sliders 1-6 on the replaceable rail mechanism, thereby achieving guidance and positioning of the replaceable rail mechanism when it is installed on the pallet assembly.

[0038] There is a large free space between the front plate of the housing, the motor mounting plate, the middle mounting plate and the upper mounting plate. The main function of this space is to accommodate different types of on-orbit replaceable internal working devices according to different on-orbit mission requirements.

[0039] The mechanical active docking locking assembly 2 consists of three sets, which are arranged in an equilateral triangle at the front plate 1-2 of the housing, and the active docking device 3-1 is located at the center of the front plate of the housing.

[0040] The docking cap 2-22 in the mechanical active docking locking assembly 2 is made of elastic material, which can minimize the rigid impact generated during the docking process. At the same time, the passive docking interface of the target spacecraft is provided with a groove structure, which can limit the rotational freedom of the mechanical active docking locking assembly.

[0041] The aforementioned miniature lead screw and lead screw nut device both have reverse stroke self-locking performance, which can ensure that the on-orbit replaceable mechanism maintains a stable attitude in a non-moving state and will not disintegrate due to random vibrations such as launch;

[0042] The electrical appliance mounting device 3-2 can replace the mounted electrical appliances according to the functional requirements of different replaceable mechanisms. During the docking process, the docking cap 2-22 in the mechanical active docking locking assembly 2 will complete the first guiding docking. After that, the docking guide pin of the active docking device 3-1 will first cooperate with the tapered hole opened on the outer wall of the secondary floating interface 3-4. Then, under the action of the guide pin, the second spring 3-5, and the third spring 3-6, the passive electrical interface will adapt to the spatial position of the active docking device to achieve secondary floating docking.

[0043] The on-orbit replaceable mechanism is equipped with a passive locking port that cooperates with the mechanical active docking locking component 2 at any replaceable mechanism storage position in the pallet assembly. In the replaceable mechanism locking state, the flexible buffer body can be clamped and held tightly by adjusting the robotic arm adapter 4-8, thereby realizing the stable fixation of the replaceable mechanism on the pallet assembly and effectively absorbing vibration.

[0044] like Figure 7 As shown, the present invention also designs a locking guide device for the target spacecraft, a total of 3 of which are installed on the docking panel of the target spacecraft respectively; the surface at the rear end of the docking panel of the target spacecraft has a groove that mates with the locking shaft 2-10, thereby improving the locking performance of the on-orbit replaceable mechanism and restricting its degree of freedom.

[0045] The working process of this invention is as follows:

[0046] like Figure 6 As shown, in the non-working state, the first connecting rod 2-17 and the second connecting rod 2-18 of the on-rail replaceable mechanism are in an extended state, thus preventing the on-rail replaceable mechanism from passing through the locking hole. At this time, the pallet clamping plate 4-4 of the pallet assembly is in a clamped state. When the on-rail replaceable mechanism needs to work, the robotic arm first cooperates with the robotic arm adapter 4-8 in the pallet device 4 to drive the micro screw 4-9 to unlock, thus unlocking the pallet clamping plate 4-4. At this time, the on-rail replaceable mechanism will not disengage under the action of the pallet guide rail 4-10. Then, the robotic arm will cooperate with the passive clamping device 1-5 of the on-rail replaceable mechanism. At this time, the internal motor 2-1 of the on-rail replaceable mechanism is energized. Under the action of the forward rotation of the internal motor 2-1, the internal moving claw 2-9 drives the locking shaft 2-10 to move forward, thus causing the first connecting rod 2-17 and the second connecting rod 2-18 to change from the extended state to the retracted state. At this time, the locking hole of the pallet device 4 will no longer restrict the movement of the on-rail replaceable mechanism, thus allowing the robotic arm to work. Under the action of the robotic arm, the on-orbit replaceable mechanism completes its transfer. When the on-orbit replaceable mechanism completes its transfer and reaches the initial position for docking with the target spacecraft, the docking cap 2-22 will guide the mechanical active docking locking assembly 2 into the locking hole of the target spacecraft under the further pushing action of the robotic arm. At this time, the motor reverses its operation, causing the first connecting rod 2-17 and the second connecting rod 2-18 to change from the retracted state back to the extended state, thereby restricting and locking the spatial position of the on-orbit replaceable mechanism under the action of the locking hole. During the docking process, the first connecting rod 2-17 and the second connecting rod 2-18 will continuously generate a pulling action. Due to the large mechanical docking error, the secondary floating guide will adapt to the spatial docking error under the action of the spring according to the actual docking situation, thereby realizing the target docking end to complete the follow-up docking under the action of the secondary guide pin of the active docking end. When the on-orbit replaceable mechanism needs to complete the transfer from the target spacecraft to the cargo pallet assembly, its workflow is the same as described above.

[0047] The parts of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A two-stage floating docking type on-orbit replaceable mechanism, characterized in that, include: The outer shell and cargo mounting components (1), the mechanical active docking and locking components (2), and the two-stage floating electrical interface components (3); The dual-stage floating electrical interface assembly (3) includes an active docking part and a passive docking part; the active docking part is set on the outer shell of the outer shell and the cargo-carrying assembly (1), and the passive docking part is set on the passive docking spacecraft. The active docking part and the passive docking part cooperate to realize electrical interface docking; the docking locking mechanism of the mechanical active docking locking assembly (2) is installed on the outer shell and the cargo-carrying assembly (1). The mechanical active docking locking assembly (2) drives the screw nut structure through the motor to drive the connecting rod structure of the docking locking mechanism to extend and retract, so that the docking locking mechanism can dock and lock with the external device with locking holes. The outer shell and cargo-carrying assembly (1) includes a shell side plate (1-1), a shell front plate (1-2), a shell rear plate (1-3), a connecting angle iron (1-4), a passive clamping device (1-5), a guide rail slider (1-6), an auxiliary light spot (1-7), a motor fixing plate (1-8), a middle fixing plate (1-9), and an upper fixing plate (1-10); the shell side plate (1-1) is connected to the shell front plate (1-2) and the shell rear plate (1-3) via the connecting angle iron (1-4). The components are connected and assembled to form a square shell; the passive clamping device (1-5) is fixed at the center of the rear plate (1-3) of the shell; the auxiliary light spots (1-7) are respectively fixed at each vertex of the rear plate (1-3) of the shell; the motor fixing plate (1-8), the middle fixing plate (1-9) and the upper fixing plate (1-10) are all fixed in the internal space of the square shell through the inner sliding groove of the side plate (1-1) of the shell; the guide rail slider (1-6) is installed on the side plate (1-1) of the shell.

2. The two-stage floating docking type on-orbit replaceable mechanism according to claim 1, characterized in that, The mechanical active docking locking assembly (2) includes a motor (2-1), a coupling (2-2), a lead screw fixing device (2-3), an integral locking lead screw (2-4), a fixed nut (2-5), a moving nut (2-6), a collar (2-7), a fixed flange (2-8), an inner moving claw (2-9), and a docking locking mechanism; The motor (2-1) is fixed on the motor mounting plate (1-8), and the output shaft of the motor (2-1) is connected to the integral locking screw (2-4) through the coupling (2-2). The screw fixing device (2-3) is installed on the middle mounting plate (1-9), and is installed internally through the shaft collar (2-7), bearings, and the shoulders of the integral locking screws (2-4) on both sides, and the fixing nuts (2-5), to achieve axial positioning of the integral locking screw (2-4) on one side. The threaded section of the integral locking screw (2-4) is installed with the moving nut (2-6), and the moving nut (2-6) is connected and fixed at the center of the inner moving claw (2-9). The three vertices of the inner moving claw (2-9) are respectively fixed with the docking locking mechanism. The fixing flange (2-8) is fixed on the upper mounting plate (1-10), and the integral locking screw (2-4) is installed with the fixing flange (2-8) through the bearings and spring washers.

3. The two-stage floating docking type on-orbit replaceable mechanism according to claim 2, characterized in that, The docking locking mechanism includes a locking shaft (2-10), a locking cover (2-11), a locking sleeve (2-12), a locking shaft sleeve (2-13), a first spring (2-14), a front fixed sleeve (2-15), a rear fixed sleeve (2-16), a first connecting rod (2-17), a second connecting rod (2-18), a cotter pin (2-19), a connecting shaft (2-20), a locking ring (2-21), and a docking cap (2-22). The three locking shafts (2-10) are arranged in an equilateral triangle and installed on the inner moving claw. On (2-9), the locking shaft (2-10) is installed inside the front fixing sleeve (2-15), the rear fixing sleeve (2-16), the locking cover (2-11), and the locking bushing (2-13); the inside of the locking sleeve (2-12) is axially engaged with the locking bushing (2-13) and has a limiting part; the side wall of the locking bushing (2-13) has a space for placing the first spring (2-14); the bottom of the first spring (2-14) is placed in the groove inside the locking cover (2-11) and installed in the locking bushing (2-13). Inside the side wall of the structure, one end of the locking sleeve (2-12) is fixed to the locking cover (2-11). The front fixing sleeve (2-15) and the rear fixing sleeve (2-16) are respectively installed on both sides of the telescopic structure formed by the locking cover (2-11), the locking sleeve (2-12), and the locking bushing (2-13). The first connecting rod (2-17) is symmetrically arranged about the locking shaft (2-10). One end of the first connecting rod (2-17) is connected to the rear fixing sleeve (2-16) through the connecting shaft (2-20) and the cotter pin (2-19). The first connecting rod (2-17) is rotatably connected to one end of the second connecting rod (2-18) via a connecting shaft (2-20) and a cotter pin (2-19). The other end of the second connecting rod (2-18) is rotatably connected to the locking ring (2-21) via a connecting shaft (2-20) and a cotter pin (2-19). The locking ring (2-21) and the locking shaft (2-10) are concentrically fitted and fixed by a mating cap (2-22). The locking sleeve (2-12) is installed in the mounting hole on the front plate (1-2) of the housing.

4. The two-stage floating docking type on-orbit replaceable mechanism according to claim 1, characterized in that, The active docking part includes an active docking device (3-1) and an electrical appliance mounting device (3-2); the electrical appliance mounting device (3-2) is fixed in the active docking device (3-1), and the electrical appliance mounting device (3-2) is provided with a reserved fixing position for electrical appliances to be loaded as needed; the active docking device (3-1) is installed at the center of the front plate (1-2) of the housing, and is located at the center of the three sets of docking locking mechanisms; the active docking device (3-1) is provided with a docking rod at its end.

5. A two-stage floating docking type on-orbit replaceable mechanism according to claim 4, characterized in that, The passive docking section includes a floating interface shell (3-3), a secondary floating interface (3-4), a second spring (3-5), a third spring (3-6), and a passive docking interface (3-7). The floating interface shell (3-3) is fixed to the passive docking spacecraft. The inner wall of the floating interface shell (3-3) has several longitudinal inner grooves for fixing the second spring (3-5), and the bottom of the floating interface shell (3-3) has an inner mounting groove for fixing the third spring (3-6). The outer wall of the secondary floating interface (3-4) is connected to the second spring (3-7). 3-5) For fixing, a second spring (3-5) is provided between the inner wall of the floating interface shell (3-3) and the outer wall of the secondary floating interface (3-4). A third spring (3-6) is installed at the bottom of the secondary floating interface (3-4). A conical hole is provided on the upper part of the secondary floating interface (3-4) to cooperate with the docking rod of the active docking device (3-1). The passive docking interface (3-7) is installed inside the secondary floating interface (3-4). At the same time, the passive docking interface (3-7) has an electrical reserved fixing position that matches the interface of the electrical mounting device (3-2).

6. A two-stage floating docking type on-orbit replaceable mechanism for mounting a cargo pallet device, characterized in that, Includes the dual-stage floating docking on-rail replaceable mechanism as described in any one of claims 1 to 5, pallet main support frame (4-1), clamping flexible buffer (4-2), fixed end bearing seat (4-3), pallet clamping plate (4-4), pallet clamping device base plate (4-5), miniature ball linear guide (4-6), slider (4-7), robot adapter (4-8), miniature lead screw (4-9), and pallet guide rail (4-10); Each mounting surface of the main support frame (4-1) of the pallet has a storage position for the dual-stage floating docking type on-rail replaceable mechanism. Each storage position has a locking hole on its side wall that cooperates with the docking locking mechanism of the mechanical active docking locking assembly (2). Each storage position is provided with a storage structure, which is used to clamp the dual-stage floating docking type on-rail replaceable mechanism and provide guidance.

7. A two-stage floating docking type on-orbit replaceable mechanism pallet mounting device according to claim 6, characterized in that, The storage structure includes: a base plate of the tray clamping device (4-5), a fixed end bearing seat (4-3), a miniature ball linear guide (4-6), a slider (4-7), a robot adapter (4-8), a miniature lead screw (4-9), and a tray guide (4-10). The base plate (4-5) of the pallet clamping device is fixed to the bottom surface of the storage position. The fixed end bearing seat (4-3) and the miniature ball linear guide (4-6) are installed on the base plate (4-5). The fixed end bearing seat (4-3) is located at one end of the miniature ball linear guide (4-6). The slider (4-7) is located below the pallet clamping plate (4-4) and cooperates with the miniature ball linear guide (4-6). The miniature lead screw (4-9) is connected to the pallet clamping plates (4-4) on the left and right sides through a pair of miniature nuts. One end of the screw is connected to the robot adapter (4-8) through a shaft pin and a cotter pin. The other end is fixed on the fixed end bearing seat (4-3). The pallet guide (4-10) is fixed to the top surface of each storage position.

8. A two-stage floating docking type on-orbit replaceable mechanism pallet mounting device according to claim 7, characterized in that, The storage structure also includes a clamping flexible buffer (4-2); the clamping flexible buffer (4-2) is fixed to the surface of the tray clamping plate (4-4) and the inner surface of each storage location by adhesive.

9. A two-stage floating docking type on-orbit replaceable mechanism pallet mounting device according to claim 8, characterized in that, In the non-working state, the first connecting rod (2-17) and the second connecting rod (2-18) of the dual-stage floating docking on-rail replaceable mechanism are in an extended state, and the pallet clamping plate (4-4) is in a clamped state. When the dual-stage floating docking on-rail replaceable mechanism is working, the robotic arm cooperates with the robotic arm adapter (4-8) to drive the micro screw (4-9) to unlock, thereby unlocking the pallet clamping plate (4-4). At this time, the dual-stage floating docking on-rail replaceable mechanism will not detach under the action of the pallet guide rail (4-10). The arm cooperates with the passive clamping device (1-5), and the motor (2-1) is powered on. Under the action of the forward rotation of the motor (2-1), the inner moving claw (2-9) drives the locking shaft (2-10) to move forward, so that the first connecting rod (2-17) and the second connecting rod (2-18) change from the extended state to the retracted state. At this time, the locking hole of the pallet device (4) no longer restricts the movement of the double-stage floating docking type on-rail replaceable mechanism. The robotic arm moves the double-stage floating docking type on-rail replaceable mechanism out of the storage position of the pallet main support frame (4-1). When the dual-stage floating docking on-orbit replaceable mechanism reaches the initial position of docking with the target spacecraft, the docking cap (2-22) generates a guiding effect under the pushing action of the robotic arm, so that the end of the docking locking mechanism enters the locking hole of the target spacecraft. At this time, the motor (2-1) performs a reverse operation, so that the first connecting rod (2-17) and the second connecting rod (2-18) change from the retracted state back to the extended state and lock with the locking hole. At the same time, the active docking part and the passive docking part of the dual-stage floating electrical interface assembly (3) achieve docking.

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