A High-Reliability Full Backup Drive Mechanism and Method for On-Orbit Services

Abstract

This invention relates to a highly reliable full backup drive mechanism and method for on-orbit service: The backup drive mechanism includes an adaptive jaw, which is divided into an upper jaw and a lower jaw, positioned opposite each other and separated by a certain distance; when the backup drive mechanism is in a non-operating state, the adaptive jaw remains stationary, and a moving plate is located between the upper and lower jaws; when the backup drive mechanism is in an operating state, it drives the upper and lower jaws to move downwards or upwards simultaneously, thereby pushing the moving plate downwards or downwards; a primary drive mechanism, in the operating state, is connected to the moving plate and drives the moving plate to move up and down, the range of which is between the upper and lower jaws of the backup drive mechanism; an emergency separation mechanism is used to detach the primary drive mechanism from the moving plate when the primary drive mechanism fails, enabling the backup drive mechanism to drive the moving plate to move up and down.

Description

Technical Field

[0001] This invention belongs to the technical field of on-orbit service drive mechanisms, and relates to a highly reliable full backup drive mechanism for on-orbit services. Background Technology

[0002] With the rapid development of space technology, the number of various on-orbit spacecraft has exploded, and on-orbit servicing has broad development and application prospects. The high reliability of on-orbit servicing drive mechanisms plays a decisive role in the success or failure of missions. However, most existing on-orbit servicing drive mechanisms are redundant and do not yet have independent primary and backup drive mechanisms, making it impossible to achieve independent and joint drive and emergency separation functions for primary and backup. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a highly reliable fully backup drive mechanism for on-orbit service, thereby improving the reliability and safety of the on-orbit service drive mechanism and ensuring the success of on-orbit service tasks by improving the reliability of the drive mechanism.

[0004] The solution provided by this invention is: a high-reliability full backup drive mechanism for on-orbit service, comprising a primary drive mechanism, a backup drive mechanism, an emergency separation mechanism, a moving board, a guide rail, and a slider; wherein:

[0005] The guide rail is fixed to the housing of the on-orbit service mechanism. The moving plate is fixedly connected to the slider, and the slider is connected to the guide rail, allowing it to move up and down along the guide rail. The moving plate is also connected to the on-orbit service mechanism, and under the guidance of the slider and the guide rail, it drives the on-orbit service mechanism to move up and down.

[0006] The backup drive mechanism includes an adaptive jaw, which is divided into an upper jaw and a lower jaw. The upper jaw and the lower jaw are positioned opposite each other and are separated by a certain distance. When the backup drive mechanism is not in operation, the adaptive jaw remains stationary, and the moving plate is located between the upper jaw and the lower jaw. When the backup drive mechanism is in operation, it drives the upper jaw and the lower jaw to move downward or upward simultaneously, thereby pushing the moving plate downward or downward through the upper jaw or the lower jaw.

[0007] The main drive mechanism, in the working state, is connected to the movable plate and drives the movable plate to move up and down. The range of the movable plate's up and down movement is between the upper and lower jaws of the backup drive mechanism.

[0008] An emergency separation mechanism is used to detach the primary drive mechanism from the moving plate when the primary drive mechanism fails, so that the backup drive mechanism can drive the moving plate to move up and down.

[0009] Preferably, the main drive mechanism includes a main motor, a main first gear, a main second gear, a first main lead screw support assembly, a second main lead screw support assembly, a main lead screw, a main lead screw nut, a main lead screw nut connecting seat, and a connecting rod;

[0010] The output shaft of the main motor is connected to the first main gear, which meshes with the second main gear. The center of the second main gear is connected to the main lead screw. The two ends of the main lead screw are fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first and second main lead screw support assemblies. The main lead screw nut and the main lead screw are connected to form a main lead screw pair. One end of the main lead screw nut is fixedly connected to the main lead screw nut connecting seat, and the other end of the main lead screw nut connecting seat is connected to the main connecting rod. The connecting rod is fixedly connected to the moving plate.

[0011] Preferably, the main drive mechanism further includes a connecting sleeve, a portion of which is fitted onto the connecting rod, and the other portion is fitted onto the protruding part of the main thread nut connecting seat, and then connected by a pin.

[0012] Preferably, the emergency separation mechanism is a pin puller, used to pull out the pin on the connecting sleeve and the main drive nut connector when the main drive mechanism fails, so as to separate the main drive mechanism from the moving plate.

[0013] Preferably, the backup drive mechanism includes a backup motor, a backup first gear, a backup second gear, a first backup lead screw support assembly, a second backup lead screw support assembly, a backup lead screw, a backup lead screw nut, and an adaptive chuck.

[0014] The backup motor output shaft is connected to the backup first gear, which meshes with the backup second gear; the center of the backup second gear is connected to one end of the backup lead screw, and the backup lead screw is fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first backup lead screw support assembly and the second backup lead screw support assembly; the backup lead screw nut and the backup lead screw are connected to form a backup lead screw pair, and the backup lead screw nut is fixedly connected to the adaptive pawl.

[0015] Another technical solution of the present invention is: a high-reliability full backup drive method for on-orbit services, the method comprising the following steps:

[0016] Activate the backup drive mechanism, move the adaptation claws so that the moving board is in the middle position between the upper and lower claws, and then deactivate the backup drive mechanism.

[0017] Start the main drive mechanism to drive the moving plate to move up and down, and drive the moving plate to move up and down within the range of the upper and lower jaws of the backup drive mechanism;

[0018] When the main drive mechanism malfunctions, detach the main drive mechanism from the moving plate;

[0019] The backup drive mechanism is activated to adapt the movement of the chucks up and down. When the upper chuck contacts the moving plate and moves downward, it drives the moving plate to move downward. When the lower chuck contacts the moving plate and moves upward, it drives the moving plate to move upward.

[0020] Preferably, the high-reliability full backup drive method for on-orbit service further includes the following steps:

[0021] When the moving board needs to move upward, the backup drive mechanism is activated to drive the adapting jaws to move upward until the lower jaws contact the moving board. The backup drive mechanism is then paused, and the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the active wire nut and the backup wire nut move upward at the same speed. The primary drive mechanism and the backup drive mechanism work together to drive the moving board upward.

[0022] When the moving board needs to move downwards, the backup drive mechanism is activated to drive the adaptive jaws to move downwards until the upper jaws contact the moving board, at which point the backup drive mechanism is paused; then the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the active wire nut and the backup wire nut move downwards at the same speed, and the primary drive mechanism and the backup drive mechanism jointly drive the moving board downwards.

[0023] The advantages of this invention compared to the prior art are:

[0024] (1) This invention adopts independent primary and backup drive mechanisms, realizing independent and joint drive of primary and backup drive mechanisms. Compared with the existing redundant drive method, it has the characteristics of high reliability full backup, and can realize functions such as emergency separation, independent drive of primary backup, and joint drive of primary backup, which greatly improves the reliability of on-orbit service drive mechanism.

[0025] (2) When the primary drive mechanism of this invention fails, the mobile board is separated from the primary drive mechanism by an emergency separation mechanism, which does not affect the function of the on-orbit service object and ensures the reliability of the mission. Moreover, the backup drive mechanism can complete all drive functions. This is different from the existing redundant drive mechanisms and can greatly improve the reliability of on-orbit service.

[0026] (3) If hooking or mechanical arm failure occurs between two on-orbit service objects, resulting in increased resistance and inability to dock or separate, the main drive and backup drive of this invention can work simultaneously to further increase the driving capability or separation capability, overcome the fault resistance, and ensure the high reliability of the on-orbit service task. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the drive mechanism in the top position according to an embodiment of the present invention;

[0028] Figure 2This is a schematic diagram of the drive mechanism in an intermediate state according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the drive mechanism in the bottom position according to an embodiment of the present invention;

[0030] Figure 4(a) is a front view of the main drive mechanism according to an embodiment of the present invention;

[0031] Figure 4(b) is a side view of the main drive mechanism according to an embodiment of the present invention;

[0032] Figure 5(a) is a front view of the backup drive mechanism according to an embodiment of the present invention;

[0033] Figure 5(b) is a side view of the backup drive mechanism according to an embodiment of the present invention;

[0034] Figure 6(a) is a cross-sectional view of the emergency separation mechanism in use according to an embodiment of the present invention;

[0035] Figure 6(b) is a schematic diagram of the pin puller aligning with the pin shaft according to an embodiment of the present invention;

[0036] Figure 6(c) is a schematic diagram of the pin puller being inserted into the pin shaft according to an embodiment of the present invention;

[0037] Figure 6(d) is a schematic diagram of the separation of the connecting sleeve and the main thread nut connecting seat in an embodiment of the present invention. Detailed Implementation

[0038] The present invention will be further described below with reference to the embodiments.

[0039] This invention provides a highly reliable, fully backup drive mechanism for on-orbit servicing, which can be applied to on-orbit servicing of spacecraft. The drive mechanism features high reliability, emergency separation capability, backup drive, and combined main and backup drive, which can fully guarantee the reliability of on-orbit servicing drive mechanisms. It can be applied to on-orbit servicing applications with high reliability and safety requirements, such as on-orbit capture and on-orbit refueling.

[0040] Example 1

[0041] like Figure 1 As shown, the high-reliability full backup drive mechanism for on-orbit service provided by this invention includes a primary drive mechanism, a backup drive mechanism, an emergency separation mechanism, a moving board, a guide rail, and a slider; wherein:

[0042] The guide rail is fixed to the housing of the on-orbit service mechanism. The moving plate is fixedly connected to the slider, and the slider is connected to the guide rail, allowing it to move up and down along the guide rail. The moving plate is also connected to the on-orbit service mechanism, and under the guidance of the slider and the guide rail, it drives the on-orbit service mechanism to move up and down.

[0043] The backup drive mechanism includes an adaptive jaw, which is divided into an upper jaw and a lower jaw. The upper jaw and the lower jaw are positioned opposite each other and are separated by a certain distance. When the backup drive mechanism is not in operation, the adaptive jaw remains stationary, and the moving plate is located between the upper jaw and the lower jaw. When the backup drive mechanism is in operation, it drives the upper jaw and the lower jaw to move downward or upward simultaneously, thereby pushing the moving plate downward or downward through the upper jaw or the lower jaw.

[0044] The main drive mechanism, in the working state, is connected to the movable plate and drives the movable plate to move up and down. The range of the movable plate's up and down movement is between the upper and lower jaws of the backup drive mechanism.

[0045] The emergency disconnect mechanism is used to detach the primary drive mechanism from the moving board in the event of a failure in the primary drive mechanism, allowing the backup drive mechanism to drive the moving board up and down. The entire drive mechanism can perform the functions of both primary and backup drives; when the primary drive fails, the emergency disconnect mechanism detaches it, and the backup drive can then complete all drive functions.

[0046] The primary drive mechanism drives the moving plate to move up and down. The moving plate is equipped with guide rails to further ensure its motion accuracy. The primary drive mechanism can also drive the moving plate to perform vertical translational movements. The moving plate can then perform on-orbit services such as on-orbit refueling and on-orbit capture through other mechanisms. Figure 1 As shown, the drive mechanism drives the moving plate to the top position; as Figure 2 As shown, the drive mechanism drives the moving plate to the middle position; as Figure 3 As shown, the drive mechanism drives the moving plate to the bottom position.

[0047] As shown in Figure 4, the main drive mechanism includes a main motor, a main first gear, a main second gear, a first main screw support assembly, a second main screw support assembly, a main screw, a main screw nut, a main screw nut connecting seat, and a connecting rod.

[0048] The output shaft of the main motor is connected to the first main gear, which meshes with the second main gear. The center of the second main gear is connected to the main lead screw. The two ends of the main lead screw are fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first and second main lead screw support assemblies. The main lead screw nut and the main lead screw are connected to form a main lead screw pair. One end of the main lead screw nut is fixedly connected to the main lead screw nut connecting seat, and the other end of the main lead screw nut connecting seat is connected to the main connecting rod. The connecting rod is fixedly connected to the moving plate.

[0049] As shown in Figure 5, the backup drive mechanism includes a backup motor, a backup first gear, a backup second gear, a first backup lead screw support assembly, a second backup lead screw support assembly, a backup lead screw, a backup lead screw nut, and an adaptive chuck.

[0050] The backup motor output shaft is connected to the backup first gear, which meshes with the backup second gear; the center of the backup second gear is connected to one end of the backup lead screw, and the backup lead screw is fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first backup lead screw support assembly and the second backup lead screw support assembly; the backup lead screw nut and the backup lead screw are connected to form a backup lead screw pair, and the backup lead screw nut is fixedly connected to the adaptive pawl.

[0051] As shown in Figure 6(a), the main drive mechanism also includes a connecting sleeve. Part of the connecting sleeve is fitted onto the connecting rod, and the other part is fitted onto the protruding part of the main thread nut connecting seat, and then connected by a pin.

[0052] The emergency separation mechanism is a pin puller, used to remove the pins on the connecting sleeve and the main drive nut connector when the main drive mechanism malfunctions, thus separating the main drive mechanism from the moving plate and preventing any impact on other functions of the on-orbit service object. The specific separation process is as follows:

[0053] The pin puller moves to the right to align with the hole on the pin, as shown in Figure 6(b);

[0054] The pin puller continues to move to the right and inserts into the hole on the pin, as shown in Figure 6(c);

[0055] The pin puller moves upward and to the left, causing the connecting sleeve to move to the left and upward, thus separating the connecting sleeve from the main thread nut connector. At this time, the main drive mechanism separates from the moving plate, as shown in Figure 6(d).

[0056] The emergency separation mechanism can detach the primary drive from the mobile board when the primary drive fails, thus not affecting the functionality of other on-orbit service objects. All functions can then be restored via the backup drive.

[0057] There is a hollow section in the middle of the moving plate. Both the main lead screw and the backup lead screw pass through the hollow section. The hollow section has a large space. After the main drive mechanism is separated from the moving plate, the moving plate moves up and down around the main drive mechanism. The main lead screw nut connector and the moving plate do not interfere with each other.

[0058] Based on the above-mentioned device, this invention proposes a highly reliable full backup driving method for on-orbit services, which includes the following steps:

[0059] Activate the backup drive mechanism, move the adaptation claws so that the moving board is in the middle position between the upper and lower claws, and then deactivate the backup drive mechanism.

[0060] Start the main drive mechanism to drive the moving plate to move up and down, and drive the moving plate to move up and down within the range of the upper and lower jaws of the backup drive mechanism;

[0061] When the main drive mechanism malfunctions, detach the main drive mechanism from the moving plate;

[0062] The backup drive mechanism is activated to adapt the movement of the chucks up and down. When the upper chuck contacts the moving plate and moves downward, it drives the moving plate to move downward. When the lower chuck contacts the moving plate and moves upward, it drives the moving plate to move upward.

[0063] In other words, the adaptive claw of the backup drive mechanism is used to adapt to the up and down movement of the moving board when the main drive mechanism is working, at which time the backup drive mechanism is not working; when the backup drive mechanism is working or the main backup mechanism is working at the same time, the adaptive claw is used to drive the movement of the moving board.

[0064] Furthermore, if a hook-up, mechanical failure occurs between two on-orbit service objects, resulting in increased resistance and preventing docking or separation, the primary and backup drives can operate simultaneously to further enhance drive or separation capabilities and overcome fault resistance. The specific methods are as follows:

[0065] When the moving board needs to move upward, the backup drive mechanism is activated to drive the adapting jaws to move upward until the lower jaws contact the moving board. The backup drive mechanism is then paused, and the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the active wire nut and the backup wire nut move upward at the same speed. The primary drive mechanism and the backup drive mechanism work together to drive the moving board upward.

[0066] When the moving board needs to move downwards, the backup drive mechanism is activated to drive the adaptive jaws to move downwards until the upper jaws contact the moving board, at which point the backup drive mechanism is paused; then the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the active wire nut and the backup wire nut move downwards at the same speed, and the primary drive mechanism and the backup drive mechanism jointly drive the moving board downwards.

[0067] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A highly reliable, fully backup drive mechanism for on-orbit service, characterized in that... Includes primary drive mechanism, backup drive mechanism, emergency separation mechanism, moving plate, guide rail, and slider; among which: The guide rail is fixed to the housing of the on-orbit service mechanism. The moving plate is fixedly connected to the slider, and the slider is connected to the guide rail, allowing it to move up and down along the guide rail. The moving plate is also connected to the on-orbit service mechanism, and under the guidance of the slider and the guide rail, it drives the on-orbit service mechanism to move up and down. The backup drive mechanism includes an adaptive jaw, which is divided into an upper jaw and a lower jaw. The upper jaw and the lower jaw are positioned opposite each other and are separated by a certain distance. When the backup drive mechanism is not in operation, the adaptive jaw remains stationary, and the moving plate is located between the upper jaw and the lower jaw. When the backup drive mechanism is in operation, it drives the upper jaw and the lower jaw to move downward or upward simultaneously, thereby pushing the moving plate downward or downward through the upper jaw or the lower jaw. In operation, the main drive mechanism is connected to the movable plate and drives the movable plate to move up and down. The range of the movable plate's up and down movement is between the upper and lower jaws of the backup drive mechanism. An emergency separation mechanism is used to detach the primary drive mechanism from the moving plate when the primary drive mechanism fails, so that the backup drive mechanism can drive the moving plate to move up and down. The entire drive mechanism realizes the function of primary drive. When the primary drive fails, the primary drive is disconnected through the emergency separation mechanism, and then the backup drive can complete all drive functions. There is a hollow section in the middle of the moving plate. Both the main lead screw and the backup lead screw pass through the hollow section. The hollow section has a large space. After the main drive mechanism is separated from the moving plate, the moving plate moves up and down around the main drive mechanism. The main lead screw nut connector and the moving plate do not interfere with each other.

2. The high-reliability, fully backup drive mechanism for on-orbit service according to claim 1, characterized in that... The main drive mechanism includes a main motor, a main first gear, a main second gear, a first main lead screw support assembly, a second main lead screw support assembly, a main lead screw, a main lead screw nut, a main lead screw nut connecting seat, and a connecting rod; The output shaft of the main motor is connected to the main first gear, and the main first gear meshes with the main second gear. The center of the second primary gear is connected to the primary lead screw. The two ends of the primary lead screw are fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first and second primary lead screw support assemblies. The primary lead screw nut and the primary lead screw are connected to form a primary lead screw pair. One end of the primary lead screw nut is fixedly connected to the primary lead screw nut connecting seat. The other end of the primary lead screw nut connecting seat is connected to the primary connecting rod. The connecting rod is fixedly connected to the moving plate.

3. A high-reliability, fully backup drive mechanism for on-orbit service according to claim 2, characterized in that... The main drive mechanism also includes a connecting sleeve, with one part of the connecting sleeve fitted on the connecting rod and the other part fitted on the protruding part of the main thread nut connecting seat, and then connected by a pin.

4. A high-reliability, fully backup drive mechanism for on-orbit service according to claim 2, characterized in that... The emergency separation mechanism is a pin puller, which is used to pull out the pin on the connecting sleeve and the main drive nut connector when the main drive mechanism fails, so as to separate the main drive mechanism from the moving plate.

5. A high-reliability, fully backup drive mechanism for on-orbit service according to claim 1, characterized in that... The backup drive mechanism includes a backup motor, a backup first gear, a backup second gear, a first backup lead screw support assembly, a second backup lead screw support assembly lead screw, a backup lead screw, a backup lead screw nut, and an adaptive chuck. The backup motor output shaft is connected to the backup first gear, and the backup first gear meshes with the backup second gear; The backup second gear (the center is connected to one end of the backup lead screw, and the backup lead screw is fixedly connected to the housing of the satellite platform on-orbit service mechanism through the first backup lead screw support assembly and the second backup lead screw support assembly; the backup lead screw nut and the backup lead screw are connected to form a backup lead screw pair, and the backup lead screw nut is fixedly connected to the adaptive pawl.

6. A high-reliability full backup drive method for on-orbit service based on the high-reliability full backup drive mechanism according to claim 1, characterized in that... Includes the following steps: Activate the backup drive mechanism, move the adaptation claws so that the moving board is in the middle position between the upper and lower claws, and then deactivate the backup drive mechanism. Start the primary drive mechanism to drive the moving plate up and down, and drive the moving plate to move up and down within the range of the upper and lower chucks of the backup drive mechanism; When the main drive mechanism malfunctions, detach the main drive mechanism from the moving plate; The backup drive mechanism is activated to adapt the movement of the chucks up and down. When the upper chuck contacts the moving plate and moves downward, it drives the moving plate to move downward. When the lower chuck contacts the moving plate and moves upward, it drives the moving plate to move upward.

7. A high-reliability full backup drive method for on-orbit services according to claim 6, characterized in that... Includes the following steps: When the moving board needs to move upward, the backup drive mechanism is activated to drive the adapting jaws to move upward until the lower jaws contact the moving board. The backup drive mechanism is then paused, and the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the active wire nut and the backup wire nut move upward at the same speed. The primary drive mechanism and the backup drive mechanism work together to drive the moving board upward.

8. A high-reliability full backup drive method for on-orbit service according to claim 6, characterized in that... Includes the following steps: When the moving plate needs to move downward, the backup drive mechanism is activated to drive the jaws to move downward until the upper jaws contact the moving plate, at which point the backup drive mechanism is paused. Then, the primary drive mechanism and the backup drive mechanism are activated simultaneously, so that the primary and backup motherboards move downward at the same speed, and the primary drive mechanism and the backup drive mechanism jointly drive the moving board downward.

Images