On-orbit floating plugging butt-joint locking mechanism

Abstract

The invention relates to an on-orbit floating plugging butt-joint locking mechanism. The device is composed of a locking driving assembly, a valve body flexible tolerance module, an electric connector tolerance assembly, a floating assembly and a driven end assembly. The locking driving assembly is used for realizing capturing and locking actions; the valve body flexible tolerance module and the electric connector tolerance assembly are mainly used for self-adaptive flexible plugging in the butt joint process. The floating assembly completes the plugging action of the electric connector and the valve body; the passive end assembly is composed of a valve body, an electric connector, an installation bottom plate and the like, is installed on a target spacecraft and is matched with the active end to complete work tasks. According to the invention, transmission of different fuel fluids in a plurality of sealed channels can be realized at the same time.

Description

Technical Field

[0001] The invention relates to an on-track floating plug-in and docking locking mechanism, belonging to the technical field of on-track filling. Background Art

[0002] At present, the actuators related to on-orbit flexible pipeline refueling have not been applied to satellites and other types of high-precision spacecraft. The technology at home and abroad is still in the experimental and research and development stage. With the rapid development of aerospace technology, users have higher and higher requirements for the life and orbit change of satellites, which also increases the demand for propellant. Therefore, the model mission requirements for on-orbit refueling are proposed. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to propose an on-orbit floating plug-in docking locking mechanism, which adopts four sets of independently supported valve bodies and establishes multiple sealing channels at the same time, which is suitable for different fuel fluid transmission schemes. The main technical contents include: the device is composed of a motor, a locking drive component, a valve body, a valve body compliance tolerance module, an electrical connector tolerance component, a floating component, a passive end component, a guide rail, etc. The pipeline in the active end is connected to the inside of the service spacecraft. When working, the claw captures and locks the passive end of the target spacecraft, and the motor drives the screw assembly to press the active end valve body into the passive end docking valve body to complete the radial seal, and then fill the working fluid. It can well meet the needs of the work task.

[0004] The technical solution adopted by the present invention is:

[0005] An on-orbit floating plug-in and docking locking mechanism comprises: a passive end component, a locking drive component and a floating component;

[0006] The passive end assembly is installed on the target spacecraft;

[0007] The floating assembly is installed on the service spacecraft, the locking drive assembly is fixedly installed on the floating assembly, and the locking drive assembly is controlled by the driving force output by the floating assembly to lock or release the passive end assembly;

[0008] The floating assembly is provided with a sealing channel and an electrical connection channel for filling the target spacecraft and achieving electrical connection.

[0009] Preferably, the passive end assembly comprises: an electrical connector, a valve body and a mounting base plate;

[0010] The electric connector and the valve body are fixedly mounted on a mounting base plate, and the mounting base plate is fixed on a target spacecraft;

[0011] The electric connector is connected to the circuit in the target spacecraft; a plurality of valve bodies are evenly distributed and installed on the bottom plate and connected to the tank pipeline in the target spacecraft.

[0012] Preferably, the floating assembly comprises: a worm drive motor, a floating base, a guide rail assembly, a lead screw assembly, an ultrasonic motor, an outer shell and a worm;

[0013] The floating base is provided with a plurality of sealing channels and electrical connection channels; the sealing channels are connected to the tank pipelines of the service spacecraft; the electrical connection channels are connected to the power supply lines in the service spacecraft;

[0014] The slide rail of the guide rail assembly is fixedly connected to the floating base, and the slider in the guide rail assembly is installed to the outer shell;

[0015] The slider of the screw assembly is fixedly connected to the floating base, and the base of the screw assembly is mounted to the outer shell;

[0016] The ultrasonic motor is fixedly connected to the lead screw assembly, and the ultrasonic motor is used to drive the lead screw assembly so that a relative reciprocating motion is formed between the floating base and the outer shell;

[0017] The worm drive motor is fixedly connected to the outer shell, and the worm drive motor drives the worm to move, and controls the locking drive component to lock or release the passive end component.

[0018] Preferably, it also includes: a valve body compliance tolerance module;

[0019] The valve body compliance tolerance module is mounted to the floating base;

[0020] The valve body compliance tolerance module is used for adaptive and flexible plugging and unplugging of the valve body during the docking process between the valve body and the tank pipeline of the service spacecraft.

[0021] Preferably, it also includes: an electrical connector tolerance component;

[0022] An electrical connector tolerance assembly is mounted to the floating base;

[0023] The electrical connector tolerance component is used for adaptive and smooth plugging and unplugging of the electrical connector during the docking process between the electrical connector and the power supply line of the service spacecraft.

[0024] Preferably, the locking drive assembly comprises: a bevel gear, a custom screw, a claw, a nut, a locking mechanism base plate, a pin, a turbine and a screw seat;

[0025] The locking mechanism bottom plate is fixedly connected to the outer shell;

[0026] A plurality of screw seats are fixedly mounted on the inner side of the bottom plate of the locking mechanism;

[0027] A plurality of customized lead screws are respectively installed on the inner side of the bottom plate of the locking mechanism through lead screw seats, and two adjacent customized lead screws are rotated synchronously through bevel gears; the bevel gears are installed on the inner side of the bottom plate of the locking mechanism;

[0028] The turbine is connected to any one of the multiple customized lead screws; the turbine receives the transmission force output by the worm, thereby driving the multiple customized lead screws to rotate synchronously around the axis;

[0029] A plurality of claws are respectively hinged to the screw seat through pins; the claws extend upward from the inner side of the bottom plate of the locking mechanism;

[0030] Multiple nuts are installed on the custom screw, and the position and number of nuts correspond to the claws;

[0031] The outer wall of the nut contacts the claws; when the customized lead screw rotates, the nut moves axially with the customized lead screw. During the movement of the nut, the outer wall of the nut squeezes the claws, so that multiple claws rotate synchronously to lock or loosen the mounting base plate.

[0032] Preferably, it also includes: a micro switch;

[0033] The micro switch is connected to the bottom plate of the locking mechanism;

[0034] After the micro switch touches the mounting base, the worm drive motor stops working.

[0035] The advantages of the present invention compared with the prior art are:

[0036] (1) The present invention can simultaneously realize adaptive correction of the valve body and the electrical connector, as well as large-tolerance passive compliance.

[0037] (2) The present invention can achieve high thrust and rapid insertion of the valve body, make up for the insufficient insertion and extraction force of the robot arm, reduce the difficulty of on-track operation, and solve two forms of jamming problems with simple structural parts and components.

[0038] (3) The present invention can simultaneously establish a sealing channel and an electrical connection channel, and has high versatility and reliability.

[0039] (4) The present invention can realize multiple functions of capturing, correcting, locking and valve body plugging and unplugging on the same mechanism.

[0040] (5) The present invention can accurately correct the position of the passive end, ensure the subsequent docking and plugging work, and realize on-orbit insertion detection and hard limit protection. There is no docking accuracy requirement for both the service satellite and the target satellite, and it has high reliability.

[0041] (6) The product of the present invention has good processability and can reduce processing and procurement costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the whole structure of the present invention;

[0043] Figure 2 It is a schematic diagram of the passive end component of the present invention;

[0044] Figure 3 It is a schematic diagram of the locking drive assembly of the present invention;

[0045] FIG4( a ) is a schematic diagram of a valve body compliance tolerance module of the present invention;

[0046] FIG4( b ) is a cross-sectional view of the valve body compliance tolerance module of the present invention;

[0047] FIG5( a ) is a schematic diagram of an electrical connector tolerance assembly of the present invention;

[0048] FIG5( b ) is a cross-sectional view of the tolerance assembly of the electrical connector of the present invention;

[0049] FIG6( a ) is a schematic diagram of a floating assembly of the present invention;

[0050] FIG. 6( b ) is a schematic diagram of a floating assembly of the present invention.

[0051] In the figure, the passive end component 1, the locking drive component 2, the valve body compliance tolerance module 3, the electrical connector tolerance component 4, and the floating component 5;

[0052] Electrical connector 11, valve body 12, mounting base plate 13;

[0053] Screw seat 28, bevel gear 20, custom screw 21, claw 22, nut 23, micro switch 24, locking mechanism base plate 25, pin 26, turbine 27;

[0054] A worm drive motor 50 , a floating base 51 , a guide rail assembly 52 , a lead screw assembly 53 , an ultrasonic motor 54 , an outer shell 55 , and a worm 56 . DETAILED DESCRIPTION

[0055] During on-orbit refueling, during the docking process, the robotic arm grabs the target satellite where the passive end is located and sends it to the position above the predetermined docking locking mechanism. First, one of the motors is started to drive the passive end of the locking drive assembly 2 and complete the locking. Then, another motor is started to drive the valve body 12 and the electrical connector 11 to insert into the passive end. During operation, the claws capture and lock the passive end of the target spacecraft, and the motor drives the lead screw assembly to press the active end valve body into the passive end docking valve body to complete the radial seal and start filling the working fluid. After the filling work is completed, the motor drives the valve body 12 and the electrical connector 11 to separate from the passive end, and then the motor drives the locking drive assembly 2 to release the lock with the passive end.

[0056] like Figure 1 As shown, an on-rail floating plug-in and docking locking mechanism of the present invention comprises: a passive end component 1, a locking drive component 2, a valve body compliance tolerance module 3, an electric connector tolerance component 4 and a floating component 5.

[0057] The passive end assembly 1 is installed on the target spacecraft;

[0058] The floating assembly 5 is installed on the service spacecraft, and the locking drive assembly 2 is fixedly installed on the floating assembly 5. The locking drive assembly 2 is controlled by the driving force output by the floating assembly 5 to lock or release the passive end assembly 1; the locking drive assembly 2 is driven by the worm drive motor 50 to realize the capture and locking action;

[0059] The floating assembly 5 is provided with a plurality of sealed channels for respectively filling the target spacecraft.

[0060] The locking drive assembly 2 and the floating assembly 5 complete the work task;

[0061] The floating assembly 5 is guided by the guide rail assembly 52 to make the floating base 51 complete linear reciprocating motion, thereby completing the plugging and unplugging action of the electrical connector 11 and the valve body 12;

[0062] The valve body compliance tolerance module 3 and the electrical connector tolerance assembly 4 are mainly used for adaptive compliance plugging and unplugging during the docking process.

[0063] The passive end component 1 is fixedly installed on the target spacecraft and cooperates with the active end to complete the work task.

[0064] The passive end assembly 1 comprises: an electrical connector 11, a valve body 12 and a mounting base plate 13;

[0065] The electrical connector 11 and the valve body 12 are fixedly mounted on the mounting base plate 13 by screws, and the mounting base plate 13 is fixed on the target spacecraft by screws;

[0066] The electrical connector 11 is installed at the center of the mounting base plate 13 and is connected to the circuit in the target spacecraft by wire welding; the mounting positions of multiple valve bodies 12 are evenly distributed on the base plate 13 and are connected to the tank pipeline in the target spacecraft by pipeline threading.

[0067] As shown in FIG. 6 (a) (b), the floating assembly 5 includes: a worm drive motor 50, a floating base 51, a guide rail assembly 52, a lead screw assembly 53, an ultrasonic motor 54, an outer shell 55 and a worm 56;

[0068] The floating base 51 is provided with a plurality of sealing channels and electrical connection channels; the sealing channels are connected to the tank pipelines of the service spacecraft; the electrical connection channels are connected to the power supply lines in the service spacecraft;

[0069] The slide rail of the guide rail assembly 52 is fixedly connected to the floating base 51 by screws, and the slider in the guide rail assembly 52 is installed to the outer shell 55 by screws, playing a guiding role when the floating base 51 moves;

[0070] The slider of the screw assembly 53 is fixedly connected to the floating base 51 by screws, and the base of the screw assembly 53 is installed to the outer shell 55 by screws;

[0071] The ultrasonic motor 54 is fixedly connected to the base of the lead screw assembly 53; the ultrasonic motor 54 is used to drive the lead screw assembly 53, so that the floating base 51 and the outer shell 55 form a relative reciprocating motion, and complete the plugging and unplugging action of the electrical connector 11 and the valve body 12 connected to the floating base 51;

[0072] The worm drive motor 50 is fixedly connected to the outer shell 55 , and the worm drive motor 50 drives the worm 56 to move, thereby controlling the locking drive assembly 2 to lock or release the passive end assembly 1 .

[0073] The valve body compliance tolerance module 3 is mounted to the floating base 51 by screws;

[0074] The valve body compliance tolerance module 3 is used for adaptive compliance plugging and unplugging during the docking process between the valve body 12 and the tank pipeline in the service spacecraft, as shown in Figure 4 (a) (b).

[0075] The electrical connector tolerance assembly 4 is mounted to the floating base 51 by screws;

[0076] The electrical connector tolerance component 4 is used for adaptive and compliant plugging and unplugging during the docking process between the electrical connector 11 and the power supply line in the service spacecraft, as shown in Figure 5 (a) (b).

[0077] The locking drive assembly 2 includes: a bevel gear 20, a custom screw 21, a claw 22, a nut 23, a micro switch 24, a locking mechanism base plate 25, a pin 26, a turbine 27 and a screw seat 28;

[0078] The locking mechanism bottom plate 25 is fixedly connected to the outer shell 55;

[0079] A plurality of screw seats 28 are fixedly mounted on the inner side of the locking mechanism bottom plate 25;

[0080] A plurality of customized lead screws 21 are respectively installed on the inner side of the locking mechanism bottom plate 25 through the lead screw seats 28, and two adjacent customized lead screws 21 are rotated synchronously through the bevel gears 20; the bevel gears 20 are installed on the inner side of the locking mechanism bottom plate 25;

[0081] The turbine 27 is connected to any one of the multiple customized lead screws 21; the turbine 27 receives the transmission force output by the worm 56, thereby driving the multiple customized lead screws 21 to rotate synchronously around the axis;

[0082] A plurality of claws 22 are respectively hinged to the screw seat 28 through pins 26; the claws 22 extend upward from the inner side of the locking mechanism bottom plate 25;

[0083] A plurality of nuts 23 are mounted on the custom screw 21 , and the position and number of the nuts 23 correspond to the claws 22 ;

[0084] The outer wall of the nut 23 contacts the claw 22; when the customized screw 21 rotates, the nut 23 moves axially with the customized screw 21. During the movement of the nut 23, the outer wall of the nut 23 squeezes the claw 22, so that multiple claws 22 rotate synchronously within a limited range, thereby locking or loosening the mounting base plate 13.

[0085] The micro switch 24 is connected to the locking mechanism base plate 25 by screws;

[0086] After the micro switch 24 touches the mounting base plate 13 , the worm drive motor 50 stops working.

[0087] During operation, the worm drive motor 50 in the floating component 5 drives the turbine 27 to rotate a customized lead screw 21, and the other three customized lead screws 21 are synchronously rotated through the bevel gear 20. The lead screw rotation drives the nut 23 to move left and right, which can make the claw 22 move around the axis, thereby realizing the capture and locking action of the mounting base plate 13 in the passive end component 1. When the mounting base plate 13 reaches the predetermined position, the mounting base plate 13 touches the micro switch 24, and the worm drive motor 50 in the floating component 5 receives the signal, and the worm drive motor 50 stops working.

[0088] The valve body compliance tolerance module 3 and the electrical connector tolerance assembly 4 elastically constrain the valve body 12 through multiple springs in their own structures, ensuring that the valve body 12 can move radially after being subjected to force, reducing the requirements for docking accuracy, avoiding the electrical connector 11 and the valve body 12 from getting stuck during the plugging and unplugging process, and ensuring that the docking task can still be completed even if there is a slight deviation in the docking.

[0089] like Figure 2 As shown, the passive end assembly 1 is installed on the target spacecraft.

[0090] like Figure 3 As shown, the locking drive component 2 is used to capture the passive end. After the robotic arm captures the target satellite where the passive end component 1 is located and sends it to the predetermined position, the robotic arm switches to the teaching mode. The worm drive motor 50 drives the turbine 27 to rotate a customized lead screw 21, and the remaining three customized lead screws 21 are synchronously rotated through the bevel gear 20. The lead screw drive nut 23 moves left and right, which can make the claw 22 move around the axis to achieve the capture and locking action. When locked to the predetermined position, it touches the micro switch 24, and the worm drive motor 50 stops working.

[0091] After the above steps are completed, the ultrasonic motor 54 in the floating assembly 5 drives the screw assembly 53 to insert the electrical connector 11 and the valve body 12 into the passive end assembly 1 through the guide rail 22. After the electrical connector 11 and the valve body 12 are fully inserted, the working fluid is injected. After the injection is completed, the ultrasonic motor 54 rotates in the reverse direction to drive the screw assembly 53 to pull the electrical connector 11 and the valve body 12 out of the passive end assembly 1. After the injection is completed, the ultrasonic motor 54 stops working. At this time, the worm drive motor 50 rotates in the reverse direction to open the claw 22 and release the passive end assembly 1. After the robotic arm delivers the target satellite where the passive end assembly (1) is located to the predetermined position, the target satellite is released.

[0092] The motors, bearings, etc. used in the present invention are all mature products, which reduces the long-term verification process; the structure simplifies the work process, reduces complex parts and complex working modes, and can achieve low failure rate and high reliability.

[0093] Although the present invention has been disclosed as above with 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 solution of the present invention by using the above disclosed methods and technical contents without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall belong to the protection scope of the technical solution of the present invention. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0094] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An on-track floating plug-in and docking locking mechanism, It is characterized in that include: Passive end assembly (1), locking drive assembly (2) and floating assembly (5); The passive end assembly (1) is installed on the target spacecraft; The floating assembly (5) is installed on the service spacecraft, the locking drive assembly (2) is fixedly installed on the floating assembly (5), and the locking drive assembly (2) is controlled by the driving force output by the floating assembly (5) to lock or release the passive end assembly (1); The floating assembly (5) is provided with a sealing channel and an electrical connection channel for filling the target spacecraft and realizing electrical connection.

2. According to claim 1, an on-rail floating plug-in and docking locking mechanism, It is characterized in that The passive end assembly (1) comprises: an electrical connector (11), a valve body (12) and a mounting base plate (13); The electric connector (11) and the valve body (12) are fixedly mounted on a mounting base plate (13), and the mounting base plate (13) is fixed on a target spacecraft; The electric connector (11) is connected to a circuit in the target spacecraft; a plurality of valve bodies (12) are evenly distributed and installed on a base plate (13) and are connected to tank pipelines in the target spacecraft.

3. The on-rail floating plug-in and plug-in locking mechanism according to claim 2, It is characterized in that The floating assembly (5) comprises: a worm drive motor (50), a floating base (51), a guide rail assembly (52), a lead screw assembly (53), an ultrasonic motor (54), an outer shell (55) and a worm (56); A plurality of sealing channels and electrical connection channels are arranged on the floating base (51); the sealing channels are connected to the tank pipelines of the service spacecraft; the electrical connection channels are connected to the power supply lines in the service spacecraft; The slide rail of the guide rail assembly (52) is fixedly connected to the floating base (51), and the slider in the guide rail assembly (52) is installed on the outer shell (55); The slider of the screw assembly (53) is fixedly connected to the floating base (51), and the base of the screw assembly (53) is mounted to the outer shell (55); The ultrasonic motor (54) is fixedly connected to the screw assembly (53), and the ultrasonic motor (54) is used to drive the screw assembly (53), so that a relative reciprocating motion is formed between the floating base (51) and the outer shell (55); The worm drive motor (50) is fixedly connected to the outer shell (55), and the worm drive motor (50) drives the worm (56) to move, thereby controlling the locking drive component (2) to lock or release the passive end component (1).

4. The on-rail floating plug-in and docking locking mechanism according to claim 3, It is characterized in that Also includes: Valve body compliance tolerance module (3); The valve body compliance tolerance module (3) is mounted to the floating base (51); The valve body compliance tolerance module (3) is used for adaptive compliance plugging and unplugging of the valve body (12) during docking with the tank pipeline of the service spacecraft.

5. The on-rail floating plug-in and plug-in locking mechanism according to claim 4, It is characterized in that Also includes: Electrical connector tolerance component (4); The electrical connector tolerance assembly (4) is mounted to the floating base (51); The electric connector tolerance component (4) is used for adaptive and smooth plugging and unplugging of the electric connector (11) during the docking process with the power supply line of the service spacecraft.

6. An on-rail floating plug-in and docking locking mechanism according to any one of claims 3 to 5, It is characterized in that The locking drive assembly (2) comprises: a bevel gear (20), a custom screw (21), a claw (22), a nut (23), a locking mechanism base plate (25), a pin (26), a turbine (27) and a screw seat (28); The locking mechanism bottom plate (25) is fixedly connected to the outer shell (55); A plurality of screw seats (28) are fixedly mounted on the inner side of the locking mechanism bottom plate (25); A plurality of customized lead screws (21) are respectively installed on the inner side of the locking mechanism bottom plate (25) through lead screw seats (28), and two adjacent customized lead screws (21) are synchronously rotated through bevel gears (20); the bevel gears (20) are installed on the inner side of the locking mechanism bottom plate (25); The turbine (27) is connected to any one of the plurality of customized lead screws (21); the turbine (27) receives the transmission force output by the worm (56), thereby driving the plurality of customized lead screws (21) to rotate synchronously around the axis; A plurality of claws (22) are respectively hinged to the screw seat (28) through pins (26); the claws (22) extend upward from the inner side of the locking mechanism bottom plate (25); A plurality of nuts (23) are mounted on the custom screw (21), and the position and number of the nuts (23) correspond to the claws (22); The outer wall of the nut (23) contacts the claw (22); when the customized lead screw (21) rotates, the nut (23) moves axially with the customized lead screw (21), and during the movement of the nut (23), the outer wall of the nut (23) squeezes the claw (22), so that the multiple claws (22) rotate synchronously, thereby locking or loosening the mounting base plate (13).

7. The on-rail floating plug-in and plug-in locking mechanism according to claim 6, It is characterized in that Also includes: Micro switch (24); The micro switch (24) is connected to the locking mechanism bottom plate (25); After the micro switch (24) touches the mounting base plate (13), the worm drive motor (50) stops working.

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