High-rigidity-connection different-body isomorphic space docking mechanism

Abstract

The invention discloses a high-rigidity connected allomorphic spatial docking mechanism, which is divided into an active end and a passive end and adopts allomorphic design, namely docking ports of the active end and the passive end are consistent in configuration. The butt joint port comprises a guide cone, a butt joint cone, a V-shaped groove, a V-shaped block and a central boss; the guide cone and the butt-joint cone are located in the center of the mechanism; the three groups of V-shaped grooves and V-shaped blocks are uniformly distributed at intervals in a circumferential array; the central boss is used as an axial displacement positioning structure; and the overall structure of the butt joint port has relatively strong geometric symmetry. The guiding cone-butt joint cone in the center of the butt joint mechanism enables the butt joint mechanism to have good tolerance performance. The circumferential V-shaped groove-V-shaped block enables the positioning precision to be high; the geometric symmetry of the interface is beneficial to establishment of a structure analysis equation and construction of an interface performance optimization function; due to structural redundancy caused by different-body isomorphic butt joint, the connection rigidity is enhanced, and the loading capacity of the mechanism is improved.

Description

Technical Field

[0001] The invention relates to a high-rigidity connected heterogeneous isomorphic space docking mechanism, belonging to the technical field of space docking. Background Art

[0002] The space docking mechanism is used for docking and separation between spacecraft and on-orbit payloads. It is usually divided into the active and passive ends of the docking mechanism according to the functional characteristics of the interface. During the docking process, the active and passive ends of the docking mechanism complete the capture, attitude calibration and connection.

[0003] The existing space docking mechanism configurations are mainly conical rod type and heterogeneous isomorphic type. The conical rod docking mechanism widely uses conical holes to achieve guided positioning. The patent involved (A docking mechanism that is convenient for space operation, 202222759101.X) consists of a mother star conical frame and a daughter star conical frame. The conical frame uses conical holes as the guiding docking surface, and can still dock successfully under large posture deviations. However, the positioning performance of this invention is poor, and additional positioning mechanisms need to be added to achieve high-precision positioning. The locking mechanism is arranged in the center, which weakens its ability to withstand bending moments. The central arrangement of the locking mechanism makes it impossible to route in the hollow. The active and passive end docking surfaces of the heterogeneous isomorphic docking mechanism have the same configuration. The patent involved (A heterogeneous isomorphic docking mechanism with preload feedback, 202211133861.8) designs a heterogeneous isomorphic docking profile. The circumferentially distributed profiles have high positioning accuracy after docking and good posture tolerance performance. However, the bearing capacity of the invention is relatively weak and the connection stiffness is relatively low. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide a heterogeneous isomorphic spatial docking mechanism with high rigidity connection, so as to realize large tolerance capture docking, high-precision repeated positioning and high rigidity locking connection of the docking mechanism.

[0005] The technical solution of the present invention is:

[0006] The invention discloses a heterogeneous isomorphic spatial docking mechanism with high rigidity connection, comprising: an active end and a passive end; the active end and the passive end are of the same configuration; the active end is a symmetrical structure, comprising a V-shaped block, a central boss and a frustum; the frustum is a circular structure; the central boss is located at the center of the frustum; the central boss is a conical structure, and three V-shaped blocks are evenly spaced along the circumference of the central boss; the conical surfaces of the frustum and the central boss form V-shaped grooves with the side surfaces of the two V-shaped blocks; the inner surfaces of the three V-shaped blocks form a guiding cone with the end surface of the central boss; the V-shaped groove of the passive end matches the shape of the V-shaped block of the active end, and the V-shaped block of the passive end matches the shape of the V-shaped groove of the active end, so as to realize mirror-image seamless docking of the active end and the passive end.

[0007] Furthermore, in the above-mentioned docking mechanism, the V-shaped block includes a first profile, a second profile, a third profile and a fourth profile; wherein the first profile is an inclined plane, the second profile is a horizontal plane, the third profile is an inclined plane and is mirror-symmetrical to the first profile; the fourth profile is a conical surface; the cone angle of the fourth profile is the same as the cone angle of the central boss; the shape of the first profile matches the shape of the platform located between the two V-shaped blocks.

[0008] Furthermore, in the above docking mechanism, the configuration of the active end satisfies the following equation:

[0009]

[0010] Among them, d is the diameter of the central boss, h is the height of the V-block, α is the cone angle of the central boss, and β is the angle between the V-block profile and the horizontal plane.

[0011] Furthermore, in the above docking mechanism, the cross section of the active end is a circular symmetrical structure.

[0012] Furthermore, in the above-mentioned docking mechanism, there is a displacement deviation between the active end and the passive end along the OX axis direction before docking. As the active end and the passive end dock along the OZ axis direction, the displacement deviation between the active end and the passive end in the OX direction is gradually eliminated under the contact action of the guide cone and the docking cone, the V-shaped groove and the V-shaped block. After the docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, achieving successful docking with a large displacement deviation in the OX direction.

[0013] Furthermore, in the above-mentioned docking mechanism, before docking, there is a displacement deviation between the active end and the passive end along the OY axis direction. As the active and passive ends are docked along the OZ axis direction, the displacement deviation between the active and passive ends in the OY direction is gradually eliminated under the contact action of the guide cone and the docking cone, the V-groove and the V-block. After the docking is completed, the structural surfaces of the active end and the passive end are completely fitted, achieving successful docking with a large displacement deviation in the OY direction.

[0014] Furthermore, in the above-mentioned docking mechanism, when there is a relative angle deviation around the OX axis, a relative angle deviation around the OY axis, and a relative angle deviation around the OZ axis between the active end and the passive end before docking, the relative angle between the active end and the passive end is gradually eliminated under the contact action of the guide cone and the docking cone, the V-groove and the V-block. After the docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, achieving successful docking under angle deviation.

[0015] Furthermore, in the above docking mechanism, after successful docking, the active end and the passive end structural surfaces are completely fitted together.

[0016] The beneficial effects of the present invention and the prior art are:

[0017] (1) The present invention adopts a composite docking surface configuration scheme, combining the advantages of the tapered hole type and V-groove type docking mechanisms, and combines the tapered hole type docking surface and V-shaped inclined surface of the two into a composite design, thereby realizing multi-guide positioning feature surface docking, thereby improving the current single guide positioning feature surface mechanism with insufficient posture tolerance performance and low docking positioning accuracy.

[0018] (2) The docking interface configuration in the case of the present invention adopts an axisymmetric and centrally symmetrical design scheme, so that the active end and the passive end can adopt a heterogeneous isomorphic design, realizing the redundancy of the docking structure, and achieving an exponential increase in tolerance performance and docking mechanism stiffness under the same outer envelope size, solving the problems of small tolerance and low docking stiffness of the spatial docking mechanism, and greatly improving the load capacity of the mechanism.

[0019] (3) The docking interface configuration in the case of the present invention adopts a parametric design scheme. According to the symmetry and configuration characteristics of the structure, a structural analytical equation can be established, and the docking interface performance optimization function is further constructed, which solves the problems of difficult tolerance optimization design of the space docking mechanism and low iterative design efficiency.

[0020] (4) The docking interface in the present invention adopts a hollow wire threading design. The central boss of the docking mechanism can be processed into a hollow structure for hollow wire threading, thereby placing the cable inside the mechanism, which is beneficial to extending the cable life and improving the reliability of the electrical system connection.

[0021] (5) The docking interface of the present invention adopts a design scheme of three pairs of V-grooves and V-blocks evenly distributed in the circumferential direction, so that the V-grooves and V-blocks are fitted together after docking is completed, the cross-sectional moment of inertia and cross-sectional coefficient of the structure are increased, the bearing capacity of the docking interface is improved, and the problem of insufficient connection stiffness of the spatial docking mechanism is solved.

[0022] (6) The present invention adopts a composite cone rod type and V-groove type docking mechanism type docking surface configuration design to achieve a composite guide positioning feature surface docking.

[0023] (7) The present invention adopts an axially symmetrical and centrally symmetrical design, and the active end and the passive end are of heterogeneous isomorphic configuration, thereby achieving redundancy of the docking structure. Under the same outer envelope size, the tolerance performance is multiplied, and the stiffness of the docking mechanism is multiplied.

[0024] (8) The present invention adopts a design of three pairs of V-grooves and V-blocks evenly distributed in the circumferential direction. After the butt joint is completed, the V-grooves and V-blocks fit together, which increases the cross-sectional inertia moment and cross-sectional coefficient of the structure and realizes a high-rigidity connection.

[0025] (9) The docking mechanism configuration of the present invention has good geometric symmetry, and an analytical equation for the docking interface structure can be established to construct a docking interface performance optimization function, thereby realizing iterative design of docking interface configuration optimization in the early design stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the heterogeneous butt joint mechanism and configuration parameters of the present invention;

[0027] Figure 2 It is a partial view of the positional relationship between the V-shaped block and the central boss of the present invention; (a) a top view, (b) a stereoscopic view;

[0028] Figure 3 It is a top view and coordinate definition schematic diagram of the heterogeneous isomorphic docking mechanism of the present invention;

[0029] Figure 4 Schematic diagram of the OX direction displacement tolerance principle of the present invention; (a) is a schematic diagram of process 1, (b) is a schematic diagram of process 2, (c) is a schematic diagram of process 3, and (d) is a schematic diagram of process 4;

[0030] Figure 5 It is a schematic diagram of the OY direction displacement tolerance principle of the present invention; (e) is a schematic diagram of process 1, (f) is a schematic diagram of process 2, (g) is a schematic diagram of process 3, and (h) is a schematic diagram of process 4. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] The invention discloses a heterogeneous isomorphic space docking mechanism with high rigidity connection, comprising: a composite guiding and positioning docking surface, heterogeneous isomorphic active and passive end interfaces, high connection rigidity and high optimization design efficiency.

[0033] like Figure 1 As shown, the present invention provides a high-rigidity connected heterogeneous isomorphic spatial docking mechanism, in which a heterogeneous isomorphic design is adopted for the mechanism, and the active end and the passive end have the same configuration.

[0034] The invention discloses a high-rigidity connected heterogeneous isomorphic spatial docking mechanism, comprising: an active end 7 and a passive end 8; the active end 7 and the passive end 8 are of the same configuration; the active end 7 is a symmetrical structure, comprising a V-shaped block 4, a central boss 5 and a round table 22; the round table 22 is a circular structure; the central boss 5 is located at the center of the round table 22; the central boss 5 is a conical structure, and three V-shaped blocks 4 are evenly spaced along the circumference of the central boss 5; the conical surfaces of the round table 22 and the central boss 5 form a V-shaped groove 3 with the side surfaces of the two V-shaped blocks 4; the inner surfaces of the three V-shaped blocks 4 and the end surface of the central boss 5 form a guiding cone 1; the V-shaped groove 3 of the passive end matches the shape of the V-shaped block 4 of the active end, and the V-shaped block 4 of the passive end matches the shape of the V-shaped groove 3 of the active end, so as to realize the mirror-image seamless docking of the active end 7 and the passive end 8.

[0035] Preferably, the V-shaped block 4 includes a first profile 41, a second profile 42, a third profile 43 and a fourth profile 44; wherein the first profile 41 is an inclined plane, the second profile 42 is a horizontal plane, the third profile 43 is an inclined plane and is mirror-symmetrical to the first profile 41; the fourth profile 44 is a conical surface; the cone angle of the fourth profile 44 is the same as the cone angle of the central boss 5; the shape of the first profile 41 matches the shape of the platform 22 located between the two V-shaped blocks 4.

[0036] Preferably, the configuration of the active end 7 satisfies the following equation:

[0037]

[0038] Wherein, d is the diameter of the central boss 5, h is the height of the V-shaped block 4, α is the cone angle of the central boss 5, and β is the angle between the V-shaped block profile 41 and the horizontal plane.

[0039] Preferably, the cross section of the active end 7 is a circular symmetrical structure.

[0040] Preferably, before docking, there is a displacement deviation between the active end 7 and the passive end 8 along the OX axis direction. As the active end and the passive end are docked along the OZ axis direction, the displacement deviation between the active end and the passive end in the OX direction is gradually eliminated under the contact action of the guide cone 1 and the docking cone 2, the V-shaped groove 3 and the V-shaped block 4. After the docking is completed, the structural surfaces of the active and passive ends are completely fitted together, achieving successful docking with a large displacement deviation in the OX direction.

[0041] Preferably, before docking, there is a displacement deviation between the active end 7 and the passive end 8 along the OY axis direction. As the active and passive ends are docked along the OZ axis direction, the displacement deviation between the active and passive ends in the OY direction is gradually eliminated under the contact action of the guide cone 1 and the docking cone 2, the V-shaped groove 3 and the V-shaped block 4. After the docking is completed, the structural surfaces of the active end and the passive end are completely fitted, achieving successful docking with a large displacement deviation in the OY direction.

[0042] Preferably, when there is a relative angle deviation around the OX axis, a relative angle deviation around the OY axis, and a relative angle deviation around the OZ axis between the active end 7 and the passive end 8 before docking, the relative angle between the active end and the passive end is gradually eliminated under the contact action of the guide cone 1 and the docking cone 2, the V-shaped groove 3 and the V-shaped block 4. After the docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, achieving successful docking under angle deviation.

[0043] Preferably, after successful docking, the active end 7 and the passive end 8 are completely in contact with each other.

[0044] The guide cone 1 and the docking cone 2 are symmetrical about the central boss 5, and the V-groove 3 and the V-block 4 are symmetrical about the center of the interface main axis 6. The resulting docking interface has a strong symmetry, and the docking interface can be designed to be heterogeneous and isomorphic, and the active and passive ends of the docking can be flexibly interchanged.

[0045] like Figure 1 As shown, the present invention has large posture tolerance, high repeatability positioning accuracy and high rigidity connection performance. The docking interface is composed of a central tapered hole-conical docking surface and a circumferential V-groove-V-block docking surface. The tapered hole-conical docking surface achieves large tolerance docking, and the V-groove-V-block docking surface achieves high repeatability positioning accuracy and connection rigidity. The present invention is a heterogeneous isomorphic design, and the docking interface has good symmetry. The active end and the passive end can be flexibly connected to each other.

[0046] like Figure 3 As shown, the present invention establishes a graphical coordinate system for the interface, and can establish a tolerance optimization model based on its geometric symmetry, and optimize the configuration parameters according to the tolerance performance requirements of the actual task.

[0047] like Figure 1 and Figure 2 As shown, the present invention has a total of 5 configuration parameters. The coordinate system shown in the figure is established, and the configuration parameters of the docking interface are composed of the outer envelope diameter D, the boss diameter d, the height h, the cone angle α, and the V-block inclination angle β. The structural equation of the docking surface can be constructed according to its geometric symmetry, and the docking interface performance optimization function can be further established based on the equation to perform parameter optimization design of the docking interface configuration.

[0048] like Figure 4 and Figure 5 As shown, the docking interface of the present invention has good displacement tolerance. When there is a displacement deviation along the OX or OY direction between the active end 7 and the passive end 8 during the docking process, under the contact guidance of the guide cone 1, the docking cone 2, the V-shaped groove 3, and the V-shaped block 4, as the docking proceeds, the relative displacement deviation between the active and passive end docking interfaces is gradually eliminated until it is reduced to zero, achieving successful docking under large posture deviation, and high-precision positioning is achieved by the contact between the active and passive end docking surfaces.

[0049] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

[0050] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A high-rigidity connected heterogeneous homogeneous spatial docking mechanism, characterized in that: include: The invention relates to an active end (7) and a passive end (8); the active end (7) and the passive end (8) have the same configuration; the active end (7) is a symmetrical structure, comprising a V-shaped block (4), a central boss (5) and a truncated cone (22); the truncated cone (22) is a circular structure; the central boss (5) is located at the center of the truncated cone (22); the central boss (5) is a conical structure, and three V-shaped blocks (4) are evenly spaced along the circumference of the central boss (5); the conical surfaces of the truncated cone (22) and the central boss (5) form a V-shaped groove (3) with the side surfaces of the two V-shaped blocks (4); the inner surfaces of the three V-shaped blocks (4) and the end surface of the central boss (5) form a guiding cone (1); the V-shaped groove (3) of the passive end matches the shape of the V-shaped block (4) of the active end, and the V-shaped block (4) of the passive end matches the shape of the V-shaped groove (3) of the active end, so as to realize the mirror-image seamless docking of the active end (7) and the passive end (8).

2. According to the high-rigidity connection heterogeneous homogeneous spatial docking mechanism of claim 1, it is characterized by: The V-shaped block (4) comprises a first profile (41), a second profile (42), a third profile (43) and a fourth profile (44); wherein the first profile (41) is an inclined plane, the second profile (42) is a horizontal plane, the third profile (43) is an inclined plane and is mirror-symmetrical to the first profile (41); the fourth profile (44) is a conical surface; the cone angle of the fourth profile (44) is the same as the cone angle of the central boss (5); and the shape of the first profile (41) matches the shape of the platform (22) located between the two V-shaped blocks (4).

3. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: The configuration of the active end (7) satisfies the following equation: Wherein, d is the diameter of the central boss (5), h is the height of the V-shaped block (4), α is the cone angle of the central boss (5), and β is the angle between the V-shaped block profile (41) and the horizontal plane.

4. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: The cross section of the active end (7) is a circular symmetrical structure.

5. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: Before docking, there is a displacement deviation between the active end (7) and the passive end (8) along the OX axis direction. As the active end and the passive end are docked along the OZ axis direction, the displacement deviation between the active end and the passive end in the OX direction is gradually eliminated under the contact action of the guide cone (1) and the docking cone (2), the V-shaped groove (3) and the V-shaped block (4). After docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, and successful docking is achieved under large displacement deviation in the OX direction.

6. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: Before docking, there is a displacement deviation between the active end (7) and the passive end (8) along the OY axis direction. As the active and passive ends are docked along the OZ axis direction, the displacement deviation between the active and passive ends in the OY direction is gradually eliminated under the contact action of the guide cone (1) and the docking cone (2), the V-shaped groove (3) and the V-shaped block (4). After docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, achieving successful docking with a large displacement deviation in the OY direction.

7. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: When there is a relative angle deviation around the OX axis, a relative angle deviation around the OY axis, and a relative angle deviation around the OZ axis between the active end (7) and the passive end (8) before docking, the relative angle between the active end and the passive end is gradually eliminated under the contact action of the guide cone (1) and the docking cone (2), the V-shaped groove (3) and the V-shaped block (4). After docking is completed, the structural surfaces of the active end and the passive end are completely fitted together, and successful docking is achieved under angle deviation.

8. The high-rigidity connection heterogeneous homogeneous spatial docking mechanism according to claim 1, characterized in that: After successful docking, the active end (7) and the passive end (8) are completely fitted together.

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