Space modular truss on-orbit assembling and docking mechanism

Abstract

The invention relates to a space modular truss on-orbit assembly docking mechanism, and aims to solve the problems that an existing traditional docking mechanism is large in size, heavy in mass and the like, and the task requirements of light weight and low impact of a docking mechanism in the modern on-orbit service field are difficult to meet. Each truss module comprises a truss body, shells, a driving end structure and a driven end structure, the truss shells are arranged at the upper end and the lower end of the truss body respectively, the driving end structures and the driven end structures are installed on the truss shells, and every two adjacent truss modules are in butt joint through the driving end structures and the driven end structures. Reliable butt joint and rigid locking between trusses can be provided, the trusses are kept stable and not affected by external disturbance, butt joint is achieved through power provided by an external mechanical arm, the weight and energy consumption of the mechanism are reduced, and light-weight and low-power-consumption butt joint is achieved. The invention belongs to the technical field of space on-orbit service.

Description

Technical Field

[0001] The invention relates to a docking mechanism, in particular to an on-orbit assembly docking mechanism for a space modular truss. The invention belongs to the technical field of space on-orbit services. Background Art

[0002] With the rapid development of global aerospace technology, space on-orbit service technology has gradually become one of the important criteria for measuring a country's aerospace capabilities. Space rendezvous and docking technology plays a vital role in this field. The maturity of this technology provides a solid technical guarantee for the normal operation of my country's space station, the assembly of large high-orbit satellite platforms, spacecraft on-orbit services and the smooth implementation of manned space missions.

[0003] Under the current development trend of international aerospace, as human beings continue to explore and use space, space solar power stations have attracted widespread attention as a promising renewable energy system concept. Space solar power stations can generate electricity efficiently around the clock and deliver a large amount of clean energy to the ground, and have received widespread attention at home and abroad in recent years.

[0004] However, due to the large size and heavy weight of large space solar power stations, the existing launch system cannot meet the requirements of single launch. Therefore, research on docking mechanisms suitable for modular on-orbit assembly of space trusses has become an inevitable choice for achieving low-cost and high-efficiency construction of large space structures.

[0005] However, the existing traditional docking mechanism has many shortcomings, such as large size and heavy weight, which makes it difficult to meet the lightweight and low-impact mission requirements of docking mechanisms in the modern on-orbit service field. This not only increases the launch cost and complexity, but also may pose potential risks to the equipment and its operational safety during the docking process. Therefore, the development of a new type of space modular truss on-orbit assembly docking mechanism with small structural size and light weight has important practical significance and broad application prospects for meeting the development needs of current and future space missions. Summary of the invention

[0006] The present invention aims to solve the problems of large size and heavy weight of the existing traditional docking mechanism, which is difficult to meet the task requirements of lightweight and low impact of docking mechanisms in the modern on-orbit service field, and thus proposes an on-orbit assembly docking mechanism for a spatial modular truss.

[0007] The technical solution adopted by the present invention to solve the above problems is:

[0008] The present invention includes a plurality of truss modules, each of which includes a truss body, a shell, an active end structure and a passive end structure. The upper and lower ends of the truss body are respectively provided with a truss shell, the active end structure and the passive end structure are installed on the truss shell, and each two adjacent truss modules are connected through the active end structure and the passive end structure; the active end structure includes a tension spring, a lock hook, a slide groove, a first bevel gear, a second bevel gear, two bases, a torsion spring, a nut, a lead screw, a bearing seat, a left connecting shaft, a right connecting shaft and a hollow shaft, and the two bases are relatively arranged and installed on the truss On the shell, the right side of the slide slot is rotatably connected to the base on the right side through the right connecting shaft, and the torsion spring is installed on the right connecting shaft and is located between the slide slot and the base on the left side; the left side of the slide slot is connected to the hollow shaft through the left connecting shaft, and the hollow shaft is rotatably connected to the base on the left side, the first bevel gear is mounted on the hollow shaft, the second bevel gear is located at the lower end of the base and meshes with the first bevel gear, the upper end of the nut passes through the bearing seat in turn and is fixedly connected to the second bevel gear, the upper end of the lead screw passes through the nut and is connected to the lower end of the tension spring; the upper end of the tension spring is connected to the lower end of the lock hook, and the lock hook and the tension spring are both located in the slide slot.

[0009] Furthermore, a V-shaped groove is provided at the upper end of each base.

[0010] Furthermore, the slide groove is a rectangular column, and a T-shaped long groove is provided at the upper end thereof, and the lock hook and the tension spring are both located in the T-shaped long groove.

[0011] Furthermore, the passive end structure includes two disc springs, an ear shaft and a bracket, the bracket is installed on the truss shell, the two disc springs are relatively arranged on the inner side of the bracket and fixedly connected to the truss shell, and the ear shaft is fixed between the two disc springs.

[0012] Furthermore, the bracket includes a U-shaped frame and two V-shaped columns. The U-shaped frame is fixedly connected to the truss shell, and the two V-shaped columns are respectively installed on two side frames of the U-shaped frame.

[0013] Furthermore, there are two active end structures and two passive end structures, the two active end structures are installed on one diagonal line of the truss shell, and the passive end structure is installed on the other diagonal line of the truss shell.

[0014] The beneficial effects of the present invention are:

[0015] 1. The present invention can provide reliable docking and rigid locking between trusses, keeping the trusses stable and unaffected by external disturbances;

[0016] 2. The present invention adopts a heterogeneous butt joint mechanism, which makes the mechanism highly compatible, increases the flexibility and adaptability of the system, makes the system lighter, and reduces the launch cost;

[0017] 3. The present invention uses a torsion spring design to place the slide groove horizontally during launch, making full use of the radial space, reducing the axial space occupied by the docking mechanism during launch, improving space utilization, and saving manufacturing and transportation costs;

[0018] 4. The present invention realizes docking by providing power through an external mechanical arm, which saves the weight and energy consumption of the mechanism and realizes lightweight and low-power docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the active end structure of the docking mechanism of the present invention;

[0020] Figure 2 yes Figure 1 axonometric drawing;

[0021] Figure 3 yes Figure 1 A partial cross-sectional view of

[0022] Figure 4 It is a schematic diagram of the structure of the chute of the present invention when it is placed horizontally;

[0023] Figure 5 This is a structural diagram of the passive end of the docking mechanism of the present invention;

[0024] Figure 6 yes Figure 5 axonometric drawing;

[0025] Figure 7 is a top view of the docking mechanism of the present invention;

[0026] Figure 8 is an assembly diagram of a truss module of the present invention;

[0027] Fig. 9 It is a work flow chart of the docking mechanism of the present invention. DETAILED DESCRIPTION

[0028] like Figure 8 As shown, the on-orbit assembly docking mechanism of a space modular truss described in this embodiment includes a plurality of truss modules, which are first transported by a robotic arm to the capture area of ​​the platform. Subsequently, the truss modules are accurately captured and pulled back and locked by the active end structure and passive end structure of the docking mechanism, thereby realizing the construction of a large space platform. The connection of the space truss is achieved by providing power through the robotic arm, rather than relying on the docking mechanism itself, which greatly saves the weight and energy consumption of the mechanism, ensures the efficiency, accuracy and energy saving of the docking, and lays a solid foundation for subsequent space missions.

[0029] Each truss module includes a truss body 1, a shell 2, an active end structure 3 and a passive end structure 4. The upper and lower ends of each truss body 1 are respectively provided with a truss shell 2, and the active end structure 3 and the passive end structure 4 are installed on the truss shell 2. Every two adjacent truss modules are connected through the active end structure 3 and the passive end structure 4.

[0030] like Figure 7 As shown, there are two active end structures 3 and two passive end structures 4, respectively. The two active end structures 3 are installed on a diagonal line of the truss shell 2, and the passive end structure 4 is installed on the other diagonal line of the truss shell. The upper and lower end faces of each truss body 1 are arranged in this way, and a heterogeneous butt joint mechanism design is adopted, so that the truss module has no front and back sides. This design allows the end faces of each truss module to be docked with each other, thereby reducing the complexity of the docking mechanism and the docking process. At the same time, two groups of active end structures 3 and passive end structures 4 are used to ensure the connection stiffness and make the locking force distribution more uniform, thereby improving the stability and reliability of the system.

[0031] like Figures 1 to 4 As shown, the active end structure 3 includes a tension spring 3-1, a lock hook 3-2, a slide 3-3, a first bevel gear 3-4, a second bevel gear 3-5, two bases 3-6, a torsion spring 3-7, a nut 3-8, a lead screw 3-9, a bearing seat 3-10, a left connecting shaft 3-11, a right connecting shaft 3-12 and a hollow shaft 3-13. The two bases 3-6 are relatively arranged and installed on the truss shell 2. The right side of the slide 3-3 is rotatably connected to the base 3-6 on the right side through the right connecting shaft 3-12. The torsion spring 3-7 is installed on the right connecting shaft 3-11 and is located between the slide 3-3 and the base 3-6 on the left side; the slide The left side of 3-3 is connected to the hollow shaft 3-13 through the left connecting shaft 3-12, and the hollow shaft 3-13 is rotatably connected to the base 3-6 located on the left side. The first bevel gear 3-4 is mounted on the hollow shaft 3-13, and the second bevel gear 3-5 is located at the lower end of the base 3-6 and meshes with the first bevel gear 3-4. The upper end of the nut 3-8 passes through the bearing seat 3-10 in turn and is fixedly connected to the second bevel gear 3-5. The upper end of the lead screw 3-9 passes through the nut 3-8 and is connected to the lower end of the tension spring 3-1; the upper end of the tension spring 3-1 is connected to the lower end of the lock hook 3-2, and the lock hook 3-2 and the tension spring 3-1 are both located in the slide groove 3-3.

[0032] One end of the left connecting shaft 3-11 is fixedly connected to the side wall of the slide slot 3-3, and the other end is inserted into the hollow shaft 3-13. The hollow shaft 3-13 is driven to rotate by an external mechanical arm, thereby driving the first bevel gear 3-4 to rotate.

[0033] The lock hook 3-2 is initially located inside the slide slot 3-3, at which time the tension spring 3-1 is under stress. When capture is required, the lead screw 3-9 moves upward, and the lock hook 3-2 extends out of the slide slot 3-3. When it reaches the top, due to the loss of the restriction of the slide slot 3-3, the lock hook 3-2 swings under the action of the tension spring 3-1 and hooks the ear shaft 4-2 of the passive end structure, thereby realizing the connection between the active and passive truss modules.

[0034] Preferably, a V-shaped groove 3-6-1 is provided at the upper end of each base 3-6 for docking with the V-shaped column 4-3-2 of the passive end structure.

[0035] Preferably, the slide groove 3-3 is a rectangular column, and a T-shaped long groove is provided at its upper end, and the lock hook 3-2 and the tension spring 3-1 are both located in the T-shaped long groove.

[0036] like Figure 5-6 As shown, the passive end structure 4 includes two disc springs 4-1, an ear shaft 4-2 and a bracket 4-3. The bracket 4-3 is installed on the truss shell 2. The two disc springs 4-1 are relatively arranged on the inner side of the bracket 4-3 and are fixedly connected to the truss shell 2. The ear shaft 4-2 is fixed between the two disc springs 4-1.

[0037] Preferably, the bracket 4-3 includes a U-shaped frame 4-3-1 and two V-shaped columns 4-3-2. The U-shaped frame 4-3-1 is fixedly connected to the truss shell 2, and the two V-shaped columns 4-3-2 are respectively installed on the two side frames of the U-shaped frame 4-3-1.

[0038] Preferably, the disc spring 4-1 is in two groups, each group of disc spring 4-1 includes a T-shaped frame, the T-shaped frame is fixedly connected to the truss shell by bolts, and the two disc springs are respectively located on both sides of the vertical plate of the T-shaped frame. The disc spring 4-1 is used to load the preload force when the active end and the passive end are docked.

[0039] Preferably, the ear shaft 4-2 adopts a structure in which two vertical sections are connected by a triangular plate body, which is used to cooperate with the locking hook 3-2.

[0040] Working principle:

[0041] Workflow such as Fig. 9As shown, the slide slot 3-3 is in a horizontal compression state in the initial state. When the truss is unfolded, due to the action of the torsion spring 3-7, the slide slot 3-3 is in a vertical state, and the hollow shaft 3-13 is driven by the external mechanical arm to rotate in the positive direction, and the power is transmitted to the first bevel gear 3-4, and the second bevel gear 3-5 drives the nut 3-8 to rotate, and the screw 3-9 moves up, and the tension spring 3-1 and the lock hook 3-2 in the slide slot 3-3 are moved upward. When the lock hook 3-2 extends out of the top of the slide slot 3-3, due to the loss of the restriction of the slide slot 3-3, the lock hook 3-2 swings under the action of the tension spring 3-1; when the mechanical arm operates the truss horizontally The block moves to the capture area of ​​the docking mechanism, and the locking signal is sent out. The robotic arm drives the hollow shaft 3-13 to rotate in the opposite direction, the first bevel gear 3-4 rotates, the second bevel gear 3-5 drives the nut 3-8 to rotate, and the screw 3-9 moves downward. Due to the action of the slide groove 3-3, the lock hook 3-2 first swings and then moves straight, grabs the ear shaft 4-2 of the passive end structure, realizes the correction of the posture and drives the passive truss to move downward. When the V-shaped column 4-3-2 of the bracket 4-3 touches the V-shaped groove 3-6-1 of the base 5, the screw 3-9 continues to move downward for a certain distance, and the preload is realized by the disc spring 4-1, and the docking is completed.

[0042] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A spatial modular truss on-track assembly and docking mechanism, characterized in that: The docking mechanism comprises a plurality of truss modules, each truss module comprising a truss body (1), a shell (2), an active end structure (3) and a passive end structure (4); the upper end and the lower end of the truss body (1) are respectively provided with a truss shell (2); the active end structure (3) and the passive end structure (4) are mounted on the truss shell (2); and each two adjacent truss modules are docked via the active end structure (3) and the passive end structure (4); The active end structure (3) comprises a tension spring (3-1), a lock hook (3-2), a slide groove (3-3), a first bevel gear (3-4), a second bevel gear (3-5), two bases (3-6), a torsion spring (3-7), a nut (3-8), a lead screw (3-9), a bearing seat (3-10), a left connecting shaft (3-11), a right connecting shaft (3-12) and a hollow shaft (3-13); the two bases (3-6) are arranged opposite to each other and mounted on the truss shell (2); the right side of the slide groove (3-3) is rotatably connected to the base (3-6) located on the right side through the right connecting shaft (3-12); the torsion spring (3-7) is mounted on the right connecting shaft (3-11) and is located between the slide groove (3-3) and the base (3-6) on the left side; The left side of the groove (3-3) is connected to the hollow shaft (3-13) through the left connecting shaft (3-12), the hollow shaft (3-13) is rotatably connected to the base (3-6) located on the left side, the first bevel gear (3-4) is sleeved on the hollow shaft (3-13), the second bevel gear (3-5) is located at the lower end of the base (3-6) and meshes with the first bevel gear (3-4), the upper end of the nut (3-8) passes through the bearing seat (3-10) in sequence and is fixedly connected to the second bevel gear (3-5), the upper end of the lead screw (3-9) passes through the nut (3-8) and is connected to the lower end of the tension spring (3-1); the upper end of the tension spring (3-1) is connected to the lower end of the lock hook (3-2), and the lock hook (3-2) and the tension spring (3-1) are both located in the slide groove (3-3).

2. The on-track assembly and docking mechanism for spatial modular trusses according to claim 1, characterized in that: The upper end of each base (3-6) is provided with a V-shaped groove (3-6-1).

3. The on-track assembly and docking mechanism for spatial modular trusses according to claim 1, characterized in that: The slide groove (3-3) is a rectangular column, and a T-shaped long groove is provided at the upper end thereof. The lock hook (3-2) and the tension spring (3-1) are both located in the T-shaped long groove.

4. The on-track assembly and docking mechanism for spatial modular trusses according to claim 1, characterized in that: The passive end structure (4) comprises two disc springs (4-1), an ear shaft (4-2) and a bracket (4-3); the bracket (4-3) is mounted on the truss shell (2); the two disc springs (4-1) are relatively arranged on the inner side of the bracket (4-3) and are fixedly connected to the truss shell (2); and the ear shaft (4-2) is fixed between the two disc springs (4-1).

5. The on-track assembly and docking mechanism for spatial modular trusses according to claim 4, characterized in that: The bracket (4-3) comprises a U-shaped frame (4-3-1) and two V-shaped columns (4-3-2); the U-shaped frame (4-3-1) is fixedly connected to the truss shell (2); and the two V-shaped columns (4-3-2) are respectively mounted on two side frames of the U-shaped frame (4-3-1).

6. The on-track assembly and docking mechanism for spatial modular trusses according to claim 1, characterized in that: There are two active end structures (3) and two passive end structures (4), respectively. The two active end structures (3) are installed on one diagonal line of the truss shell (2), and the passive end structure (4) is installed on another diagonal line of the truss shell (2).

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