Space modular truss in-orbit assembly docking mechanism

Abstract

This invention discloses a modular space truss on-orbit assembly and docking mechanism. To address the problems of large size and heavy weight in existing traditional docking mechanisms, which fail to meet the lightweight and low-impact requirements of modern on-orbit servicing docking mechanisms, this invention comprises multiple truss modules. Each truss module 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 truss shells. The active and passive end structures are mounted on the truss shells. Docking is achieved between adjacent truss modules through the active and passive end structures. This invention provides reliable docking and rigid locking between trusses, maintaining truss stability and preventing external disturbances. The docking is powered by an external robotic arm, saving weight and energy consumption, achieving lightweight and low-power docking. This invention belongs to the field of space on-orbit servicing technology.

Description

Technical Field

[0001] This invention relates to a docking mechanism, specifically a space modular truss on-orbit assembly and docking mechanism, and belongs to the field of space on-orbit service technology. Background Technology

[0002] With the rapid development of global space technology, on-orbit servicing technology has gradually become one of the important standards for measuring a country's space capabilities. Space rendezvous and docking technology plays a crucial 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, on-orbit servicing of spacecraft, and the successful implementation of manned space missions.

[0003] In the current international space development trend, as human exploration and utilization of space continues to deepen, space solar power stations, as a promising renewable energy system concept, have received widespread attention. Space solar power stations can generate electricity efficiently around the clock, supplying large amounts of clean energy to the ground, and have attracted widespread attention both domestically and internationally in recent years.

[0004] However, due to the excessive size and weight of large-scale space solar power stations, existing launch systems cannot meet their single-launch capability requirements. Therefore, researching 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-scale space structures.

[0005] However, existing traditional docking mechanisms have many shortcomings, such as large size and heavy weight, making it difficult to meet the mission requirements of lightweight and low-impact docking mechanisms in modern on-orbit servicing. This not only increases launch costs and complexity but also poses potential risks to the safety of equipment and its operation during the docking process. Therefore, developing a novel space modular truss on-orbit assembly and docking mechanism with small structural dimensions and lightweight design is of significant practical importance and has broad application prospects for meeting the development needs of current and future space missions. Summary of the Invention

[0006] To address the problems of large size and heavy weight of existing traditional docking mechanisms, which make it difficult to meet the requirements of lightweight and low-impact docking mechanisms in modern on-orbit service fields, this invention proposes a spatial modular truss on-orbit assembly and docking mechanism.

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

[0008] This invention includes multiple truss modules, each truss module comprising 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 truss shells. The active end structure and the passive end structure are mounted on the truss shells. Each adjacent two truss modules are connected via the active end structure and the passive end structure. The active end structure includes a tension spring, a locking hook, a sliding groove, a first bevel gear, a second bevel gear, two bases, a torsion spring, a lead screw, a lead screw, a bearing seat, a left connecting shaft, a right connecting shaft, and a hollow shaft. The two bases are mounted opposite each other on the truss. On the housing, the right side of the slide is rotatably connected to the base on the right side via a right connecting shaft. A torsion spring is mounted on the right connecting shaft and located between the slide and the base on the left side. The left side of the slide is connected to a hollow shaft via a left connecting shaft. The hollow shaft is rotatably connected to the base on the left side. A first bevel gear is fitted onto the hollow shaft. A second bevel gear is located at the lower end of the base and meshes with the first bevel gear. The upper end of the lead screw passes through the bearing seat and is fixedly connected to the second bevel gear. The upper end of the lead screw passes through the lead screw 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 locking hook. Both the locking hook and the tension spring are located inside the slide.

[0009] Furthermore, each base has a V-shaped groove at its upper end.

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

[0011] Furthermore, the passive end structure includes two disc springs, a trunnion, and a bracket. The bracket is mounted on the truss housing, the two disc springs are arranged opposite each other on the inner side of the bracket and are fixedly connected to the truss housing, and the trunnion is fixed between the two disc springs.

[0012] Furthermore, the support 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 the two sides 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 of the truss shell, and the passive end structure is installed on the other diagonal of the truss shell.

[0014] The beneficial effects of this invention are:

[0015] 1. This invention can provide reliable connection and rigid locking between trusses, maintaining truss stability and preventing it from being affected by external disturbances;

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

[0017] 3. The present invention uses a torsion spring design to make the slide horizontal 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. This invention achieves docking by providing power through an external robotic arm, saving the weight and energy consumption of the mechanism and realizing lightweight and low-power docking. Attached Figure Description

[0019] Figure 1 This 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 sectional view;

[0022] Figure 4 This is a schematic diagram of the structure of the present invention when the slide 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 This is a top view of the docking mechanism of the present invention;

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

[0027] Figure 9 This is a flowchart of the docking mechanism of the present invention. Detailed Implementation

[0028] like Figure 8 As shown in the diagram, the on-orbit assembly and docking mechanism for a spatial modular truss described in this embodiment includes multiple truss modules. These modules are first transported to the capture area of ​​the platform by a robotic arm. Subsequently, the truss modules are precisely captured and pulled back for locking via the active and passive end structures of the docking mechanism, thereby enabling the construction of a large space platform. The connection of the space trusses is achieved through power provided by the robotic arm, rather than relying on the docking mechanism itself. This significantly saves the weight and energy consumption of the mechanism, ensuring the efficiency, accuracy, and energy saving of the docking, laying 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. Each truss body 1 has a truss shell 2 at its upper and lower ends, and the active end structure 3 and the passive end structure 4 are installed on the truss shell 2. Each pair of 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. The two active end structures 3 are installed on one diagonal of the truss shell 2, and the passive end structures 4 are installed on the other diagonal of the truss shell. The upper and lower end faces of each truss body 1 are arranged in this manner, adopting a heterogeneous isomorphic docking mechanism design, so that there is no distinction between the front and back of the truss module. This design allows the end faces of each truss module to dock with each other, thereby reducing the complexity of the docking mechanism and docking process. At the same time, two sets of active end structures 3 and passive end structures 4 are used to ensure connection rigidity 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 locking 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 lead screw 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 mounted opposite each other on the truss housing 2. The right side of the slide groove 3-3 is rotatably connected to the right base 3-6 via 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 left base 3-6. The left side of 3-3 is connected to the hollow shaft 3-13 via 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 fitted 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 screw nut 3-8 passes through the bearing seat 3-10 and is fixedly connected to the second bevel gear 3-5. The upper end of the screw 3-9 passes through the screw 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 locking hook 3-2. Both the locking hook 3-2 and the tension spring 3-1 are 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 groove 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, which in turn drives the first bevel gear 3-4 to rotate.

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

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

[0035] Preferably, the slide groove 3-3 is a rectangular column with a T-shaped long groove at its upper end, and the locking 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, a trunnion 4-2 and a bracket 4-3. The bracket 4-3 is mounted on the truss housing 2. The two disc springs 4-1 are arranged opposite to each other on the inner side of the bracket 4-3 and are fixedly connected to the truss housing 2. The trunnion 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 springs 4-1 are in two sets, each set including a T-shaped frame, the T-shaped frame being fixedly connected to the truss shell by bolts, and the two disc springs being located on both sides of the vertical plate of the T-shaped frame. The disc springs 4-1 are used to apply preload when the active and passive ends are docked.

[0039] Preferably, the trunnion 4-2 adopts a structure in which two vertical segments are connected by a triangular plate, for use with the locking hook 3-2.

[0040] Working principle:

[0041] Work process as follows Figure 9As shown, the slide 3-3 is initially in a horizontally compressed state. When the truss is unfolded, due to the action of the torsion spring 3-7, the slide 3-3 becomes vertical. The hollow shaft 3-13 is driven to rotate in the positive direction by an external robotic arm, transmitting power to the first bevel gear 3-4. The second bevel gear 3-5 drives the screw nut 3-8 to rotate, and the screw 3-9 moves upward, causing the tension spring 3-1 and the locking hook 3-2 inside the slide 3-3 to move upward. When the locking hook 3-2 extends beyond the top of the slide 3-3, it swings under the action of the tension spring 3-1 because it is no longer constrained by the slide 3-3. When the robotic arm operates the truss horizontally... The block moves into the capture area of ​​the docking mechanism, a locking signal is issued, 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 screw nut 3-8 to rotate, the screw 3-9 moves down, due to the action of the slide 3-3, the locking hook 3-2 swings first and then moves straight, grabbing the trunnion 4-2 of the passive end structure, realizing the position and posture correction and driving the passive truss to move down. When the V-shaped column 4-3-2 of the support 4-3 touches the V-shaped groove 3-6-1 of the base 5, the screw 3-9 continues to move down a certain distance, and the preload is applied by the disc spring 4-1, and the docking is completed.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. 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 some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A spatial modular truss on-orbit assembly and docking mechanism, the docking mechanism comprising multiple truss modules, each truss module comprising a truss body (1), a truss shell (2), an active end structure (3), and a passive end structure (4), wherein the upper and lower ends of the truss body (1) are respectively provided with the truss shell (2), the active end structure (3) and the passive end structure (4) are mounted on the truss shell (2), and docking is achieved between each two adjacent truss modules through the active end structure (3) and the passive end structure (4); characterized in that: The active end structure (3) includes a tension spring (3-1), a locking 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 lead screw 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 mounted opposite each other on the truss housing (2). The right side of the slide groove (3-3) is rotatably connected to the base (3-6) on the right side via the right connecting shaft (3-12). The torsion spring (3-7) is mounted on the right connecting shaft (3-12) and located between the slide groove (3-3) and the base (3-6) on the right side. The left side of the slide groove (3-3) is connected to the base (3-6) on the right side via the left connecting shaft (3-11). 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 screw nut (3-8) passes through the bearing seat (3-10) and is fixedly connected to the second bevel gear (3-5). The upper end of the screw rod (3-9) passes through the screw 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 locking hook (3-2). The upper end of the slide groove (3-3) is provided with a T-shaped long groove, and the locking hook (3-2) and the tension spring (3-1) are both located in the T-shaped long groove. The upper end of the base (3-6) is provided with a V-shaped groove (3-6-1). The passive end structure (4) includes two disc springs (4-1), a trunnion (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 arranged opposite to each other on the inner side of the bracket (4-3) and are fixedly connected to the truss shell (2). The trunnion (4-2) is fixed between the two disc springs (4-1). 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 mounted on the two sides of the U-shaped frame (4-3-1). The slide (3-3) is initially in a horizontally compressed state. When the truss is unfolded, the torsion spring (3-7) causes the slide (3-3) to become vertical. An external robotic arm drives the hollow shaft (3-13) to rotate in the positive direction, transmitting power to the first bevel gear (3-4). The second bevel gear (3-5) drives the lead screw nut (3-8) to rotate, causing the lead screw (3-9) to move upwards. This moves the tension spring (3-1) and the locking hook (3-2) inside the slide (3-3) upwards. When the locking hook (3-2) extends beyond the top of the slide (3-3), it swings under the action of the tension spring (3-1). When the robotic arm operates the truss... The frame module moves into the capture area of ​​the docking mechanism. The robotic arm drives the hollow shaft (3-13) to rotate in the opposite direction. The first bevel gear (3-4) rotates, and the second bevel gear (3-5) drives the screw nut (3-8) to rotate. The screw (3-9) moves down. Due to the action of the slide (3-3), the locking hook (3-2) swings first and then moves straight, grabbing the trunnion (4-2) of the passive end structure and driving the passive truss to move down. After the V-shaped column (4-3-2) of the bracket (4-3) touches the V-shaped groove (3-6-1) of the base (3-6), the screw (3-9) continues to move down a certain distance, and the preload is applied by the disc spring (4-1).

2. The on-orbit assembly and docking mechanism for a spatial modular truss according to claim 1, characterized in that, The groove (3-3) is a rectangular prism.

3. The on-orbit assembly and docking mechanism for a spatial modular truss according to claim 1, characterized in that, There are two active end structures (3) and two passive end structures (4). The two active end structures (3) are installed on one diagonal of the truss shell (2), and the two passive end structures (4) are installed on the other diagonal of the truss shell (2).

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