Large-tolerance docking capturing device for capturing on-orbit load

Abstract

The invention discloses a large-tolerance docking capturing device for capturing an on-orbit load, and belongs to the technical field of on-orbit service of spacecrafts. The existing in-orbit load docking capture process has the problems of complex docking operation, low docking efficiency, large required docking space and the like. The device comprises a capturing and locking mechanism and a positioning mechanism, the positioning mechanism comprises an active positioning module and a passive positioning module, the active positioning module is provided with a first positioning molded surface, the passive positioning module is provided with a second positioning molded surface, and the active positioning module is installed on the butt joint end face of the capturing and locking mechanism. The passive positioning module is installed on the butt joint end face of the on-orbit target, and in the process that the capturing and locking mechanism captures and pulls the on-orbit target to move towards the capturing and locking mechanism side, the second positioning molded surface on the passive positioning module makes contact with the first positioning molded surface on the active positioning module and is obliquely supported. The passive positioning module drives the on-orbit target to rotate in the circumferential direction so as to achieve positioning of the on-orbit target and the capturing and locking mechanism. The method is used for capturing the space on-orbit load.

Description

Technical Field

[0001] The present invention belongs to the technical field of on-orbit service of spacecraft, and in particular relates to a large-tolerance docking capture device for on-orbit payload capture. Background Art

[0002] The replacement of on-orbit payloads generally involves steps such as capturing and placing the old and new payloads. The existing on-orbit payload capture device is generally completed through the end effector of the space robot arm. The operation process includes docking, capturing and locking steps in sequence. The docking step is before the capture step, which increases the complexity of the docking step. In particular, when the end effector needs to provide electrical and information connection functions after docking with the target payload and capturing, it requires precise docking, which further increases the difficulty of the docking step. In addition, on-orbit payloads are generally in a non-fixed state. During the docking process with the on-orbit payload, the end effector will move toward the on-orbit payload side and generate thrust on the on-orbit payload, causing the on-orbit payload to move outward during the docking process with the end effector. This method of docking while moving will not only increase the docking time and reduce the docking efficiency, but also require a certain amount of docking space. Summary of the invention

[0003] In view of this, the present invention provides a large tolerance docking capture device for on-orbit payload capture, which can increase the tolerance rate of the docking and locking process between the on-orbit target and the capture and locking mechanism and reduce the space required for docking and locking.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A large tolerance docking capture device for on-orbit payload capture comprises a capture locking mechanism for capturing an on-orbit target; and also comprises a positioning mechanism for positioning the on-orbit target and the capture locking mechanism, wherein the positioning mechanism comprises an active positioning module and a passive positioning module, wherein the active positioning module is provided with a first positioning profile, and the passive positioning module is provided with a second positioning profile matched with the first positioning profile, wherein both the first positioning profile and the second positioning profile are concave-convex surfaces, the active positioning module is mounted on the docking end face of the capture locking mechanism, and the passive positioning module is mounted on the docking end face of the on-orbit target, and when the capture locking mechanism captures and pulls the on-orbit target to move toward the capture locking mechanism side, the second positioning profile on the passive positioning module contacts the first positioning profile on the active positioning module and is obliquely supported, and the passive positioning module drives the on-orbit target to rotate circumferentially to realize the positioning of the on-orbit target and the capture locking mechanism.

[0006] On the basis of Technical Solution 1, the capture and locking mechanism includes a mounting base, a clamp and a clamp driving assembly. The mounting base is provided with an upper cover and a top cover opening. The passive positioning module is installed outside the upper cover of the mounting base. The clamp driving assembly is installed inside the mounting base. One end of the clamp passes through the top cover opening and is inserted into the mounting base, and the other end is outside the mounting base. The clamp driving assembly can drive the clamp to move outward and open to envelop the on-track target. The clamp driving assembly can drive the clamp to close and retract to lock and pull the on-track target toward the side of the mounting base.

[0007] On the basis of technical solution 2, the clamp driving assembly includes a driving motor, a central lead screw, a nut seat, a finger mounting platform, a finger connecting rod, a rotating pin shaft, an elastic connecting piece, a linear guide rod and a limit pin; the central lead screw is axially installed in the mounting base and can rotate, the linear guide rod is installed parallel to one side of the central lead screw, the finger mounting platform is sleeved outside the central lead screw and the linear guide rod and can move along the axis direction of the mounting base, the nut seat is screwed to the central lead screw and sleeved outside the linear guide rod; the nut seat is located above the finger mounting platform and connected to the finger mounting platform via at least two elastic connecting pieces, and the driving motor can drive the central lead screw to rotate; the clamp is provided with at least two capturing fingers, one end of the capturing finger in the mounting base is installed on the finger mounting platform via a rotating pin shaft, and the end of the capturing finger in the mounting base is connected to the nut seat via a finger connecting rod; there are at least two limit pins, each of which is installed on the side wall of the mounting base and extends radially, and each limit pin is located above the finger mounting platform to limit the movement of the finger mounting platform.

[0008] Based on Technical Solution 3, the capture and locking mechanism also includes a power-off brake. The drive motor adopts a frameless torque motor. The center screw passes through the rotor of the drive motor and is connected to the power-off brake to lock the on-orbit target after the capture and locking mechanism docks with the on-orbit target.

[0009] On the basis of Technical Solution 3, the elastic connecting part includes a tension spring, a locking nut and a hollow stud. There are two locking nuts and two hollow studs. Each end of the tension spring corresponds to a locking nut and a hollow stud. At least two first threaded holes are opened in a circumferential direction on the nut seat, and at least two second threaded holes are opened in a circumferential direction on the finger mounting platform. The first threaded holes and the second threaded holes correspond to the tension springs one by one. The end of the tension spring is installed on the finger mounting platform or the nut seat through the cooperation of the locking nut and the hollow stud.

[0010] Based on Technical Solution 3, one end of the capture finger arranged inside the mounting base is L-shaped, the rotating pin is connected to the inflection point of the end of the capture finger, and the end of the capture finger arranged outside the mounting base is hook-shaped to form an envelope capture space with other capture fingers.

[0011] On the basis of technical solution 3, the active positioning module includes three first positioning blocks, which are evenly arranged in the circumferential direction, and a finger receiving groove and a first positioning convex surface are formed between two adjacent first positioning blocks. Each first positioning block is provided with a first positioning concave surface, and the first positioning convex surface and the first positioning concave surface form a continuous concave-convex surface to form a first positioning profile of the active positioning module. The finger receiving groove corresponds to the top cover opening of the mounting base one by one and is used to receive the captured finger; the passive positioning module includes three second positioning blocks, which are evenly arranged in the circumferential direction, and a second positioning convex surface is formed between two adjacent second positioning blocks. Each second positioning block is provided with a finger clamping groove and a second positioning concave surface, and the second positioning convex surface and the second positioning concave surface form a continuous concave-convex surface to form a second positioning profile of the passive positioning module. The finger clamping groove on the passive positioning module corresponds to the finger receiving groove on the active positioning module one by one, and the inner diameter of the finger clamping groove in the width direction is greater than the width of the captured finger, so that when the captured finger captures the on-track target, it can be inserted into the finger clamping groove on the passive positioning module to achieve large tolerance capture of the on-track target.

[0012] On the basis of Technical Solution 1, it also includes an electrical connector for capturing and locking the mechanism and electrically connecting it to the on-orbit target, and the electrical connector includes an active electrical connector and a passive electrical connector that cooperate with each other; the active electrical connector is installed on the active positioning module, and the passive electrical connector is installed on the passive positioning module. After the active positioning module and the passive positioning module are positioned, the active electrical connector and the passive electrical connector are electrically connected.

[0013] On the basis of technical solution 8, the active electrical connector and the passive electrical connector are both composed of a spring contact pin female seat and a spring contact pin male seat.

[0014] On the basis of Technical Solution 1, it also includes a micro camera module for observing the position and posture of the on-orbit target interface, and the micro camera module is installed on the active positioning module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The operation process of capturing the on-orbit target of the present invention is divided into two stages, the first stage is capturing, and the second stage is preliminary locking and positioning. In the capturing stage, the on-orbit target is captured by the capturing locking mechanism to lock the position of the on-orbit target so that it will not move outward, thus avoiding the problem of the on-orbit target docking and capturing while moving outward, and also achieving the purpose of on-orbit capture in a small space. In the locking and positioning stage, the capturing locking mechanism generates a driving force for the on-orbit target to move toward the side of the space robot arm, and at the same time, precise positioning is achieved under the cooperation of the first positioning profile of the active positioning module and the second positioning profile of the passive positioning module. In this way, the on-orbit target does not need to adjust the relative position of the on-orbit target and the capturing locking mechanism before being captured, as long as the first positioning profile of the active positioning module and the second positioning profile of the passive positioning module are in contact, which reduces the complexity of the docking operation before capturing and realizes large tolerance docking and capturing. The positioning of the on-orbit target and the capturing locking mechanism using two mutually cooperating positioning profiles is a purely mechanical positioning method, which also reduces the complexity of the precise positioning process.

[0017] 2. The capture finger of the present invention is arranged at one end outside the mounting base and is hook-shaped, so that when the capture finger transitions from an open state to a closed state, an envelope capture space can be quickly formed, thereby reliably capturing the on-orbit target.

[0018] 3. The present invention utilizes a power-off brake to complete the final locking of the on-orbit target. The setting of the power-off brake can realize the locking operation of the capture locking mechanism with low power consumption, thereby preventing the on-orbit target from accidentally detaching.

[0019] 4. The present invention designs electrical / information interfaces at the end faces of the active positioning module and the passive positioning module, integrates load capture and electrical / information connection operations into modular form, and improves the reliability of space applications. At the same time, the electrical connector uses a female and male socket with spring contact pins to save valuable circuit board space, reduce assembly height, withstand multiple mating operations, and resist mechanical shock and vibration. It can be customized according to different circuit board configurations, and installation can achieve precise positioning to ensure stable and reliable connection.

[0020] 5. The micro camera module of the present invention adopts an optical image stabilization camera module, which can observe the position and posture of the on-orbit target interface in real time, and determine whether to capture the on-orbit target payload by judging whether the position and posture of the interface between itself and the on-orbit target meet the capture tolerance range. The optical image stabilization camera module can reduce the vibration of the shooting picture when the manipulator moves in the operating space to a certain extent, which is conducive to improving the imaging quality and reducing the misjudgment of the position and posture of the modular interface of the target payload. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of a large-tolerance docking capture device for on-orbit payload capture according to the present invention.

[0023] Figure 2 Schematic diagram of the structure after the mounting base is removed for the capture locking mechanism.

[0024] Figure 3 It is a structural schematic diagram of the connection between the nut seat and the finger mounting platform via an elastic connector.

[0025] Figure 4 Schematic diagram of the structure connecting the on-orbit target and the passive docking module.

[0026] Figure 5 Schematic diagram of the state of the on-orbit target in the envelope capture space of the gripper.

[0027] Figure 6 Schematic diagram of the gripper capturing an on-orbit target.

[0028] Figure 7 This is a schematic diagram of the state of the on-orbit target after being locked.

[0029] Description of reference numerals:

[0030] A-capture locking mechanism, B-positioning mechanism, C-electrical connector, D-micro camera module;

[0031] 1-mounting base, 11-upper cover, 12-top cover opening, 2-gripper, 21-capture finger, 3-gripper drive assembly, 31-drive motor, 32-center lead screw, 33-nut seat, 331-first threaded hole, 34-finger mounting platform, 341-second threaded hole, 35-finger connecting rod, 36-rotation pin, 37-elastic connector, 371-tension spring, 372-locking nut, 373-hollow stud, 38-linear guide rod, 39-limit pin, 4-power-off brake, 5-active positioning module, 51-first positioning convex surface, 52-first positioning block, 53-finger receiving groove, 54-first positioning concave surface, 6-passive positioning module, 61-second positioning block, 62-second positioning convex surface, 63-finger clamping groove, 64-second positioning concave surface, 7-active electrical connector, 8-passive electrical connector, 9-on-orbit target. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with specific embodiments.

[0033] Figure 1 A schematic diagram of the structure of a large tolerance docking capture device for on-orbit payload capture is shown. Figure 1As shown, a large tolerance docking capture device for on-orbit payload capture in this embodiment includes a capture locking mechanism A for capturing an on-orbit target 9. The capture locking mechanism A can adopt a clamping structure or a magnetic structure, etc., as long as it can capture the on-orbit target 9. After the capture locking mechanism A captures the on-orbit target 9, it pulls the on-orbit target 9 toward the space robot arm to initially lock the on-orbit target 9 to prevent the on-orbit target 9 from moving away from the space robot arm, increasing the difficulty of positioning. At the same time, the capture locking mechanism A applies a certain pulling force to the on-orbit target 9 during the process of pulling the on-orbit target 9 to prepare for subsequent positioning. Figure 1 As shown, this embodiment also includes a positioning mechanism B for positioning the on-orbit target 9 and the capture and locking mechanism A, and the positioning mechanism B includes an active positioning module 5 and a passive positioning module 6. The active positioning module 5 is provided with a first positioning profile, and the passive positioning module 6 is provided with a second positioning profile that matches the first positioning profile. Both the first positioning profile and the second positioning profile are concave and convex surfaces. The active positioning module 5 is installed on the docking end surface of the capture and locking mechanism A, and the passive positioning module 6 is installed on the docking end surface of the on-orbit target 9 ( Figure 4As shown), the precise positioning of the on-orbit target 9 and the capture and locking mechanism A is achieved through the first positioning profile of the active positioning module 5 and the second positioning profile of the passive positioning module 6. Specifically, the space robot arm is connected to the capture and locking mechanism A and drives the capture and locking mechanism A to move toward the on-orbit target 9. After the capture and locking mechanism A captures the on-orbit target 9, it pulls the on-orbit target 9 to move toward the space robot arm. When the second positioning profile on the passive positioning module 6 contacts the first positioning profile on the active positioning module 5, since the first positioning profile and the second positioning profile are in the form of concave and convex surfaces, the first positioning profile supports the second positioning profile obliquely upward, and the capture and locking mechanism A will not move outward. Therefore, when the on-orbit target 9 is subjected to the downward pulling force of the capture and locking mechanism A, the pulling force is decomposed into a driving force in the circumferential direction and an axial driving force. The passive positioning module 6 rotates circumferentially while moving toward the capture and locking mechanism A, thereby adjusting the circumferential angle of the on-orbit target 9 and achieving precise positioning of the on-orbit target 9 and the capture and locking mechanism A. It can be seen that the operation process of capturing the on-orbit target 9 in this embodiment is divided into two stages, the first stage is capturing, and the second stage is preliminary locking and positioning. In the capturing stage, the on-orbit target 9 is captured by the capturing locking mechanism A to lock the position of the on-orbit target 9 to keep it still, thus avoiding the problem of the on-orbit target 9 moving outward while docking and capturing, and also achieving the purpose of capturing in a small space. In the locking and positioning stage, the capturing locking mechanism A generates a driving force for the on-orbit target 9 to move toward the side of the space manipulator, and at the same time, precise positioning is achieved under the cooperation of the first positioning profile of the active positioning module 5 and the second positioning profile of the passive positioning module 6. In this way, the on-orbit target 9 does not need to adjust the relative position of the on-orbit target 9 and the capturing locking mechanism A before being captured. It is sufficient to ensure that the first positioning profile of the active positioning module 5 and the second positioning profile of the passive positioning module 6 are in contact, which reduces the complexity of the docking operation before capturing and realizes large tolerance docking and capturing. The positioning of the on-orbit target 9 and the capturing locking mechanism A using two mutually cooperating positioning profiles is a purely mechanical positioning method, which also reduces the complexity of the precise positioning process.

[0034] Figure 2 , Figure 5 , Figure 6 and Figure 7 The specific structural diagram of the capture and locking mechanism A is shown in FIG. Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the capture and locking mechanism A of this embodiment includes a mounting base 1, a clamping jaw 2 and a clamping jaw driving assembly 3. The mounting base 1 is provided with an upper cover 11 and an upper cover opening 12. The active positioning module 5 is installed outside the upper cover 11 of the mounting base 1. The clamping jaw driving assembly 3 is installed inside the mounting base 1. One end of the clamping jaw 2 passes through the upper cover opening 12 and is inserted into the mounting base 1, and the other end is outside the mounting base 1. The clamping jaw driving assembly 3 can drive the clamping jaw 2 to move outward and open to envelop the on-track target 9. After the clamping jaw 2 envelops the on-track target 9, the clamping jaw driving assembly 3 can drive the clamping jaw 2 to close and retract to lock and pull the on-track target 9 to move toward the mounting base 1. Figure 2As shown, the jaw drive assembly 3 of this embodiment includes a drive motor 31, a center screw 32, a nut seat 33, a finger mounting platform 34, a finger connecting rod 35, a rotating pin 36, an elastic connecting piece 37, a linear guide rod 38 and a limit pin 39; the center screw 32 is axially mounted in the mounting base 1 through two pairs of angular contact ball bearings and can rotate, and three linear guide rods 38 are provided, and the three linear guide rods 38 are evenly arranged around the center screw 32 and fixedly connected to the top cover 11, and each linear guide rod 38 is arranged parallel to the center screw 32. The finger mounting platform 34 is sleeved outside the central lead screw 32 and the linear guide rod 38 and can move along the axis of the mounting base 1, wherein the linear guide rod 38 plays a positioning role for the finger mounting platform 34 to prevent the gripper 2 from rotating due to the circumferential force when capturing the on-track target 9. The nut seat 33 is screwed to the central lead screw 32 and sleeved outside the linear guide rod 38. When the central lead screw 32 rotates, the nut seat 33 can be driven to move along the axis of the mounting base 1. The nut seat 33 is above the finger mounting platform 34 and is connected to the finger mounting platform 34 via three elastic connectors 37, so that when the nut seat 33 moves axially, the finger mounting platform 34 and the gripper 2 can be driven to move upward together. The driving motor 31 can drive the central lead screw 32 to rotate; the gripper 2 is provided with three capture Finger 21, three capture fingers 21 are evenly arranged circumferentially, one end of the capture finger 21 arranged in the mounting base 1 is L-shaped, and is installed on the finger mounting platform 34 via a rotating pin 36, wherein the rotating pin 36 is connected to the inflection point of the end of the capture finger 21 to serve as a fulcrum of the lever, and the end of the capture finger 21 in the mounting base 1 is connected to the nut seat 33 via a finger connecting rod 35, that is, one end of the finger connecting rod 35 is rotatably connected to the lower surface of the nut seat 33, and the other end is rotatably connected to the end of the capture finger 21; the end of the capture finger 21 arranged outside the mounting base 1 is hook-shaped. With such a design, the capture finger 21 can quickly form an envelope capture space when transitioning from an open state to a closed state, thereby reliably capturing the on-orbit target 9. There are three limit pins 39, which are evenly installed on the side wall of the mounting base 1 in the circumferential direction and are located above the finger mounting platform 34. Each limit pin 39 extends along the radial direction of the mounting base 1 and limits the movement of the finger mounting platform 34. The present embodiment adopts the form of the clamping jaw 2 to form a larger envelope space, which is convenient for the rapid capture of the on-orbit target 9. The present embodiment uses a screw nut pair to convert the rotational motion of the drive motor 31 into the linear movement of the finger mounting platform 34, thereby realizing the outward movement and retraction of the capture finger 21, and at the same time, the opening and closing of the clamping jaw 2 are realized under the action of the elastic connector 37, the finger connecting rod 35 and the limit pin 39.Specifically, in the initial position, the bottom end surface of the nut seat 33 contacts the upper end surface of the finger mounting platform 34, and the elastic connecting piece 37 is in a stretched pre-tightened state. When the driving motor 31 drives the central screw 32 to rotate, the nut seat 33 drives the finger mounting platform 34 to move upward along the axis of the mounting base 1 via the elastic connecting piece 37. Under the pre-tightening force of the elastic connecting piece 37, the distance between the nut seat 33 and the finger mounting platform 34 remains unchanged, and the three capturing fingers 21 are only driven by the upward movement of the finger mounting platform 34. The finger 21 moves up together with the finger mounting platform 34. When the finger mounting platform 34 abuts against the limit pin 39, the finger mounting platform 34 and the captured finger 21 cannot move up and remain stationary. The nut seat 33 continues to move up driven by the center screw 32. At this time, the distance between the nut seat 33 and the finger mounting platform 34 gradually increases, and the elastic connecting piece 37 is stretched. At the same time, the nut seat 33 generates a pulling force on the end of the captured finger 21 through the finger connecting rod 35. The captured finger 21 rotates around the rotating pin 36, and the three captured fingers 21 open outward to form an envelope space. When the driving motor 31 drives the central lead screw 32 to rotate in the opposite direction, the nut seat 33 moves downward along the axis of the mounting base 1. Since the elastic connector 37 has been stretched, the finger mounting platform 34 remains in place under the elastic force of the elastic connector 37 and the action of the limit pin 39. At this time, the distance between the nut seat 33 and the finger mounting platform 34 gradually decreases, and the nut seat 33 generates a thrust on the end of the capture finger 21 through the finger connecting rod 35. The capture finger 21 rotates around the rotating pin 36 again, and the three capture fingers 21 gradually close and envelop the on-track target 9, thereby achieving the capture of the on-track target 9. When the bottom end surface of the nut seat 33 contacts the finger mounting platform 34 again, it means that the three capture fingers 21 have completely envelop the on-track target 9. The nut seat 33 continues to move downward along the axis of the mounting base 1 under the drive of the driving motor 31, and drives the finger mounting platform 34 to move downward together. The finger mounting platform 34 drives the on-track target 9 to move toward the mounting base 1 side through the three capture fingers 21, thereby achieving the locking of the on-track target 9. It can be seen that the driving of the capture finger 21 by the gripper drive assembly 3 in this embodiment is achieved under the synergistic action of the screw nut pair, the finger mounting platform 34, the elastic connector 37, the limit pin 39 and the connection method between the capture finger 21 and the finger mounting platform 34, wherein the opening and closing of the capture finger 21 utilizes the lever principle, and before the on-orbit target 9 is captured, the capture finger 21 can be driven outward and opened in advance. When the space robot arm drives the capture locking mechanism A to move to the on-orbit target 9 and envelops the on-orbit target 9, the center screw 32 only drives the nut seat 33 to move down a short distance to achieve the closing of the capture finger 21, thereby achieving rapid capture of the on-orbit target 9.When the center lead screw 32 drives the nut seat 33 to continue to move downward, it can achieve the initial locking of the on-orbit target 9, and at the same time provide driving force for the docking of the on-orbit target 9 with the capture locking mechanism A, thereby achieving the circumferential rotation of the on-orbit target 9 to adjust the angle.

[0035] Figure 3 The specific structural diagram of the elastic connecting member 37 is shown in FIG. Figure 3 As shown, the elastic connecting member 37 of the present embodiment includes a tension spring 371, a locking nut 372 and a hollow stud 373. Two locking nuts 372 and two hollow studs 373 are provided. Each end of the tension spring 371 corresponds to a locking nut 372 and a hollow stud 373. Three first threaded holes 331 are opened in the circumferential direction on the nut seat 33, and three second threaded holes 341 are opened in the circumferential direction on the finger mounting platform 34. The first threaded holes 331 and the second threaded holes 341 correspond to the tension spring 371 one by one. The end of the tension spring 371 is installed on the finger mounting platform 34 or the nut seat 33 through the cooperation of the locking nut 372 and the hollow stud 373. Specifically, the hollow stud 373 is provided with a first upper threaded section and a first lower threaded section. The first upper threaded section of the hollow stud 373 is threadedly connected to the threaded hole of the nut seat 33 or the finger mounting platform 34. The first lower threaded section of the hollow stud 373 is a spring spiral groove. The end of the tension spring 371 is wound around the first lower threaded section of the hollow stud 373. The inner ring wall of the locking nut 372 is provided with a second upper threaded section and a second lower threaded section. The second lower threaded section of the locking nut 372 is a spiral groove. The locking nut 372 is sleeved on the hollow stud 373 and relies on the second upper threaded section to cooperate with the first upper threaded section of the hollow stud 373 to achieve a threaded connection. The second lower threaded section of the locking nut 372 locks the end of the tension spring 371 to the first lower threaded section of the hollow stud 373, thereby realizing a fixed connection between the tension spring 371 and the finger mounting platform 34 or the nut seat 33. It should also be noted that the elastic connector 37 is sleeved on the linear guide rod 38 to save installation space for the nut seat 33 and the finger mounting platform 34 and reduce the sizes of the two.

[0036] The on-orbit load is always moving in space. Even after being captured by the capture and locking mechanism A, it still has a certain amount of inertia. Although the screw-nut pair has high transmission efficiency, it does not have self-locking ability. This means that after the on-orbit target 9 is captured and initially locked, the drive motor 31 needs to be powered on and kept locked on the on-orbit target 9, which consumes energy. If the capture and locking mechanism A loses power or encounters an emergency, it cannot be guaranteed that the capture and locking mechanism A is always in a locked state, which can easily lead to the accidental detachment of the on-orbit target 9. This embodiment uses the power-off brake 4 to achieve the final locking of the on-orbit target 9. Specifically, Figure 2As shown, the capture and locking mechanism A also includes a power-off brake 4, the drive motor 31 adopts a frameless torque motor, the center lead screw 32 passes through the rotor of the drive motor 31 and is connected to the power-off brake 4. After the docking of the on-orbit target 9 is completed, the drive motor 31 increases the output torque to block the on-orbit target 9 for a short time, the power-off brake 4 is powered off and locks the position of the center lead screw 32 to keep it from rotating, the drive motor 31 is powered off, and the ultimate locking of the on-orbit target 9 is completed. The setting of the power-off brake 4 can realize the locking operation of the capture and locking mechanism A with low power consumption, and avoid the on-orbit target 9 from accidentally detaching. In addition, since the overall space of the capture and locking mechanism A is limited and the capture and locking mechanism A requires a higher transmission efficiency, the drive motor 31 adopts a frameless torque motor. In addition, the frameless torque motor itself has a simple and compact structure, which is easy to integrate into the capture and locking mechanism A, meeting the requirement of compact structure of the capture and locking mechanism A.

[0037] Figure 1 The structure diagram of the active positioning module 5 and the passive positioning module 6 is shown as follows: Figure 1As shown, the active positioning module 5 of this embodiment includes three first positioning blocks 52, which are evenly arranged along the circumferential direction, and a finger receiving groove 53 and a first positioning convex surface 51 are formed between two adjacent first positioning blocks 52. A first positioning concave surface 54 is provided on each first positioning block 52, and the first positioning convex surface 51 and the first positioning concave surface 54 form a continuous concave-convex surface to form a first positioning profile of the active positioning module 5. The finger receiving groove 53 corresponds to the top cover opening 12 of the mounting base 1 one by one and is used to receive and capture the finger 21; the passive positioning module 6 includes three second positioning blocks 61, which are evenly arranged along the circumferential direction. A second positioning convex surface 62 is formed between two adjacent second positioning blocks 61, and each second positioning block 61 is provided with a finger clamping groove 63 and a second positioning concave surface 64. The second positioning convex surface 62 and the second positioning concave surface 64 form a continuous concave-convex surface to form a second positioning profile of the passive positioning module 6. The finger clamping groove 63 on the passive positioning module 6 corresponds to the finger receiving groove 53 on the active positioning module 5 one by one, and the inner diameter of the finger clamping groove 63 in the width direction is greater than the width of the capture finger 21, so that when the capture finger 21 captures the on-track target 9, it can be inserted into the finger clamping groove 63 on the passive positioning module 6 to achieve a large tolerance capture of the on-track target 9. When the capture finger 21 is opened by the pulling force of the nut seat 33 and the finger connecting rod 35, the capture locking mechanism A moves toward the on-track target 9 until the on-track target 9 is in the envelope capture space of the three capture fingers 21. The nut seat 33 and the finger connecting rod 35 generate thrust on the ends of the capture fingers 21, and the three capture fingers 21 gradually close. Since the capture finger 21 needs to be inserted into the finger clamping groove 63, if the size of the finger clamping groove 63 is small, it is necessary to position the capture locking mechanism A and the on-track target 9 before capture, which increases the difficulty of positioning. Therefore, in this embodiment, the inner diameter of the finger clamping groove 63 in the width direction is set to be larger than the width of the capture finger 21, thereby increasing the capture tolerance, and the width of the finger clamping groove 63 can be maximized to reach the limit value as much as possible, so that the capture locking mechanism A has a larger tolerance range when capturing the on-orbit target 9, that is, when there is a large position and posture deviation between the interface of the passive positioning module 6 of the on-orbit target 9 and the interface of the active positioning module 5 of the capture locking mechanism A, the capture locking mechanism A can also achieve the capture of the on-orbit target 9. In addition, the active positioning module 5 and the passive positioning module 6 can adopt the same structure to achieve the capture of multiple targets.

[0038] like Figure 1 and Figure 4As shown, this embodiment also includes an electrical connector C for capturing and locking mechanism A and electrically connecting the on-orbit target 9, and the electrical connector C includes an active electrical connector 7 and a passive electrical connector 8 that cooperate with each other; the active electrical connector 7 is installed on the active positioning module 5, and the passive electrical connector 8 is installed on the passive positioning module 6. After the active positioning module 5 and the passive positioning module 6 are positioned, the active electrical connector 7 and the passive electrical connector 8 are electrically connected. Among them, the active electrical connector 7 and the passive electrical connector 8 are both composed of a spring contact pin female seat and a spring contact pin male seat. In this embodiment, an electrical / information interface is designed at the end surface of the active positioning module 5 and the passive positioning module 6, and the load capture and electrical / information connection operations are integrated and modularized, thereby improving the reliability of space applications. At the same time, the electrical connector C adopts a female seat and a male seat with a spring contact pin, which can save precious circuit board space, reduce assembly height, withstand multiple mating operations, and resist mechanical shock and vibration. It can be customized according to different circuit board configurations, and installation can achieve precise positioning to ensure stable and reliable connection.

[0039] like Figure 1 and Figure 4 As shown, this embodiment also includes a micro camera module D for observing the position and posture of the interface of the on-orbit target 9. The micro camera module D adopts an optical image stabilization camera module. The micro camera module D is installed at the center of the upper end surface of the active positioning module 5, and can observe the position and posture of the interface of the on-orbit target 9 in real time. By judging whether the position and posture of the interface between itself and the on-orbit target 9 meet the capture tolerance range, it is decided whether to capture the on-orbit target 9 payload. The optical image stabilization camera module can reduce the vibration of the shooting picture when the manipulator moves in the operating space to a certain extent, which is conducive to improving the imaging quality and reducing the misjudgment of the position and posture of the modular interface of the target payload.

[0040] The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:

[0041] Figure 5 , Figure 6 and Figure 7 The whole process of the capture locking mechanism A capturing the on-orbit target 9 is shown in FIG. Figure 5 , Figure 6 and Figure 7As shown, the driving motor 31 drives the central lead screw 32 to rotate, and the nut seat 33 drives the finger mounting platform 34 to move upward along the axis of the mounting base 1 via the elastic connecting member 37. At this time, the distance between the nut seat 33 and the finger mounting platform 34 remains unchanged, and the three capturing fingers 21 are only driven by the upward movement of the finger mounting platform 34. The three capturing fingers 21 move upward together with the finger mounting platform 34. When the finger mounting platform 34 abuts against the limit pin 39, the finger mounting platform 34 and the capturing fingers 21 cannot move upward and remain stationary. The nut seat 33 continues to move upward under the drive of the central lead screw 32. At this time, the distance between the nut seat 33 and the finger mounting platform 34 gradually increases, and the elastic connecting member 37 is stretched. At the same time, the nut seat 33 generates a pulling force on the end of the capturing finger 21 via the finger connecting rod 35. The capturing finger 21 rotates around the rotating pin 36, and the three capturing fingers 21 open outward to form an envelope capturing space ( Figure 5 The position and posture of the on-orbit target 9 are observed through the micro camera module D, and the space robot drives the capture locking mechanism A to move toward the on-orbit target 9 until the on-orbit target 9 is in the envelope capture space of the clamp. When the driving motor 31 drives the central lead screw 32 to rotate in the opposite direction, the nut seat 33 moves downward along the axis of the mounting base 1. Since the elastic connector 37 has been stretched, the finger mounting platform 34 remains in place under the elastic force of the elastic connector 37. At this time, the distance between the nut seat 33 and the finger mounting platform 34 gradually decreases, and the nut seat 33 generates a thrust on the end of the capture finger 21 through the finger connecting rod 35. The capture finger 21 rotates around the rotating pin 36 again and gradually closes. The capture finger 21 is inserted into the finger clamping groove 63 of the passive positioning module 6 to achieve the capture of the on-orbit target 9. When the elastic connector 37 is reset, the nut seat 33 continues to move downward along the axis of the mounting base 1, and drives the finger mounting platform 34 to move downward together. The finger mounting platform 34 drives the on-rail target 9 to move toward the mounting base 1 side through the three capture fingers 21, thereby achieving the initial locking of the on-rail target 9 ( Figure 6 When the second positioning profile on the passive positioning module 6 contacts the first positioning profile on the active positioning module 5, the first positioning profile supports the second positioning profile obliquely upward, and the on-orbit target 9 is subjected to the downward pulling force of the capture and locking mechanism A, and the pulling force is decomposed into a driving force in the circumferential direction and an axial driving force. The passive positioning module 6 moves toward the capture and locking mechanism A while rotating circumferentially, thereby adjusting the circumferential angle of the on-orbit target 9 and realizing the precise positioning of the on-orbit target 9 and the capture and locking mechanism A ( Figure 7 status shown).

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A large tolerance docking capture device for on-orbit payload capture, comprising a capture locking mechanism for capturing an on-orbit target; characterized in that: It also includes a positioning mechanism for positioning an on-orbit target and a capture and locking mechanism, the positioning mechanism includes an active positioning module and a passive positioning module, the active positioning module is provided with a first positioning profile, the passive positioning module is provided with a second positioning profile that matches the first positioning profile, the first positioning profile and the second positioning profile both adopt concave and convex surfaces, the active positioning module is installed on the docking end face of the capture and locking mechanism, and the passive positioning module is installed on the docking end face of the on-orbit target, when the capture and locking mechanism captures and pulls the on-orbit target toward the capture and locking mechanism side, the second positioning profile on the passive positioning module contacts the first positioning profile on the active positioning module and is obliquely supported, and the passive positioning module drives the on-orbit target to rotate circumferentially to achieve the positioning of the on-orbit target and the capture and locking mechanism.

2. A large tolerance docking capture device for on-orbit payload capture according to claim 1, characterized in that: The capture and locking mechanism includes a mounting base, a clamp and a clamp driving assembly. The mounting base is provided with an upper cover and a top cover opening. The passive positioning module is installed outside the upper cover of the mounting base. The clamp driving assembly is installed inside the mounting base. One end of the clamp passes through the top cover opening and is inserted into the mounting base, and the other end is outside the mounting base. The clamp driving assembly can drive the clamp to move outward and open to envelop the on-track target. The clamp driving assembly can drive the clamp to close and retract to lock and pull the on-track target toward the side of the mounting base.

3. A large tolerance docking capture device for on-orbit payload capture according to claim 2, characterized in that: The clamp driving assembly includes a driving motor, a center lead screw, a nut seat, a finger mounting platform, a finger connecting rod, a rotating pin shaft, an elastic connecting piece, a linear guide rod and a limit pin; the center lead screw is axially installed in the mounting base and can rotate, the linear guide rod is installed parallel to one side of the center lead screw, the finger mounting platform is sleeved outside the center lead screw and the linear guide rod and can move along the axis direction of the mounting base, the nut seat is screwed to the center lead screw and sleeved outside the linear guide rod; the nut seat is located above the finger mounting platform and is connected to the finger mounting platform via at least two elastic connecting pieces, and the driving motor can drive the center lead screw to rotate; the clamp is provided with at least two capturing fingers, one end of the capturing finger located in the mounting base is installed on the finger mounting platform via a rotating pin shaft, and the end of the capturing finger located in the mounting base is connected to the nut seat via a finger connecting rod; there are at least two limit pins, each of which is installed on the side wall of the mounting base and extends radially, and each limit pin is located above the finger mounting platform to limit the movement of the finger mounting platform.

4. A large tolerance docking capture device for on-orbit payload capture according to claim 3, characterized in that: The capture and locking mechanism also includes a power-off brake. The drive motor adopts a frameless torque motor. The center screw passes through the rotor of the drive motor and is connected to the power-off brake to lock the on-orbit target after the capture and locking mechanism docks with the on-orbit target.

5. A large tolerance docking capture device for on-orbit payload capture according to claim 3, characterized in that: The elastic connecting part includes a tension spring, a locking nut and a hollow stud. There are two locking nuts and two hollow studs. Each end of the tension spring corresponds to a locking nut and a hollow stud. At least two first threaded holes are opened in a circumferential direction on the nut seat, and at least two second threaded holes are opened in a circumferential direction on the finger mounting platform. The first threaded holes and the second threaded holes correspond to the tension springs one by one. The end of the tension spring is installed on the finger mounting platform or the nut seat through the cooperation of the locking nut and the hollow stud.

6. A large tolerance docking capture device for on-orbit payload capture according to claim 3, characterized in that: One end of the capture finger disposed inside the mounting base is L-shaped, a rotating pin is connected to the inflection point of the end of the capture finger, and one end of the capture finger disposed outside the mounting base is hook-shaped to form an envelope capture space with other capture fingers.

7. A large tolerance docking capture device for on-orbit payload capture according to claim 3, characterized in that: The active positioning module includes three first positioning blocks, which are evenly arranged in the circumferential direction, and a finger receiving groove and a first positioning convex surface are formed between two adjacent first positioning blocks. Each first positioning block is provided with a first positioning concave surface, and the first positioning convex surface and the first positioning concave surface form a continuous concave-convex surface to form a first positioning profile of the active positioning module. The finger receiving groove corresponds to the top cover opening of the mounting base one by one and is used to receive and capture the finger; the passive positioning module includes three second positioning blocks, which are evenly arranged in the circumferential direction, and a second positioning convex surface is formed between two adjacent second positioning blocks. Each second positioning block is provided with a finger clamping groove and a second positioning concave surface, and the second positioning convex surface and the second positioning concave surface form a continuous concave-convex surface to form a second positioning profile of the passive positioning module. The finger clamping groove on the passive positioning module corresponds to the finger receiving groove on the active positioning module one by one, and the inner diameter of the finger clamping groove in the width direction is greater than the width of the capture finger, so that when the capture finger captures the on-track target, it can be inserted into the finger clamping groove on the passive positioning module to achieve large tolerance capture of the on-track target.

8. A large tolerance docking capture device for on-orbit payload capture according to claim 1, characterized in that: It also includes an electrical connector for capturing and locking the mechanism and electrically connecting it to the on-orbit target, the electrical connector including an active electrical connector and a passive electrical connector that cooperate with each other; the active electrical connector is installed on the active positioning module, and the passive electrical connector is installed on the passive positioning module. After the active positioning module and the passive positioning module are positioned, the active electrical connector and the passive electrical connector are electrically connected.

9. A large tolerance docking capture device for on-orbit payload capture according to claim 8, characterized in that: Both active electrical connectors and passive electrical connectors are composed of a spring contact pin female seat and a spring contact pin male seat.

10. A large tolerance docking capture device for on-orbit payload capture according to claim 1, characterized in that: It also includes a micro camera module for observing the position and posture of the on-orbit target interface, and the micro camera module is installed on the active positioning module.

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