Antenna docking mechanism and on-orbit assembly method thereof

Abstract

The application discloses an antenna docking mechanism and an on-orbit assembling method thereof, and relates to the technical field of on-orbit assembling of antenna modules. The antenna docking mechanism comprises a first connecting nail, a second connecting nail and a connecting assembly. One end of the first connecting nail is provided with a first clamping groove, and the other end is used for fixed connection with a first antenna module. One end of the second connecting nail is provided with a second clamping groove, and the other end is used for fixed connection with a second antenna module. The connecting assembly comprises a first guide cone, a second guide cone and a locking device. The locking device comprises two first locking blocks, two second locking blocks, a first elastic component and a second elastic component. The first locking block and the second locking block are both provided with a locking tongue to be clamped with the first clamping groove and the second clamping groove respectively. The first guide cone and the second guide cone guide the first connecting nail and the second connecting nail to be clamped with the locking tongue respectively. The antenna docking mechanism is light in quality, small in size and convenient for docking operation.

Description

Technical Field

[0001] This invention relates to the field of on-orbit assembly technology of antenna modules, and particularly to antenna docking mechanisms and on-orbit assembly methods thereof. Background Technology

[0002] In the field of modern aerospace communications, antennas, as one of the key communication devices, directly determine the communication quality and data transmission efficiency between spacecraft and ground control centers. However, due to constraints such as mass and payload size, launch vehicles can only provide a limited payload capacity for large space antennas, and existing launch vehicles cannot meet the payload requirements. Therefore, antenna structures need to be modularly designed, using the space station as a platform to assemble deployable space antennas, and using personnel or machines to assemble antenna module units in orbit and launch them into orbit multiple times.

[0003] The docking mechanism is a crucial part of the on-orbit assembly process, and it is key to the normal operation of the spacecraft. Current research on docking mechanisms between modules is relatively mature, such as the Apollo-Soyuz heterostructure docking mechanism, the peripheral docking mechanism, and the Soviet cone-rod docking mechanism. Most of these mechanisms use two parts to axially assemble and dock two large modules, and they are generally large in size and mass, making them inconvenient to operate. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an antenna docking mechanism that is lightweight and compact, making docking operations more convenient.

[0005] According to a first aspect of the present invention, an antenna docking mechanism is provided for docking a first antenna module and a second antenna module, the antenna docking mechanism comprising:

[0006] The first connecting pin has a first slot at one end and is used to fix it to the first antenna module at the other end.

[0007] The second connecting pin has a second slot at one end and is used to fix it to the second antenna module at the other end.

[0008] A connecting assembly includes a first guide cone, a second guide cone, and a locking device. The locking device includes two first locking blocks, two second locking blocks, a first elastic member, and a second elastic member. A first locking hole is defined between the two first locking blocks. The first guide cone is connected to the first locking hole. The inner diameter of the first guide cone gradually decreases from the end of the first guide cone away from the first locking hole to the end of the first guide cone close to the first locking hole, so as to guide the end of the first connecting pin with the first slot to be inserted into the first locking hole. The first locking block has a first locking tongue. The first elastic member is used to provide a locking mechanism for the two first locking blocks to engage. The two second locking blocks are provided with an elastic force that brings them closer together, so that the first locking tongue remains engaged with the first slot. A second locking hole is defined between the two second locking blocks. A second guide cone is connected to the second locking hole. The inner diameter of the second guide cone gradually decreases from the end of the second guide cone away from the second locking hole to the end of the second guide cone close to the second locking hole, so as to guide the end of the second connecting pin with the second slot to be inserted into the second locking hole. The second locking block is provided with a second locking tongue. The second elastic member is used to provide an elastic force that brings the two second locking blocks closer together, so that the second locking tongue remains engaged with the second slot.

[0009] The antenna docking mechanism according to embodiments of the present invention has at least the following advantages: the antenna docking mechanism realizes the docking of a first antenna module and a second antenna module by arranging a first connecting pin, a second connecting pin, and a connecting assembly. The first connecting pin is first fixedly connected to the first antenna module, and the second connecting pin is first fixedly connected to the second antenna module. During the docking process, a robotic arm is used to clamp and operate the connecting assembly, so that the first guide cone is aligned with the first connecting pin, and the second guide cone is aligned with the second connecting pin. Then, the connecting assembly is moved along the axis of the first guide cone. The first guide cone guides the first connecting pin, causing it to insert into the first locking hole and push open the two first locking blocks. Finally, the first slot engages with the first locking tongue, thereby fixing the first connecting pin. The second guide cone guides the second connecting pin, causing it to insert into the second locking hole and push open the two second locking blocks. Finally, the first slot engages with the first locking tongue, thereby fixing the second connecting pin. The entire antenna docking mechanism is lightweight and small in size, making docking operations more convenient.

[0010] According to some embodiments of the present invention, the locking device includes a guide rail and a housing, the first locking block and the second locking block are slidably connected to the guide rail, the housing covers the first locking block and the second locking block, and the end of the first connecting pin with the first slot and the end of the second connecting pin with the second slot both abut against the housing.

[0011] According to some embodiments of the present invention, the guide rail is provided with a fixedly positioned limiting block located between the first locking block and the second locking block. The guide rail has a first fixing plate and a second fixing plate at both ends along its length. The first elastic component includes a first elastic element and a second elastic element. The first elastic element is connected between the first fixing plate and one of the first locking blocks, and the second elastic element is connected between the other first locking block and the limiting block. The second elastic component includes a third elastic element and a fourth elastic element. The third elastic element is connected between the second fixing plate and one of the second locking blocks, and the fourth elastic element is connected between the other second locking block and the limiting block.

[0012] According to some embodiments of the present invention, the first latches of the two first locking blocks are respectively provided with a first inclined surface and a second inclined surface on the side of their first latches that are close to each other. Along the direction in which the first connecting pin is inserted into the first locking hole, the distance from the first inclined surface to the second inclined surface gradually decreases. One end of the first connecting pin is provided with a first conical portion and a second conical portion arranged in sequence. Along the direction in which the first connecting pin is inserted into the first locking hole, the outer diameter of the first conical portion and the outer diameter of the second conical portion both gradually decrease. The first slot is defined between the first conical portion and the second conical portion.

[0013] According to some embodiments of the present invention, the second latches of the two second locking blocks are respectively provided with a third inclined surface and a fourth inclined surface on the side where they are close to each other. Along the direction in which the second connecting pin is inserted into the second locking hole, the distance between the third inclined surface and the fourth inclined surface gradually decreases. One end of the second connecting pin is provided with a third conical portion and a fourth conical portion arranged in sequence. Along the direction in which the second connecting pin is inserted into the second locking hole, the outer diameter of the third conical portion and the outer diameter of the fourth conical portion both gradually decrease. The second slot is defined between the third conical portion and the fourth conical portion.

[0014] According to some embodiments of the present invention, the first guide cone is provided with a first magnet in the shape of an annulus, the first connecting pin passes through the first magnet, the first connecting pin is provided with a second magnet, and the second magnet is magnetically attracted to the first magnet.

[0015] According to some embodiments of the present invention, the first connecting pin includes a first docking rod and a first fixing seat. The first docking rod is provided with a first groove, the first magnet is disposed in the first groove, and the first fixing seat is disposed on the opening of the first groove. The first connecting pin is fixedly connected to the first antenna module through the first fixing seat.

[0016] According to some embodiments of the present invention, the second guide cone is provided with a ring-shaped third magnet, the second connecting pin passes through the third magnet, the second connecting pin is provided with a fourth magnet, and the third magnet and the fourth magnet are magnetically attracted to each other.

[0017] According to some embodiments of the present invention, the second connecting pin includes a second docking rod and a second fixing seat. The second docking rod is provided with a second groove, the fourth magnet is disposed in the second groove, the second fixing seat is disposed on the opening of the second groove, and the second connecting pin is fixedly connected to the second antenna module through the second fixing seat.

[0018] An on-orbit assembly method for an antenna docking mechanism according to a second aspect of the present invention, the on-orbit assembly method comprising:

[0019] Install the first connecting pin and the second connecting pin on the first antenna module and the second antenna module to be docked, respectively.

[0020] A robotic arm is used to grasp the connecting assembly and bring it close to the first connecting pin and the second connecting pin;

[0021] Adjust the pitch and yaw angles of the connecting component. After the position of the connecting component is corrected, grasp the connecting component and continue to move it along the axis of the first docking cone until the first locking tongue engages with the first slot and the second locking tongue engages with the second slot.

[0022] The antenna docking mechanism according to the embodiments of the present invention has at least the following beneficial effects: by using this method for docking, the guide cone can be used to guide the connecting pin, and the pitch angle and yaw angle can be adjusted during docking to achieve attitude correction, so that the docking process has a radial tolerance effect, reducing the difficulty of docking assembly and improving accuracy and stability.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0025] Figure 1 This is a schematic diagram of the antenna docking mechanism according to some embodiments of the present invention;

[0026] Figure 2 This is an exploded view of the antenna docking mechanism according to some embodiments of the present invention;

[0027] Figure 3 This is an exploded view of the antenna docking mechanism according to some embodiments of the present invention;

[0028] Figure 4 This is an exploded view of the first connecting pin of the antenna docking mechanism in some embodiments of the present invention;

[0029] Figure 5 This is a schematic diagram of the docking process of the antenna docking mechanism in some embodiments of the present invention;

[0030] Figure 6 This is a schematic diagram of the docking process of the antenna docking mechanism in some embodiments of the present invention;

[0031] Figure 7 This is a schematic diagram of the docking process of the antenna docking mechanism in some embodiments of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the first locking block of the connection assembly of the antenna docking mechanism in some embodiments of the present invention;

[0033] Figure 9 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0034] Figure 10 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0035] Figure 11 This is a top view showing the connection state between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0036] Figure 12 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0037] Figure 13 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0038] Figure 14 This is a top view showing the connection state between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0039] Figure 15 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0040] Figure 16 This is a schematic diagram illustrating the connection status between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0041] Figure 17 This is a top view showing the connection state between the antenna docking mechanism and the antenna module in some embodiments of the present invention;

[0042] Figure 18This is a flowchart illustrating the on-orbit assembly method of the antenna docking mechanism according to some embodiments of the present invention.

[0043] Figure label:

[0044] Antenna docking mechanism 1000;

[0045] First connecting pin 101, first slot 102, first conical portion 103, second conical portion 104, second magnet 105, first connecting rod 106, first fixing seat 107, first groove 108, clearance groove 109, second connecting pin 110, second slot 111, third conical portion 112, fourth conical portion 113, second connecting rod 114, second fixing seat 115;

[0046] Connecting component 201, first guide cone 202, first magnet 203, second guide cone 204, third magnet 205, locking device 206, first locking block 207, first locking hole 208, first locking tongue 209, second locking block 210, guide rail 212, first slider 213, second slider 214, outer shell 215, limiting block 216, first fixing plate 217, second fixing plate 218, first elastic element 219, second elastic element 220, third elastic element 221, fourth elastic element 222, first inclined surface 223, second inclined surface 224, base plate 225, second locking hole 226;

[0047] First antenna module 301, second antenna module 302;

[0048] Robotic arm 401. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0050] Reference Figure 1 As shown, an antenna docking mechanism 1000 provided in an embodiment of the present invention is mainly divided into three parts, including a first connecting pin 101, a second connecting pin 110 and a connecting component 201.

[0051] Reference Figure 1 and Figure 5As shown, one end of the first connecting pin 101 has a first slot 102, and the other end of the first connecting pin 101 is used for fixed connection with the first antenna module 301, specifically by means of screws, riveting, welding, or clips. The structure of the second connecting pin 110 is the same as that of the first connecting pin 101. One end of the second connecting pin 110 has a second slot 111, and the other end of the second connecting pin 110 is used for fixed connection with the second antenna module 302, specifically by means of screws, riveting, welding, or clips. The first connecting pin 101 and the second connecting pin 110 can be configured as clamps, which have a smaller mass.

[0052] Reference Figures 1 to 3 As shown, the connecting assembly 201 includes a first guide cone 202, a second guide cone 204, and a locking device 206. The locking device 206 includes two first locking blocks 207, two second locking blocks 210, a first elastic component, and a second elastic component. A first locking hole 208 is defined between the two first locking blocks 207. The first guide cone 202 is connected to the first locking hole 208. From the end of the first guide cone 202 away from the first locking hole 208 to the end of the first guide cone 202 close to the first locking hole 208, the inner diameter of the first guide cone 202 gradually decreases to guide the end of the first connecting pin 101 with the first slot 102 to be inserted into the first locking hole 208. The first locking block 207 is provided with a first locking tongue 209, and the first elastic component is used for... The system provides an elastic force to bring the two first locking blocks 207 closer together, so that the first locking tongue 209 remains engaged with the first slot 102. A second locking hole 226 is defined between the two second locking blocks 210. A second guide cone 204 is connected to the second locking hole 226. The inner diameter of the second guide cone 204 gradually decreases from the end of the second guide cone 204 away from the second locking hole 226 to the end of the second guide cone 204 close to the second locking hole 226, so as to guide the end of the second connecting pin 110 with the second slot 111 to be inserted into the second locking hole 226. The second locking block 210 is provided with a second locking tongue. The second elastic member is used to provide an elastic force to bring the two second locking blocks 210 closer together, so that the second locking tongue remains engaged with the second slot 111.

[0053] In this embodiment, the first guide cone 202 and the second guide cone 204 have the same structure. The first guide cone 202 can be a cone or a pyramid, and its maximum inner diameter can be set to 30mm with a cone angle of 45°. This ensures that the two guide cones have a sufficiently large envelope space, which can improve the docking accuracy between the connecting pin and the connecting assembly 201.

[0054] It should be noted that, as Figure 5 As shown, the first connecting pin 101 is pre-fixed to the first antenna module 301, and the second connecting pin 110 is pre-fixed to the second antenna module 302. During the docking process, as... Figures 5 to 7As shown, a robotic arm 401 is used to clamp and operate the connecting assembly 201, aligning the first guide cone 202 with the first connecting pin 101 and the second guide cone 204 with the second connecting pin 110. Then, the connecting assembly 201 is moved along the axis of the first guide cone 202. It should be noted that for flexible aerospace structures such as modular antennas, the clamping operation with the robotic arm 401 will generate a certain amount of contact and collision disturbance, which will cause the modular antenna to deviate from the preset docking track, increasing the docking failure rate. This requires the docking mechanism to have a certain tolerance capability. In the antenna docking mechanism 1000 of this embodiment, the first guide cone 202 guides the first connecting pin 101, causing it to insert into the first locking hole 208 and push open the two first locking blocks 207. Finally, the first slot 102 engages with the first locking tongue 209, thereby fixing the first connecting pin 101. The second guide cone 204 guides the second connecting pin 110, causing it to insert into the second locking hole 226 and push open the two second locking blocks 210. Finally, the first slot 102 engages with the first locking tongue 209, thereby fixing the second connecting pin 110. This mechanism enables pitch and yaw angle position correction in the axial direction, improving docking accuracy. By using the first and second slots to lock with the first and second locking tongues, it ensures that the two antenna modules maintain good connection rigidity after docking, ensuring the normal operation of the flexible aerospace structure. The entire antenna docking mechanism 1000 of this embodiment is lightweight and small in size, making docking operations more convenient.

[0055] For example, a structure such as a flying robot or a crawling robot can be used to drive the robotic arm 401 to grip the connecting assembly 201.

[0056] Reference Figures 9 to 11 As shown, or, refer to Figures 12 to 14 As shown, in some embodiments, three antenna docking mechanisms 1000 can be used to dock two first antenna modules 301 and one second antenna module 302. The three antenna modules are hexagonal planar structures.

[0057] Reference Figures 15 to 17 As shown, in some other embodiments, multiple antenna docking mechanisms 1000 can be used to dock the first antenna module 301 and the second antenna module 302, wherein the first antenna module 301 and the second antenna module 302 are irregular planar structures.

[0058] Reference Figure 2As shown, according to some embodiments of the present invention, the locking device 206 further includes a guide rail 212 and a housing 215. The first locking block 207 and the second locking block 210 are both slidably connected to the guide rail 212. The housing 215 covers the first locking block 207 and the second locking block 210. When the first slot 102 is locked with the first locking tongue 209 and the second slot 111 is locked with the second locking tongue, the end of the first connecting pin 101 with the first slot 102 and the end of the second connecting pin 110 with the second slot 111 both abut against the housing 215, thereby limiting the first connecting pin 101 and the second connecting pin 110.

[0059] In addition, in this embodiment, since the first locking block 207 and the second locking block 210 are both slidably connected to the guide rail 212, the positions of the first locking hole 208 and the second locking hole 226 can be moved a short distance along the length direction of the guide rail 212, so that they can accurately match the positions of the first connecting pin 101 and the second connecting pin 110, which can improve the fault tolerance and ensure that the antenna module docking can be completed smoothly.

[0060] Reference Figure 2 As shown, in some embodiments, the locking device 206 includes a base plate 225, guide rails 212 are mounted on the top of the base plate 225, and the bottom of the base plate 225 is provided with a first through hole and a second through hole. There are two or more guide rails 212, with the first and second through holes located between the two guide rails 212 to avoid obstructing them. The first through hole communicates with the first locking hole 208, and the second through hole communicates with the second locking hole 226. The first connecting pin 101 passes through the first through hole and then enters the first locking hole 208, and the second connecting pin 110 passes through the second through hole and then enters the second locking hole 226. The first guide cone 202 is threadedly connected to the first through hole to ensure that the first guide cone 202 and the first through hole are coaxially arranged. The second guide cone 204 is threadedly connected to the second through hole to ensure that the second guide cone 204 and the second through hole are coaxially arranged. Alternatively, the first guide cone 202 can be engaged with the first through hole via a snap fastener, and the second guide cone 204 can be engaged with the second through hole via a snap fastener.

[0061] The layout of this embodiment makes the structure of the connecting component 201 more compact, thereby reducing the space occupied by the connecting component 201. The connecting component 201 is set as a cuboid structure, which makes it convenient for the robotic arm 401 to clamp the connecting component 201.

[0062] Reference Figure 2 and Figure 3As shown, according to some embodiments of the present invention, the guide rail 212 is provided with a fixedly positioned limiting block 216, which is located in the center and between the first locking block 207 and the second locking block 210. The guide rail 212 has a first fixing plate 217 and a second fixing plate 218 at both ends along the longitudinal direction. The first elastic component includes a first elastic element 219 and a second elastic element 220. The first elastic element 219 is connected between the first fixing plate 217 and one of the first locking blocks 207, and the second elastic element 220 is connected between the other first locking block 207 and the limiting block 216, thereby keeping the two first locking blocks 207 clamped. The second elastic component includes a third elastic element 221 and a fourth elastic element 222. The third elastic element 221 is connected between the second fixing plate 218 and one of the second locking blocks 210, and the fourth elastic element 222 is connected between the other second locking block 210 and the limiting block 216, thereby keeping the two second locking blocks 210 clamped.

[0063] In this embodiment, by arranging various elastic elements, a certain locking strength can be maintained when the first locking block 207 and the second locking block 210 are in the locked state, so as to avoid the loosening or falling off of the connecting pin and the corresponding locking block due to certain vibration, thereby ensuring the reliability and stability of the connection component 201 connecting the antenna module.

[0064] In this embodiment, when both the first locking block 207 and the second locking block 210 are in the locked state, they can restrict the displacement of each elastic element and prevent the elastic elements from popping out from the position above the guide rail 212 due to excessive collision force of the connecting pins.

[0065] It is understandable that the aforementioned elastic element can be a spring or a sheet, etc.

[0066] Reference Figure 5 , Figure 7 and Figure 8 As shown, according to some embodiments of the present invention, the first locking tongues 209 of the two first locking blocks 207 are respectively provided with a first inclined surface 223 and a second inclined surface 224 on the side that are close to each other. Along the direction in which the first connecting pin 101 is inserted into the first locking hole 208, the distance between the first inclined surface 223 and the second inclined surface 224 gradually decreases. One end of the first connecting pin 101 is provided with a first conical portion 103 and a second conical portion 104 arranged in sequence. Along the direction in which the first connecting pin 101 is inserted into the first locking hole 208, the outer diameter of the first conical portion 103 and the outer diameter of the second conical portion 104 gradually decrease. A first slot 102 is defined between the first conical portion 103 and the second conical portion 104.

[0067] In this embodiment, the first inclined surface 223 and the second inclined surface 224 are used to cooperate with the first conical portion 103 and the second conical portion 104. During the process of the first connecting pin 101 being inserted into the first locking hole 208, the first conical portion 103 first abuts against the first inclined surface 223 and the second inclined surface 224. The first inclined surface 223 and the second inclined surface 224 play a guiding role, so that the first conical portion 103 can push the two first locking blocks 207 open. The first conical portion 103 can pass over the first inclined surface 223 and the second conical portion 224. The second inclined surface 224 is then connected to the second conical portion 104, which abuts against the first inclined surface 223 and the second inclined surface 224. At this time, the end of the first connecting pin 101 abuts against the outer casing 215. The first connecting pin 101 can no longer be inserted into the first locking hole 208 along the axial direction. Since the first inclined surface 223 and the second inclined surface 224 are stuck in the second conical portion 104, the first connecting pin 101 cannot be disengaged from the first locking hole 208 in the opposite direction, which achieves the locking function and locks the first connecting pin 101.

[0068] Similarly, refer to Figure 5 , Figure 7 and Figure 8 As shown, in some embodiments, the second latches of the two second locking blocks 210 are respectively provided with a third inclined surface and a fourth inclined surface on the side where they are close to each other. Along the direction in which the second connecting pin 110 is inserted into the second locking hole 226, the distance between the third inclined surface and the fourth inclined surface gradually decreases. One end of the second connecting pin 110 is provided with a third conical portion 112 and a fourth conical portion 113 arranged in sequence. Along the direction in which the second connecting pin 110 is inserted into the second locking hole 226, the outer diameter of the third conical portion 112 and the outer diameter of the fourth conical portion 113 both gradually decrease. A second slot 111 is defined between the third conical portion 112 and the fourth conical portion 113.

[0069] The locking principle in this embodiment is the same as that in the above embodiments, and will not be repeated here.

[0070] Reference Figure 2 and Figure 4 As shown, according to some embodiments of the present invention, a first magnet 203 in the first guide cone 202 is provided in the first magnet 203 in the first shape, a first connecting pin 101 is provided through the first magnet 203, and a second magnet 105 is provided on the first connecting pin 101, and the second magnet 105 is magnetically attracted to the first magnet 203.

[0071] The first magnet 203 and the second magnet 105 are used to generate magnetic force / magnetic torque, so that during the process of the first connecting pin 101 being inserted into the first guide cone 202, the first guide cone 202 can attract the first connecting pin 101 to accurately align with the first locking hole 208 through the first magnet 203, and the relative position, speed and attitude of the first antenna module 301 and the second antenna module 302 can be adjusted.

[0072] Similarly, refer to Figure 2and Figure 4 As shown, in some embodiments, a ring-shaped third magnet 205 is provided inside the second guide cone 204, a second connecting pin 110 passes through the third magnet 205, and the second connecting pin 110 is provided with a fourth magnet, and the third magnet 205 and the fourth magnet are magnetically attracted to each other.

[0073] Reference Figure 2 and Figure 4 As shown, in some embodiments, the first connecting pin 101 includes a first docking rod 106 and a first fixing seat 107. The first docking rod 106 is provided with a first groove 108, and a first magnet 203 is disposed in the first groove 108. The first fixing seat 107 covers the opening of the first groove 108, and the first connecting pin 101 is fixedly connected to the first antenna module 301 through the first fixing seat 107.

[0074] Similarly, in some embodiments, the second connecting pin 110 includes a second docking rod 114 and a second fixing seat 115. The second docking rod 114 is provided with a second groove, and a fourth magnet is disposed in the second groove. The second fixing seat 115 covers the opening of the second groove, and the second connecting pin 110 is fixedly connected to the second antenna module 302 through the second fixing seat 115.

[0075] Reference Figure 4 As shown, in some embodiments, when the first fixing base 107 is connected to the first docking rod 106 by screws, the first fixing base 107 is provided with a relief groove 109 for avoiding the screws. If the first fixing base 107 is also connected to the first antenna module 301 by screws, the relief groove 109 can avoid obstructing the assembly of the first fixing base 107 and the first antenna module 301. Similarly, the relief groove 109 can also be provided on the second fixing base 115.

[0076] Reference Figure 18 As shown, an embodiment of the present invention also provides an on-orbit assembly method, which is applied to assembling the antenna docking mechanism of the above embodiment. The on-orbit assembly method includes steps S100, S200 and S300.

[0077] Step S100: Install the first connecting pin and the second connecting pin on the first antenna module and the second upper antenna module to be docked, respectively;

[0078] Step S200: Use a robotic arm to grasp the connecting assembly and bring it close to the first connecting pin and the second connecting pin;

[0079] Step S300: Adjust the pitch and yaw angles of the connecting components. After the orientation of the connecting components is corrected, grab the connecting components and continue to move along the axis of the first docking cone until the first locking tongue engages with the first slot and the second locking tongue engages with the second slot.

[0080] Using this method for docking allows the guide cone to guide the connecting pins, and the pitch and yaw angles can be adjusted during docking to achieve posture correction. This provides radial tolerance during docking, reduces the difficulty of docking assembly, and improves accuracy and stability.

[0081] In traditional aerospace structural assembly, the docking mechanism is typically installed in two separate parts on two different spacecraft, mostly involving the docking of large modules. The docking method described in this application is applicable to docking different antenna modules using an antenna docking mechanism, and can achieve arbitrary assembly of multiple antenna modules with irregular shapes and spacing.

[0082] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0083] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0084] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0085] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An antenna docking mechanism (1000), characterized in that, For docking the first antenna module (301) and the second antenna module (302), the antenna docking mechanism (1000) includes: The first connecting pin (101) has a first slot (102) at one end and is used to fix it to the first antenna module (301) at the other end. The second connecting pin (110) has a second slot (111) at one end and is used to fix it to the second antenna module (302) at the other end. The connecting assembly (201) includes a first guide cone (202), a second guide cone (204), and a locking device (206). The locking device (206) includes two first locking blocks (207), two second locking blocks (210), a first elastic member, and a second elastic member. A first locking hole (208) is defined between the two first locking blocks (207). The first guide cone (202) is connected to the first locking hole (208). From the end of the first guide cone (202) away from the first locking hole (208) to the end of the first guide cone (202) close to the first locking hole (208), the inner diameter of the first guide cone (202) gradually decreases to guide the end of the first connecting pin (101) with the first slot (102) to be inserted into the first locking hole (208). The first locking block (207) is provided with a first locking tongue (209). The first elastic member is used to provide a locking mechanism for the two first locking blocks (207) to engage with the first locking block (204). The elastic force of the first locking blocks (207) bringing them closer together keeps the first locking tongue (209) engaged with the first slot (102). A second locking hole (226) is defined between the two second locking blocks (210). A second guide cone (204) is connected to the second locking hole (226). The inner diameter of the second guide cone (204) gradually decreases from the end of the second guide cone (204) away from the second locking hole (226) to the end of the second guide cone (204) close to the second locking hole (226) to guide the end of the second connecting pin (110) with the second slot (111) to be inserted into the second locking hole (226). The second locking block (210) is provided with a second locking tongue (211). The second elastic member is used to provide an elastic force that brings the two second locking blocks (210) closer together so that the second locking tongue (211) is engaged with the second slot (111).

2. The antenna docking mechanism (1000) according to claim 1, characterized in that, The locking device (206) includes a guide rail (212) and a housing (215). The first locking block (207) and the second locking block (210) are slidably connected to the guide rail (212). The housing (215) covers the first locking block (207) and the second locking block (210). The end of the first connecting pin (101) with the first slot (102) and the end of the second connecting pin (110) with the second slot (111) are both in contact with the housing (215).

3. The antenna docking mechanism (1000) according to claim 2, characterized in that, The guide rail (212) is provided with a fixed limiting block (216) located between the first locking block (207) and the second locking block (210). The guide rail (212) has a first fixing plate (217) and a second fixing plate (218) at both ends along its length. The first elastic component includes a first elastic element (219) and a second elastic element (220). The first elastic element (219) is connected to the first fixing plate (217) and one of the first locking blocks (210). Between one locking block (207), the second elastic element (220) is connected between another first locking block (207) and the limiting block (216). The second elastic element includes a third elastic element (221) and a fourth elastic element (222). The third elastic element (221) is connected between the second fixing plate (218) and one of the second locking blocks (210), and the fourth elastic element (222) is connected between the other second locking block (210) and the limiting block (216).

4. The antenna docking mechanism (1000) according to claim 2, characterized in that, The first latches (209) of the two first locking blocks (207) are respectively provided with a first inclined surface (223) and a second inclined surface (224) on the side of their proximity. Along the direction in which the first connecting pin (101) is inserted into the first locking hole (208), the distance between the first inclined surface (223) and the second inclined surface (224) gradually decreases. One end of the first connecting pin (101) is provided with a first conical part (103) and a second conical part (104) arranged in sequence. Along the direction in which the first connecting pin (101) is inserted into the first locking hole (208), the outer diameter of the first conical part (103) and the outer diameter of the second conical part (104) gradually decrease. The first slot (102) is defined between the first conical part (103) and the second conical part (104).

5. The antenna docking mechanism (1000) according to claim 2, characterized in that, The second latches (211) of the two second locking blocks (210) are respectively provided with a third inclined surface and a fourth inclined surface on the side of their proximity. Along the direction in which the second connecting pin (110) is inserted into the second locking hole (226), the distance between the third inclined surface and the fourth inclined surface gradually decreases. One end of the second connecting pin (110) is provided with a third conical part (112) and a fourth conical part (113) arranged in sequence. Along the direction in which the second connecting pin (110) is inserted into the second locking hole (226), the outer diameter of the third conical part (112) and the outer diameter of the fourth conical part (113) gradually decrease. The second slot (111) is defined between the third conical part (112) and the fourth conical part (113).

6. The antenna docking mechanism (1000) according to claim 1, characterized in that, The first guide cone (202) is provided with a first magnet (203) in the shape of a ring, the first connecting pin (101) passes through the first magnet (203), the first connecting pin (101) is provided with a second magnet (105), and the second magnet (105) is magnetically attracted to the first magnet (203).

7. The antenna docking mechanism (1000) according to claim 6, characterized in that, The first connecting pin (101) includes a first docking rod (106) and a first fixing seat (107). The first docking rod (106) is provided with a first groove (108). The first magnet (203) is disposed in the first groove (108). The first fixing seat (107) covers the opening of the first groove (108). The first connecting pin (101) is fixedly connected to the first antenna module (301) through the first fixing seat (107).

8. The antenna docking mechanism (1000) according to claim 1, characterized in that, The second guide cone (204) is provided with a ring-shaped third magnet (205), the second connecting pin (110) passes through the third magnet (205), the second connecting pin (110) is provided with a fourth magnet, and the third magnet (205) and the fourth magnet are magnetically attracted to each other.

9. The antenna docking mechanism (1000) according to claim 8, characterized in that, The second connecting pin (110) includes a second docking rod (114) and a second fixing seat (115). The second docking rod (114) is provided with a second groove, and the fourth magnet is disposed in the second groove. The second fixing seat (115) covers the opening of the second groove. The second connecting pin (110) is fixedly connected to the second antenna module (302) through the second fixing seat (115).

10. An on-orbit assembly method for an antenna docking mechanism (1000), characterized in that, The on-orbit assembly method, applied to the antenna docking mechanism (1000) of claim 1, comprises: The first connecting pin (101) and the second connecting pin (110) are respectively installed on the first antenna module (301) and the second antenna module (302) to be docked; A robotic arm is used to grasp the connecting assembly (201) and bring it close to the first connecting pin (101) and the second connecting pin (110); Adjust the pitch and yaw angles of the connecting component (201). After the position of the connecting component (201) is corrected, grab the connecting component (201) and continue to move it along the axis of the first docking cone until the first locking tongue (209) engages with the first slot (102) and the second locking tongue (211) engages with the second slot (111).

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