Butt joint device suitable for space manipulator operation

Abstract

The invention relates to a docking device suitable for space manipulator operation, comprising: a driving end comprising a driving end body having a first docking part, the first docking part comprising a plurality of first insertion structures uniformly distributed along the circumference and a plurality of first bearing structures located among the plurality of first insertion structures; an ascending tray; the driving end connector is arranged on the lifting disc; the power mechanism is configured to drive the lifting disc to be close to or away from the driven end and can be self-locked; the passive end comprises a passive end body, the passive end body is provided with a second butt joint part, the second butt joint part comprises a plurality of second insertion structures evenly distributed along the circumference and a plurality of second bearing structures located among the second insertion structures, and the second butt joint part and the first butt joint part are complementary in shape and size; and the passive end connector is arranged on the passive end body. The butt joint device is particularly suitable for being matched with a space mechanical arm to conduct space part assembly butt joint and space butt joint of a small spacecraft.

Description

Technical Field

[0012] ,

[0001] The present invention relates to the technical field of aerospace mechanical structures, and particularly to a docking device suitable for the operation of a space manipulator. Background Art

[0002] With the rapid development of aerospace technology, space stations, space telescopes, and reconfigurable spacecraft have become the tracks that countries are competing for, which not only demonstrates the hard power of scientific and technological levels but also has important significance for national space security. Among them, space docking technology is particularly important. The rapid development of space docking technology has continuously broken through the construction of China's space station and enhanced China's international influence. At the same time, the development of space docking technology can gradually realize technologies such as reconfigurable aircraft, on-orbit maintenance, and on-orbit assembly in the future.

[0003] Space docking technology refers to the mechanical, electrical, and liquid path connections between two space vehicles through a docking mechanism in space orbit. Generally, the docking mechanism is divided into an active end and a passive end. The active end is installed on space vehicle A, and the passive end is installed on space vehicle B. Through the docking of the active end and the passive end, the connection of the two space vehicles is realized. Existing docking mechanisms have problems such as complex structures, high costs, and small tolerance for overcoming poses. Summary of the Invention

[0004] To solve at least some of the above problems in the prior art, the present invention provides a docking device suitable for the operation of a space manipulator, including:

[0005] An active end, which includes:

[0006] An active end body having a first docking portion, the first docking portion including a plurality of first insertion structures uniformly distributed along the circumference and a plurality of first receiving structures located between the plurality of first insertion structures;

[0007]

[0008] A rising disk located inside the active end body and slidably connected to the active end body;

[0009] An active end connector disposed on the rising disk;

[0010] A power mechanism configured to drive the rising disk to approach or move away from the passive end and capable of self-locking;

[0011] A passive end, which includes:

[0012] A passive end body having a second docking portion, the second docking portion including a plurality of second insertion structures uniformly distributed along the circumference and a plurality of second receiving structures located between the plurality of second insertion structures, the second docking portion being complementary in shape and size to the first docking portion; and

[0013] The passive end connector is arranged on the passive end body.

[0014] Furthermore, the shapes of the first docking part and the second docking part are three-claw V-groove special shapes;

[0015] The first insertion structure is a conical wall. The end of the first insertion structure is a plane, and both sides are inclined surfaces. Moreover, the thickness and width of the end of the first insertion structure are smaller than those of the bottom;

[0016] The first receiving structure is recessed relative to the first insertion structure;

[0017] The second insertion structure is a conical wall. The end of the second insertion structure is a plane, and both sides are inclined surfaces. Moreover, the thickness and width of the end of the second insertion structure are smaller than those of the bottom;

[0018] The second receiving structure is recessed relative to the second insertion structure; and

[0019] The first insertion structure and the second receiving structure are complementary in shape and size, and the second insertion structure and the first receiving structure are complementary in shape and size.

[0020] Furthermore, the included angle α between the center axis connection lines of the two endpoints at the bottom of the first insertion structure and the active end body is 85.5°;

[0021] The included angle β between the center axis connection lines of the two endpoints at the bottom of the first receiving structure and the active end body is 34.5°;

[0022] The included angle between the center axis connection lines of the two endpoints at the bottom of the second insertion structure and the passive end body is 85.5°;

[0023] The included angle between the center axis connection lines of the two endpoints at the bottom of the second receiving structure and the passive end body is 34.5°.

[0024] Furthermore, the power mechanism includes:

[0025] A motor, which is connected to the worm of the worm and worm gear reducer through a coupling;

[0026] A worm and worm gear reducer, whose worm wheel is connected to the ball screw shaft;

[0027] A ball screw shaft;

[0028] A ball screw nut, which is sleeved on the ball screw shaft and fixedly connected to the rising disk.

[0029] Further, the active end body has a first through hole and a second through hole that are interconnected and coaxial. The first through hole is located outside the second through hole, and the aperture of the second through hole is larger than that of the first through hole.

[0030] A positioning round hole is provided on the passive end body.

[0031] Further, the active end further includes:

[0032] A locking mechanism, which includes:

[0033] A locking mechanism mounting block, which is fixed on the inner wall of the active end, and the locking mechanism mounting block has a hole;

[0034] A positioning shaft, which includes a first part and a second part. The first part is located in the first through hole and the second through hole, and the second part extends out from the hole of the locking mechanism mounting block;

[0035] A retaining piece, which is arranged on the positioning shaft to divide the positioning shaft into the first part and the second part. The retaining piece is located outside the locking mechanism mounting block; and

[0036] A compression spring, which is sleeved on the first part of the positioning shaft and is located in the second through hole;

[0037] A sliding assembly, which connects the rising disk and the active end body;

[0038] A wedge-shaped inclined block, which is arranged on the side surface of the rising disk and is used to push the positioning shaft. The wedge-shaped inclined block has an outer side surface composed of an inclined surface and a plane in the vertical direction.

[0039] Further, the active end connector includes a first type of circuit connector, a first liquid path connector, and a first gas path connector;

[0040] The passive end connector includes a second type of circuit connector, a second liquid path connector, and a second gas path connector;

[0041] Connector mounting structures with different heights protruding from the first surface of the rising disk are provided on the rising disk.

[0042] Further, the first docking portion further includes an annular first docking end portion. The first insertion structure is located outside the first docking end portion, and positioning bumps are provided on the first docking end portion;

[0043] The second docking portion further includes an annular second docking end portion. The second insertion structure is located outside the second docking end portion, and positioning grooves are provided on the first docking end portion.

[0044] Further, the active end further includes:

[0045] A first limit switch sensor, which is installed on the side surface of the lifting disc;

[0046] A second limit switch sensor, which is installed on the inner side surface of the active end body;

[0047] A third limit switch sensor, which is installed on the inner side surface of the active end body;

[0048] The passive end further includes:

[0049] A first limit switch stopper, which is installed on the inner wall of the top cover of the passive end body and protrudes from the second docking end;

[0050] A second limit switch stopper, which is installed on the inner wall of the top cover of the passive end body.

[0051] Furthermore, a base is further included, which is arranged at the bottom of the active end body, wherein:

[0052] The worm and worm gear reducer is installed on the base;

[0053] The ball screw shaft is installed on the base through a screw support seat; and a motor mounting seat is further arranged on the base, and the motor is fixed on the motor mounting seat.

[0054] The present invention has at least the following beneficial effects:

[0055] (1) The docking device of the present invention can capture large-angle pose errors and circumferential deviations through the three-jaw V-groove special-shaped design of the active end body and the passive end body, and complete correction;

[0056] (2) The structure locking and the connections of the circuit, air circuit, and liquid circuit of the present invention are two completely separate mechanisms, with extremely high reliability, and reliable locking of the structure can be achieved through a small motor torque;

[0057] (3) Three groups of wedge-shaped inclined blocks for pushing the positioning shaft of the locking mechanism are fixed on the lifting disc of the present invention. The pushing out and retracting of the positioning shaft of the locking mechanism can be realized by the up and down movement of the lifting disc, so as to realize the structural locking and unlocking of the active end body and the passive end body;

[0058] (4) The present invention utilizes the self-locking characteristic of the worm and worm gear reducer transmission to ensure reliable self-locking after power-off, so as to ensure the reliable mechanical locking of the docking device and the reliable transmission of electricity, gas, and liquid;

[0059] (5) The present invention uses a ball screw shaft and a ball screw nut in cooperation to convert the rotational motion of the motor into a linear motion, enabling the lifting plate to move linearly to achieve the pushing out and retracting of the positioning shaft and the plugging and separating of each connector, that is, one motor completes two-direction actions, namely, the up and down movement along the axis of the active end body and the movement in the plane perpendicular to the axis of the active end body;

[0060] (6) The docking device of the present invention uses multiple groups of limit switch sensors, improving the detection level of the docking state;

[0061] (7) The circuit connectors, liquid path connectors, and gas path connectors used in the present invention are all floating connectors with a certain floating amount, enabling docking even in the case of a certain deviation;

[0062] (8) The docking device of the present invention has the advantages of simple structure, low cost, large tolerance capture, reliable structural connection, repeated docking and unlocking, etc., and can adapt to the docking of connectors of different types and different docking depths, with great expandability. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] To further clarify the above and other advantages and features of the embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It can be understood that these drawings only depict typical embodiments of the present invention and will not be considered as limiting its scope. In the drawings, for clarity, the same or corresponding components will be denoted by the same or similar reference numerals.

[0064] Figure 1 An exploded view of a docking device according to an embodiment of the present invention is shown.

[0065] Figure 2A A schematic structural view of an active end body according to an embodiment of the present invention is shown.

[0066] Figure 2B A top view of an active end body according to an embodiment of the present invention is shown.

[0067] Figure 3A and 3B A schematic structural view of an active end according to an embodiment of the present invention is shown.

[0068] Figure 4 A schematic structural view of a locking mechanism according to an embodiment of the present invention is shown.

[0069] Figure 5 A schematic structural view of a lifting plate according to an embodiment of the present invention is shown.

[0070] Figure 6 A schematic structural view of a passive end according to an embodiment of the present invention is shown.

[0071] Figure 7 A schematic cross-sectional structure diagram of an active end when unlocked according to an embodiment of the present invention is shown.

[0072] Figure 8 A schematic cross-sectional structure diagram of the active and passive ends when locked according to an embodiment of the present invention is shown.

[0073] Figure 9 A schematic structural diagram of a docking device after docking is shown according to an embodiment of the present invention.

[0074] Figure numerals: 1 active end; 11 active end body; 13 rising plate; 15 wedge-shaped inclined block; 31 motor; 33 coupling; 36 worm gear reducer; 161 ball screw shaft; 16 ball screw nut; 19 guide rail; 17 slider; 14 slider mounting block; 121 first limit switch sensor; 122 second limit switch sensor; 123 third limit switch sensor; 15 wedge-shaped inclined block; 151 inclined surface; 152 plane; 5 locking mechanism; 52 locking mechanism mounting block; 53 positioning shaft; 51 compression spring; 46 first liquid circuit connector; 48 first gas circuit connector; 131 connector Mounting structure; 18 base; 101 first docking portion; 102 first insertion structure; 103 first receiving structure; 1031 first docking inclined surface; 1021 first docking conical surface; 104 first docking end portion; 105 positioning protrusion; 2 passive end; 21 passive end body; 201 top cover; 202 side wall; 203 second docking portion; 204 second insertion structure; 205 second receiving structure; 206 second docking end portion; 207 positioning groove; 2041 positioning circular hole; 43 second liquid circuit connector; 45 second gas circuit connector; 22 first limit switch block; 23 second limit switch block. DETAILED DESCRIPTION

[0075] It should be noted that various components in the various drawings may be shown exaggeratedly for illustrative purposes and are not necessarily correct to scale.

[0076] In the present invention, each embodiment is only intended to illustrate the aspects of the present invention and should not be construed as limiting.

[0077] In the present invention, unless otherwise specified, the quantifiers "a", "an" and "an" do not exclude the presence of a plurality of elements.

[0078] It should also be pointed out that in the embodiments of the present invention, for the sake of clarity and simplicity, only a portion of the parts or components may be shown, but a person of ordinary skill in the art will understand that under the teachings of the present invention, required parts or components may be added as needed in specific scenarios.

[0079] It should also be noted here that within the scope of the present invention, terms such as "identical", "equal", "equivalent" do not mean that the two values are absolutely equal, but allow for a certain reasonable error. That is to say, these terms also cover "substantially identical", "substantially equal", "substantially equivalent".

[0080] It should also be noted here that in the description of the present invention, the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as explicitly or implicitly indicating relative importance.

[0081] In addition, the embodiments of the present invention describe the process steps in a specific order. However, this is only for the convenience of distinguishing each step and does not limit the sequence of each step. In different embodiments of the present invention, the sequence of each step can be adjusted according to the adjustment of the process.

[0082] The present invention provides a large tolerance docking device with self-locking characteristics suitable for the operation of a space manipulator, as Figure 9 shown. The docking device includes an active end and a passive end 2. In general application scenarios, the active end 1 is installed on component A, and the passive end 2 is installed on component B. Targets are provided on both component A and component B for the space manipulator to judge the relative positions of component A and component B, so as to guide the movement of the space manipulator. Due to the characteristics of the space manipulator, there is a certain position accuracy error. Therefore, the docking device needs to overcome the pose error, achieve pose correction, and complete functions such as approaching and locking.

[0083] As Figures 1 to 3B shown, the active end 1 includes an active end body 11, a rising disk 13, a sliding assembly, a power mechanism, a wedge-shaped inclined block 15, a locking mechanism 5, a first limit switch sensor 121, a second limit switch sensor 122, a third limit switch sensor 123, an active end connector, and a base 18.

[0084] As Figure 2A and 2BAs shown, the shape of the first docking portion 101 of the active end body 11 is a multi-claw V-groove special shape. The first docking portion 101 includes a plurality of first insertion structures 102 evenly distributed along the circumference and a plurality of first receiving structures 103 located between the plurality of first insertion structures 102. In one embodiment, the shape of the first docking portion 101 is a three-claw V-groove special shape, and the number of the first insertion structures 102 is 3.

[0085] The first insertion structure 102 is a conical wall. The end of the first insertion structure 102 is a plane, and the two sides are inclined surfaces. The thickness of the end of the first insertion structure 102 is less than the thickness of the bottom.

[0086] The included angle α between the center axis connection lines of the two endpoints at the bottom of the first insertion structure 102 and the center axis of the active end body 11 is 85.5°. The first insertion structure 102 has a first docking conical surface 1021.

[0087] The first receiving structure 103 is recessed relative to the first insertion structure 102. The included angle β between the center axis connection lines of the two endpoints at the bottom of the first receiving structure 103 and the center axis of the active end body 11 is 34.5°. The first receiving structure 103 has a first docking inclined surface 1031.

[0088] For the three-claw V-groove special shape feature, a large taper inclined surface is adopted in the design. The distance between the bottoms of the first docking inclined surfaces 1031 of two opposite first receiving structures 103 is 180 mm, the distance between the tops of the first docking inclined surfaces 1031 of two opposite first receiving structures 103 is 150 mm, and the width of the horizontal projection of the first docking inclined surface 1031 of the first receiving structure 103 is 30 mm, which can overcome the radial deviation of ±15 mm from the center axis. The three claws are grooved at an angle of 85.5°, and the entity is at 34.5°. Even if there is a 50° deviation in the circumferential rotation, the large-angle pose error and circumferential deviation capture can be realized through the three-claw V-groove special shape feature.

[0089] As Figure 2A As shown, the first docking portion 101 further includes an annular first docking end portion 104. The first insertion structure 102 is located outside the annular first docking end portion 104. A positioning convex block 105 is provided on the first docking end portion 104.

[0090] The power mechanism includes a motor 31, a coupling 33, a worm and worm gear reducer 36, a ball screw shaft 161 and a ball screw nut 16. The motor shaft of the motor 31 is connected to the worm of the worm and worm gear reducer 36 through the coupling 33. The worm gear of the worm and worm gear reducer 36 is fixedly connected to the ball screw shaft 161.

[0091] The ball screw shaft 161 is used to convert the rotational motion into a linear motion for pushing the lifting plate 13 to move up and down.

[0092] The base 18 is provided at the bottom of the active end body 11. The worm gear reducer 36 is installed on the base 18. The ball screw shaft 161 is installed on the base 18 through the screw support seat 162. The ball screw nut 16 is sleeved on the ball screw shaft 161, and the ball screw nut 16 and the lifting plate 13 are fixedly connected by screws.

[0093] The base 18 is further provided with a motor mounting seat 32, and the motor 31 is fixed on the motor mounting seat 32.

[0094] The active end connector includes a first type of circuit connector, a first liquid circuit connector 46, and a first gas circuit connector 48.

[0095] The first type of circuit connector serves as a socket. The first type of circuit connector includes a first floating circuit connector 41 and a second floating circuit connector 47.

[0096] The circuit connector, the liquid circuit connector, and the gas circuit connector are all floating connectors, and can achieve docking even in the case of certain deviations.

[0097] The first type of circuit connector, the first liquid circuit connector 46, and the first gas circuit connector 48 are located on the lifting plate 13.

[0098] The lifting plate 13 is located inside the active end body 11 and is slidably connected to the active end body 11 through a sliding component.

[0099] The sliding component connects the lifting plate 13 and the inner wall of the active end body 11, so that the lifting plate 13 can move up and down relative to the active end body 11. The number of sliding components is one or more, which can be set according to the actual situation.

[0100] The sliding component includes a guide rail 19, a slider 17, and a slider mounting block 14. The slider mounting block 14 is fixed on the side of the lifting plate 13, and the slider 17 is fixed on the slider mounting block 14. The guide rail 19 is fixed on the active end body 11, and the slider 17 can slide on the guide rail 19. The inner wall of the active end body 11 is provided with a guide rail mounting structure, and the guide rail 19 is arranged on the guide rail mounting structure.

[0101] As Figure 4 shown, the locking mechanism 5 includes a locking mechanism mounting block 52, a positioning shaft 53, and a compression spring 51. A retaining piece 531 is provided on the positioning shaft 53 for blocking the compression spring 51. Taking the retaining piece 531 as the boundary, the positioning shaft 53 can be divided into a first part and a second part. The compression spring 51 is sleeved on the first part of the positioning shaft 53, and the second part of the positioning shaft 53 extends out of the hole of the locking mechanism mounting block 52, and the positioning shaft 53 can move in the hole of the locking mechanism mounting block 52. The retaining piece 531 and the first part of the positioning shaft 53 are located on the same side of the locking mechanism mounting block 52. As Figure 2AAs shown, the locking mechanism mounting block 52 is fixed to the inner wall of the active end body 11 by bolts.

[0102] Three locking mechanisms 5 are evenly distributed along the circumferential direction on the inner wall of the active end body 11, and are used to convert the vertical movement along the axis of the active end body 11 into the movement in the plane perpendicular to the axis of the active end body 11, that is, the horizontal movement.

[0103] As Figure 7 shown, the outer side surface of the wedge-shaped inclined block 15 includes an inclined surface 151 and a plane 152 in the vertical direction. The "outer side surface" refers to the surface of the wedge-shaped inclined block 15 facing the outside of the active end body 11. The inclined surface is inclined relative to the plane in the vertical direction, and the inclined surface of the wedge-shaped inclined block 15 plays a guiding role to facilitate the wedge-shaped inclined block 15 to push the positioning shaft 53.

[0104] As Figure 3A shown, the first limit switch sensor 121 is installed on the side surface of the lifting plate 13. The second limit switch sensor 122 is installed on the inner side surface of the active end body 11, and the second limit switch sensor 122 is far from the base 18 and adjacent to the first docking end 104. As Figure 3B shown, the third limit switch sensor 123 is installed on the inner side surface of the active end body 11, and the third limit switch sensor 123 is adjacent to the base 18.

[0105] Multiple limit switch sensors are respectively installed at different positions of the active end, and are used to realize related detection functions such as the start of docking, the completion of docking, and the completion of unlocking.

[0106] As Figure 5 shown, a plurality of connector mounting structures 131 protruding from the first surface of the lifting plate 13 by different heights are provided on the lifting plate 13. The first surface of the lifting plate 13 is the surface facing the passive end. For the docking of connectors with different insertion depths, as long as it does not exceed the maximum insertion depth of this device, different connector mounting structures 131 can be selected to be installed on the lifting plate 13 to adapt to different connector insertion depths. The insertion depths of various connectors on the lifting plate 13 can be different, and by setting the connector mounting structures 131 with different protruding heights, the ends of various connectors can be made flush to meet the insertion requirements.

[0107] As Figure 7 shown, the active end body 11 has a first through hole 111 and a second through hole 112 that are interconnected and coaxial. The first through hole 111 is located on the outside, and the second through hole 112 is located on the inside. The aperture of the second through hole 112 is larger than the aperture of the first through hole 111. The aperture of the first through hole 111 is smaller than the diameter of the compression spring 51.

[0108] The first part of the positioning shaft 53 is located in the first through hole 111 and the second through hole 112. The compression spring 51 is located in the second through hole 112. When the positioning shaft 53 is not pushed by the wedge-shaped block 15, the positioning shaft 53 does not extend out of the first through hole 111.

[0109] The first through hole 111 and the second through hole 112 are located at the first receiving structure 103.

[0110] The active end 1 further includes a first bearing seat 34 and a second bearing seat 35 for supporting and installing the worm of the worm and worm gear reducer 36.

[0111] As Figure 1 and Figure 6 shown, the passive end 2 includes a passive end body 21, a passive end connector, a first limit switch block 22 and a second limit switch block 23.

[0112] The passive end body 21 includes a connected top cover 201 and a side wall 202. The side wall 202 has a second docking portion 203. The second docking portion 203 is used for shape matching with the first docking portion 101 of the active end body 11 during docking. The shape and size of the second docking portion 203 are complementary to those of the first docking portion 101.

[0113] The second docking portion 203 includes a plurality of second insertion structures 204 evenly distributed along the circumference and a plurality of second receiving structures 205 located between the plurality of second insertion structures 204.

[0114] In one embodiment, the shape of the second docking portion 203 is a three-claw V-groove special shape, and the number of the second insertion structures 204 is 3.

[0115] The second insertion structure 204 is a conical wall. The end of the second insertion structure 204 is a plane, and the two sides are inclined surfaces. The thickness of the end of the second insertion structure 204 is less than the thickness of the bottom.

[0116] The included angles between the two end points of the bottom of the second insertion structure 204 and the central axis connection line of the passive end body 21 are 85.5°. The second insertion structure 204 has a second docking conical surface 2041.

[0117] The second receiving structure 205 is recessed relative to the second insertion structure 204. The included angles between the two end points of the bottom of the second receiving structure 205 and the central axis connection line of the passive end body 21 are β = 34.5°. The second receiving structure 205 has a second docking inclined surface 2051.

[0118] The first insertion structure 102 is complementary in shape and size to the second receiving structure 205; the second insertion structure 204 is complementary in shape and size to the first receiving structure 103.

[0119] The second docking conical surface 2041 of the second insertion structure 204 is complementary in shape and size to the first docking inclined surface 1031 of the first receiving structure 103. The second docking inclined surface 2051 of the second receiving structure 205 is complementary in shape and size to the first docking conical surface 1021 of the first insertion structure 102.

[0120] For the three-jaw V-groove special-shaped feature, a large taper inclined surface is adopted in the design. The distance between the bottoms of the second docking inclined surfaces 2051 of two opposite second receiving structures 205 is 180 mm, the distance between the tops of the second docking inclined surfaces 2051 of two opposite second receiving structures 205 is 150 mm, and the width of the horizontal projection of the second docking inclined surface 2051 of the second receiving structure 205 is 30 mm, which can overcome the radial deviation of ±15 mm from the central axis. The three-jaw groove has an angle of 85.5° and a solid angle of 34.5°. Even if there is a circumferential rotation deviation of 50°, the large-angle pose error and circumferential deviation can be captured through the three-jaw V-groove special-shaped feature.

[0121] The active end body 11 and the passive end body 21 adopt a three-jaw V-groove special-shaped design. By setting the inclination angles of the docking inclined surfaces (the first docking inclined surface 1031 and the second docking inclined surface 2051) and the docking conical surfaces (the first docking conical surface 1021 and the second docking conical surface 2041), the pose error in the initial docking state can be overcome.

[0122] The second docking part 203 further includes an annular second docking end part 206. The second insertion structures 204 are all located outside the annular second docking end part 206. A positioning groove 207 is provided on the first docking end part 104. The positioning groove 207 is used to cooperate with the positioning convex block 105 to prevent the passive end body 21 and the active end body 11 from being circumferentially reversely installed.

[0123] A positioning round hole 2042 is provided on the second insertion structure 204 for cooperating with the positioning shaft 53 of the locking mechanism 5 to lock the structures of the active end 1 and the passive end 2.

[0124] The passive end connector includes a second liquid path connector 43, a second gas path connector 45, a second type of circuit connector, a first limit switch block 22 and a second limit switch block 23 are installed on the inner wall of the top cover 201. The first limit switch block 22 protrudes outward relative to the second docking end part 206, that is, protrudes from the second docking end part 206. The height of the second limit switch block 23 is lower than the height of the first limit switch block 22.

[0125] The active end body and the passive end body have threaded holes for installing a space vehicle.

[0126] As Figure 8 and 9 shown, the docking process of the active end and the passive end is as follows:

[0127] When the space manipulator sends the component B equipped with the passive end 2 into the active end 1, the first docking part 101 of the active end body 11 is in shape fit with the second docking part 203 of the passive end body 21. The first insertion structure 102 is inserted into the second receiving structure 205, and the second insertion structure 204 is inserted into the first receiving structure 103. The three-claw V-groove special-shaped features of the active end body 11 and the three-claw V-groove special-shaped features of the passive end body 21 are used to overcome the pose error in the initial docking state. The positioning convex block 105 of the active end body 11 cooperates with the positioning groove 207 of the passive end body 21 to avoid circumferential reverse installation during the docking process.

[0128] When it is reversely installed, the positioning convex block 105 cannot be stuck into the positioning groove 207, and the passive end body and the active end body cannot be closely attached, that is, the first limit switch block 22 cannot trigger the second limit switch sensor 122, and the motor will not receive an instruction, so it will not rotate, that is, docking cannot be achieved.

[0129] When the pose correction is completed, the second limit switch sensor 122 is mechanically triggered by the first limit switch block 22, the action of the space manipulator ends, and the component B is released. Specifically, after the pose correction, the first limit switch block 22 will touch the contact point of the second limit switch sensor 122, thereby triggering the second limit switch sensor 122. The space manipulator receives the signals sent by the first and second limit switch sensors 122, and the space manipulator stops moving.

[0130] The motor 31 starts to rotate, drives the worm and worm gear reducer 36 to drive, the worm and worm gear reducer 36 drives the ball screw shaft 161 to rotate, and the lifting disc 13 installed on the ball screw nut 16 starts to move towards the passive end 2.

[0131] During the process of the lifting disc 13 moving towards the passive end 2, the three groups of wedge-shaped blocks 15 fixed to the lifting disc 13 start to act on the positioning shaft 53 of the locking mechanism 5, push the positioning shaft 53 to move outwards, overcome the spring compression force, and insert the positioning shaft 53 into the positioning round hole 2042 of the passive end body 21, thereby realizing the locking of the structures of the active end 1 and the passive end 2.

[0132] The rising disk 13 continues to move towards the passive end 2. At this time, various connectors start to plug and contact each other. The first type of circuit connector, the first liquid circuit connector 46, and the first gas circuit connector 48 are respectively plugged with the second type of circuit connector, the second liquid circuit connector 43, and the second gas circuit connector 45. When it moves to the specified plugging depth, the second limit switch block 23 of the passive end 2 mechanically triggers the first limit switch sensor 121. The motor 31 receives the instruction from the first limit switch sensor 121 and stops moving. At this time, the circuit and the liquid circuit connection have been completed. At the same time, by using the self-locking characteristic of the worm and worm gear, even when the motor 31 is not powered on, the circuit and the liquid circuit can be reliably connected.

[0133] The unlocking process of the active end and the passive end is as follows:

[0134] When the motor 31 receives the unlocking instruction, the motor 31 rotates in reverse, so that the ball screw nut 16 drives the rising disk 13 to move away from the passive end 2, and the connectors are gradually completely disengaged. The rising disk 13 continues to move, and the wedge-shaped inclined block 15 also continues to move away from the positioning shaft 53 of the locking mechanism 5. The positioning shaft 53 is subjected to the elastic force of the spring and begins to retract inward. The passive end structure 2 is unlocked from the active end structure 1. At this time, the lower end surface of the wedge-shaped inclined block 15 mechanically triggers the third limit switch sensor 123, and the motor 31 receives the stop motion signal and stops moving, and the unlocking is completed.

[0135] The motor 31 is connected to the worm through the coupling 33, decelerated and increased in distance by the worm and worm gear reducer 36, and is connected to the ball screw shaft 161, converting the rotational motion into the up and down linear motion of the rising disk 13, realizing the pushing out and retracting of the positioning shaft 53 of the locking mechanism 5 and the plugging and separating actions of the connectors.

[0136] Specifically, for the docking of connectors with different plugging depths, as long as it does not exceed the maximum plugging depth of this device, different connector installation structures 131 with different protruding heights can be reasonably selected and installed on the rising disk 13 to adapt to the plugging depths of different connectors. Therefore, the docking device of the present invention has strong expandability and can adapt to the docking of various types of connectors.

[0137] The large tolerance docking mechanism of the present invention is particularly suitable for being matched with a space manipulator for space component docking or small space vehicle docking.

[0138] The present invention can achieve functions such as structural locking, electrical and hydraulic connection by using a set of motors, and has the advantages of high stiffness, high reliability, large tolerance capacity, reliable connection, self-locking in place, simple structure, repeated docking and unlocking, etc. It is particularly suitable for space component docking with a space manipulator and space docking of small spacecraft. Although some embodiments of the present invention have been described in this application document, those skilled in the art can understand that these embodiments are only shown as examples. Those skilled in the art can conceive numerous variant schemes, alternative schemes and improvement schemes under the teaching of the present invention without exceeding the scope of the present invention. The appended claims are intended to define the scope of the present invention and thereby cover the methods and structures within the scope of these claims themselves and their equivalent transformations.

Claims

1. A docking device suitable for space manipulator operation, characterized in that: include: The active end includes: The active end body has a first docking portion, wherein the first docking portion includes a plurality of first insertion structures evenly distributed along a circumference and a plurality of first receiving structures located between the plurality of first insertion structures; A rising plate, which is located in the main body of the active end and is slidably connected to the main body of the active end; An active end connector, which is arranged on the rising plate; A power mechanism, which is configured to drive the ascending plate to approach or move away from the passive end and is capable of self-locking; The passive side includes: The passive end body has a second docking portion, wherein the second docking portion includes a plurality of second insertion structures evenly distributed along a circumference and a plurality of second receiving structures located between the plurality of second insertion structures, and the second docking portion and the first docking portion have complementary shapes and sizes; and The passive end connector is arranged on the passive end body.

2. The docking device according to claim 1, characterized in that: The first butt joint portion and the second butt joint portion are in the shape of a three-claw V-groove; The first insertion structure is a tapered wall, the end of the first insertion structure is a plane, the two sides are inclined surfaces, and the thickness and width of the end of the first insertion structure are smaller than the thickness and width of the bottom; The first receiving structure is recessed relative to the first inserting structure; The second insertion structure is a tapered wall, the end of the second insertion structure is a plane, the two sides are inclined surfaces, and the thickness and width of the end of the second insertion structure are smaller than the thickness and width of the bottom; The second receiving structure is recessed relative to the second inserting structure; as well as The first insertion structure and the second receiving structure have complementary shapes and sizes, and the second insertion structure and the first receiving structure have complementary shapes and sizes.

3. The docking device according to claim 2, characterized in that: The angle α between the two end points of the bottom of the first insertion structure and the central axis of the active end body is 85.5°; The angle β between the two end points of the bottom of the first supporting structure and the central axis of the active end body is 34.5°; The angle between the two end points of the bottom of the second insertion structure and the central axis of the passive end body is 85.5°; The included angles between the two end points of the bottom of the second supporting structure and the lines connecting the central axis of the passive end body are 34.5°.

4. The docking device according to claim 1, characterized in that: The power mechanism comprises: A motor connected to the worm of the worm gear reducer through a coupling; A worm gear reducer, in which the worm wheel is connected to the ball screw shaft; Ball screw shaft; A ball screw nut is sleeved on the ball screw shaft and fixedly connected to the rising plate.

5. The docking device according to claim 1, characterized in that: The active end body has a first through hole and a second through hole which are interconnected and coaxial, the first through hole is located outside the second through hole, and the aperture of the second through hole is larger than the aperture of the first through hole; The passive end body is provided with a positioning circular hole.

6. The docking device according to claim 5, characterized in that: The active end also includes: The locking mechanism comprises: A locking mechanism mounting block, which is fixed to the inner wall of the active end, and the locking mechanism mounting block has a hole; A positioning shaft, comprising a first portion and a second portion, wherein the first portion is located in the first through hole and the second through hole, and the second portion extends from a hole of a locking mechanism mounting block; a blocking piece, which is arranged on the positioning shaft to divide the positioning shaft into the first part and the second part, and the blocking piece is located outside the locking mechanism mounting block; and A compression spring, which is sleeved on the first portion of the positioning shaft and located in the second through hole; A sliding assembly connecting the rising plate and the active end body; A wedge-shaped inclined block is arranged on the side of the rising plate and is used to push the positioning shaft. The wedge-shaped inclined block has an outer side surface composed of an inclined surface and a vertical plane.

7. The docking device according to claim 1, characterized in that: The active end connector includes a first type circuit connector, a first liquid circuit connector and a first gas circuit connector; The passive end connector includes a second type circuit connector, a second liquid circuit connector and a second gas circuit connector; The rising plate is provided with a connector mounting structure protruding at different heights relative to the first surface of the rising plate.

8. The docking device according to claim 1, characterized in that: The first docking portion further includes a first annular docking end portion, the first insertion structure is located outside the first docking end portion, and a positioning protrusion is provided on the first docking end portion; The second docking portion further includes a ring-shaped second docking end portion, the second insertion structure is located outside the second docking end portion, and a positioning groove is provided on the first docking end portion.

9. The docking device according to claim 1, characterized in that: The active end also includes: A first limit switch sensor, which is installed on the side of the rising plate; A second limit switch sensor, which is mounted on the inner side of the active end body; A third limit switch sensor, which is mounted on the inner side of the active end body; The passive end also includes: A first limit switch stopper is mounted on the inner wall of the top cover of the passive end body and protrudes from the second butt joint end; The second limit switch stopper is installed on the inner wall of the top cover of the passive end body.

10. The docking device according to claim 4, characterized in that: It also includes a base, which is arranged at the bottom of the active end body, wherein: The worm gear reducer is installed on the base; The ball screw shaft is mounted on the base through a screw support seat; and A motor mounting seat is also provided on the base, and the motor is fixed on the motor mounting seat.

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