Standard interface device for docking of spacecraft

Abstract

The invention relates to the technical field of spacecraft docking and docking interfaces, and discloses a standard interface device for spacecraft docking and docking, which comprises a first docking assembly and a second docking assembly, the first docking assembly and the second docking assembly adopt identical configuration design, and through dynamic switching of active and passive working modes, when one is an active end to execute capturing and locking functions, the other is a passive end to execute capturing and locking functions; and vice versa, two-way exchange of active and passive performance is realized, flexible docking requirements of spacecrafts with different roles are met, and the interface universality is improved. The capturing and locking assembly at the waist of the first butt-joint assembly comprises symmetrical locking arms and can be opened and closed to achieve rigid locking, the two butt-joint assemblies are each provided with a T-shaped structure used for bearing and a butterfly-shaped structure, the design breaks through the function fixing limitation of a traditional connector, position deviation is corrected through the butterfly-shaped structures, loads are evenly transmitted through the inverted-T-shaped structures, and the locking effect is good. The design is simplified, and the universality, the adaptability and the connection reliability are improved at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft docking interfaces, and in particular to a standard interface device for spacecraft docking. Background Art

[0002] In the aerospace field, with the development of on-orbit space service technology, on-orbit service missions such as inspection, refueling, maintenance, debris removal, and assembly and maintenance of large-scale space infrastructure are increasing. Docking is the core link to achieve connection between spacecraft in such missions.

[0003] In the Chinese patent publication number CN116960686A, the invention relates to a spacecraft interface, a spacecraft and a spacecraft docking method. The spacecraft interface includes a male port and a female port. The male port and the female port are positioned by a positioning cone, a positioning hole, a guide cone plate and a guide groove plate. Secondly, they are locked by an active locking ring, a passive locking ring, a drive ring, a guide ring and a power device. Finally, the electrical connection between the spacecraft is completed by an electrical connector. The invention reasonably standardizes the spacecraft interface to ensure that the spacecraft system has a certain rigidity, strength, reliability and anti-interference ability. The interface can provide auxiliary locking force for docking, which facilitates the connection of other interfaces. At the same time, there is no need for the on-orbit service space robot to provide additional thrust, avoiding adverse effects on the robot arm, so that the reliability and maintainability of the on-orbit construction of large and ultra-large space equipment are further improved.

[0004] In the existing technology, dedicated docking interfaces have problems such as fixed specifications, separation of active and passive functions, limited adaptation range, complex structure, and poor versatility. Therefore, it is necessary to set up a spacecraft docking interface to achieve reliable guidance, capture, locking and payload transfer between different spacecraft, solve the problems of insufficient adaptability, single function, and difficulty in promotion and application of traditional interfaces, and provide a universal and flexible connection basis for diversified on-orbit service missions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the dedicated docking interface in the existing technology has the disadvantages of fixed specifications, separation of active and passive functions, limited adaptation range, complex structure and poor versatility. For this reason, we propose a standard interface device for spacecraft docking.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a standard interface device for docking of spacecraft, comprising a first docking assembly and a second docking assembly, wherein the first docking assembly and the second docking assembly adopt exactly the same configuration design; when the first docking assembly is in an active working mode, the second docking assembly is in a corresponding passive working mode to cooperate in completing the capture, guidance and locking actions of docking; conversely, when the second docking assembly switches to the active working mode, the first docking assembly is correspondingly converted to the passive working mode; the first docking assembly and the second docking assembly realize bidirectional interchange of active and passive performances through dynamic switching of the active and passive working modes, so as to meet the functional requirements of mutual capture, connection and locking between the two;

[0007] The first docking assembly includes a first load-bearing plate, four groups of first clamps are symmetrically arranged on the sides of the first load-bearing plate in pairs, the four groups of first clamps are butterfly-shaped, the bottom of the first load-bearing plate is fixedly connected to a first load-bearing vertical plate, the first load-bearing plate and the first load-bearing vertical plate together form a T-shaped structure, the second docking assembly includes a second load-bearing plate, four groups of second clamps are symmetrically arranged on the sides of the second load-bearing plate in pairs, the four groups of second clamps are butterfly-shaped, the top of the second load-bearing plate is fixedly connected to a second load-bearing vertical plate, the second load-bearing plate and the second load-bearing vertical plate together form an inverted T-shaped structure;

[0008] A capture and locking assembly is installed at the waist of the first docking assembly, and the capture and locking assembly includes two locking arms. The locking arms are symmetrically arranged about the vertical center axis of the first docking assembly, and the two groups of locking arms can open and close to complete the rigid locking between the first docking assembly and the second docking assembly.

[0009] Preferably, the waist of the first bearing plate is provided with a first locking edge, and the cross-sectional shape of the first clamp is set to be an isosceles right triangle, the right-angled side is fixedly connected to the first bearing plate, and the hypotenuse faces the first locking edge.

[0010] Preferably, one end of the first bearing plate is fixedly connected to a first guide pin, and an end of the first bearing plate away from the first guide pin is provided with a first guide hole.

[0011] Preferably, a second locking edge is provided at the waist of the second load-bearing plate, and a second connecting bottom plate is fixedly connected to the top of the second load-bearing vertical plate.

[0012] Preferably, a second guide pin is fixedly connected to one end of the second load-bearing plate, and a second guide hole is opened at one end of the second load-bearing plate away from the second guide pin. When the second load-bearing plate is attached to the first load-bearing plate, the second guide pin is inserted into the first guide hole, and the first guide pin is inserted into the second guide hole.

[0013] Preferably, the bottom of the first supporting vertical plate is fixedly connected to a first connecting bottom plate, and the bottom of the first connecting bottom plate is installed with a lifting drive mechanism.

[0014] Preferably, the capture and locking assembly further comprises a linear screw mechanism, the linear screw mechanism passes through the first connecting base plate, and the bottom end of the linear screw mechanism is fixedly connected to the output end of the lifting drive mechanism.

[0015] Preferably, a bearing arm is sleeved on the outside of the linear screw mechanism, and two sets of rotating shafts are symmetrically provided at the end of the bearing arm.

[0016] Preferably, a locking drive mechanism is installed on the outer wall of the carrying arm, and the output end of the locking drive mechanism is fixedly connected to the rotating shaft. The locking drive mechanism is used to rotate the rotating shaft to realize the opening and closing movement of the locking arm.

[0017] Preferably, the locking arm is sleeved on the outside of the rotating shaft, and the locking arm is fixedly connected to the rotating shaft. The end of the locking arm away from the rotating shaft is integrally connected with a locking hook, and the locking hook and the locking arm together form an inverted L-shaped structure.

[0018] Technical effects and advantages of the present invention:

[0019] 1. The present invention adopts a first docking component and a second docking component of exactly the same configuration to realize dynamic switching of active and passive working modes, breaking through the limitation of fixed active and passive functions of traditional interfaces. Through the two-way interchangeable active and passive performance, it meets the flexible docking requirements of spacecraft with different roles, greatly broadens the adaptation range, and improves the versatility of the interface.

[0020] 2. The present invention adopts a collaborative design of butterfly-shaped configuration and inverted T-shaped and inverted L-shaped structures, which effectively solves the problems of insufficient precision of traditional docking guidance and poor coordination of load-bearing and capture. The beveled mechanical contact guidance of the butterfly-shaped configuration can correct the initial position deviation and enhance the adaptability of the guidance tolerance. The symmetrical layout of the inverted T-shaped structure realizes uniform load transfer. The two integrate the guidance and load-bearing functions, simplifying the structure while improving the load-bearing stability and reliability. Furthermore, the unified configuration design reduces the design complexity, reduces the types of special components, and enhances the convenience of combined application. It can adapt to the docking scenarios of spacecraft with multiple specifications and different quality characteristics, and provide an efficient and reliable connection foundation for diversified on-orbit service missions. In addition, the orderly linkage of the capture, guidance, locking and separation processes, and the clear and reversible operation process not only ensure the stability of the docking rigid connection, but also improve the flexibility and safety of mission execution, providing a better technical solution for on-orbit docking of spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The disclosure of the present invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components:

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention entering the capture range state;

[0023] Figure 2 This is a front structural schematic diagram of the present invention entering the capture range state;

[0024] Figure 3 Schematic diagram of the three-dimensional structure of the present invention in a correction state;

[0025] Figure 4 This is a schematic diagram of the front structure of the present invention in a correction state;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the present invention in a locked state;

[0027] Figure 6 This is a front structural schematic diagram of the present invention in a locked state;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the first docking component and the capture and locking component of the present invention;

[0029] Figure 8 It is a front structural schematic diagram of the first docking assembly and the capture and locking assembly of the present invention;

[0030] Figure 9 Schematic diagram of the three-dimensional structure of the first docking assembly of the present invention;

[0031] Figure 10 Schematic diagram of the three-dimensional structure of the second docking assembly of the present invention;

[0032] Figure 11 It is a schematic diagram of the three-dimensional structure of the capture and locking component part of the present invention.

[0033] Legend: 1. First docking assembly; 2. Second docking assembly; 3. Capture and lock assembly; 4. Lifting drive mechanism; 101. First connecting base plate; 102. First bearing vertical plate; 103. First load-bearing plate; 104. First clamp; 105. First guide pin; 106. First guide hole; 107. First locking edge; 201. Second connecting base plate; 202. Second bearing vertical plate; 203. Second load-bearing plate; 204. Second clamp; 205. Second guide pin; 206. Second guide hole; 207. Second locking edge; 301. Bearing arm; 302. Locking drive mechanism; 303. Linear screw mechanism; 304. Rotating shaft; 305. Locking arm; 306. Locking hook. DETAILED DESCRIPTION

[0034] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0035] Reference Figure 1 As shown, the present invention provides a technical solution: a standard interface device for spacecraft docking, which is installed on a side plane of the service spacecraft and the customer spacecraft, generally the front face of the spacecraft in the flight direction. A robotic arm is installed on the service spacecraft. After the robotic arm on the service spacecraft grabs the customer spacecraft, the first docking component 1 and the second docking component 2 of the docking interface device that cooperate with each other are moved closer to each other according to information such as target measurement and guidance. When the second docking component 2 enters the working range of the first docking component 1, the first docking component 1 performs capture and connection actions to complete the rigid connection between the two spacecraft.

[0036] In the spacecraft docking scenario, existing dedicated interfaces are generally divided into active interfaces and passive interfaces. There are problems such as fixed active and passive functions and limited adaptation range. To solve this problem, the interface device in this application is improved as follows:

[0037] See also Figures 1 to 6 As shown, a standard interface device for docking of spacecraft includes a first docking assembly 1 and a second docking assembly 2. The first docking assembly 1 and the second docking assembly 2 adopt the same configuration design. When the first docking assembly 1 is in the active working mode, the second docking assembly 2 is in the passive working mode to cooperate in completing the capture, guidance and locking actions of docking. Conversely, when the second docking assembly 2 switches to the active working mode, the first docking assembly 1 is correspondingly converted to the passive working mode. The first docking assembly 1 and the second docking assembly 2 achieve bidirectional interchange of active and passive performances through dynamic switching of the active and passive working modes, so as to meet the functional requirements of mutual capture, connection and locking between the two.

[0038] This application enables the first docking component 1 and the second docking component 2 of the same structure to dynamically switch working modes, so that when one is the active end performing the capture and locking functions, the other is synchronously used as the passive end to cooperate with the load, and vice versa. This design breaks through the limitations of the traditional interface's separation of active and passive functions, and not only adapts to the flexible docking requirements of spacecraft with different roles, such as service spacecraft and customer spacecraft, but also reduces the design complexity through a unified configuration, improves the interface's versatility, the convenience of combined application, and the adaptability to docking scenarios of spacecraft of multiple specifications, providing an efficient and reliable connection foundation for diverse on-orbit service missions.

[0039] See also Figure 5 、 Figure 9 and Figure 10 As shown, one end of the first bearing plate 103 is fixedly connected to the first guide pin 105, and the end of the first bearing plate 103 away from the first guide pin 105 is provided with a first guide hole 106, one end of the second bearing plate 203 is fixedly connected to the second guide pin 205, and the end of the second bearing plate 203 away from the second guide pin 205 is provided with a second guide hole 206, when the second bearing plate 203 is attached to the first bearing plate 103, the second guide pin 205 is inserted into the first guide hole 106, and the first guide pin 105 is inserted into the second guide hole 206, the bottom of the first bearing plate 103 is fixedly connected to the first bearing vertical plate 102, the first bearing plate 103 and the first bearing vertical plate 102 together form a T-shaped structure, the top of the second bearing plate 203 is fixedly connected to the second bearing vertical plate 202, the second bearing plate 203 and the second bearing vertical plate 202 together form an inverted T-shaped structure.

[0040] See also Figures 5 to 8 as well as Figure 11As shown, a capture and locking assembly 3 is installed at the waist of the first docking assembly 1, and the capture and locking assembly 3 includes two locking arms 305. The locking arms 305 are symmetrically arranged in two groups about the vertical center axis of the first docking assembly 1, and the two groups of locking arms 305 can be opened and closed to complete the rigid locking between the first docking assembly 1 and the second docking assembly 2. A second locking edge 207 is provided at the waist of the second load-bearing plate 203, the top of the second bearing vertical plate 202 is fixedly connected to the second connecting base plate 201, the bottom of the first bearing vertical plate 102 is fixedly connected to the first connecting base plate 101, and a lifting drive mechanism 4 is installed at the bottom of the first connecting base plate 101. The capture and locking assembly 3 also includes a linear screw mechanism 303, and the linear screw mechanism 303 passes through the first connecting The base plate 101, and the bottom end of the linear screw mechanism 303 is fixedly connected to the output end of the lifting drive mechanism 4, the outer portion of the linear screw mechanism 303 is sleeved with a carrying arm 301, and two sets of rotating shafts 304 are symmetrically arranged at the end of the carrying arm 301, and the outer wall of the carrying arm 301 is installed with a locking drive mechanism 302, and the output end of the locking drive mechanism 302 is fixedly connected to the rotating shaft 304, and the locking drive mechanism 302 is used to rotate with the rotating shaft 304 to realize the opening and closing movement of the locking arm 305, and the locking arm 305 is sleeved on the outside of the rotating shaft 304, and the locking arm 305 is fixedly connected to the rotating shaft 304, and the end of the locking arm 305 away from the rotating shaft 304 is integrally connected with a locking hook 306, and the locking hook 306 and the locking arm 305 together form an inverted L-shaped structure.

[0041] When the second docking component 2 is close to the first docking component 1, the output end of the lifting drive mechanism 4 rotates with the linear screw mechanism 303, and then rises with the rotating shaft 304 and the locking arm 305 through the supporting arm 301. While rising, the locking drive mechanism 302 drives the rotating shaft 304 to rotate with the locking arm 305, so that the locking arms 305 on both sides gradually rotate toward the middle and close. When the second bearing plate 203 is fitted together with the first bearing plate 103, the bearing arm 301 just drops to the bottom. At this time, the locking arms 305 on both sides rotate to a vertical state, and the locking hooks 306 at the top are stuck above the second bearing plate 203, completing the locking and fixation of the two.

[0042] See also Figure 1 、 Figure 9 and Figure 10As shown, the first docking component 1 includes a first load-bearing plate 103, and four groups of first clamps 104 are symmetrically arranged on the sides of the first load-bearing plate 103, and the four groups of first clamps 104 are butterfly-shaped. The second docking component 2 includes a second load-bearing plate 203, and four groups of second clamps 204 are symmetrically arranged on the sides of the second load-bearing plate 203, and the four groups of second clamps 204 are butterfly-shaped. The waist of the first load-bearing plate 103 is provided with a first locking edge 107, and the cross-sectional shape of the first clamp 104 is set to an isosceles right triangle, the right-angled side is fixedly connected to the first load-bearing plate 103, and the hypotenuse faces the first locking edge 107.

[0043] The core function of the butterfly-shaped configuration in the spacecraft docking interface device is to solve the problems of insufficient guidance accuracy and poor coordination between load bearing and capture in traditional docking structures. Specifically, when the first docking component 1 is the active end and the second docking component 2 is the passive end, the locking arm 305 forms a mechanical contact guide on the oblique edge of the butterfly-shaped configuration of the second docking component 2 at the passive end during the process of gradually rotating upward and closing, effectively correcting the initial position deviation, improving the guidance tolerance adaptation capability, and ensuring that the passive end accurately enters the capture range of the locking arm 305 and the locking hook 306.

[0044] At the same time, the butterfly-shaped configuration and the inverted T-shaped structure jointly bear the connection load, realizing the integrated integration of the guiding and bearing functions, avoiding the structural complexity problems caused by the traditional multi-component separation design. The benefit of this design is that it not only enhances the automatic alignment capability of the docking process through the butterfly-shaped configuration guide edge, but also relies on the symmetrical layout of the inverted T-shaped structure to achieve uniform load transfer, thereby improving the bearing stability and reliability of the interface. At the same time, the capture and locking action of the inverted L-shaped structure of the locking arm 305 and the locking hook 306 further simplifies the structural design and enhances the versatility and adaptability of the interface in docking scenarios of spacecraft with different mass characteristics.

[0045] Workflow:

[0046] First, the locking arms 305 are in the open state, and the locking arms 305 on both sides form a V shape together; the capture locking assembly 3 is located at the top of the first supporting vertical plate 102 as a whole; when the second bearing plate 203 and the second bearing vertical plate 202 in the second docking assembly 2 enter the capture range of the locking arms 305, the two sets of locking arms 305 with the locking hooks 306 begin to close with each other, and the locking hooks 306 come into mechanical contact with the oblique edges of the second clamping device 204. Under the action of the contact force, the second docking assembly 2 and the first docking assembly 1 are aligned with each other. When the locking arms 305 are closed, the internal space formed by the locking hooks 306 can prevent the second bearing plate 203 from falling out, indicating that the capture is completed;

[0047] Next, the lifting drive mechanism 4 drives the linear screw mechanism 303 to rotate, and drives the capture locking assembly 3 to move downward as a whole through the support arm 301. During this process, the second guide pin 205 and the first guide hole 106, and the first guide pin 105 and the second guide hole 206 guide and cooperate with each other to achieve final precise positioning and insertion. When the second load-bearing plate 203 contacts the first load-bearing plate 103, the lifting drive mechanism 4 is used to drive the linear screw mechanism 303 to implement loading, and finally the locking hook 306 acts on the top end face of the second locking edge 207, thereby achieving the final rigid connection. When separation, it can be achieved by referring to the above process and reversing the action.

[0048] The technical scope of the present invention is not limited to the contents of the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A standard interface device for spacecraft docking, characterized in that: The first docking component and the second docking component adopt the same configuration design. When the first docking component is in the active working mode, the second docking component is in the passive working mode to cooperate with the capture, guidance and locking actions of the docking. Conversely, when the second docking component switches to the active working mode, the first docking component is correspondingly converted to the passive working mode. The first docking component and the second docking component realize the two-way interchange of active and passive performance through the dynamic switching of the active and passive working modes, so as to meet the functional requirements of mutual capture, connection and locking between the two. The first docking assembly includes a first load-bearing plate, four groups of first clamps are symmetrically arranged on the sides of the first load-bearing plate in pairs, the four groups of first clamps are butterfly-shaped, the bottom of the first load-bearing plate is fixedly connected to a first load-bearing vertical plate, the first load-bearing plate and the first load-bearing vertical plate together form a T-shaped structure, the second docking assembly includes a second load-bearing plate, four groups of second clamps are symmetrically arranged on the sides of the second load-bearing plate in pairs, the four groups of second clamps are butterfly-shaped, the top of the second load-bearing plate is fixedly connected to a second load-bearing vertical plate, the second load-bearing plate and the second load-bearing vertical plate together form an inverted T-shaped structure; A capture and locking assembly is installed at the waist of the first docking assembly, and the capture and locking assembly includes two locking arms. The locking arms are symmetrically arranged about the vertical center axis of the first docking assembly, and the two groups of locking arms can open and close to complete the rigid locking between the first docking assembly and the second docking assembly.

2. The standard interface device for spacecraft docking according to claim 1, characterized in that: The waist of the first bearing plate is provided with a first locking edge, and the cross-sectional shape of the first clamp is set to be an isosceles right triangle, the right-angled side is fixedly connected to the first bearing plate, and the hypotenuse faces the first locking edge.

3. The standard interface device for spacecraft docking according to claim 1, characterized in that: One end of the first bearing plate is fixedly connected to a first guide pin, and an end of the first bearing plate away from the first guide pin is provided with a first guide hole.

4. The standard interface device for spacecraft docking according to claim 1, characterized in that: The waist of the second load-bearing plate is provided with a second locking edge, and the top of the second load-bearing vertical plate is fixedly connected with a second connecting bottom plate.

5. The standard interface device for spacecraft docking according to claim 1, characterized in that: One end of the second bearing plate is fixedly connected to a second guide pin, and a second guide hole is opened at the end of the second bearing plate away from the second guide pin. When the second bearing plate and the first bearing plate are attached together, the second guide pin is inserted into the first guide hole, and the first guide pin is inserted into the second guide hole.

6. The standard interface device for spacecraft docking according to claim 1, characterized in that: The bottom of the first supporting vertical plate is fixedly connected to the first connecting bottom plate, and the bottom of the first connecting bottom plate is installed with a lifting drive mechanism.

7. The standard interface device for spacecraft docking according to claim 1, characterized in that: The capture and locking assembly further includes a linear screw mechanism, which passes through the first connecting base plate, and the bottom end of the linear screw mechanism is fixedly connected to the output end of the lifting drive mechanism.

8. The standard interface device for spacecraft docking according to claim 7, characterized in that: A bearing arm is sleeved on the outside of the linear screw mechanism, and two sets of rotating shafts are symmetrically arranged at the ends of the bearing arm.

9. The standard interface device for spacecraft docking according to claim 8, characterized in that: A locking drive mechanism is installed on the outer wall of the carrying arm. The output end of the locking drive mechanism is fixedly connected to the rotating shaft. The locking drive mechanism is used to rotate the rotating shaft to realize the opening and closing movement of the locking arm.

10. The standard interface device for spacecraft docking according to claim 9, characterized in that: The locking arm is sleeved on the outside of the rotating shaft, and the locking arm is fixedly connected to the rotating shaft. One end of the locking arm away from the rotating shaft is integrally connected with a locking hook, and the locking hook and the locking arm together form an inverted L-shaped structure.

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