Mechanical locking gap-eliminating type butt joint mechanism and butt joint method

Abstract

The invention discloses a mechanical locking gap-eliminating type docking mechanism and a docking method, and relates to the technical field of spacecraft on-orbit docking. The butt joint mechanism comprises a driving end and a driven end, and the driving end and the driven end achieve flexible butt joint, clearance elimination and free separation under the action of a magnetic field generated by an electrified coil. The driving end and the driven end are mechanically locked through matching of a positioning pin and a positioning hole, mechanical clearance elimination is achieved through thread matching of a locking rod and a locking hole and an adjusting pin, and adjustment of relative positions and postures of the two ends is achieved. According to the docking mechanism and the docking method, the defects of plume pollution, large impact force, vibration and the like caused by fuel consumption of a traditional thruster are overcome, and the impact load is remarkably reduced; meanwhile, the docking mechanism has the advantages of being simple in structure, high in reliability, capable of working repeatedly and the like, the requirement for frequent and accurate docking of the spacecraft can be met, and therefore the reliability, safety and stability of the spacecraft are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft rendezvous and docking and on-orbit servicing, and particularly relates to a mechanical locking gap-eliminating docking mechanism and a docking method. BACKGROUND

[0002] With the continuous progress of aerospace technology and the continuous development of deep space exploration missions, on-orbit docking technology of space vehicles has become the key to building space stations, maintaining satellites, and performing deep space exploration missions, and its importance is self-evident. Traditional docking devices are mostly mechanical guiding and locking structures, such as using guide pins, capture rings and spring buffer devices to achieve initial contact and rigid connection. However, the traditional mechanical structure, although mature in technology, has obvious defects: the attitude control precision and alignment requirements are extremely high, and slight deviation will cause collision or docking failure, and it is difficult to cope with non-cooperative targets and dynamic interference scenes; in addition, the additional mass and complexity of the traditional docking mechanism are high, and the hydraulic buffer and multi-stage locking device will greatly increase the system weight, limiting the application and development of small spacecraft.

[0003] Unlike traditional docking technology, electromagnetic docking technology has advantages such as no fuel consumption, no docking impact, no plume pollution, and no optical interference. At present, most electromagnetic docking mechanisms need to adjust the attitude of the spacecraft in addition to the electromagnetic torque during docking, and the structure is relatively complex. SUMMARY

[0004] Therefore, the present application provides a mechanical locking gap-eliminating docking mechanism, which comprises: a driving end and a driven end, which are connected through a shaft hole under the action of electromagnetic force to realize flexible docking and controllable separation, and the gap between the two ends is eliminated through the cooperation of the locking rod and the thread on the locking hole.

[0005] Preferably, the driving end comprises a driving body, a locking rod, a buffer spring, a reaction wheel, an inertial sensor, a driving coil, a controller, a locking hole, an adjusting pin and an electric push rod; the driven end comprises a driven body, a servo rotating mechanism, a conductive slip ring, an adjusting hole, a ball bearing, a driven coil, a laser range finder, a motor, a controller, an inertial sensor and a wire; the locking rod comprises a pressure sensor, a laser range finder and a positioning hole; one end of the locking rod is fixedly connected with the buffer spring, and the other end of the buffer spring is fixedly connected with the driving body, so as to realize flexible docking of the two ends.

[0006] Preferably, the servo rotating mechanism is provided with four uniformly distributed hole positions, each of which contains a positioning pin, a spring and an electromagnet, one end of the spring is fixedly connected with the positioning pin, the other end is fixedly connected with the body of the servo rotating mechanism, and the electromagnet is fixed at the bottom of the hole; when the electromagnet is not powered, the spring is in a natural elongation state, and the top end of the positioning pin is located outside the hole; when the electromagnet is powered, the electromagnet generates a magnetic field, which generates an attractive force on the spring, so that the spring is in a completely compressed state, and the positioning pin is completely located in the hole; the positioning hole and the positioning pin can realize pin-hole cooperation, and the locking or unlocking operation of the active end and the passive end can be completed by controlling the power-on of the electromagnet; preferably, the motor drives the servo rotating mechanism to rotate through the motor shaft, the motor shaft is fixedly connected with the rotor of the conductive slip ring, the wire in the servo rotating mechanism is connected with the rotor interface of the conductive slip ring, so as to avoid wire winding when the servo rotating mechanism rotates; the servo rotating mechanism drives the locking rod and the active body to produce relative rotation by the pin-hole cooperation of the positioning pin on the servo rotating mechanism and the locking hole on the locking rod, and then adjusts the axial gap; the reaction wheel is located inside the active body, due to the principle of conservation of angular momentum, when the reaction wheel rotates, it can make the active end rotate reversely around the central shaft, and at the same time, it can provide reverse torque in the axial gap elimination process.

[0007] Preferably, the laser range finder is installed at the midpoint of the four protrusions uniformly distributed on the passive body, for measuring the radial gap between the active end and the passive end; the adjusting pin and the electric push rod are installed in the four holes uniformly distributed on the conical surface of the active body, one end of the electric push rod is fixedly connected with the bottom of the adjusting pin, and the other end is fixedly connected with the active body; the adjusting holes are uniformly distributed on the butt joint contact surface of the passive body, and correspond to the adjusting pins one by one; the radial gap is adjusted by the reaction force generated by the contact of the adjusting pin with the passive body.

[0008] Preferably, the thickness of the adjusting pin in the butt joint direction should be smaller than the width of the adjusting hole, so as not to affect the gap elimination process in the butt joint stage.

[0009] Preferably, the locking rod is partially inserted into the locking hole, external threads are arranged on the end of the locking rod close to the rod head, and internal threads are arranged in the locking hole; the threads on the locking rod and the locking hole can form a cooperation; the rod head of the locking rod is a circular truncated cone body, the taper of which is adapted to the taper of the contact surface of the active body and the passive body, so that it has a rough guiding effect and ensures that the butt joint process will not be stuck.

[0010] Preferably, the controllers on the active end and the passive end can obtain the relative butt joint distance of the two ends through the laser range finder, and then obtain the distance difference by combining the target distance of the two ends, and then adjust the current direction and size of the active coil and the passive coil according to the size of the distance difference, so as to generate controllable attractive force or repulsive force between the active end and the passive end to meet the actual butt joint needs.

[0011] A mechanical locking gap-eliminating docking method, based on the mechanical locking gap-eliminating docking mechanism, comprises the following docking steps:

[0012] S1: Preparation stage: Obtain the relative circumferential angle difference between the active end and the passive end according to the inertial sensors on the active end and the passive end, adjust the active end through the reaction wheel, and align the groove on the active end with the protrusion on the passive end.

[0013] S2: Docking stage: First, the fuzzy docking stage, by adjusting the same direction current intensity in the active coil and the passive coil, a controllable attractive magnetic field is generated to preliminarily close the two ends; the distance between the active end and the passive end is monitored in real time by the laser range finder on the locking rod, when the distance between the active end and the passive end is close to the set value, then enter the flexible docking stage, the controller dynamically adjusts the current direction and size in the coil, and further generates a repulsive magnetic field to slow down, and the buffer spring is compressed to absorb impact energy, ensuring low-impact smooth contact; after contact, mechanical locking is started, the locking rod of the active end is inserted into the servo rotating mechanism of the passive end, after the positioning pin is inserted into the positioning hole, the servo rotating mechanism drives the locking rod to rotate through the positioning pin, and the reaction wheel generates a reverse torque to make the threads of the active body and the locking rod cooperate with each other, during which the coil is kept energized to suppress the rebound of the buffer spring; after locking, the power is turned off and fixed; if there is a gap, the docking surface pressure is monitored by the pressure sensor, and the locking rod is dynamically adjusted to rotate until the pressure reaches the set value, realizing axial gap elimination; by analyzing the real-time monitoring data of the four laser range finders, the docking posture of the mechanism is obtained, based on the posture information, the radial gaps of the four measurement points are adjusted to ensure uniform distribution; the specific adjustment mechanism is as follows: each measurement point corresponds to an adjustment pin, and each adjustment pin is provided with an electric push rod corresponding thereto; when the gap of a certain measurement point is greater than the set value, the system first controls the electric push rod of the measurement point to shorten, and controls the electric push rod on the opposite side to elongate, the electric push rod on the opposite side pushes the adjustment pin and the passive body to generate a reaction force, thereby actively adjusting the radial gap on that side; when the difference between the measured value of the measurement point and the measured value of the opposite side measurement point is less than the set value, it is considered that the gap on that side is adjusted; during the whole adjustment process, the laser range finder continuously monitors the change of the radial gap, and the system adjusts the length of the electric push rod of the measurement point and the electric push rod on the opposite side from large to small according to the gap size of the measurement point, and the system executes the above adjustment process in a loop until the sum of the gaps of all measurement points is less than the limited value, and finally realizes radial gap elimination; the whole process involves coordinated control of all components to ensure safe, accurate and gap-free docking;

[0014] S3: separation stage: if separation is needed, perform the release operation: the servo rotating mechanism reverses the rotating direction of the locking rod, the reaction wheel reverses the torque to release the locking, the positioning pin is unlocked, and the coil restores the low current to offset the buffer spring rebound force, and the mechanical locking is gradually released; the fuzzy docking, flexible docking, mechanical locking and gap elimination steps are repeated when re-docking.

[0015] The application has the advantages that:

[0016] 1. The structure design has the advantages of simple structure and high reliability, and the core advantage is that it can achieve high docking accuracy and ensure smooth operation and no impact during the entire docking process.

[0017] 2. The specific docking scheme can accurately control the relative motion speed and attitude between the active end and the passive end, thereby efficiently completing the docking and separation operation. The design effectively avoids the risk of spacecraft engine plume pollution of the docking mechanism and significantly suppresses the excessive impact load that may occur during docking, thereby achieving smooth and flexible docking, and has the advantages of simple structure, high reliability, and repeatable operation, thereby providing a solid guarantee for spacecraft on-orbit tasks and ensuring the reliability, safety and long-term stability of the spacecraft.

[0018] 3. The locking rod head and the docking surface have the same taper design, which can effectively guide the initial docking of the components and avoid the occurrence of jamming during the guiding process, thereby ensuring smooth docking.

[0019] 4. The active end is provided with a groove, and the passive end is provided with a protruding structure. During the axial gap elimination process, an opposite torque opposite to the gap elimination driving direction is generated, thereby significantly reducing the energy consumption of the reaction wheel required to maintain the attitude stability of the spacecraft. DETAILED DESCRIPTION

[0020] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings, and their description, are presented to explain the application and are not intended to limit the application unduly.

[0021] Figure 1 It is a schematic diagram of the overall structure of the application.

[0022] Figure 2 It is a cross-sectional view of the overall structure of the application.

[0023] Figure 3 It is a cross-sectional view of the docking state structure of the application.

[0024] Figure 4 It is a schematic diagram of the active end adjustment pin of the application.

[0025] Figure 5 This is a front perspective view of the servo rotary mechanism.

[0026] Figure 6 Flowchart of the docking process.

[0027] Among them, 1-active end, 2-passive end, 100-active body, 102-buffer spring, 103-reaction wheel, 104-inertial sensor, 105-active coil, 106-controller, 107-locking hole, 108-adjustment pin, 109-electric push rod, 110-pressure sensor, 111-laser rangefinder, 112-positioning hole, 200-passive body, 201-servo rotation mechanism, 202-conductive slip ring, 203-adjustment hole, 204-ball bearing, 205-passive coil, 206-laser rangefinder, 207-positioning pin, 208-spring, 209-electromagnet, 210-motor, 211-controller, 212-inertial sensor, 213-wire. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and specific examples.

[0029] A mechanical locking and gap-eliminating docking mechanism and docking method, which has the characteristics of high reliability, low impact, simple structure and no plume. Figure 1 As shown, the space docking mechanism includes an active end 1 and a passive end 2. The two ends can achieve flexible docking and controllable separation through the shaft hole cooperation under the action of electromagnetic force, and the gap between the two ends is eliminated by the thread cooperation between the locking rod 101 and the locking hole 107.

[0030] like Figure 2 As shown, the active end 1 includes: an active body 100, a locking rod 101, a buffer spring 102, a reaction wheel 103, an inertial sensor 104, an active coil 105, a controller 106, a locking hole 107, an adjustment pin 108, and an electric push rod 109; the passive end 2 includes: a passive body 200, a servo rotation mechanism 201, a conductive slip ring 202, an adjustment hole 203, a ball bearing 204, a passive coil 205, a laser rangefinder 206, a motor 210, a controller 211, an inertial sensor 212, and a wire 213. The locking rod 101 is fixedly connected to one end of the buffer spring 102, and the other end of the buffer spring 102 is fixedly connected to the active body 100 to achieve flexible docking between the two ends. The laser rangefinder 206 is installed at the midpoint of four evenly distributed protrusions on the passive body 200 to measure the radial clearance between the two ends. The motor 210 drives the servo rotating mechanism 201 to rotate via the motor shaft. The motor shaft is fixedly connected to the rotor of the conductive slip ring 202. The wire 213 in the servo rotating mechanism 201 is connected to the rotor interface of the conductive slip ring 202 to prevent the wire 213 from being entangled.

[0031] The inertial sensor 104, 212 calculates and provides the orientation information of the object relative to the reference coordinate system and the pitch angle, yaw angle, roll angle in real time, and the three-axis acceleration and the angular velocity around the three axes can be obtained.

[0032] The locking rod 101 further comprises a pressure sensor 110 and a laser range finder 111; the servo rotating mechanism 201 comprises a positioning pin 207, a spring 208 and an electromagnet 209, which are installed in four holes uniformly distributed in the servo rotating mechanism 201, one end of the spring 208 is fixedly connected with the positioning pin 207, and the other end is fixedly connected with the servo rotating mechanism 201. The rod head of the locking rod 101 is a circular truncated cone body, the taper of which is equal to the taper of the contact surface of the driving body 100 and the driven body 200, so that the locking rod 101 can not be stuck during the docking process, and the locking rod 101 has a rough guiding effect.

[0033] As shown in Figure 3 The locking rod 101 is partially inserted into the locking hole 107, an external thread is arranged on the end of the locking rod 101 close to the rod head, an internal thread is arranged in the locking hole, and the threads on the locking rod 101 and the locking hole 107 can be matched.

[0034] As shown in Figure 4 The servo rotating mechanism 201 is provided with four uniformly distributed hole positions, each of which contains a positioning pin 207, a spring 208 and an electromagnet 209, one end of the spring 208 is fixedly connected with the positioning pin 207, and the other end is fixedly connected with the servo rotating mechanism 201, and the electromagnet 209 is fixed at the bottom of the hole; when the electromagnet 209 is not powered, the spring 208 is in a natural elongation state, and the top end of the positioning pin 207 is located outside the hole, and when the electromagnet is powered, the spring 208 is in a completely compressed state, and the positioning pin 207 is completely located in the hole.

[0035] The four adjusting holes 203 are uniformly distributed on the docking contact surface of the driven body, and correspond to the four adjusting pins 108 one by one; in order to not affect the locking process in the docking stage, the thickness of the adjusting pin 108 along the docking direction should be less than the width of the adjusting hole 203.

[0036] The working process of the docking mechanism is as follows:

[0037] In the preparation stage: the relative angular deviation (b-a) of the circumferential of the driving end and the driven end is obtained through the inertial sensor 104 and the inertial sensor 212, and then the reaction wheel 103 located in the driving body 100 can make the driving end 1 rotate around the central axis through the angular momentum conservation principle, adjust the angle of the driving end 1 relative to the driven end 2, and align the groove on the driving end 1 with the protrusion on the driven end 2.

[0038] In the docking stage: first is the fuzzy docking stage, by adjusting the same direction current intensity in the active coil 105 and passive coil 205, generate controllable magnetic attraction field, make both ends preliminary close; Using the laser range finder 111 on the locking rod 101 real-time monitoring distance data, when both ends distance close to 5cm, then enter the flexible docking stage, controller dynamic adjustment coil current direction and size, generate repulsion magnetic field deceleration, while the buffer spring 102 compression to absorb impact energy, ensure low impact smooth contact; After contact, start mechanical locking, the locking rod 101 of the active end 1 is inserted into the servo rotating mechanism 201 of the passive end 2, after the positioning pin 207 is locked, the servo rotating mechanism 201 drives the locking rod to rotate through the positioning pin 207, while the reaction wheel 103 generates reverse torque to make the threads of the active body 100 and the locking rod 101 cooperate to complete rigid locking, during which the coil keeps energized to suppress the buffer spring 102 rebound; After locking, power off and fix; Through the pressure sensor 110 monitoring the docking surface pressure, dynamic adjustment of the locking rod 101 rotation depth until the pressure reaches 100pa, at this time, it is considered that the axial clearance is eliminated, and the axial clearance is eliminated; Each measurement point corresponds to an adjustment pin 108, and each adjustment pin 108 is provided with an electric push rod 109 corresponding thereto; When the gap of a certain measurement point is greater than the set value, the system first controls the electric push rod 109 of the measurement point to shorten, while controlling the electric push rod 109 on the opposite side to lengthen, the electric push rod 109 on the opposite side pushes the adjustment pin 108 thereof to extrude the passive body 200 to generate a reaction force, so as to actively adjust the radial clearance of the side, when the difference between the measured value of the measurement point and the measured value of the opposite measurement point is less than the set value, it is considered that the clearance adjustment of the side is completed; During the whole adjustment process, the laser range finder 206 continuously monitors the change of the radial clearance, and the system adjusts the length of the electric push rod 109 of the measurement point and the opposite measurement point according to the clearance size of the measurement point from large to small in turn, and the system cyclically executes the above adjustment process until the sum of the clearances of all measurement points is less than 5mm, and finally the radial clearance is eliminated. In the docking process, the controller 106 on the active end 1 and the controller 211 of the passive end 2 can generate currents of different directions and sizes in the active coil 105 and the passive coil 205 according to the relative docking distance between the two ends collected by the laser range finder 111 and the actual requirement.

[0039] In the separation stage: if separation is required, perform the loosening operation: the servo rotating mechanism 201 reversely rotates the locking rod 101, the reaction wheel 103 reversely applies torque to release the locking, the electromagnet 209 is energized to attract the positioning pin 207 to exit the positioning hole 112, while the coils 105, 205 restore low current to offset the buffer spring 102 rebound force, gradually release the mechanical locking.

[0040] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A mechanical locking and gap-eliminating docking mechanism, characterized in that: include: The active end (1) and the passive end (2) are connected to each other in a flexible manner and can be separated in a controlled manner by the cooperation of the shaft holes under the action of electromagnetic force, and the gap between the two ends is eliminated by the cooperation of the threads on the locking rod (101) and the locking hole (107); The active end (1) comprises: an active body (100), a locking rod (101), a buffer spring (102), a reaction wheel (103), an inertial sensor (104), an active coil (105), a controller (106), a locking hole (107), an adjustment pin (108) and an electric push rod (109); The passive end (2) comprises: a passive body (200), a servo rotation mechanism (201), a conductive slip ring (202), an adjustment hole (203), a ball bearing (204), a passive coil (205), a laser rangefinder (206), a motor (210), a controller (211), an inertial sensor (212), and a wire (213); The locking rod (101) comprises: a pressure sensor (110), a laser rangefinder (111) and a positioning hole (112); The locking rod (101) is fixedly connected to one end of the buffer spring (102), and the other end of the buffer spring (102) is fixedly connected to the active body (100), so as to achieve flexible docking of the two ends; The servo rotating mechanism (201) is provided with four evenly distributed holes, each of which contains a positioning pin (207), a spring (208) and an electromagnet (209), one end of the spring (208) is fixedly connected to the positioning pin (207), and the other end is fixedly connected to the servo rotating mechanism (201) body, and the electromagnet (209) is fixed at the bottom of the hole; when the electromagnet (209) is not energized, the spring (208) is in a naturally extended state, and the top end of the positioning pin (207) is located outside the hole; when the electromagnet (209) is energized, the electromagnet (209) generates a magnetic field, which generates an attractive force on the spring (208), so that the spring (208) is in a fully compressed state, and the positioning pin (207) is completely located in the hole; the positioning hole (112) and the positioning pin (207) can achieve pin-hole matching, and the locking or unlocking operation of the active and passive ends is completed by controlling the energization of the electromagnet (209); The motor (210) drives the servo rotating mechanism (201) to rotate via the motor shaft, the motor shaft is fixedly connected to the rotor of the conductive slip ring (202), and the wire (213) in the servo rotating mechanism (201) is connected to the rotor interface of the conductive slip ring (202), so as to prevent the servo rotating mechanism (201) from being entangled with the wire when rotating; the servo rotating mechanism (201) drives the locking rod (101) and the active body (100) to generate relative rotational precession through the positioning pin (207) on the servo rotating mechanism (201) and the pin hole of the locking hole (107) on the locking rod (101), thereby adjusting the axial clearance; the reaction wheel (103) is located inside the active body (100), and due to the principle of conservation of angular momentum, when the reaction wheel (103) rotates, it can cause the active end (1) to rotate in the opposite direction around its central axis, and can also provide reverse torque during the axial clearance elimination process; The laser rangefinder (206) is installed at the midpoint of four protrusions evenly distributed on the passive body (200) and is used to measure the radial clearance between the active and passive ends; the adjustment pin (108) and the electric push rod (109) are installed in four holes evenly distributed on the conical surface of the active body, one end of the electric push rod (109) is fixedly connected to the bottom of the adjustment pin (108), and the other end is fixedly connected to the active body (100); the adjustment holes (203) are evenly distributed on the docking contact surface of the passive body (200) and correspond one to one with the adjustment pins (108); the radial clearance is adjusted by generating a reaction force when the adjustment pin (108) contacts the passive body (200).

2. The mechanical locking and backlash-eliminating docking mechanism according to claim 1, characterized in that: The thickness of the adjustment pin (108) in the docking direction should be smaller than the width of the adjustment hole (203) so as not to affect the clearance elimination process in the docking stage.

3. The mechanical locking and backlash-eliminating docking mechanism according to claim 1, characterized in that: The locking rod (101) is partially inserted into the locking hole (107); an external thread is provided on one end of the locking rod (101) near the rod head, and an internal thread is provided in the locking hole (107); the threads on the locking rod (101) and the locking hole (107) can form a match; the rod head of the locking rod (101) is a frustum, the taper of which is suitable for the taper of the contact surface of the active body (100) and the passive body (200), so that it has a rough guiding effect and ensures that the docking process will not get stuck.

4. The mechanical locking and backlash-eliminating docking mechanism according to claim 1, characterized in that: The controller (106) on the active end (1) and the controller (211) on the passive end (2) can acquire the relative docking distance between the two ends through the laser rangefinder (111), and then combine the target distances of the two ends to obtain the distance difference. Then, the current direction and magnitude of the active coil (105) and the passive coil (205) are adjusted according to the size of the distance difference, thereby generating a controllable attraction or repulsion force between the active and passive ends to meet actual docking needs.

5. A mechanical locking and gap-eliminating docking method, based on the mechanical locking and gap-eliminating docking mechanism, characterized in that: The following docking steps are included: S1: Preparation stage: According to the inertial sensors (104, 212) on the active and passive ends, the relative angular difference in the circumferential direction between the active and passive ends is obtained, and the active end is adjusted by the reaction wheel (103) so that the groove on the active end (1) is aligned with the protrusion on the passive end (2); S2: Docking stage: First, there is the fuzzy docking stage. By adjusting the intensity of the same-direction current in the active coil (105) and the passive coil (205), a controllable attracting magnetic field is generated to initially bring the two ends close together. The laser rangefinder (111) on the locking rod (101) is used to monitor the distance between the active and passive ends in real time. When the distance between the active and passive ends is reduced to a set value, the flexible docking stage is then entered. The controller (106) dynamically adjusts the direction and magnitude of the current in the coil (105), and the controller (211) dynamically adjusts the direction and magnitude of the current in the coil (205), thereby generating a repulsive magnetic field to decelerate. At the same time, the buffer spring (102) is compressed to absorb the impact. The impact energy is reduced to ensure low-impact and smooth contact; after contact, the mechanical locking is started, the locking rod (101) of the active end (1) is inserted into the servo rotation mechanism (201) of the passive end (2), and the positioning pin (207) is inserted into the positioning hole (112). The servo rotation mechanism (201) drives the locking rod (101) to rotate through the positioning pin (207), and at the same time, the reaction wheel (103) generates a reverse torque to make the threads of the active body (100) and the locking rod (101) cooperate with each other. During this period, the coil remains energized to suppress the rebound of the buffer spring (102); after locking, the power is turned off and fixed; if there is a gap, the pressure sensor (110) monitors the pressure of the docking surface and dynamically adjusts the pressure. The locking rod (101) is screwed into the depth until the pressure reaches the set value to achieve axial clearance elimination; by analyzing the real-time monitoring data of the four laser rangefinders (206), the docking posture of the mechanism is obtained, and based on the posture information, the radial clearances of the four measuring points are coordinated and adjusted to ensure overall uniform distribution; the specific adjustment mechanism is as follows: each measuring point corresponds to an adjustment pin (108), and each adjustment pin (108) is provided with a corresponding electric push rod (109); when the gap of a certain measuring point is greater than the set value, the system first controls the electric push rod (109) of the measuring point to shorten, and at the same time controls the electric push rod (109) on the opposite side to extend, and the electric push rod (109) on the opposite side pushes its adjustment pin (108) is squeezed with the passive body (200) to generate a reaction force, thereby actively adjusting the radial clearance of the side. When the difference between the value measured at the measuring point and the value measured at the measuring point on the opposite side is less than the set value, the clearance adjustment of the side is considered to be completed. During the entire adjustment process, the laser rangefinder (206) continuously monitors the change of the radial clearance. The system adjusts the length of the electric push rod (109) at the measuring point and the measuring point on the opposite side from large to small according to the gap size of the measuring point. The system cyclically executes the above adjustment process until the sum of the gaps of all measuring points is less than the specified value, and finally the radial clearance is eliminated. The whole process involves the coordinated control of various components to ensure safe, accurate and gap-free docking. S3: Separation stage: If separation and re-docking are required, a loosening operation is performed: the servo rotation mechanism (201) reversely rotates the locking rod (101), the reaction wheel (103) applies a torque in the reverse direction to release the lock, and the positioning pin (207) is released. At the same time, the coil restores the low current to offset the rebound force of the buffer spring (102), and gradually releases the mechanical lock; when docking again, the fuzzy docking, flexible docking, mechanical locking and clearance elimination steps are repeated.

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