Spacecraft docking mechanism driven by single motor and magnetically captured

Abstract

A spacecraft docking mechanism driven by a single motor and magnetically captured belongs to the technical field of spacecraft on-orbit services and comprises an active end and a passive end, the active end comprises a bottom plate, a lower shell is mounted on the upper surface of the bottom plate, an upper shell is mounted on the upper surface of the lower shell, and a lifting platform is vertically mounted in the upper shell in a sliding manner; a driving mechanism is installed on the upper surface of the bottom plate, three adjusting screws are installed on the upper surface of the lifting table in a circumferential equidistant penetrating and threaded connection mode, traction ropes are fixedly connected to the top ends of the adjusting screws, a magnetic suction head is fixedly connected between the ends, away from the adjusting screws, of the three traction ropes, and a driving end magnet is arranged in the magnetic suction head. According to the invention, many technical bottlenecks of the existing docking technology in the aspects of miniaturization, power consumption, reliability and function integration can be effectively overcome, and a small and medium-sized spacecraft docking system solution which is excellent in performance, comprehensive in function, economical and practical is provided. The method has an important value for promoting the development of an on-orbit service technology.

Description

Technical Field

[0001] This invention relates to the field of spacecraft on-orbit servicing technology, and more specifically to a spacecraft docking mechanism with single-motor drive and magnetic capture. Background Technology

[0002] With the rapid development of aerospace technology, on-orbit servicing (OOS) missions, such as on-orbit assembly, satellite maintenance, module replacement, refueling, and space assembly, have become key ways to extend spacecraft lifespan and improve the efficiency of space assets. A core prerequisite for achieving these missions is having a reliable and precise autonomous capture and docking mechanism.

[0003] Currently, the development of docking mechanisms at home and abroad is relatively mature, but most of them are designed for medium and large spacecraft (such as space stations and cargo spacecraft). They generally have characteristics such as complex structure, large mass and volume, and high power consumption, making them difficult to apply directly to small and medium-sized spacecraft that are extremely sensitive to weight, size and power consumption.

[0004] Existing docking technologies applicable to or intended for use on small and medium-sized spacecraft mainly face the following types of technical bottlenecks: Purely mechanical docking mechanisms: These typically employ passive components such as springs, jaws, and threaded pairs for buffering and locking. While these solutions are simple in structure and highly reliable, they are functionally limited and often suffer from inherent drawbacks such as high docking impact, inability to actively and controllably separate (mostly non-reusable), and lack of energy and data exchange capabilities. Consequently, they struggle to meet the information exchange needs of modern on-orbit services.

[0005] Electromagnetic docking mechanism: This mechanism achieves non-contact adsorption and separation by controlling the on / off state of an electromagnet. Its advantage lies in the gentle docking process without physical impact. However, its locking force and rigidity are relatively limited, and continuous power is required to maintain the locked state, resulting in huge energy consumption. Most importantly, simple electromagnetic adsorption is difficult to achieve a rigid mechanical connection, and integrating highly reliable electrical connectors is also extremely difficult.

[0006] All-electric drive docking mechanism: This type of mechanism uses multiple motors or servos to perform different functions such as capture, approach, and locking. Its advantages are high control precision and powerful functionality. However, the multi-drive approach leads to high system complexity, large weight, high cost, and reduced reliability (increased single points of failure), which also runs counter to the goals of miniaturization, high integration, and high reliability pursued by small and medium-sized spacecraft.

[0007] Furthermore, enabling energy and data transmission between spacecraft is crucial for enhancing on-orbit servicing capabilities. In existing technologies, electrical connections typically rely on manual operation by astronauts after docking, or require an additional, complex automated electrical connector system for the docking mechanism. This undoubtedly increases the system's mass, size, control complexity, and cost. For small and medium-sized spacecraft, integrating high-power power supply, high-speed data communication, and a lightweight automated docking mechanism is a pressing challenge that needs to be addressed.

[0008] In summary, existing technologies lack a direct capture and docking mechanism for two aerospace components or spacecraft that can simultaneously meet the requirements of miniaturization, low power consumption, high reliability, reusability, and efficient energy and communication interface transmission capabilities. The purpose of this invention is to provide an innovative and comprehensive solution to address the urgent needs of these small and medium-sized spacecraft. Summary of the Invention

[0009] The purpose of this invention is to provide a spacecraft docking mechanism with single-motor drive and magnetic capture to solve the problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a spacecraft docking mechanism driven by a single motor and magnetically captured, comprising an active end and a passive end. The active end includes a base plate, a lower housing is fixedly mounted on the upper surface of the base plate, an upper housing is fixedly mounted on the upper surface of the lower housing, a lifting platform is vertically slidably mounted inside the upper housing, a drive mechanism for driving the lifting platform to move up and down is mounted on the upper surface of the base plate, and three adjusting screws are circumferentially and equidistantly threaded through the upper surface of the lifting platform. The top of each adjusting screw is fixedly connected to a traction rope, and a magnetic head is fixedly connected between the ends of the three traction ropes away from the adjusting screws. An active end magnet is provided inside the magnetic head, and an active end electrical connector is provided inside the active end magnet. A bracket is fixedly installed inside the upper housing. The magnetic head is placed inside the bracket. Three magnetic head locking mechanisms are fixedly installed circumferentially and at equal intervals on the outer surface of the bracket. The three magnetic head locking mechanisms cooperate to fix the magnetic head inside the bracket. Three main tongue seats are fixedly installed circumferentially and at equal intervals inside the upper housing. A main locking tongue pressure plate is fixedly installed on the top of each main tongue seat, and a main locking tongue is slidably installed inside the main tongue seat. A torsion spring and a compression spring are installed between the main locking tongue and the main tongue seat. The compression spring is semi-fixed between the main locking tongue and the main tongue seat. The main locking tongue is used to lock the passive end to the upper housing when the active end and the passive end are connected. The outer ring of the passive end is provided with a locking surface that cooperates with the main lock tongue. A passive end magnet is provided inside the passive end. A passive end electrical connector is provided inside the passive end magnet. The outer surface of the passive end is provided with three mounting slots circumferentially and evenly spaced. A ram lock claw mechanism is rotatably installed in each of the mounting slots. The ram lock claw mechanism is used to fix the magnetic head when it is initially connected to the passive end. The upper surface of the lifting platform is provided with three unlocking actuators. The three unlocking actuators are all fixedly installed on the lifting platform and move synchronously with it. The three unlocking actuators are respectively used to unlock the magnetic head locking mechanism, the main locking tongue and the ramming lock claw mechanism.

[0011] Preferably, the drive mechanism includes a motor bracket, a stepper motor is fixedly installed inside the motor bracket, a lead screw is fixedly connected to the output end of the stepper motor, the lead screw passes through the lifting platform, a lead screw nut is screwed onto the outer surface of the lead screw, the lead screw and the lead screw nut are a pair of threaded pairs, and the lead screw nut is fixedly installed on the lower surface of the lifting platform.

[0012] Preferably, three magnetic head latches are fixedly installed circumferentially at equal intervals on the lower surface of the magnetic head; The magnetic head locking mechanism includes a lock cylinder seat fixedly mounted on a bracket. A lock cylinder is slidably mounted inside the lock cylinder seat. A spring pressure plate is fixedly mounted on the side of the lock cylinder seat away from the axis of the bracket. A lock cylinder spring is fixedly mounted between the spring pressure plate and the lock cylinder. The end of the lock cylinder near the magnetic head abuts against the outer surface of the magnetic head latch, fixing the magnetic head inside the bracket.

[0013] Preferably, the ram lock claw mechanism includes a ram lock claw, which is rotatably mounted in the mounting groove of the passive end by a locking pin, and a claw spring is fixedly installed between the ram lock claw and the mounting groove.

[0014] Preferably, the three unlocking mechanisms include: three main bolt push rods, three ram lock claw release push rods, and three lock cylinder unlocking rods, wherein the three main bolt push rods, the three ram lock claw release push rods, and the three lock cylinder unlocking rods are all fixedly installed circumferentially at equal intervals on the upper surface of the lifting platform; The main bolt push rod is located below the corresponding main bolt, the ram lock claw release push rod is located below the corresponding ram lock claw, and the lock cylinder unlocking rod is located below the corresponding lock cylinder.

[0015] Preferably, a rod-type displacement sensor is fixedly installed on the outer surface of the motor bracket, and the top end of the rod of the rod-type displacement sensor is fixedly connected to the lifting platform.

[0016] Preferably, three upper micro switches are fixedly installed circumferentially at equal intervals on the upper surface of the lifting platform, and three lower micro switches are fixedly installed circumferentially at equal intervals on the lower inner side of the upper housing.

[0017] Preferably, the inner side of the upper housing is provided with three guide grooves circumferentially at equal intervals, and the outer surface of the lifting platform is integrally formed with three sliders, which are slidably disposed in the corresponding guide grooves.

[0018] Preferably, electrical connectors are fixedly installed through the outer surfaces of both the lower and upper housings. The upper electrical connector is electrically connected to the active electrical connector, and the lower electrical connector is electrically connected to the upper micro switch, the lower micro switch, the lever-type displacement sensor, and the stepper motor.

[0019] Compared with the prior art, the beneficial effects of the present invention are: It achieves extremely high system integration and miniaturization: Through an innovative "single-motor drive" solution, a single power source sequentially controls the two core actions of magnetic capture and mechanical pull-back locking, replacing the complex layout of multiple motors or servos in traditional solutions. This highly integrated design concept, combined with a compact mechanical structure, successfully keeps the diameter of the entire docking mechanism within 140 mm and its weight less than 3 kg, making it one of the most lightweight and compact docking solutions currently available on the market, perfectly meeting the stringent limitations of payload space and weight for small and medium-sized spacecraft.

[0020] Significantly reduced system power consumption: This invention employs a combined scheme of "active and passive mechanical locking (spring) + permanent magnet capture and positioning + mechanical self-locking maintenance (power off after motor tensioning)". The first two stages of buffering and pre-locking are passively completed by the mechanical spring, with zero energy consumption throughout; the magnet only works at the moment of capture; after final tensioning, the locking force is maintained by the reverse self-locking characteristics of the lead screw and other mechanical structures, and the motor can be completely de-energized, achieving zero maintenance power consumption in the locked state. Compared with pure electromagnetic schemes that require continuous power supply or schemes that require multiple motors to be on standby, this results in a significant energy saving effect.

[0021] Significantly improved the reliability and safety of the docking process: The phased locking and releasing mechanism is scientific and reasonable: First, the magnetic head is released and docks with the passive end through magnetic force and locks simultaneously. The magnetic head weighs about 50 grams. The impact force generated at the moment of magnetic docking with the passive end is small. The passive end's locking spring buffer effectively absorbs part of the impact energy generated by the docking collision. By using a magnet to directly engage with the guide cone surface, a rapid self-correcting capture and adjustment is achieved, avoiding the risk of jamming or popping out. The final, slow mechanical pull-back provides a strong, reliable, rigid connection. This progressive design breaks down high-risk actions, greatly improving the success rate of docking missions.

[0022] The single-motor design reduces potential points of failure and improves the inherent reliability of the system.

[0023] Reusability: The entire locking and disengagement process is completed by a single motor rotating in both directions, eliminating the need for disposable components such as pyrotechnic devices. The mechanism can withstand high-frequency "docking-locking-disengagement" cycles, meeting the routine needs of future satellite constellations for on-orbit maintenance, upgrades, and resupply, and greatly improving the serviceability and economy of space assets.

[0024] This achieves a deep integration of mechanics, energy, and information: perfectly merging the electrical connector docking process with the mechanical docking process. During the third-stage mechanical pull-back, the electrical connector calibration and alignment are completed automatically and synchronously, resolving the issues of high-speed bidirectional data communication and power supply. This not only eliminates the need for a separate, bulky automatic electrical connector system but also enables small and medium-sized spacecraft to possess, for the first time, a complete set of physical interfaces for complex on-orbit services (such as program updates and data downloads), demonstrating extremely strong functional scalability.

[0025] It has good tolerance and adaptability: the initial buffering of the mechanical spring and the rapid, self-correcting characteristics of magnetic capture give the mechanism a certain position and angle tolerance, which can adapt to the small deviations that exist during the initial docking and reduce the stringent requirements for satellite terminal positioning accuracy.

[0026] High overall cost-effectiveness: Due to its simplified structure (single motor) and reduced number of components, the manufacturing, testing, and launch costs of this mechanism are effectively controlled (due to its lightweight design). Its reusable nature further reduces the cost per use over its entire lifecycle, making it highly attractive for commercial aerospace and research projects with limited budgets.

[0027] In summary, this invention effectively overcomes many technical bottlenecks in miniaturization, power consumption, reliability, and functional integration of existing docking technologies, and provides a high-performance, comprehensive, and cost-effective microsatellite docking system solution, which is of great value in promoting the development of on-orbit service technology. Attached Figure Description

[0028] Figure 1 This is a perspective view of the present invention.

[0029] Figure 2 This is a schematic diagram of the passive end separation state structure of the present invention.

[0030] Figure 3 This is a schematic diagram of the intermediate state structure during the passive end unlocking process of the present invention.

[0031] Figure 4 This is a schematic diagram of the passive end state structure captured by the magnetic head of the present invention.

[0032] Figure 5 This is a schematic diagram of the magnetic suction head locking mechanism of the present invention.

[0033] Figure 6 This is a schematic diagram of the support structure of the present invention.

[0034] Figure 7 This is a schematic diagram of the state structure of the lock cylinder unlocking rod when unlocking the lock cylinder according to the present invention.

[0035] Figure 8 This is a schematic diagram of the pinlocking tongue structure of the present invention.

[0036] Figure 9 This is a schematic cross-sectional view of the main tongue seat of the present invention.

[0037] Figure 10 This is a schematic diagram of the main locking tongue push rod structure of the present invention.

[0038] Figure 11 This is a schematic diagram of the magnetic suction head structure of the present invention.

[0039] Figure 12 This is a schematic diagram of the magnetic head locking structure of the present invention.

[0040] Figure 13 This is a three-dimensional structural diagram of the passive end of the present invention.

[0041] Figure 14 This is a top view of the structure of the present invention.

[0042] Figure 15 This is a schematic cross-sectional view of the upper shell structure of the present invention.

[0043] In the diagram: 1. Active end; 11. Base plate; 12. Lower housing; 13. Upper housing; 131. Lower micro switch; 132. Guide groove; 14. Electrical connector; 2. Passive end; 21. Passive end magnet; 22. Passive end electrical connector; 3. Lifting platform; 31. Adjusting screw; 32. Traction rope; 33. Upper micro switch; 34. Slider; 4. Drive mechanism; 41. Motor bracket; 411. Rod-type displacement sensor; 42. Stepper motor; 43. Lead screw; 44. Lead screw nut; 5. Bracket; 6. Magnet 61. Magnetic suction head; 62. Active end magnet; 63. Active end electrical connector; 7. Magnetic suction head latch; 8. Magnetic suction head locking mechanism; 9. Lock cylinder seat; 10. Lock cylinder; 11. Spring pressure plate; 12. Spring; 13. Main tongue seat; 14. Main lock tongue pressure plate; 15. Main lock tongue; 16. Torsion spring; 17. Compression spring; 18. Bump lock claw mechanism; 19. Bump lock claw; 10. Claw spring; 11. Three-way unlocking actuator; 12. Main lock tongue push rod; 13. Bump lock claw release push rod; 14. Lock cylinder unlocking rod. Detailed Implementation

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0045] Please see Figures 1-15 The present invention provides a technical solution: A single-motor driven and magnetically captured spacecraft docking mechanism includes an active end 1 and a passive end 2. The active end 1 includes a base plate 11, a lower housing 12 is fixedly installed on the upper surface of the base plate 11, an upper housing 13 is fixedly installed on the upper surface of the lower housing 12, a lifting platform 3 is vertically slidably installed inside the upper housing 13, a drive mechanism 4 for driving the lifting platform 3 to rise and fall is installed on the upper surface of the base plate 11, and three adjusting screws 31 are circumferentially and equidistantly threaded through the upper surface of the lifting platform 3. The top of each adjusting screw 31 is fixedly connected to a traction rope 32, and a magnetic head 6 is fixedly connected between the ends of the three traction ropes 32 away from the adjusting screws 31. An active end magnet 61 is provided inside the magnetic head 6, and an active end electrical connector 62 is provided inside the active end magnet 61. A bracket 5 is fixedly installed inside the upper housing 13. The magnetic head 6 is placed inside the bracket 5. Three magnetic head locking mechanisms 7 are fixedly installed circumferentially and at equal intervals on the outer surface of the bracket 5. The three magnetic head locking mechanisms 7 cooperate to fix the magnetic head 6 inside the bracket 5. Three main tongue seats 8 are circumferentially and equidistantly fixedly installed inside the upper housing 13. A main locking tongue pressure plate 81 is fixedly installed at the top of each main tongue seat 8, and a main locking tongue 82 is slidably installed inside each main tongue seat 8. A torsion spring 83 and a compression spring 84 are installed between the main locking tongue 82 and the main tongue seat 8. The compression spring 84 is fixedly installed on the main tongue seat 8, and its upper part presses against the torsion spring mounting shaft of the main locking tongue 82 on which the torsion spring 83 is installed. The torsion spring 83 provides torque for the main locking tongue 82 to rotate backward when performing the unlocking action. The compression spring 84 provides upward force for the main locking tongue 82 to rotate backward and unlock under the torque of the torsion spring 83, causing the main locking tongue 82 to rise a certain distance while rotating backward during unlocking. The main locking tongue 82 is used to lock the passive end 2 to the upper housing 13 when the active end 1 and the passive end 2 are connected. The outer ring of the passive end 2 is provided with a locking surface that cooperates with the main locking tongue 82. The passive end 2 is provided with a passive end magnet 21. The passive end magnet 21 is provided with a passive end electrical connector 22. The outer surface of the passive end 2 is provided with three mounting slots circumferentially and evenly spaced. Each mounting slot is rotatably installed with a ram lock claw mechanism 9. The ram lock claw mechanism 9 is used to fix the magnetic head 6 when it is initially connected to the passive end 2. The upper surface of the lifting platform 3 is provided with three unlocking actuators 10. All three unlocking actuators 10 are fixedly installed on the lifting platform 3 and move synchronously with it. The three unlocking actuators 10 are used to unlock the magnetic suction head locking mechanism 7, the main locking tongue 82 and the ramming lock claw mechanism 9, respectively.

[0046] The top of the upper housing 13, the passive end 2, and the outer side of the magnetic head are all provided with docking guide surfaces. The docking guide surfaces are formed by multiple conical surfaces and straight surfaces. They are used to adjust the direction during the pull-back process after the magnetic head 6 captures the passive end 2, to avoid jamming, and to provide a certain docking fault tolerance range.

[0047] It should be noted that, Figure 10 and Figure 15 As shown, the inner side of the upper housing 13 is provided with three guide grooves 132 circumferentially and equidistantly. The outer surface of the lifting platform 3 is integrally formed with three sliders 34. The sliders 34 are slidably placed in the corresponding guide grooves 132. The lifting platform 3 can be slidably installed in the upper housing 13 through the cooperation between the sliders 34 and the guide grooves 132.

[0048] Combination Figure 4 As shown, the drive mechanism 4 includes a motor bracket 41, a stepper motor 42 is fixedly installed inside the motor bracket 41, a lead screw 43 is fixedly connected to the output end of the stepper motor 42, the lead screw 43 passes through the lifting platform 3, and a lead screw nut 44 is screwed onto the outer surface of the lead screw 43. The lead screw 43 and the lead screw nut 44 are a pair of threaded pairs, and the lead screw nut 44 is fixedly installed on the lower surface of the lifting platform 3.

[0049] The stepper motor 42 rotates by means of the lead screw 43 and lead screw nut 44, which can drive the lifting platform 3 to move in a precise linear motion under the sliding contact between the lifting platform 3 and the upper housing 13.

[0050] Combination Figure 12 As shown, three magnetic head latches 63 are fixedly installed circumferentially at equal intervals on the lower surface of the magnetic head 6; Combination Figure 5 and Figure 6 As shown, the magnetic head locking mechanism 7 includes a lock cylinder seat 71 fixedly installed on the bracket 5, a lock cylinder 72 slidably installed inside the lock cylinder seat 71, and a spring pressure plate 73 fixedly installed on the side of the lock cylinder seat 71 away from the axis of the bracket 5. A lock cylinder spring 74 is fixedly installed between the spring pressure plate 73 and the lock cylinder 72.

[0051] When the magnetic head 6 is placed into the bracket 5, the lock cylinder 72, under the action of the lock cylinder spring 74, will press the end of the lock cylinder 72 close to the magnetic head 6 against the outer surface of the magnetic head latch 63, thereby fixing the magnetic head 6 in the bracket 5.

[0052] Combination Figure 14 As shown, the ram lock claw mechanism 9 includes a ram lock claw 91, which is rotatably mounted in the mounting groove of the passive end 2 via a locking pin, and a claw spring 92 is fixedly installed between the ram lock claw 91 and the mounting groove.

[0053] When the active end magnet 61 of the magnetic suction head 6 comes into magnetic contact with the passive end magnet 21, the ram lock claw 91 is knocked open and, under the reset action of the claw spring 92, locks the magnetic suction head 6, thus achieving its fixed connection with the passive end 2.

[0054] Combination Figure 2 As shown, the three unlocking actuators 10 include: three main bolt push rods 101, three ram lock claw release push rods 102, and three lock cylinder unlocking rods 103. The three main bolt push rods 101, the three ram lock claw release push rods 102, and the three lock cylinder unlocking rods 103 are all circumferentially and equidistantly fixed on the upper surface of the lifting platform 3. The main latch push rod 101 is located below the corresponding main latch 82. When the main latch push rod 101 is driven upward by the lifting platform 3 and contacts the main latch 82, the main latch 82 can rise and rotate outward under the combined action of the torsion spring 83 and the compression spring 84 to achieve the unlocked state. When the main latch push rod 101 moves downward, the main latch 82 will move downward and rotate inward under the downward pressure of the main latch push rod 101 and the action of the torsion spring 83 to achieve the locked state. The ram lock claw release push rod 102 is located below the corresponding ram lock claw 91. It is used to push the ram lock claw 91 of the passive end 2 to separate the passive end 2 from the magnetic head 6 when unlocking.

[0055] The lock cylinder unlocking lever 103 is located below the corresponding lock cylinder 72. It is used to push the lock cylinder 72 of the magnetic head locking mechanism 7 during unlocking, contacting the lock cylinder 72 to lock the magnetic head latch 63, thus separating the magnetic head 6 from the bracket 5. The lock cylinder unlocking lever 103 is used as follows: Figure 7 As shown.

[0056] In addition, to monitor the movement and real-time position of the lifting platform, combined with Figure 4 As shown, a rod-type displacement sensor 411 is fixedly installed on the outer surface of the motor bracket 41. The top end of the rod of the rod-type displacement sensor 411 is fixedly connected to the lifting platform 3. When the lifting platform 3 moves, the top end of the rod of the rod-type displacement sensor 411 moves accordingly. The end of the rod generates a displacement signal in the rod-type displacement sensor 411, thereby determining the displacement distance of the lifting platform 3 and thus determining the real-time position of the lifting platform 3.

[0057] When the passive end 2 is captured by the magnetic head 6 and pulled back into the locked state, and when the device is in the released position of the magnetic head 6, in order to facilitate the capture of the locked position signal and the unlocked position signal of the magnetic head 6, combined with Figure 5 and Figure 15 As shown, three upper microswitches 33 need to be fixedly installed circumferentially at equal intervals on the upper surface of the lifting platform 3, and three lower microswitches 131 need to be fixedly installed circumferentially at equal intervals on the lower inner side of the upper housing 13.

[0058] When the passive end 2 is captured by the magnetic head 6 and pulled back into a locked state, the lifting platform 3 presses down the lower micro switch 131 at the lowest position to generate a locked signal; when the device is in the released position of the magnetic head 6, the lifting platform 3 presses down the upper micro switch 33 at the highest position to generate a locked signal.

[0059] Finally, to facilitate the transmission of the positioning signal and the control of the stepper motor 42, electrical connectors 14 are fixedly installed through the outer surfaces of both the lower housing 12 and the upper housing 13. The upper electrical connector 14 is electrically connected to the active electrical connector 62 and ultimately to the passive internal electrical connector 22, enabling signal and power transmission between the two docking spacecraft. The lower electrical connector 14 is electrically connected to the upper microswitch 33, the lower microswitch 131, the lever-type displacement sensor 411, and the stepper motor 42. Both the upper and lower electrical connectors 14 are electrically connected to an external control system. The lower electrical connector 14 is responsible for transmitting the positioning signals from the lower microswitch 131 and the upper microswitch 33, as well as the displacement data from the displacement sensor 411, to the external control system. The external control system then transmits start / stop, speed adjustment, and direction switching commands to the motor, achieving precise control of the stepper motor 42.

[0060] As a further optimization of the present invention, both the active end magnet 61 and the passive end magnet 21 are high-performance permanent magnets, ensuring that the initial capture can be reliably completed within the specified tolerance range.

[0061] As a further optimization of the present invention, the lead screw 43 and lead screw nut 44 mechanism adopts a precision transmission design with self-locking characteristics, and works in conjunction with the stepper motor 42 to ensure that the locking force can be maintained in the power-off state, and achieve zero power consumption.

[0062] As a further optimization of the present invention, the active end electrical connector 62 adopts a multi-pin high-reliability aviation plug, which includes power pins and data communication pins, and can automatically establish a data transmission channel and power supply capability after mechanical locking is completed.

[0063] As a further optimization of the present invention, the overall structural layout of the device meets the requirements of compact design, the diameter of the docking mechanism is controlled within 140 mm, the weight is less than 3 kg, and the weight of the magnetic head 6 is about 50 g, realizing efficient integration on a microsatellite platform.

[0064] As a further optimization of the present invention, the locking surface of the main locking tongue 82 and the locking surface of the passive end 2 are designed with a specific upward reverse unlocking and downward pressure interference fit structure to ensure that manufacturing and assembly errors can be automatically compensated during the tightening process to generate a rigid locking force that meets the requirements.

[0065] As a further optimization of the present invention, the device has excellent environmental adaptability, all its materials and lubricants meet the requirements for use in the orbital environment, and its structural dynamic characteristics effectively avoid the typical vibration frequency band of the launch vehicle, thus possessing good mechanical environmental adaptability.

[0066] As a further optimization of the present invention, the device has a predetermined capture tolerance range, a number of repeatable docking times, and fast response characteristics, and the entire process can be completed automatically by a single motor.

[0067] Working principle: Phase 1: Magnetic Capture and Initial Locking Initially, the stepper motor 42 drives the lifting platform 3 to move upward, and the magnetic head 6 and the lock cylinder unlocking rod 103 move upward synchronously. The wedge-shaped surface at the top of the lock cylinder unlocking rod 103 presses and pushes the arc surface of the lock cylinder 72 of the magnetic head locking mechanism 7 backward to unlock. The active magnet 61 in the magnetic head 6 of the active end 1 and the passive magnet 21 of the passive end 2 are attracted to the docking guide surface of the passive end 2 under the interaction of magnetic attraction, completing the initial soft capture. Subsequently, the collision lock claw mechanism 9 of the passive end 2 is pushed open in the collision and quickly reset under the action of the claw spring 92, locking the magnetic head 6, realizing the initial mechanical locking between the magnetic head 6 and the passive end 2, and forming a connection.

[0068] Phase Two: Joint Pull-back and Pre-tensioning The stepper motor 42 drives the lifting platform 3 to move downwards, and pulls back the magnetic head 6 and the passive end 2 that have been locked together by the traction rope 32. The evenly distributed guide cone surface and straight surface overcome the docking deviation, so that the two docking surfaces gradually approach and are pre-tightened.

[0069] Phase 3: Final rigid locking and status confirmation The lifting platform 3 continues to move to the bottom end position, driving the main locking tongue push rod 101 to pull down. The main locking tongue 82 rotates inward and presses down to lock the passive end 2 locking surface, achieving a rigid connection. At the same time, the lifting platform 3 moves to the bottom plate 11 end position and presses down the lower micro switch 131, triggering the locking signal. Simultaneously, the magnetic head latch 63 at the bottom of the magnetic head 6 opens the lock cylinder 72, which is automatically locked under the action of the spring 74, completing the locking of the magnetic head 6. The active end electrical connector 62 and the passive end electrical connector 22 also reliably engage synchronously.

[0070] The unlocking process is the reverse of the above process: The stepper motor 42 drives the lifting platform 3 to rise, and the main locking tongue push rod 101 rises synchronously to first unlock the main locking tongue 82, causing it to rise and rotate outward, disengaging from the locking contact surface with the passive end 2; the ram lock claw release push rod 102 rises synchronously to push open the ram lock claw 91 of the passive end 2, causing the ram lock claw 91 to disengage from the locking contact surface of the magnetic suction head 6; the ram lock claw release push rod 102 continues to rise to push the passive end 2 away from the locked magnetic suction head 6, pushing it out of the range of magnetic attraction to complete the separation of the passive end 2. At this time, the magnetic suction head 6 is still locked on the active end housing, forming a magnetic suction head state to be released.

Claims

1. A spacecraft docking mechanism driven by a single motor and magnetically captured, characterized in that: It includes an active end (1) and a passive end (2). The active end (1) includes a base plate (11). A lower housing (12) is fixedly installed on the upper surface of the base plate (11). An upper housing (13) is fixedly installed on the upper surface of the lower housing (12). A lifting platform (3) is vertically slidably installed inside the upper housing (13). A driving mechanism (4) for driving the lifting platform (3) to rise and fall is installed on the upper surface of the base plate (11). Three adjusting screws (31) are circumferentially and equidistantly threaded through the upper surface of the lifting platform (3). A traction rope (32) is fixedly connected to the top of each adjusting screw (31). A magnetic head (6) is fixedly connected between the ends of the three traction ropes (32) away from the adjusting screws (31). An active end magnet (61) is provided inside the magnetic head (6). An active end electrical connector (62) is provided inside the active end magnet (61). A bracket (5) is fixedly installed inside the upper housing (13). The magnetic head (6) is placed inside the bracket (5). Three magnetic head locking mechanisms (7) are fixedly installed circumferentially and at equal intervals on the outer surface of the bracket (5). The three magnetic head locking mechanisms (7) cooperate to fix the magnetic head (6) inside the bracket (5). Three main tongue seats (8) are fixedly installed circumferentially and equidistantly inside the upper shell (13). A main locking tongue pressure plate (81) is fixedly installed at the top of each main tongue seat (8), and a main locking tongue (82) is slidably installed inside the main tongue seat (8). A torsion spring (83) and a compression spring (84) are installed between the main locking tongue (82) and the main tongue seat (8). The compression spring (84) is semi-fixed between the main locking tongue (82) and the main tongue seat (8). The main locking tongue (82) is used to lock the passive end (2) and the upper shell (13) when the active end (1) and the passive end (2) are connected. The outer ring of the passive end (2) is provided with a locking surface that cooperates with the main locking tongue (82). A passive end magnet (21) is provided inside the passive end (2). A passive end electrical connector (22) is provided inside the passive end magnet (21). The outer surface of the passive end (2) is provided with three mounting slots circumferentially spaced. A ram lock claw mechanism (9) is rotatably installed in each of the mounting slots. The ram lock claw mechanism (9) is used to fix the magnetic head (6) when it is initially connected to the passive end (2). The upper surface of the lifting platform (3) is provided with three unlocking actuators (10). The three unlocking actuators (10) are all fixedly installed on the lifting platform (3) and move synchronously with it. The three unlocking actuators (10) are used to unlock the magnetic head locking mechanism (7), the main locking tongue (82) and the ramming lock claw mechanism (9), respectively.

2. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 1, characterized in that: The drive mechanism (4) includes a motor bracket (41), in which a stepper motor (42) is fixedly installed. A lead screw (43) is fixedly connected to the output end of the stepper motor (42). The lead screw (43) passes through the lifting platform (3), and a lead screw nut (44) is screwed onto the outer surface of the lead screw (43). The lead screw (43) and the lead screw nut (44) are a pair of threaded pairs. The lead screw nut (44) is fixedly installed on the lower surface of the lifting platform (3).

3. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 2, characterized in that: The lower surface of the magnetic head (6) is fixedly equipped with three magnetic head latches (63) at equal intervals in the circumferential direction. The magnetic head locking mechanism (7) includes a lock cylinder seat (71) fixedly installed on the bracket (5). A lock cylinder (72) is slidably installed inside the lock cylinder seat (71). A spring pressure plate (73) is fixedly installed on the side of the lock cylinder seat (71) away from the axis of the bracket (5). A lock cylinder spring (74) is fixedly installed between the spring pressure plate (73) and the lock cylinder (72). The end of the lock cylinder (72) near the magnetic head (6) abuts against the outer surface of the magnetic head latch (63) to fix the magnetic head (6) inside the bracket (5).

4. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 3, characterized in that: The ram lock claw mechanism (9) includes a ram lock claw (91), which is rotatably mounted in the mounting groove of the passive end (2) by means of a locking pin, and a claw spring (92) is fixedly installed between the ram lock claw (91) and the mounting groove.

5. A spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 4, characterized in that: The three unlocking actuators (10) include: three main bolt push rods (101), three ram lock claw release push rods (102), and three lock cylinder unlocking rods (103). The three main bolt push rods (101), the three ram lock claw release push rods (102), and the three lock cylinder unlocking rods (103) are all fixedly installed circumferentially at equal intervals on the upper surface of the lifting platform (3). The main bolt push rod (101) is located below the corresponding main bolt (82), the ram lock release push rod (102) is located below the corresponding ram lock claw (91), and the lock cylinder unlocking rod (103) is located below the corresponding lock cylinder (72).

6. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 2, characterized in that: A rod-type displacement sensor (411) is fixedly installed on the outer surface of the motor bracket (41), and the top of the rod of the rod-type displacement sensor (411) is fixedly connected to the lifting platform (3).

7. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 1, characterized in that: The upper surface of the lifting platform (3) is fixedly installed with three upper micro switches (33) at equal intervals in the circumferential direction, and the lower inner side of the upper housing (13) is fixedly installed with three lower micro switches (131) at equal intervals in the circumferential direction.

8. The spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 1, characterized in that: The inner side of the upper housing (13) is provided with three guide grooves (132) circumferentially equidistantly, and the outer surface of the lifting platform (3) is integrally formed with three sliders (34), which are slidably disposed in the corresponding guide grooves (132).

9. A spacecraft docking mechanism with single-motor drive and magnetic capture according to claim 7, characterized in that: Electrical connectors (14) are fixedly installed through the outer surfaces of both the lower housing (12) and the upper housing (13). The upper electrical connector (14) is electrically connected to the active electrical connector (62), and the lower electrical connector (14) is electrically connected to the upper micro switch (33), the lower micro switch (131), the lever-type displacement sensor (411), and the stepper motor (42).

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