Spacecraft docking mechanism with single motor drive and magnetic capture

Abstract

A spacecraft docking mechanism of single motor drive and magnetic capture belongs to the technical field of on-orbit service of spacecraft, which comprises an active end and a passive end, the active end comprises a bottom plate, the upper surface of the bottom plate is provided with a lower shell, the upper surface of the lower shell is provided with an upper shell, the upper shell is vertically slidably installed with a lifting platform, the upper surface of the bottom plate is provided with a driving mechanism, and the upper surface of the lifting platform is circumferentially equidistantly penetrated by three adjusting screws, the top end of each adjusting screw is fixedly connected with a traction rope, the three traction ropes are fixedly connected between the ends away from the adjusting screws and provided with a magnetic suction head, the magnetic suction head is provided with an active end magnet, and the active end magnet is provided with an active end electrical connector, which can effectively overcome the technical bottlenecks of the existing docking technology in miniaturization, power consumption, reliability and function integration, and provide a small and medium-sized spacecraft docking system solution with superior performance, comprehensive functions and economic practicality, which has important value for promoting the development of on-orbit service technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft on-orbit servicing, in particular to a spacecraft docking mechanism driven by a single motor and magnetic capture. BACKGROUND

[0002] With the rapid development of space technology, on-orbit servicing (OOS) tasks such as on-orbit assembly, satellite maintenance, module replacement, fuel refueling, and space assembly have become a key way to extend the service life of spacecraft and improve the efficiency of space assets. The core prerequisite for realizing these tasks is to have a reliable and accurate autonomous capture docking mechanism.

[0003] At present, the docking mechanism has been relatively mature at home and abroad, but most of them are for medium and large spacecraft (such as space stations and cargo ships), which generally have the characteristics of complex structure, large mass and volume, high power consumption, and are difficult to be directly applied to small and medium spacecraft which are extremely sensitive to weight, size and power consumption.

[0004] The existing docking technologies suitable for or intended for small and medium spacecraft mainly have the following technical bottlenecks:

[0005] Pure mechanical docking mechanism: multiple passive elements such as springs, claws, and threaded pairs are used to achieve buffering and locking. Although this type of scheme has simple structure and high reliability, it has the inherent defects of single function, large docking impact, inability to actively and controllably separate (mostly non-reusable), lack of energy and data interaction capabilities, and is difficult to meet the needs of modern on-orbit services for information exchange.

[0006] Electromagnetic docking mechanism: through the control of the on-off of the electromagnet, non-contact adsorption and separation are realized. Its advantage is that the docking process is soft and has no physical impact. However, its locking force and rigidity are relatively limited, and continuous power supply is required to maintain the locking state, resulting in huge energy consumption; most importantly, pure electromagnetic adsorption is difficult to achieve rigid mechanical connection, and it is also extremely difficult to integrate high-reliability electrical connectors.

[0007] Fully electrically driven docking mechanism: multiple motors or rudders are used to perform capture, close, locking and other different functions. Its advantages are high control accuracy and powerful functions. However, the multi-driver scheme leads to high system complexity, large mass, high cost, and reduced reliability (increased single-point failures), which is contrary to the goal of small and medium spacecraft pursuing miniaturization, high integration, and high reliability.

[0008] In addition, the realization of the energy and data transmission between spacecrafts is the key to improve the on-orbit service capability. In the prior art, the electrical connection usually relies on the manual operation of astronauts after the docking is completed, or a set of independent and complex automatic electrical connector system is additionally provided for the docking mechanism. This undoubtedly increases the mass, volume, control difficulty and cost of the system. For small and medium-sized spacecrafts, it is a difficult problem to be solved to integrate the high-power power supply, high-speed data communication and light automatic docking mechanism.

[0009] In summary, the prior art lacks a direct capture docking mechanism for two space components or spacecrafts that can simultaneously meet the requirements of miniaturization, low power consumption, high reliability, reusability, and high-efficiency energy and communication interface integrated transmission capability. The purpose of the present application is to provide an innovative comprehensive solution to meet the urgent needs of small and medium-sized spacecrafts. SUMMARY

[0010] The purpose of the present application is to provide a spacecraft docking mechanism driven by a single motor and magnetic capture to solve the problems raised in the background art.

[0011] To achieve the above purpose, the present application provides the following technical solution: a spacecraft docking mechanism driven by a single motor and magnetic capture, comprising an active end and a passive end, the active end comprising a bottom plate, the upper surface of the bottom plate being fixedly installed with a lower shell, the upper surface of the lower shell being fixedly installed with an upper shell, the upper shell being vertically slidably installed with a lifting platform, the upper surface of the bottom plate being installed with a driving mechanism for driving the lifting platform to lift, and the upper surface of the lifting platform being circumferentially equidistantly threaded with three adjusting screws, the top end of each adjusting screw being fixedly connected with a traction rope, the ends of the three traction ropes away from the adjusting screws being fixedly connected with a magnetic suction head, the magnetic suction head being provided with an active end magnet, and the active end magnet being provided with an active end electrical connector;

[0012] A support is fixedly installed in the upper shell, the magnetic suction head is placed in the support, and three magnetic suction head locking mechanisms are fixedly installed on the outer surface of the support in a circumferential equidistant manner, and the three magnetic suction head locking mechanisms cooperate to fix the magnetic suction head in the support;

[0013] Three main tongue seats are fixedly installed in the upper shell in a circumferential equidistant manner, the top end of each main tongue seat is fixedly installed with a main lock tongue pressing plate, and a main lock tongue is slidably installed in the main tongue seat, a torsion spring and a compression spring are installed between the main lock tongue and the main tongue seat, and the compression spring is semi-fixedly installed between the main lock tongue and the main tongue seat, the main lock tongue is used to lock the passive end and the upper shell when the active end and the passive end are connected;

[0014] The outer ring of the passive end is provided with a locking surface matched with the main lock tongue, the passive end is provided with a passive end magnet, the passive end magnet is provided with a passive end electrical connector, and the outer surface of the passive end is provided with three equidistantly arranged mounting grooves, and the mounting grooves are rotatably provided with a latch pawl mechanism.

[0015] The upper surface of the lifting platform is provided with three unlocking execution mechanisms, the three unlocking execution mechanisms are fixedly installed on the lifting platform and synchronously move with the lifting platform, and the three unlocking execution mechanisms are respectively used for unlocking the magnetic head locking mechanism, the main lock tongue and the latch pawl mechanism.

[0016] Preferably, the driving mechanism comprises a motor support, a stepper motor is fixedly installed in the motor support, the output end of the stepper motor is fixedly connected with a lead screw, the lead screw penetrates through the lifting platform, a lead screw nut is screw-connected and installed on the outer surface of the lead screw, the lead screw and the lead screw nut form a pair of threaded pairs, and the lead screw nut is fixedly installed on the lower surface of the lifting platform.

[0017] Preferably, the lower surface of the magnetic head is fixedly provided with three equidistantly arranged magnetic head locks.

[0018] The magnetic head locking mechanism comprises a lock cylinder seat fixedly installed on the support, a lock cylinder is slidably installed in the lock cylinder seat, a spring pressing plate is fixedly installed on the side of the lock cylinder seat away from the support, a lock cylinder spring is fixedly installed between the spring pressing plate and the lock cylinder, and the end of the lock cylinder close to the magnetic head is abutted against the outer surface of the magnetic head lock to fix the magnetic head in the support.

[0019] Preferably, the latch pawl mechanism comprises a latch pawl, the latch pawl is rotatably installed in the mounting groove of the passive end through a pin, and a pawl spring is fixedly installed between the latch pawl and the mounting groove.

[0020] Preferably, the three unlocking execution mechanisms comprise three main lock tongue push rods, three latch pawl release push rods and three lock cylinder unlocking rods, the three main lock tongue push rods, the three latch pawl release push rods and the three lock cylinder unlocking rods are equidistantly fixedly installed on the upper surface of the lifting platform.

[0021] The main lock tongue push rod is located below the corresponding main lock tongue, the latch pawl release push rod is located below the corresponding latch pawl, and the lock cylinder unlocking rod is located below the corresponding lock cylinder.

[0022] Preferably, the outer surface of the motor support is fixedly provided with a pull rod type displacement sensor, and the top end of the pull rod of the pull rod type displacement sensor is fixedly connected with the lifting platform.

[0023] Preferably, the upper surface of the lifting platform is circumferentially equidistantly fixedly provided with three upper end micro switches, and the inner side of the upper shell is circumferentially equidistantly fixedly provided with three lower end micro switches.

[0024] Preferably, the inner side of the upper shell is circumferentially equidistantly provided with three guide grooves, and the outer surface of the lifting platform is integrally provided with three sliding blocks which are slidingly arranged in the corresponding guide grooves.

[0025] Preferably, the outer surfaces of the lower shell and the upper shell are both fixedly provided with electric connectors, the upper end electric connector is electrically connected with the driving end electric connector, and the lower end electric connector is electrically connected with the upper end micro switch, the lower end micro switch, the pull rod type displacement sensor and the stepping motor.

[0026] Compared with the prior art, the application has the following beneficial effects:

[0027] High system integration and miniaturization are achieved:

[0028] By means of the innovative single-motor driving scheme, one power source is used to control the two core actions of magnetic capture and mechanical pull-back locking in sequence, so that the complex layout of multiple motors or rudders in the traditional scheme is replaced. The highly integrated design concept, combined with the compact mechanical structure, successfully controls the diameter of the whole docking mechanism to be less than 140 mm and the weight to be less than 3 kg, so that the docking mechanism becomes one of the most lightweight and compact docking solutions on the market, and perfectly meets the strict restrictions on load space and weight of small and medium-sized spacecraft.

[0029] The system power consumption is significantly reduced:

[0030] The application adopts the combined scheme of "active and passive mechanical drop lock (spring) + permanent magnetic capture positioning + mechanical self-locking maintenance (motor is powered off after being pulled tight)". The first two stages of buffering and pre-locking are completed passively by the mechanical spring, and the whole process is zero energy consumption; the magnet only works at the capture moment; after being pulled tight, 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 powered off, so that the zero maintenance power consumption in the locked state is realized. Compared with the pure electromagnetic scheme which needs to be continuously powered or the scheme which needs multiple motors to standby, the energy saving effect is huge.

[0031] The reliability and safety of the docking process are greatly improved:

[0032] The phased locking and releasing mechanism is scientific and reasonable: the magnetic suction head is first released to be docked with the passive end by magnetic force and to be locked at the same time, the weight of the magnetic suction head is about 50g, the impact force generated in the docking moment of the magnetic suction head and the passive end is small, and the passive end impact spring effectively absorbs part of the impact energy generated in the docking collision.

[0033] The magnet and the matching guide cone surface straight surface realize rapid response self-correction capture and correction, avoiding the risk of being stuck or bouncing off.

[0034] The final slow mechanical pullback provides a strong, reliable rigid connection. This progressive design breaks down the high-risk maneuver, greatly improving the success rate of the docking task.

[0035] The single motor design reduces potential failure points, improving the inherent reliability of the system.

[0036] Reusable performance: The entire locking and separation process is completed by the reversible process of single motor forward and reverse rotation, completely abandoning disposable elements such as pyrotechnics. The mechanism can withstand high frequency "docking-locking-separation" cycles, meeting the normal needs of future satellite constellation in-orbit maintenance, upgrading, and supply, greatly improving the serviceability and economy of space assets.

[0037] Mechanical, energy, and information integration: The docking and mechanical docking process of the electrical connector are perfectly integrated. While the third stage mechanical pullback is being completed, the electrical connector is automatically and synchronously corrected and aligned, solving the problem of high-speed bidirectional data communication and power supply. This not only eliminates a set of independent and bulky automatic electrical connector system, but also enables small spacecraft to have a complete set of physical interfaces for complex in-orbit services (such as program updates and data downloads) for the first time, with strong functional expansion.

[0038] Good tolerance and self-adaptive ability: The initial buffer of the mechanical spring and the rapid, self-correcting characteristics of the magnetic capture give the mechanism a certain position and angle tolerance, which can adapt to small deviations that may exist during initial docking, reducing the stringent requirements for satellite terminal positioning accuracy.

[0039] High overall cost-effectiveness: Due to the simplified structure (single motor) and reduced components, the manufacturing cost, testing cost, and launch cost (due to lightweight) of the mechanism are effectively controlled. Its reusable characteristics further reduce the single-use cost throughout the life cycle, making it highly attractive to commercial aerospace and research projects with limited budgets.

[0040] In summary, the present application effectively overcomes the technical bottlenecks of existing docking technology in miniaturization, power consumption, reliability, and functional integration, providing a superior performance, comprehensive functionality, and cost-effective microsatellite docking system solution, which has important value for promoting the development of in-orbit service technology. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The present application is a perspective view.

[0042] Figure 2Structure diagram of passive end separation state of the application.

[0043] Figure 3 Structure diagram of passive end unlocking intermediate state of the application.

[0044] Figure 4 Structure diagram of passive end state of the application.

[0045] Figure 5 Structure diagram of magnetic head locking mechanism of the application.

[0046] Figure 6 Structure diagram of bracket of the application.

[0047] Figure 7 Structure diagram of lock core unlocking rod unlocking lock core of the application.

[0048] Figure 8 Structure diagram of cylinder lock tongue of the application.

[0049] Figure 9 Structure diagram of main tongue seat section of the application.

[0050] Figure 10 Structure diagram of main lock tongue push rod of the application.

[0051] Figure 11 Structure diagram of magnetic head of the application.

[0052] Figure 12 Structure diagram of magnetic head lock catch of the application.

[0053] Figure 13 Structure diagram of passive end of the application.

[0054] Figure 14 Structure diagram of top view of the application.

[0055] Figure 15 Structure diagram of upper shell section of the application.

[0056] In the figure: 1, the active end; 11, the bottom plate; 12, the lower shell; 13, the upper shell; 131, the lower end micro switch; 132, the guide groove; 14, the electrical connector; 2, the passive end; 21, the passive end magnet; 22, the passive end electrical connector; 3, the lifting platform; 31, the adjusting screw; 32, the traction rope; 33, the upper end micro switch; 34, the sliding block; 4, the driving mechanism; 41, the motor support; 411, the pull rod type displacement sensor; 42, the stepping motor; 43, the lead screw; 44, the lead screw nut; 5, the support; 6, the magnetic suction head; 61, the active end magnet; 62, the active end electrical connector; 63, the magnetic suction head lock catch; 7, the magnetic suction head locking mechanism; 71, the lock core seat; 72, the lock core; 73, the spring pressing plate; 74, the spring; 8, the main tongue seat; 81, the main lock tongue pressing plate; 82, the main lock tongue; 83, the torsion spring; 84, the compression spring; 9, the latch pawl mechanism; 91, the latch pawl; 92, the pawl spring; 10, the three-way unlocking execution mechanism; 101, the main lock tongue push rod; 102, the latch pawl release push rod; 103, the lock core unlocking rod. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application.

[0058] Please refer to Figures 1-15 The present application provides a technical solution:

[0059] A spacecraft docking mechanism driven by a single motor and magnetic capture, comprising an active end 1 and a passive end 2, the active end 1 comprising a bottom plate 11, the upper surface of the bottom plate 11 being fixedly installed with a lower shell 12, the upper surface of the lower shell 12 being fixedly installed with an upper shell 13, the upper shell 13 being vertically slidably installed with a lifting platform 3, the upper surface of the bottom plate 11 being installed with a driving mechanism 4 for driving the lifting platform 3 to lift, and the upper surface of the lifting platform 3 being circumferentially equidistantly threaded with three adjusting screws 31, the top ends of the adjusting screws 31 being fixedly connected with traction ropes 32, the ends of the three traction ropes 32 away from the adjusting screws 31 being fixedly connected with a magnetic suction head 6, the magnetic suction head 6 being provided with an active end magnet 61, and the active end magnet 61 being provided with an active end electrical connector 62;

[0060] The upper shell 13 is fixedly installed with a support 5, the magnetic suction head 6 is placed in the support 5, the outer surface of the support 5 is circumferentially equidistantly fixedly installed with three magnetic suction head locking mechanisms 7, and the three magnetic suction head locking mechanisms 7 cooperate to fix the magnetic suction head 6 in the support 5;

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] The rotating movement of the stepper motor 42 can drive the precise linear movement of the lifting platform 3 through the cooperation of the screw rod 43 and the screw nut 44, under the sliding cooperation of the lifting platform 3 and the upper shell 13.

[0068] In combination Figure 12 As shown, the lower surface of the magnetic suction head 6 is fixedly installed with three magnetic suction head locks 63 at equal intervals in the circumferential direction;

[0069] In combination Figure 5 And Figure 6 As shown, the magnetic suction head locking mechanism 7 includes a lock cylinder seat 71 fixedly installed on the support 5, a lock cylinder 72 slidingly installed in the lock cylinder seat 71, and a spring pressing plate 73 fixedly installed on the side of the lock cylinder seat 71 away from the axis point of the support 5. The lock cylinder 72 and the spring pressing plate 73 are fixedly installed with a lock cylinder spring 74 therebetween.

[0070] When the magnetic suction head 6 is placed into the support 5, the lock cylinder 72 can be abutted against the outer surface of the magnetic suction head lock 63 at the end close to the magnetic suction head 6 under the action of the lock cylinder spring 74, so as to fix the magnetic suction head 6 in the support 5.

[0071] In combination Figure 14 As shown, the latch pawl mechanism 9 includes a latch pawl 91 rotatably installed in the installation groove of the driven end 2 through a pin, and a pawl spring 92 fixedly installed between the latch pawl 91 and the installation groove.

[0072] When the active end magnet 61 of the magnetic suction head 6 is magnetically attached to the driven end magnet 21, the latch pawl 91 is struck open and clamps the magnetic suction head 6 under the resetting action of the pawl spring 92, so as to realize the fixed connection with the driven end 2.

[0073] In combination Figure 2 As shown, the three unlocking execution mechanisms 10 include three main lock tongue push rods 101, three latch pawl release push rods 102, and three lock cylinder unlocking rods 103, which are fixedly installed at equal intervals in the circumferential direction on the upper surface of the lifting platform 3.

[0074] The main lock tongue push rod 101 is located below the corresponding main lock tongue 82. When the main lock tongue push rod 101 is driven by the lifting platform 3 to move upward and contact the main lock tongue 82, the main lock tongue 82 can be lifted upward and rotated outward under the combined action of the torsion spring 83 and the compression spring 84, to reach the unlocking state. When the main lock tongue push rod 101 moves downward, the main lock tongue 82 will move downward and rotate inward under the action of the downward pressure of the main lock tongue push rod 101 and the torsion spring 83, to reach the locking state.

[0075] The latch dog release push rod 102 is located below the corresponding latch dog 91, which is used to push the latch dog 91 of the passive end 2 when unlocking to separate the passive end 2 from the magnetic suction head 6.

[0076] The lock core unlocking rod 103 is located below the corresponding lock core 72, which is used to push the lock core 72 of the magnetic suction head locking mechanism 7 when unlocking to contact the lock core 72 to lock the magnetic suction head lock 63, so that the magnetic suction head 6 is separated from the support 5, and the use state of the lock core unlocking rod 103 is as shown in Figure 7 .

[0077] In addition, in order to monitor the movement and real-time position of the lifting platform, a pull rod type displacement sensor 411 is fixedly installed on the outer surface of the motor support 41, as shown in Figure 4 , the top end of the pull rod of the pull rod type displacement sensor 411 is fixedly connected with the lifting platform 3, when the lifting platform 3 is displaced, the top end of the pull rod of the pull rod type displacement sensor 411 moves accordingly, the end of the pull rod generates displacement type in the pull rod type displacement sensor 411, so as to judge the displacement distance of the lifting platform 3, and further judge the real-time position of the lifting platform 3.

[0078] When the passive end 2 is captured by the magnetic suction head 6 and pulled back to the locked state, and when the device is in the magnetic suction head 6 release position, in order to facilitate the capture of the locking in place signal and the magnetic suction head 6 unlocking in place signal, three upper end micro switches 33 are fixedly installed on the upper surface of the lifting platform 3 in a circumferential equidistant manner, and three lower end micro switches 131 are fixedly installed on the inner side of the lower end of the upper shell 13 in a circumferential equidistant manner, as shown in Figure 5 and Figure 15 .

[0079] When the passive end 2 is captured by the magnetic suction head 6 and pulled back to the locked state, the lifting platform 3 is pressed down at the lowermost position, and the lower end micro switch 131 generates a locking in place signal; when the device is in the magnetic suction head 6 release position, the lifting platform 3 is pressed at the uppermost position, and the upper end micro switch 33 generates a magnetic suction head 6 unlocking in place signal.

[0080] Finally, in order to facilitate the delivery of the in-place signal and facilitate the control of the stepper motor 42, the electric connector 14 needs to be fixedly installed through the outer surface of the lower shell 12 and the upper shell 13, the upper end electric connector 14 is electrically connected with the active end electric connector 62, and finally connected with the passive end inner electric connector 22, realizing the signal and power transmission of the two docking spacecrafts. The lower end electric connector 14 is electrically connected with the upper end micro switch 33, the lower end micro switch 131, the pull rod type displacement sensor 411 and the stepper motor 42. The two electric connectors 14 at the upper and lower ends are electrically connected with the external control system; the lower end electric connector 14 is responsible for transmitting the in-place signals of the lower end micro switch 131 and the upper end micro switch 33 and the displacement data of the displacement sensor 411 to the external control system, and the start-stop, speed adjustment and steering switching instructions of the external control system are transmitted to the motor to realize the precise control of the stepper motor 42.

[0081] As a further optimization scheme of the application, the active end magnet 61 and the passive end magnet 21 are both high-performance permanent magnets, which can reliably complete the initial capture within the specified tolerance range.

[0082] As a further optimization scheme of the application, the lead screw 43 and the lead screw nut 44 mechanism adopts a precise transmission design with self-locking characteristics, which cooperates with the stepper motor 42 to work, ensuring that the locking force can be maintained in the power-off state, realizing zero power consumption retention.

[0083] As a further optimization scheme of the application, the active end electric connector 62 adopts a multi-pin high-reliability aviation plug, which contains power pins and data communication pins, and can automatically establish a data transmission channel and power supply capability after mechanical locking is completed.

[0084] As a further optimization scheme of the application, the overall structural layout of the device meets the compact design requirements, the diameter of the docking mechanism is controlled within 140mm, the weight is less than 3kg, and the weight of the magnetic suction head 6 is about 50g, realizing efficient integration on the microsatellite platform.

[0085] As a further optimization scheme of the application, the locking surface of the main locking tongue 82 and the locking surface of the passive end 2 are designed with specific upward reverse unlocking and downward interference fit structure, which can automatically compensate for manufacturing and assembly errors during tensioning, and generate a rigid locking force that meets the requirements.

[0086] As a further optimization scheme of the application, the device has excellent environmental adaptability, all materials and lubricants meet the on-orbit environmental use requirements, and its structural dynamics effectively avoids the typical vibration frequency band of the launch vehicle, and has good mechanical environmental adaptability.

[0087] As a further optimization of the present application, the device has a predetermined capture tolerance range, a number of repeatable docking times and a fast response characteristic, and the entire process can be automatically completed by a single motor.

[0088] Working principle:

[0089] First stage: magnetic capture and initial locking

[0090] At the beginning of docking, the stepping motor 42 drives the lifting platform 3 to move upwards, and the magnetic head 6 and the lock core unlocking rod 103 move upwards synchronously. The top wedge surface of the lock core unlocking rod 103 pushes and drives the lock core 72 of the magnetic head locking mechanism 7 to retreat and unlock. The active end magnet 61 in the magnetic head 6 in the active end 1 is attracted to the docking guide surface of the passive end 2 under the magnetic attraction of the passive end magnet 21 of the passive end 2, completing the initial soft capture. Subsequently, the latch catch mechanism 9 of the passive end 2 is pushed away in the collision and quickly resets under the action of the catch spring 92, locking the magnetic head 6 and achieving the initial mechanical locking of the magnetic head 6 and the passive end 2, forming a connection.

[0091] Second stage: linkage pullback and pre-tightening

[0092] The stepping motor 42 drives the lifting platform 3 to move downwards, pulling back the magnetic head 6 and the passive end 2 locked with it through the traction rope 32, overcoming the docking deviation through the evenly distributed guide cone surface and straight surface, and gradually approaching and pre-tightening the two docking surfaces.

[0093] Third stage: final rigid locking and state confirmation

[0094] The lifting platform 3 continues to move to the bottom end position, driving the main lock tongue push rod 101 to pull down, rotating and pressing the passive end 2 locking surface inward through the main lock tongue 82, realizing rigid connection. At the same time, the lifting platform 3 moves to the bottom plate 11 end position and presses the lower end micro switch 131, triggering the locking in place signal; the magnetic head lock catch 63 arc block of the magnetic head 6 bottom is squeezed open, and the lock core 72 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 are also synchronously and reliably inserted.

[0095] The unlocking process is the reverse of the above process: the stepper motor 42 drives the lifting platform 3 to rise, the main lock tongue push rod 101 rises synchronously to first unlock the main lock tongue 82 to make it rise and rotate outward, and to separate from the locking contact surface of the passive end 2; the latch catch release push rod 102 rises synchronously to push open the latch catch 91 of the passive end 2, so that the latch catch 91 separates from the locking contact surface of the magnetic suction head 6; the latch catch release push rod 102 continues to rise to push the passive end 2 away from the locked magnetic suction head 6, and to push it out of the magnetic suction force range to complete the separation of the passive end 2. At this time, the magnetic suction head 6 is still locked on the active end shell, forming a state of a to-be-released magnetic suction head.

Claims

1. A single-motor driven and magnetically captured spacecraft docking mechanism, characterized by: Including the initiative end (1) and passive end (2), the initiative end (1) includes the bottom plate (11), the upper surface of the bottom plate (11) is fixedly installed with the lower shell (12), the upper surface of the lower shell (12) is fixedly installed with the upper shell (13), the upper shell (13) is vertically slidably installed with the lifting platform (3), the upper surface of the bottom plate (11) is installed with the drive mechanism (4) for driving the lifting platform (3) to lift, and the upper surface of the lifting platform (3) is circumferentially equidistantly threaded with three adjusting screws (31), the top end of the adjusting screw (31) is fixedly connected with the traction rope (32), the traction rope (32) is fixedly connected between the ends away from the adjusting screw (31), and the magnetic suction head (6) is arranged in the initiative end magnet (61), the initiative end magnet (61) is provided with the initiative end electrical connector (62); The upper shell (13) is fixedly installed with the support (5), the magnetic suction head (6) is placed in the support (5), and the outer surface of the support (5) is circumferentially equidistantly fixedly installed with three magnetic suction head locking mechanisms (7), and the three magnetic suction head locking mechanisms (7) cooperate to fix the magnetic suction head (6) in the support (5); The upper shell (13) is circumferentially equidistantly fixedly installed with three main tongue seats (8), the top end of the main tongue seat (8) is fixedly installed with the main lock tongue pressing plate (81), and the main lock tongue (82) is slidably installed in the main tongue seat (8), the torsion spring (83) and the compression spring (84) are installed between the main lock tongue (82) and the main tongue seat (8), the compression spring (84) is semi-fixedly installed between the main lock tongue (82) and the main tongue seat (8), and the main lock tongue (82) is used to lock the passive end (2) and the upper shell (13) when the initiative end (1) and the passive end (2) are connected; The outer ring of the passive end (2) is provided with a locking surface used in cooperation with the main lock tongue (82), the passive end magnet (21) is arranged in the passive end (2), the passive end electrical connector (22) is arranged in the passive end magnet (21), and three mounting grooves are circumferentially equidistantly formed in the outer surface of the passive end (2), the latch pawl mechanism (9) is rotatably installed in the mounting groove, and the latch pawl mechanism (9) is used for fixing when the magnetic suction head (6) is initially connected with the passive end (2); The upper surface of the lifting platform (3) is provided with three unlocking execution mechanisms (10), the three unlocking execution mechanisms (10) are fixedly installed on the lifting platform (3) and move synchronously, and the three unlocking execution mechanisms (10) are respectively used for unlocking the magnetic suction head locking mechanism (7), the main lock tongue (82) and the latch pawl mechanism (9).

2. A single-motor driven and magnetically captured spacecraft docking mechanism according to claim 1, characterized in that: The driving mechanism (4) includes a motor support (41), a stepper motor (42) is fixedly installed in the motor support (41), the output end of the stepper motor (42) is fixedly connected with a lead screw (43), the lead screw (43) penetrates through the lifting platform (3), and the outer surface of the lead screw (43) is screw-connected with a lead screw nut (44); 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).

3. A single-motor driven and magnetically captured spacecraft docking mechanism according to claim 2, characterized in that: The lower surface of the magnetic suction head (6) is fixedly installed with three magnetic suction head locks (63) at equal intervals in the circumferential direction; The magnetic suction head locking mechanism (7) includes a lock cylinder seat (71) fixedly installed on the support (5), a lock cylinder (72) slidingly installed in the lock cylinder seat (71), a spring pressing plate (73) fixedly installed on the side of the lock cylinder seat (71) away from the support (5) shaft center point, and a lock cylinder spring (74) fixedly installed between the spring pressing plate (73) and the lock cylinder (72); one end of the lock cylinder (72) close to the magnetic suction head (6) is abutted against the outer surface of the magnetic suction head lock (63), so that the magnetic suction head (6) is fixed in the support (5).

4. A single-motor driven and magnetically captured spacecraft docking mechanism according to claim 3, characterized in that: The latch pawl mechanism (9) includes a latch pawl (91) rotatingly installed in the installation groove of the passive end (2) through a pin, and a pawl spring (92) fixedly installed between the latch pawl (91) and the installation groove.

5. A single-motor driven and magnetically captured spacecraft docking mechanism according to claim 4, characterized in that: The three unlocking execution mechanisms (10) include three main lock tongue push rods (101), three latch pawl release push rods (102) and three lock cylinder unlocking rods (103); the three main lock tongue push rods (101), the three latch pawl release push rods (102) and the three lock cylinder unlocking rods (103) are fixedly installed on the upper surface of the lifting platform (3) at equal intervals in the circumferential direction. The main lock tongue push rod (101) is located below the corresponding main lock tongue (82), the latch pawl release push rod (102) is located below the corresponding latch pawl (91), and the lock cylinder unlocking rod (103) is located below the corresponding lock cylinder (72).

6. A single-motor-driven and magnetically captured spacecraft docking mechanism according to claim 2, characterized in that: The outer surface of the motor support (41) is fixedly installed with a pull rod type displacement sensor (411), and the pull rod top end of the pull rod type displacement sensor (411) is fixedly connected with the lifting platform (3).

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

8. A single-motor-driven and magnetically captured spacecraft docking mechanism according to claim 1, characterized in that: The inner side of the upper shell (13) is provided with three guide grooves (132) at equal intervals in the circumferential direction, and the outer surface of the lifting platform (3) is integrally provided with three sliding blocks (34); the sliding blocks (34) are slidingly arranged in the corresponding guide grooves (132).

9. A single-motor driven and magnetically captured spacecraft docking mechanism according to claim 7, characterized in that: The outer surface of the lower shell (12) and the upper shell (13) is fixedly provided with an electric connector (14), the upper end of the electric connector (14) is electrically connected with the driving end electric connector (62), and the lower end of the electric connector (14) is electrically connected with the upper end microswitch (33), the lower end microswitch (131) and the pull rod type displacement sensor (411) and the stepping motor (42).

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