Universal butt-joint high-rigidity butt-joint locking quick-change device for large-scale modular on-orbit assembly

Abstract

The invention discloses a universal butt-joint high-rigidity butt-joint locking quick-change device for large-scale modular on-orbit assembly, and belongs to the technical field of space robots. An existing butt joint interface is poor in universality and difficult to adapt to diversified on-orbit assembly requirements. A first positioning surface is arranged at the top end of a driving end shell, and an opening is formed in the outer circumferential surface; a clamping jaw driving assembly is arranged in the shell; the clamping jaw comprises three capturing fingers and three groups of corresponding finger connecting assemblies, each group comprises a hinge seat, a finger connecting rod, a first pin shaft, a second pin shaft and a third pin shaft, the hinge seat can be driven by the clamping jaw driving assembly to move up and down, one end of each capturing finger is connected with one end of the corresponding finger connecting rod through the corresponding first pin shaft, and the other end of each capturing finger extends out of an opening of the shell; the other end of the finger connecting rod is connected with the hinge seat through a second pin shaft; the third pin shaft is mounted at the position, close to the opening, of the shell and rotationally connected with the capturing finger; the passive butt joint module is provided with a locking groove matched with the clamping jaw and a second positioning face matched with the first positioning face.

Description

Technical Field

[0001] This invention belongs to the field of space robot technology, specifically relating to large-scale space on-orbit assembly, and particularly to a universal docking, high-rigidity docking, locking, and quick-change device for large-scale modular on-orbit assembly. Background Technology

[0002] Currently, most large on-orbit space devices rely on robotic arms or astronauts for assembly, resulting in long mission times and insufficient timeliness. Furthermore, most docking interfaces are customized for specific missions, lacking versatility and failing to meet diverse on-orbit assembly requirements. In addition, the stiffness of connecting modules often changes significantly during on-orbit assembly, easily triggering strong vibrations, thus placing higher demands on the stiffness and stability of the interface areas.

[0003] Therefore, this invention aims to design a universal, high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly. This device achieves high-tolerance guidance through passive features and employs a finger-linkage three-finger locking mechanism, enabling high-rigidity connections while meeting the vibration suppression requirements of space assembly. Summary of the Invention

[0004] In view of this, the present invention provides a universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly. It can achieve initial docking by guiding the concave and convex positioning surfaces and advancing in combination with the impedance control mode of external space equipment. Subsequently, the device uses the cooperation of the grippers and locking grooves to grasp and lock, and further corrects the angle and position deviations that may exist in the initial docking under the guidance of the concave and convex positioning surfaces, so as to achieve final precise docking and fixation.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly includes an active docking mechanism and a passive docking mechanism. The active docking mechanism includes an active end housing, grippers, and a gripper drive assembly. The top of the active end housing has a first positioning surface, and an opening is formed on its outer circumference. The gripper drive assembly is located inside the active end housing. The grippers include three capturing fingers and three sets of finger connecting assemblies. The three capturing fingers are evenly arranged circumferentially around the gripper drive assembly. Each capturing finger is connected to the gripper drive assembly through a set of finger connecting assemblies. Each set of finger connecting assemblies includes a hinge seat, a finger link, a first pin, a second pin, and a third pin. The hinge seat can be driven up and down by the gripper drive assembly. One end of the capturing finger is connected to one end of the finger link through the first pin, and the other end extends from the opening on the active end housing. The other end of the finger link is connected to the hinge seat through the second pin. The third pin is installed on the active end housing near the opening and is rotatably connected to the capturing finger. The passive docking module has a locking groove that mates with the grippers and a second positioning surface that mates with the first positioning surface.

[0007] Furthermore, the gripper drive assembly includes a drive motor, a lead screw shaft, and a nut seat; the lead screw shaft is rotatably mounted inside the active end housing and has a central through hole in its axial direction; the drive motor is placed inside the central through hole of the lead screw shaft and fixed to the top inside the active end housing, and the drive motor provides torque to the lead screw shaft; the nut seat has an internal thread and is screwed into the lead screw shaft; the gripper is connected to the nut seat and can be driven by the nut seat to perform opening and closing motion.

[0008] Furthermore, the capturing finger includes a vertically arranged fingertip and a finger shaft, with a semi-circular notch at one end of the finger shaft near the first pin.

[0009] Furthermore, the fingertip of the finger capture device is equipped with a disc spring, a ball hinge retainer, a ball hinge, and a disc spring adjusting nut. A threaded blind hole is opened on the lower surface of the fingertip. The disc spring and the ball hinge retainer are placed in the threaded blind hole in sequence. The ball hinge retainer can move up and down axially within the threaded blind hole. The disc spring adjusting nut is sleeved on the ball hinge retainer and screwed into the opening of the threaded blind hole. The ball hinge is installed in the ball hinge retainer and can rotate.

[0010] Furthermore, the fingertip of the captured finger is designed with a correction protrusion, the outer diameter of which gradually increases from the fingertip to the base of the finger, and the locking groove is provided with a correction groove corresponding to the correction protrusion.

[0011] Furthermore, the drive motor is a brushless DC motor.

[0012] Furthermore, the active docking mechanism also includes a power-off brake, which is rotatably mounted in the central through hole of the lead screw shaft and fixed on the active end housing for braking the lead screw shaft.

[0013] Furthermore, the active docking mechanism also includes a position sensor, which is installed between the nut seat and the active end housing to determine the movement state of the captured finger.

[0014] Furthermore, the position sensor includes a circuit board bracket, a circuit board, a brush, a brush cover, and a brush base. The brush base is fixed on a nut seat, and the brush is pressed and mounted on the brush base by the brush cover. The circuit board is mounted inside the active end housing through the circuit board bracket, and the front end of the brush is in contact with the carbon film on the surface of the circuit board.

[0015] Furthermore, the first positioning surface and the second positioning surface have the same structure, both containing three positioning convex surfaces, with a positioning concave surface between two adjacent positioning convex surfaces, and protruding ridges arranged on each positioning convex surface, while pits corresponding to the protruding ridges are provided on the positioning concave surface.

[0016] The beneficial effects of this invention compared to the prior art are:

[0017] 1. The active docking mechanism and passive docking mechanism of this invention first form a passive guiding structure through concave and convex positioning surfaces to achieve initial guidance within a large tolerance range; subsequently, an active capture mechanism consisting of capture fingers and locking grooves further compensates for the insufficient accuracy of passive guidance, ultimately achieving reliable locking. This staged docking method ensures the stability of the docking process within the set tolerance range. This design avoids the bulkiness problem caused by the pursuit of large tolerance in purely active quick-change devices, and also improves the low docking success rate of purely passive quick-change devices, thus achieving the goals of high rigidity, large tolerance, and high docking success rate.

[0018] 2. The gripper design of this invention exhibits non-linear force characteristics. When the captured finger and the passive docking mechanism approach the locked state, the force transmitted from the drive motor to the captured finger increases sharply to meet the mechanical requirements of the final locking process. When the nut seat pulls the finger linkage to a state almost perpendicular to the captured finger, it reaches the dead point position of the linkage structure formed by the finger linkage and the captured finger. At this point, no matter how much external force is applied to the end of the captured finger, it cannot be released; release can only be achieved by the drive motor driving the lead screw shaft. In this state, the locking of the active docking mechanism to the passive docking mechanism can be considered as rigid locking, satisfying the locking requirements. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are provided to give a further understanding of the invention.

[0020] Figure 1 This is a three-dimensional structural diagram of a universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly.

[0021] Figure 2Cross-sectional view of the active docking mechanism Figure 1 .

[0022] Figure 3 Cross-sectional view of the active docking mechanism Figure 2 .

[0023] Figure 4 Cross-sectional view of the active docking mechanism Figure 3 .

[0024] Figure 5 This is an assembly drawing of the gripper and nut seat.

[0025] Figure 6 for Figure 4 A magnified view of a portion of point A in the middle.

[0026] Figure 7 for Figure 2 A magnified view of a portion of point A in the middle.

[0027] Figure 8 This is a schematic diagram of the passive docking mechanism.

[0028] Figure 9 This is a schematic diagram illustrating the states of the proactive and passive docking agencies before docking.

[0029] Figure 10 This is a schematic diagram showing the initial docking state of the active docking mechanism and the passive docking mechanism through the concave and convex positioning surfaces.

[0030] Figure 11 This is a schematic diagram illustrating the state of an active docking mechanism when it captures a passive docking mechanism.

[0031] Figure 12 A schematic diagram illustrating the precise connection between proactive and reactive agencies.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100 organizations actively engaged with the platform; 200 organizations passively engaged with the platform.

[0034] Active end housing 1, lower cover 11, first positioning surface 12, base plate 13;

[0035] 2. Gripper, 21. Capturing finger, 211. Fingertip, 212. Correcting protrusion, 213. Finger rod, 214. Semi-circular notch, 22. Hinge seat, 23. Finger link, 24. First pin, 25. Second pin, 26. Third pin, 27. Disc spring, 28. Ball hinge retainer, 29. Ball hinge, 30. Disc spring adjusting nut.

[0036] Gripper drive assembly 3, drive motor 31, motor stator 311, motor rotor 312, motor spacer 313, motor base 314, lead screw shaft 32, center through hole 321, nut seat 33;

[0037] 4. Power failure brake, 41. Brake housing, 42. Brake coil, 43. Guide rod, 44. Support spring, 45. Armature friction disc, 46. Brake friction disc;

[0038] Position sensor 5, circuit board bracket 51, circuit board 52, brush 53, brush cover 54, brush base 55;

[0039] Upper cover 6, second positioning surface 61, locking groove 62. Detailed Implementation

[0040] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 , Figures 9 to 12 This diagram illustrates a general-purpose, high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to this embodiment. As shown, the quick-change device of this embodiment includes an active docking mechanism 100 and a passive docking mechanism 200. The active docking mechanism 100 and the passive docking mechanism 200 are respectively installed on different space on-orbit modules, such as large space telescope plates and other modules requiring high-rigidity connections. The connection strength of the space on-orbit modules can be guaranteed through the connection of the active docking mechanism 100 and the passive docking mechanism 200.

[0042] Figures 9 to 12 The docking and locking process of the active docking mechanism 100 and the passive docking mechanism 200 is illustrated. It can be seen that in this embodiment, the docking surfaces of the active docking mechanism 100 and the passive docking mechanism 200 are respectively provided with concave-convex positioning surfaces. The active docking mechanism 100 adopts a gripper 2 structure, while the passive docking mechanism 200 is provided with a corresponding locking groove 62. The docking process is divided into two stages. First, through the guiding effect of the concave-convex positioning surfaces, combined with the impedance control mode of the external space equipment, a high-precision initial docking can be achieved. Subsequently, the gripper 2 and the locking groove 62 cooperate to grasp and lock, and under the guidance of the concave-convex positioning surfaces, any angle and position deviations that may exist in the initial docking are further corrected, achieving final precise docking and fixation. This two-stage docking method integrates active capture and passive guidance features, effectively improving the system's fault tolerance and adaptability while ensuring docking reliability.

[0043] For details, see Figure 2 , Figure 3 and Figure 4The active docking mechanism 100 of this embodiment includes an active end housing 1, grippers 2, and gripper drive assembly 3. The active end housing 1 includes a lower cover 11 and a base plate 13. The top of the lower cover 11 is provided with a first positioning surface 12, and the bottom is designed as an opening. The base plate 13 is installed at the bottom opening of the lower cover 11, serving to support the grippers 2 and the gripper drive assembly 3, and connecting to the actively operating space station device to transmit drag force. The gripper drive assembly 3 is disposed inside the lower cover 11 and fixed to the upper surface of the base plate 13. An opening is opened on the outer circumferential surface of the lower cover 11. One end of the gripper 2 is connected to the gripper drive assembly 3, and the other end extends out from the opening. Driven by the gripper drive assembly 3, the gripper 2 can perform an opening and closing motion, thereby capturing the passive docking mechanism 200.

[0044] Among them, combined Figures 2 to 5 The gripper drive assembly 3 in this embodiment includes a drive motor 31, a lead screw 32, and a nut seat 33. The lead screw 32 is rotatably mounted inside the lower cover 11 and has a central through hole 321 in its axial direction. The drive motor 31 is placed inside the central through hole 321 of the lead screw 32 and is mounted on the top of the lower cover 11, providing torque to the lead screw 32. The nut seat 33 has an internal thread and is screwed into the lead screw 32. Figures 2 to 5 The gripper 2 includes three gripping fingers 21 and three sets of finger connecting assemblies. The three gripping fingers 21 are evenly arranged circumferentially around the nut seat 33, and each gripping finger 21 is connected to the nut seat 33 through a set of finger connecting assemblies. Figures 2 to 5 Each finger connection assembly includes a hinge seat 22, a finger link 23, a first pin 24, a second pin 25, and a third pin 26. The hinge seat 22 is mounted on the outer wall of the nut seat 33. One end of the captured finger 21 is connected to one end of the finger link 23 via the first pin 24, and the other end of the finger link 23 is connected to the hinge seat 22 via the second pin 25. The third pin 26 is mounted on the active end housing 1 near the opening and is rotatably connected to the captured finger 21. Through the cooperation of the third pin 26 and the captured finger 21, the movement of the nut seat 33 is constrained, thereby ensuring that it can only translate along the axial direction of the lead screw shaft 32.

[0045] Before the active docking mechanism 100 docks with the passive docking mechanism 200, the drive motor 31 drives the lead screw shaft 32 to rotate, and the nut seat 33 moves upward along the lead screw shaft 32. The three hinge seats 2224 move upward synchronously with the nut seat 33, and generate driving force on the capturing finger 21 through the finger linkage 23, causing the capturing finger 21 to rotate counterclockwise around the third pin shaft 26. At this time, the three capturing fingers 21 open up and are in a pre-capture state. Subsequently, the active docking mechanism 100 and the passive docking mechanism 200 complete the initial docking through the convex-concave positioning surfaces. The drive motor 31 drives the lead screw shaft 32 to rotate in the opposite direction, and the nut seat 33 moves downward along the lead screw shaft 32. The three hinge seats 2224 move downward synchronously with the nut seat 33, and generate driving force on the capture finger 21 again through the finger linkage 23, causing the capture finger 21 to rotate clockwise around the third pin shaft 26. The three capture fingers 21 close and gradually insert into the locking groove 62 of the passive docking mechanism 200. When the fingertip 211 of the capture finger 21 abuts against the locking surface at the locking groove 62, the active docking mechanism 100 and the passive docking mechanism 200 further dock through the convex-concave positioning surfaces, thereby achieving precise docking between the two.

[0046] In this embodiment, the active docking mechanism 100 and the passive docking mechanism 200 first form a passive guiding structure through concave and convex positioning surfaces to achieve initial guidance within a large tolerance range. Subsequently, the active capture mechanism formed by the capture finger 21 and the locking groove 62 further compensates for the insufficient accuracy of the passive guidance, ultimately achieving reliable locking. This staged docking method ensures the stability of the docking process within the set tolerance range. This design avoids the bulkiness problem caused by the pursuit of large tolerance in purely active quick-change devices, and also improves the low docking success rate of purely passive quick-change devices, thereby achieving the goals of high rigidity, large tolerance, and high docking success rate.

[0047] Furthermore, the force characteristics of the capturing finger 21 and the finger linkage 23 exhibit non-linearity. When the nut seat 33 is at the top of the lead screw shaft 32, the second pin 25 and the third pin 26 of the finger linkage 23 are closest, and at this time, it is in the stage of force-intensive transmission, with a relatively small force transmitted from the drive motor to the end of the capturing finger. As the nut seat 33 moves towards the bottom of the lead screw shaft 32, the finger linkage 23 is gradually pulled away from the third pin 26, and its position change exhibits non-linear characteristics. When the capturing finger is pulled to a state close to the locking state with the passive docking mechanism 200, the force transmitted from the drive motor to the capturing finger increases sharply to meet the mechanical requirements of the final locking process. When the nut seat 33 pulls the finger linkage 23 to a state almost perpendicular to the capturing finger 21, it reaches the dead point position of the linkage structure formed by the finger linkage 23 and the capturing finger. At this time, no matter how much external force is applied to the end of the capturing finger, it cannot be released; release can only be achieved by the drive motor driving the lead screw shaft 32. In this state, the locking of the active docking mechanism 100 to the passive docking mechanism 200 can be considered as rigid locking, improving the connection strength of the space on-orbit module. When the passive docking mechanism 200 is subjected to tension, this tension is mainly shared by two parts: one part is directly borne by the active end shell; the other part is transmitted through the three capture fingers, and its force direction is changed to radial along the lead screw shaft. Since the three capture fingers 21 are evenly arranged circumferentially, the resulting radial components cancel each other out, and the overall radial resultant force is zero, avoiding bending deformation of the lead screw shaft and affecting the transmission effect. This embodiment adopts a linkage structure transmission, using the dead point position of the finger linkage for locking action, distributing most of the force borne by the capture fingers to the active end shell and the lead screw shaft, significantly improving the locking force of the capture fingers when closed, which is beneficial to eliminating vibrations generated during space system connection; at the same time, it improves the system stiffness after the active and passive ends are locked, further facilitating vibration suppression and space system stability.

[0048] Furthermore, combined Figure 2 and Figure 3 In this embodiment, the capturing finger 21 has an L-shaped structure, including an integrally formed fingertip 211 and a finger rod 213. The end of the finger rod 213 near the first pin 24 is provided with a semi-circular notch 214. As the nut seat 33 moves upward, the finger connecting rod 23, the first pin 24 and the second pin 25 will move upward synchronously with the nut seat 33. The capturing finger 21 is driven by the finger connecting rod 23 to rotate outward around the third pin 26. As the rotation angle of the capturing finger 21 increases, the finger rod 213 may interfere with the second pin 25, affecting the opening angle of the capturing finger 21. The semi-circular notch 214 can avoid interference, so that the opening angle of the gripper is large enough to avoid interference between the passive docking mechanism 200 and the active docking mechanism 100 and the capturing finger 21 when they are positioned by the concave and convex positioning surfaces, which would cause the capturing finger 21 to deform or affect the initial docking effect.

[0049] Furthermore, in this embodiment, the fingertip 211 of the capturing finger 21 is provided with a disc spring 27, a ball hinge retainer 28, a ball hinge 29, and a disc spring adjusting nut 30. A threaded blind hole is formed on the lower surface of the fingertip 211. The disc spring 27 and the ball hinge retainer 28 are sequentially placed within the threaded blind hole. The ball hinge retainer 28 has a T-shaped cross-section, with its wider end facing the disc spring 27 and its narrower end facing the opening of the threaded blind hole. The ball hinge retainer 28 can move axially up and down within the threaded blind hole. The disc spring adjusting nut 30 is fitted onto the ball hinge retainer 28 and screwed into the opening of the threaded blind hole; the ball hinge 29 is installed within the ball hinge retainer 28 and can rotate. Figure 7 As can be seen, the lower end face of the ball hinge 29 is lower than the lower surface of the fingertip 211. When the fingertips 211 of the three capturing fingers abut against the locking surface, the ball hinge 29 is compressed by the locking surface, causing the ball hinge retainer 28 to move upward, thereby deforming the disc spring 27. The deformed disc spring 27 generates a reverse force, which is transmitted to the ball hinge 29 and the capturing fingers. If the three capturing fingers experience uneven force due to different gaps with the locking surface of the locking groove, the disc spring 27 can compensate through its own deformation, thereby ensuring that the three capturing fingers have a reliable locking effect on the passive docking mechanism. In addition, due to manufacturing and installation errors, the lower end face of the fingertip 211 may not fit perfectly with the locking surface. For this reason, the ball hinge 29 is installed in the ball hinge retainer 28, allowing it to swing freely within a certain angle. The device actively compensates for angular errors when capturing fingers gripping the locking surface, ensuring uniform and stable surface contact between the captured fingers and the locking surface. Furthermore, the disc spring 27 is pre-compressed during assembly, with an initial preload of 1000N. During locking, the disc spring 27 can further compress by 0.2mm, releasing 1000–1500N of force during this stroke. This design not only compensates for positional deviations of the three fingers along the quick-change device axis during locking but also ensures that each finger has at least 1000N of preload force during locking, thus achieving a stable and balanced locking effect.

[0050] Furthermore, this embodiment uses a brushless DC motor as the drive motor 31 to reduce the axial dimension of the active docking mechanism 100. The drive motor 31 mainly consists of a motor stator 311, a motor rotor 312, a motor spacer 313, and a motor base 314. One end of the motor base 314 is fixed to the top of the active end housing 1 with screws, and the other end is supported in the central through hole 321 of the lead screw shaft 32 by a deep groove ball bearing, achieving a rotatable connection. The motor stator 311 is fixedly mounted on the motor base 314, and the motor rotor 312 is sleeved on the outside of the motor stator 311 and rotates synchronously with the lead screw shaft 32 via a key connection. The motor spacer 313 is located between the outer ring of the deep groove ball bearing and the motor rotor 312, used for axial positioning of the lead screw shaft 32. When the motor stator 311 is energized, the rotor of the drive motor 31 rotates, thereby driving the lead screw shaft 32 to output rotational power.

[0051] Since the drive motor 31 is fixed on the active end housing 1, and the upper end of the lead screw shaft 32 is connected to the drive motor 31 via a deep groove ball bearing, the upper end of the lead screw shaft 32 can be supported by the drive motor 31. The deep groove ball bearing can achieve radial and axial positioning of the lead screw shaft 32, eliminating the need for a separate bearing between the top of the lead screw shaft 32 and the active end housing 1, thus simplifying the overall structure and further reducing the axial dimension of the active docking mechanism 100.

[0052] Furthermore, to improve the locking stiffness of the active docking mechanism 100 after capturing the passive docking mechanism 200 and to save power, this embodiment also includes a power-off brake 4 for locking the lead screw shaft 32. Combined with... Figures 3 to 5 In this embodiment, the power-off brake 4 is rotatably mounted in the central through hole 321 of the lead screw shaft 32 via a pair of angular contact bearings and fixed on the base plate 13 of the active end housing 1. The power-off brake 4 includes a brake housing 41, a brake coil 42, guide rods 43, a support spring 44, an armature friction disc 45, and a brake friction disc 46. The brake housing 41 is mounted on the upper surface of the base plate 13 and has an annular mounting groove and multiple second-step through holes. The brake coil 42 is embedded in the annular mounting groove. Multiple guide rods 43 are inserted into each of the second-step through holes and can move up and down along them. One end of each guide rod 43 has a shoulder that abuts against the stepped surface within the second-step through hole; the other end has an external thread. The armature friction disc 45 has an annular structure with multiple threaded holes, and is relatively fixed to the brake housing 41 by threaded connection with the guide rods 43. Each guide rod 43 is fitted with a support spring 44, one end of which rests against the stepped surface of the second stepped through hole, and the other end is pressed against the armature friction disc 45. A support ring is provided in the central through hole 321 of the lead screw shaft 32, and the brake friction disc 46 is installed on the support ring by screws and is arranged vertically opposite to the armature friction disc 45.

[0053] Before the active docking mechanism 100 captures the passive docking mechanism 200, the de-energized brake 4 is energized. At this time, the brake coil 42, under the action of electromagnetic force, overcomes the elastic force of the support spring 44 and attracts the armature friction disc 45, causing it to separate from the brake friction disc 46, so that the lead screw shaft 32 can rotate freely under the drive of the drive motor 31. After the active docking mechanism 100 completes the capture of the passive docking mechanism 200, the de-energized brake 4 is de-energized, and the electromagnetic force disappears. The support spring 44 then releases its elastic force, pushing the armature friction disc 45 upward, so that it presses tightly against the brake friction disc 46, thereby braking the lead screw shaft 32. After the active docking mechanism 100 and the passive docking mechanism 200 complete the docking and locking, the de-energized brake 4 is energized again. At this time, the lead screw shaft 32 is braked and cannot rotate, ensuring the locking effect of the active docking mechanism 100 on the passive docking mechanism 200. Furthermore, since the power failure brake 4 is fixed on the base plate 13, and the power failure brake 4 is connected to the lead screw shaft 32 through an angular contact bearing, the bottom end of the lead screw shaft 32 can be supported by the power failure brake 4. That is, there is no need to set a bearing separately between the bottom end of the lead screw shaft 32 and the active end housing 1, which further simplifies the overall structure and reduces the axial dimension of the active docking mechanism 100.

[0054] See Figure 5 The active docking mechanism 100 in this embodiment also includes a position sensor 5 for determining the movement state of the captured finger 21. This position sensor 5 is installed between the nut seat 33 and the active end housing 1. The position sensor 5 mainly consists of a circuit board bracket 51, a circuit board 52, a brush 53, a brush cover plate 54, and a brush base 55. The brush base 55 is bolted to the nut seat 33, and the brush 53 is pressed by the brush cover plate 54 and bolted to the brush base 55. The circuit board 52 is bolted to the circuit board bracket 51, and the circuit board bracket 51 is bolted into the lower housing 11. During assembly, adjustments are made to ensure that the tip of the brush 53 remains in contact with the carbon film on the surface of the circuit board 52.

[0055] When the nut seat 33 moves, it drives the brush 53 to move on the carbon film on the circuit board 52, contacting the carbon film at different positions. By detecting the conduction length of the carbon film, the absolute position information of the nut seat 33 can be obtained, thereby determining the state of the captured finger 21.

[0056] See Figure 8 and Figure 9The passive docking mechanism 200 of this embodiment includes an upper cover 6, and the bottom end of the upper cover 6 is provided with a second positioning surface 61 that matches the first positioning surface 12. The first positioning surface 12 and the second positioning surface 61 have the same structure, each including three positioning convex surfaces, and a positioning concave surface is provided between two adjacent positioning convex surfaces, thus forming a total of three positioning concave surfaces. Each positioning convex surface is provided with a protruding ridge, and the positioning concave surface is provided with a pit corresponding to the protruding ridge. Through the cooperation of the positioning convex surface and the concave surface, and combined with the fitting design of the protruding ridge and the pit, the docking accuracy of the active docking mechanism 100 and the passive docking mechanism 200 can be improved. Among them, each positioning concave surface of the upper cover 6 is provided with a locking groove 62 that cooperates with the capturing finger 21. The fingertip 211 of the capturing finger 21 is designed with a correction protrusion 212, and the outer diameter of the correction protrusion 212 gradually increases from the fingertip 211 towards the finger root. The locking groove 62 is provided with a correction groove (not shown in the figure) corresponding to the correction protrusion 212. During the insertion of the capture finger 21 into the locking groove 62 by the active docking mechanism 100, if there is an attitude deviation between the two around the lead screw shaft 32, the interaction between the correction protrusion 212 and the correction groove will automatically correct the deviation as the capture finger 21 is inserted, thus achieving precise docking.

[0057] The following is in conjunction with the appendix Figures 9 to 12 The working principle and workflow of a universal docking, high-rigidity docking, locking, and quick-change device for large-scale modular on-orbit assembly according to the present invention are described in detail.

[0058] The docking and locking process between the active docking mechanism 100 and the passive docking mechanism 200:

[0059] Initial preparation stage: such as Figure 9 As shown, before the active docking mechanism 100 captures the passive docking mechanism 200, the de-energized brake 4 is energized. At this time, the brake coil 42 overcomes the elastic force of the support spring 44 under the action of electromagnetic force, attracting the armature friction disc 45 and separating it from the brake friction disc 46, so that the lead screw shaft 32 can rotate freely under the drive of the drive motor 31. When the drive motor 31 is energized, the motor rotor 312 drives the lead screw shaft 32 to rotate clockwise, the nut seat 33 moves upward along the lead screw shaft 32, and the three hinge seats 2224 move upward synchronously with the nut seat 33, and generate a driving force on the capturing finger 21 through the finger linkage 23, so that the capturing finger 21 rotates counterclockwise around the third pin shaft 26. At this time, the three capturing fingers 21 open up and are in a pre-capture state. During the movement, the nut seat 33 drives the brush 53 on it to slide on the carbon film of the circuit board 52, so that the absolute position of the nut seat 33 when the calibrated capturing finger 21 is fully open can be confirmed by the position sensor 5.

[0060] Initial docking phase: such as Figure 10As shown, based on visual guidance, external space equipment such as robotic arms drive the active docking mechanism 100 to move towards the passive docking mechanism 200 to enter the large tolerance range of the passive docking mechanism 200. The external space equipment switches to impedance control mode and drives the active docking mechanism 100 to approach the passive docking mechanism 200. The positioning convex surface of the active docking mechanism 100 gradually inserts into the positioning concave surface of the passive docking mechanism 200, and the positioning convex surface of the passive docking mechanism 200 gradually inserts into the positioning concave surface of the active docking mechanism 100. The initial docking is completed through the cooperation of the positioning convex surface and the positioning concave surface.

[0061] Capture phase: such as Figure 11 As shown, after the active docking mechanism 100 and the passive docking mechanism 200 have completed their initial docking, the drive motor 31 is activated. The drive motor 31 drives the lead screw shaft 32 to rotate in the opposite direction, and the nut seat 33 moves downward along the lead screw shaft 32. Through the finger linkage 23, it again generates a driving force on the capturing fingers 21, causing the capturing fingers 21 to rotate clockwise around the third pin shaft 26. The three capturing fingers 21 close and gradually insert into the locking groove 62 of the passive docking mechanism 200, thus achieving the capture by the passive docking mechanism 200. When the correction protrusion 212 at the tip of the capturing finger 21 gradually inserts into the correction groove in the locking groove 62, the capturing finger 21 generates a circumferential driving force on the passive docking mechanism 200, thereby correcting the attitude deviation between the active docking mechanism 100 and the passive docking mechanism 200.

[0062] Locking and dragging phase: such as Figure 12 As shown, the drive motor 31 continues to drive the lead screw shaft 32 to rotate in the opposite direction. The nut seat 33 pulls down the passive docking mechanism 200 through the capture finger 21. During the entire pulling process, the ball joint 29 is squeezed by the locking surface, causing the ball joint retainer 28 to move upward, thereby deforming the disc spring 27 under pressure. After deformation, the disc spring 27 generates a reverse force, which is transmitted to the ball joint 29 and the capture finger. If the three capture fingers experience uneven force due to different gaps with the locking surface of the locking groove, the disc spring 27 can compensate through its own deformation, thereby ensuring that the three capture fingers have a reliable locking effect on the passive docking mechanism. At the same time, the active docking mechanism 100 and the passive docking mechanism 200 are further docked through the cooperation of the first positioning surface 12 and the second positioning surface 61, thereby achieving precise docking between the two.

[0063] The unlocking and disassembly process of the active docking mechanism 100 and the passive docking mechanism 200:

[0064] Unlocking phase: When the power-off brake 4 is energized, the brake coil 42 overcomes the elastic force of the support spring 44 under the action of electromagnetic force, attracts the armature friction disc 45, and separates it from the brake friction disc 46, so that the lead screw shaft 32 can rotate freely under the drive of the drive motor 31.

[0065] Release phase of passive docking mechanism 200: Drive motor 31 is energized, motor rotor 312 drives lead screw shaft 32 to rotate clockwise, nut seat 33 moves upward along lead screw shaft 32, and generates driving force on capture finger 21 through finger linkage 23, causing capture finger 21 to rotate counterclockwise around third pin shaft 26. At this time, the three capture fingers 21 open, realizing the release of passive docking mechanism 200.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly, characterized in that, It includes an active docking mechanism and a passive docking mechanism. The active docking mechanism includes an active end housing, a gripper and a gripper drive assembly. The top of the active end housing is provided with a first positioning surface and an opening is opened on the outer circumference. The gripper drive assembly is located inside the active end housing. The gripper includes three capturing fingers and three sets of finger connecting assemblies. The three capturing fingers are evenly arranged circumferentially around the gripper drive assembly. Each capturing finger is connected to the gripper drive assembly through a set of finger connecting assemblies. Each set of finger connecting assemblies includes a hinge seat, a finger link, a first pin, a second pin, and a third pin. The hinge seat can be driven up and down by the gripper drive assembly. One end of the capturing finger is connected to one end of the finger link through the first pin, and the other end extends out from an opening on the active end housing. The other end of the finger link is connected to the hinge seat through the second pin. The third pin is installed on the active end housing near the opening and is rotatably connected to the capturing finger. The passive docking module is provided with a locking groove that mates with the gripper and a second positioning surface that mates with the first positioning surface.

2. The universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 1, characterized in that, The gripper drive assembly includes a drive motor, a lead screw shaft, and a nut seat. The lead screw shaft is rotatably mounted inside the active end housing and has a central through hole in its axial direction. The drive motor is placed inside the central through hole of the lead screw shaft and fixed to the top inside the active end housing. The drive motor provides torque to the lead screw shaft. The nut seat has an internal thread and is screwed into the lead screw shaft. The gripper is connected to the nut seat and can be driven by the nut seat to perform opening and closing movements.

3. The universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 1, characterized in that, The capturing finger includes a vertically arranged fingertip and a finger shaft, with a semi-circular notch at one end of the finger shaft near the first pin.

4. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 3, characterized in that, The fingertip of the capture finger is equipped with a disc spring, a ball hinge retainer, a ball hinge, and a disc spring adjusting nut. A threaded blind hole is opened on the lower surface of the fingertip. The disc spring and the ball hinge retainer are placed in the threaded blind hole in sequence. The ball hinge retainer can move up and down axially within the threaded blind hole. The disc spring adjusting nut is sleeved on the ball hinge retainer and screwed into the opening of the threaded blind hole. The ball hinge is installed in the ball hinge retainer and can rotate.

5. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 2, characterized in that, The fingertip of the captured finger is designed with a correction protrusion. The outer diameter of the correction protrusion gradually increases from the fingertip to the base of the finger. The locking groove is provided with a correction groove corresponding to the correction protrusion.

6. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 2, characterized in that, The drive motor is a brushless DC motor.

7. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 2, characterized in that, The active docking mechanism also includes a power failure brake, which is rotatably mounted in the central through hole of the lead screw shaft and fixed on the active end housing for braking the lead screw shaft.

8. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 2, characterized in that, The active docking mechanism also includes a position sensor, which is installed between the nut seat and the active end housing to determine the movement state of the captured finger.

9. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 8, characterized in that, The position sensor includes a circuit board bracket, a circuit board, a brush, a brush cover, and a brush base. The brush base is fixed on a nut seat, and the brush is pressed and mounted on the brush base by the brush cover. The circuit board is mounted inside the active end housing through the circuit board bracket, and the front end of the brush is in contact with the carbon film on the surface of the circuit board.

10. A universal high-rigidity docking and locking quick-change device for large-scale modular on-orbit assembly according to claim 1, characterized in that, The first and second positioning surfaces have the same structure, each containing three positioning convex surfaces and a positioning concave surface between two adjacent positioning convex surfaces. Each positioning convex surface is provided with a raised ridge, and the positioning concave surface is provided with a pit corresponding to the raised ridge.

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