Motor-driven steel ball locking mechanism based on gear thread pair linkage

Abstract

The invention discloses a motor-driven steel ball locking mechanism based on gear and thread pair linkage, and belongs to the technical field of spacecraft on-orbit docking. The mechanism comprises a motor serving as a power source, wherein an output shaft of the motor is fixedly connected with a cylindrical gear; the cylindrical gear is in meshed connection with a locking mechanism through a gear; a butt joint conical rod is arranged above the locking mechanism, and the locking mechanism is used for capturing and locking the butt joint conical rod. When a guide taper sleeve in the locking mechanism makes contact with the butt joint taper rod, a contact switch is triggered, a motor is started, a thread pair is driven to move through gear transmission, a locking screw is made to move axially, and a steel ball is controlled to lock or unlock the butt joint taper rod. The contact switch is triggered through contact between the guide taper sleeve and the butt joint taper rod, space dust and radiation interference are avoided, autonomous capture is achieved, and the butt joint precision is remarkably improved. The mechanism is highly integrated and modularized and can be adjusted according to requirements of different spacecrafts, the size and weight of the spacecrafts are reduced, and the utilization efficiency of spaceflight resources is improved.

Description

Technical Field

[0001] This invention relates to the field of spacecraft on-orbit docking technology, and in particular to a motor-driven steel ball locking mechanism based on gear thread pair linkage. Background Technology

[0002] With the continuous expansion of space exploration and applications, on-orbit docking technology has become a crucial link in achieving complex space missions. As missions such as space station construction, on-orbit satellite maintenance, and deep space exploration advance, higher demands are being placed on the performance of spacecraft docking mechanisms.

[0003] Current space missions are becoming increasingly diversified, requiring docking mechanisms to adapt to spacecraft of varying sizes and masses, and to possess autonomous capture, rapid docking, and efficient unlocking capabilities. In deep space exploration missions, due to significant signal transmission delays, ground-controlled docking methods are difficult to implement, necessitating highly autonomous docking mechanisms capable of completing docking operations without human intervention. Furthermore, to improve the efficiency of space resource utilization, docking mechanisms are highly integrated and modularly designed, facilitating replacement and upgrades while reducing the overall size and weight of the spacecraft.

[0004] On the other hand, most docking systems for spacecraft currently in orbit rely on external sensors for non-contact measurements, such as visual cameras or lidar, to determine the locking status. However, the space environment is complex, containing large amounts of space dust, micrometeoroids, and radiation. The laser beam emitted by lidar is easily scattered and absorbed by dust during propagation, leading to weakened signal strength and decreased accuracy. Furthermore, radiation can alter the performance of the sensor's electronic components, causing signal drift and affecting docking accuracy. Therefore, a contact-based measurement method can eliminate the need for external sensors and solve the problem of non-contact guidance failure in the dusty environment of space.

[0005] Therefore, this application provides a motor-driven steel ball locking mechanism based on gear thread pair linkage. Summary of the Invention

[0006] The purpose of this invention is to provide a motor-driven steel ball locking mechanism based on gear thread pair linkage, which is suitable for high-precision and high-reliability docking mechanisms in the aerospace field, solves the shortcomings of existing docking technologies in the complex environment of space, and ensures efficient and safe docking between spacecraft.

[0007] To achieve the above objectives, the present invention provides a motor-driven steel ball locking mechanism based on gear thread pair linkage, including a motor as a power source, a cylindrical gear fixedly connected to the output shaft of the motor; the cylindrical gear is connected to the locking mechanism through gear meshing; a docking cone rod is movably arranged above the locking mechanism, and the locking mechanism is used to capture and lock the docking cone rod.

[0008] Preferably, a guide cone sleeve is provided at the middle position of the locking mechanism. The guide cone sleeve has a cylindrical structure. A contact switch sleeve is provided inside the guide cone sleeve at the entrance end away from the docking cone rod. The contact switch is fixed inside the contact switch sleeve, and the trigger end of the contact switch faces the docking cone rod.

[0009] Preferably, a buffer spring is provided on the surface of the inner contact switch sleeve of the guide cone sleeve. When the docking cone rod docks with the locking mechanism, the buffer spring plays a buffering role.

[0010] Preferably, a locking screw is provided on the outer side of the guide cone sleeve, and the locking screw is fixedly connected to the guide cone sleeve.

[0011] Preferably, the inner side of the guide cone sleeve near the end of the docking cone rod is provided with several through grooves evenly distributed in the circumferential direction, and each groove is equipped with a steel ball; the number of steel balls is set according to the required locking force.

[0012] Preferably, the inner wall of the locking screw is provided with a conical groove and a circular groove. The diameter of the circular groove is equal to the sum of the inner diameter of the guide cone sleeve and the diameter of the steel ball. In the unlocked state, the steel ball can move freely in the radial direction. Preferably, the inner wall of the guide cone sleeve is provided with a variable diameter circular hole with a diameter smaller than that of the steel ball, and the steel ball achieves radial and axial locking and unlocking through the groove and the circular hole.

[0013] Preferably, a rotating sleeve shaft is fixedly connected to the outer end of the guide cone sleeve and the locking screw near the mating cone rod, and a step and an elastic retaining ring are provided on the outer wall of the rotating sleeve shaft near the locking screw.

[0014] Preferably, a power gear assembly is provided on the outer side of the locking screw and the rotating sleeve shaft. The power gear assembly includes a power gear and a gear connecting nut. A threaded pair is provided between the power gear assembly and the locking screw. The threaded pair is composed of the internal thread of the gear connecting nut and the external thread of the outer ring of the locking screw. The power of the power gear assembly drives the locking screw to move axially along the guide cone sleeve through a helical transmission.

[0015] Preferably, a bearing is provided between the rotating sleeve shaft and the power gear assembly. The bearing has a double-row structure, with the inner ring of the bearing mating with the outer wall of the rotating sleeve shaft, and the outer ring of the bearing mating with the inner ring of the power gear in the power gear assembly. The axial position of the bearing is limited by the step of the rotating sleeve shaft and the elastic retaining ring on the outer wall of the rotating sleeve shaft.

[0016] Therefore, the present invention employs the above-mentioned motor-driven steel ball locking mechanism based on gear thread pair linkage, which has the following advantages: (1) The present invention triggers the contact switch by physical contact between the guide cone sleeve and the docking cone rod to achieve autonomous capture, effectively avoiding interference from space dust, radiation and other factors on non-contact sensors, and improving the reliability and accuracy of docking; (2) The gear thread pair linkage transmission is adopted, and the steel ball and the conical groove are combined to realize the precise locking and unlocking of the docking cone rod. The structure is compact and the transmission efficiency is high. (3) The mechanism is highly integrated and modular, and can be adjusted according to the needs of different spacecraft, which is conducive to reducing the overall size and weight of the spacecraft and improving resource utilization efficiency; (4) It is suitable for extreme environments such as microgravity, high vacuum, and strong radiation, and has broad application prospects in missions such as satellite on-orbit service and deep space probe rendezvous.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 A schematic diagram of a motor-driven steel ball locking mechanism based on gear thread pair linkage provided by the present invention; Figure 2 A schematic diagram of a steel ball locking mechanism based on gear thread pair linkage provided for this invention; Figure 3 A cross-sectional view of a steel ball locking mechanism based on gear thread pair linkage provided by the present invention; Figure 4 A schematic diagram of the preliminary connection between a steel ball locking mechanism based on gear thread pair linkage and a tapered rod provided by the present invention; Figure 5 A schematic diagram showing the connection and triggering of a steel ball locking mechanism based on gear thread pair linkage with a conical rod, provided by the present invention; Figure 6 A schematic diagram of a steel ball locking mechanism based on gear thread pair linkage and locking with a tapered rod provided by the present invention; Figure 7 A schematic diagram of a power gear assembly structure provided by the present invention; Figure Labels 1. Motor; 2. Cylindrical gear; 3. Connecting cone rod; 4. Locking mechanism; 4-1. Contact switch sleeve; 4-2. Guide cone sleeve; 4-3. Buffer spring; 4-4. Locking screw; 4-5. Power gear assembly; 4-5-1. Power gear; 4-5-2. Gear connecting nut; 4-6. Bearing; 4-7. Elastic retaining ring; 4-8. Steel ball; 4-9. Rotating sleeve shaft; 4-10. Contact switch. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] Example like Figure 1-7 As shown, the present invention provides a motor-driven steel ball locking mechanism based on gear thread pair linkage, including a motor 1 as a power source, a cylindrical gear 2 fixedly connected to the output shaft of the motor 1; a locking mechanism 4 is provided on the cylindrical gear 2 through gear meshing; a docking cone rod 3 is movably arranged above the locking mechanism, and the locking mechanism 4 is used to capture and lock the docking cone rod 3.

[0022] A guide cone sleeve 4-2 is provided in the middle of the locking mechanism 4. The guide cone sleeve 4-2 is a cylindrical structure. A contact switch sleeve 4-1 is provided inside the guide cone sleeve 4-2 at the entrance end away from the docking cone rod. The contact switch 4-10 is fixed inside the contact switch sleeve 4-1, and the trigger end of the contact switch 4-10 faces the docking cone rod 3.

[0023] A buffer spring 4-3 is provided on the inner side of the guide cone sleeve 4-2 on the surface of the contact switch sleeve 4-1. When the docking cone rod 3 docks with the locking mechanism 4, the buffer spring 4-3 plays a buffering role.

[0024] A locking screw 4-4 is provided on the outer side of the guide cone sleeve 4-2, and the locking screw 4-4 and the guide cone sleeve 4-2 are fixedly connected.

[0025] The inner side of the guide cone sleeve 4-2, near the end of the docking cone rod 3, is provided with several through grooves evenly arranged in the circumferential direction. Each groove is equipped with a steel ball 4-8. The number of steel balls 4-8 is set according to the required locking force.

[0026] The inner wall of the locking screw 4-4 is provided with a conical groove and a circular groove. The diameter of the circular groove is equal to the sum of the inner diameter of the guide cone sleeve 4-2 and the diameter of the steel ball 4-8. In the unlocked state, the steel ball 4-8 can move freely in the radial direction. The inner wall of the guide cone sleeve 4-2 is provided with a variable diameter circular hole with a diameter smaller than that of the steel ball 4-8. The steel ball 4-8 achieves radial and axial locking and unlocking through the groove and the circular hole.

[0027] A rotating sleeve shaft 4-9 is fixedly connected to one end of the guide cone sleeve 4-2 and the locking screw 4-4 near the docking cone rod 3. A step and an elastic retaining ring 4-7 are provided on the outer wall of the rotating sleeve shaft 4-9 near the locking screw 4-4.

[0028] A power gear assembly 4-5 is provided on the outside of the locking screw 4-4 and the rotating sleeve shaft 4-9. The power gear assembly 4-5 includes a power gear 4-5-1 and a gear connecting nut 4-5-2. A threaded pair is provided between the power gear assembly 4-5 and the locking screw 4-4. The threaded pair is composed of the internal thread of the gear connecting nut 4-5-3 and the external thread of the outer ring of the locking screw 4-4. The power of the power gear assembly 4-5 drives the locking screw 4-4 to move axially along the guide cone sleeve 4-2 through a helical transmission.

[0029] A bearing 4-6 is provided between the rotating sleeve shaft 4-9 and the power gear assembly 4-5. The bearing 4-6 has a double-row structure. The inner ring of the bearing 4-6 is connected to the outer wall of the rotating sleeve shaft 4-9, and the outer ring of the bearing 4-6 is connected to the inner ring of the power gear 4-5-1 in the power gear assembly 4-5. The axial position of the bearing 4-6 is limited by the step of the rotating sleeve shaft 4-9 and the elastic retaining ring 4-7 on the outer wall of the rotating sleeve shaft 4-9.

[0030] A motor-driven steel ball locking mechanism based on gear-threaded linkage specifically includes the following steps during operation: Trigger detection: When the guide cone sleeve 4-2 contacts the target, the contact switch 4-10 closes and sends a signal to the control system; Drive locking: When motor 1 starts, it drives power gear 4-5-1 to rotate through cylindrical gear 2, which in turn drives gear connecting nut 4-5-2 to rotate, causing gear connecting nut 4-5-2 to drive locking screw 4-4 to move axially. Status judgment: When the steel ball 4-8 radially presses against the connecting cone rod 3, the contact switch 4-10 is opened and the motor 1 stops running; Unlocking operation: After receiving the unlocking command, motor 1 reverses, causing the locking screw 4-4 to retract, and the steel ball 4-8 is released.

[0031] A specific implementation process is as follows: A steel ball locking mechanism based on gear thread pair linkage includes a motor 1, a cylindrical gear 2, a mating cone rod 3, a locking mechanism 4, a contact switch sleeve 4-1, a guide cone sleeve 4-2, a buffer spring 4-3, a locking screw 4-4, a power gear assembly 4-5, a power gear 4-5-1, a gear connecting nut 4-5-2, a bearing 4-6, an elastic retaining ring 4-7, a steel ball 4-8, a rotating sleeve shaft 4-9, and a 4-contact switch 10.

[0032] Locking screw 4-4 is coaxially mounted on guide cone sleeve 4-2 via a key connection; rotating sleeve 4-9 is fixed to guide cone sleeve 4-2 by screws; the inner ring of bearing 4-6 mates with rotating sleeve 4-9, and the outer ring of bearing 4-6 mates with the inner ring of power gear 4-5-1 of power gear assembly 4-5, and is axially positioned by the step of rotating sleeve 4-9 and elastic retaining ring 4-7; power gear 4-5-1 and gear connecting nut 4-5-2 are connected by screws to form an integral power gear assembly 4-5; the inner ring of gear connecting nut 4-5-2 of power gear assembly 4-5 has internal threads, the outer ring of locking screw 4-4 has external threads, and gear connecting nut 4-5-2 and locking screw 4-4 are threadedly engaged; contact switch 4-10 is installed inside guide cone sleeve 4-2 via contact switch sleeve 4-1; steel ball 4-8 is installed circumferentially in the groove of guide cone sleeve 4-2.

[0033] The locking screw 4-4 is provided with a tapered groove and a connected circular groove. The diameter of the circular groove is equal to the inner diameter of the guide cone sleeve 4-2 plus the diameter of the steel ball 4-8, so that the steel ball 4-8 can move freely in the radial direction in the unlocked state. The guide cone sleeve 4-2 is provided with a variable diameter circular hole with a diameter smaller than that of the steel ball 4-8. The steel ball 4-8 achieves radial and axial locking and unlocking through the groove and the circular hole. The internal thread of the gear connecting nut 4-5-2 of the power gear assembly 4-5 and the external thread of the outer ring of the locking screw 4-4 form a threaded pair. The power of the power gear assembly 4-5 drives the locking screw 4-4 to move axially along the guide cone sleeve 4-2 through the screw drive. The number of steel balls 4-8 evenly distributed circumferentially can be determined according to the required locking force; Since the power gear 4-5-1 is tightly connected to the gear connecting nut 4-5-2 and transmits power when the mechanism is working, it will bear a large radial force and a certain axial force. Therefore, a double row bearing 4-6 is provided on the outer ring of the rotating bushing 4-9 to enable it to withstand a larger radial load. During the operation of the locking mechanism 4, a trigger detection is first performed. When the guide cone sleeve 4-2 contacts the target, the contact switch 4-10 closes, sending a signal to the control system. Next, the drive locking operation is executed. The motor 1 starts and drives the power gear 4-5-1 to rotate via the cylindrical gear 2, which in turn drives the gear connecting nut 4-5-2 to rotate, causing the gear connecting nut 4-5-2 to drive the locking screw 4-4 to move axially. Then, a status judgment is performed. When the steel ball 4-8 radially presses against the connecting cone rod 3, the contact switch 4-10 opens, and the motor 1 stops running. Finally, the unlocking operation is performed. After receiving the unlocking command, the motor 1 reverses, causing the locking screw 4-4 to retract, and the steel ball 4-8 is released.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. 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 still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A motor-driven steel ball locking mechanism based on gear-threaded linkage, characterized in that: It includes a motor as a power source, with a cylindrical gear fixedly connected to the output shaft of the motor; the cylindrical gear is connected to a locking mechanism through gear meshing; a docking cone rod is movably arranged above the locking mechanism, and the locking mechanism is used to capture and lock the docking cone rod.

2. The motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 1, characterized in that: A guide cone sleeve is provided in the middle of the locking mechanism. The guide cone sleeve is a cylindrical structure. A contact switch sleeve is provided inside the guide cone sleeve at the entrance end away from the docking cone rod. The contact switch is fixed inside the contact switch sleeve, and the trigger end of the contact switch faces the docking cone rod.

3. The motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 2, characterized in that: A buffer spring is provided on the surface of the inner contact switch sleeve of the guide cone sleeve. When the docking cone rod docks with the locking mechanism, the buffer spring plays a buffering role.

4. The motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 2, characterized in that: A locking screw is provided on the outside of the guide cone sleeve, and the locking screw is fixedly connected to the guide cone sleeve.

5. A motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 4, characterized in that: The inner side of the guide cone sleeve, near the end of the docking cone rod, has several through grooves evenly arranged in the circumferential direction, and each groove is equipped with a steel ball; the number of steel balls is set according to the required locking force.

6. A motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 5, characterized in that: The inner wall of the locking screw is provided with a conical groove and a circular groove. The diameter of the circular groove is equal to the sum of the inner diameter of the guide cone sleeve and the diameter of the steel ball. In the unlocked state, the steel ball can move freely in the radial direction. The inner wall of the guide cone sleeve is provided with a variable diameter circular hole with a diameter smaller than that of the steel ball. The steel ball achieves radial and axial locking and unlocking through the groove and the circular hole.

7. The motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 4, characterized in that: A rotating sleeve shaft is fixedly connected to the outer end of the guide cone sleeve and the locking screw near the mating cone rod. A step and an elastic retaining ring are provided on the outer wall of the rotating sleeve shaft near the locking screw.

8. A motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 7, characterized in that: A power gear assembly is provided on the outside of the locking screw and the rotating sleeve shaft. The power gear assembly includes a power gear and a gear connecting nut. A threaded pair is provided between the power gear assembly and the locking screw. The threaded pair is composed of the internal thread of the gear connecting nut and the external thread of the outer ring of the locking screw. The power of the power gear assembly drives the locking screw to move axially along the guide cone sleeve through a helical transmission.

9. A motor-driven steel ball locking mechanism based on gear thread pair linkage according to claim 8, characterized in that: A bearing is installed between the rotating sleeve shaft and the power gear assembly. The bearing has a double-row structure. The inner ring of the bearing is connected to the outer wall of the rotating sleeve shaft, and the outer ring of the bearing is connected to the inner ring of the power gear in the power gear assembly. The axial position of the bearing is limited by the step of the rotating sleeve shaft and the elastic retaining ring on the outer wall of the rotating sleeve shaft.

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