Satellite capturing and locking device

Abstract

The invention relates to a satellite capturing and locking device, and belongs to the field of satellite docking. The satellite capturing and locking device comprises an active end and a passive end, the driving end comprises a driving end base, a guide mechanism, a driving mechanism and two locking mechanisms; the guide mechanism comprises a guide frame and a guide plate; the guide plate is in an inverted cone shape; the passive end comprises a passive end base and a caught rod; the guide plate is used for guiding the captured rod into the opening; the driving mechanism is used for driving the two locking mechanisms to move oppositely so as to clamp the captured rod, and therefore locking between the driven end and the driving end is achieved. The caught rod at the driven end is clamped left and right through the two locking mechanisms to achieve locking, the two locking mechanisms are arranged in a bilateral symmetry mode, namely, the two locking mechanisms are arranged at intervals in the transverse direction, the axial distance between two satellites after locking is reduced, and therefore the size of a satellite platform is reduced. The locking mechanism comprises a first-stage locking unit and a second-stage locking unit, and the ejection speed during separation can be guaranteed.

Description

Technical Field

[0001] This invention relates to a satellite acquisition and locking device, belonging to the field of satellite docking. Background Technology

[0002] In the 1980s, the United States proposed the concept of on-orbit servicing, and countries began to carry out on-orbit docking, berthing, maintenance, and repair tasks. Spacecraft capture and locking technology became a key technology.

[0003] With the development of aerospace technology, the size and mass of satellites to be launched are getting larger and larger, the functional requirements are increasing, and the requirements for the capabilities of launch vehicles are becoming stronger. However, the carrying capacity of existing rockets is limited by the thrust of the engine and the mechanical environment, and has reached a technical bottleneck.

[0004] Currently, collaborative observation of satellites in orbit is limited by the different orbital positions of various satellite platforms, resulting in poor accuracy. To improve the accuracy of collaborative observation, a large satellite platform is needed to accommodate multiple functional integrations. Therefore, a capture-locking mechanism is used to lock two satellites together.

[0005] However, in existing technologies, the axial distance between two satellites after they are captured and locked together is large, resulting in a large size of the satellite platform. Summary of the Invention

[0006] To address the problem of the large size of large satellite platforms after assembly in the prior art, this invention proposes a satellite capture and locking device.

[0007] The technical solution adopted by the present invention to solve the above problems is as follows: The satellite acquisition and locking device includes an active end and a passive end; the active end includes an active end base and a guide mechanism, a drive mechanism, and two locking mechanisms symmetrically arranged on the active end base; the guide mechanism includes a guide frame and a guide plate fixed on the guide frame; the guide plate is in the shape of an inverted cone; the bottom of the guide plate has an opening; the passive end includes a passive end base and a capture rod vertically fixed on the bottom surface of the passive end base; the guide plate is used to guide the capture rod into the opening; the drive mechanism is connected to the locking mechanism and is used to drive the two locking mechanisms to move towards each other to clamp the capture rod, thereby realizing the locking between the passive end and the active end.

[0008] Furthermore, the locking mechanism includes a primary locking unit; the primary locking unit includes a claw frame, a claw, a pin, and a torsion spring; the claw is rotatably connected to the claw frame via the pin; the torsion spring is sleeved on the pin; one end of the torsion spring abuts against the claw frame, and the other end abuts against the claw; two primary locking grooves are provided on the outer wall of the arresting rod; the inner wall of the primary locking groove near the axis of the arresting rod is an inclined surface, so that the thickness of the primary locking groove gradually increases from top to bottom; the driving mechanism is connected to the claw frame and is used to drive the two claw frames to move towards each other so that the claw engages in the primary locking groove.

[0009] Furthermore, the locking mechanism includes a secondary locking unit; the secondary locking unit includes a secondary horizontal bar, a secondary housing, an abutment plate, and a compression spring; the bottom surface of the secondary housing is fixedly connected to the upper surface of the active end base; The secondary housing has a first through hole and a second through hole on two opposite side walls respectively; the secondary horizontal rod passes through the first through hole; the first end of the secondary horizontal rod is located outside the secondary housing; the second end of the secondary horizontal rod is located inside the secondary housing; a square horizontal rod boss is fixed on the end face of the second end of the secondary horizontal rod; a locking block is fixed on the side of the horizontal rod boss away from the secondary horizontal rod. The locking block has a pentagonal cross-section; the pentagon includes a horizontal side, a short vertical inclined side, a long vertical inclined side, a first long vertical side and a first short vertical side arranged in parallel intervals; the first long vertical side is connected to the horizontal rod boss; one end of the horizontal side is connected to the lower end of the first long vertical side, the other end of the horizontal side is connected to the lower end of the short vertical inclined side, the upper end of the short vertical inclined side is connected to the lower end of the first short vertical side, the upper end of the first short vertical side is connected to the lower end of the long vertical inclined side, and the upper end of the long vertical inclined side is connected to the upper end of the first long vertical side; the angle between the horizontal side and the short vertical inclined side is an obtuse angle. The compression spring is sleeved on the secondary horizontal bar, with one end of the compression spring abutting against the boss of the horizontal bar and the other end abutting against the inner wall of the secondary housing where the first through hole is provided; The abutment plate is located outside the secondary housing and is fixed to the secondary horizontal bar; the abutment plate abuts against the side of the claw frame away from the arresting bar; The outer wall of the arresting rod is provided with two secondary locking grooves; the longitudinal section of the secondary locking groove is trapezoidal; the trapezoid includes a second vertical long side, a second vertical short side, an upper inclined side, and a lower inclined side; the second vertical short side is located between the second vertical long side and the axis of the arresting rod; the two ends of the upper inclined side are respectively connected to the upper end of the second vertical long side and the upper end of the second vertical short side; the two ends of the lower inclined side are respectively connected to the lower end of the second vertical long side and the lower end of the second vertical short side. When the two locking blocks clamp the arresting rod, a portion of the long vertical inclined side coincides with the upper inclined side; the short vertical inclined side coincides with the lower inclined side; and the first short vertical side coincides with the second short vertical side.

[0010] Furthermore, an annular boss is provided on the inner wall of the second through hole along the circumference of the second through hole; when the locking block passes through the second through hole and exits the locking housing, the horizontal rod boss abuts against the annular boss.

[0011] Furthermore, the bottom end of the arresting rod is provided with a groove; the groove is provided with balls.

[0012] Furthermore, a passive guide rod is provided on the bottom surface of the passive end base; an active guide cylinder is provided on the upper surface of the active end base; and the passive guide rod can be inserted into the active guide cylinder.

[0013] Furthermore, the drive mechanism includes a motor, a first gear transmission mechanism, a second gear transmission mechanism, and two lead screw and nut mechanisms; the input end of the first gear transmission mechanism is connected to the power output shaft of the motor; the output end of the first gear transmission mechanism is connected to the nut of one of the lead screw and nut mechanisms; the input end of the second gear transmission mechanism is connected to the first gear transmission mechanism, and the output end of the second gear transmission mechanism is connected to the nut of the other lead screw and nut mechanism; the two chuck holders are respectively fixedly connected to the lead screws of the two lead screw and nut mechanisms; the motor is used to drive the two nuts to rotate through the first gear transmission mechanism and the second gear transmission mechanism respectively, so that the two lead screws move in opposite linear directions.

[0014] Furthermore, the motor is a reversible motor; the active end base is provided with an elastic element; when the arresting rod is locked, the elastic element is compressed.

[0015] Furthermore, the bottom surface of the passive end base is provided with an electrical connector plug and a gas-liquid interface plug; the top surface of the active end base is provided with an electrical connector socket and a gas-liquid interface socket; the electrical connector plug and the electrical connector socket are plugged into each other; the gas-liquid interface plug and the gas-liquid interface socket are plugged into each other.

[0016] Furthermore, the passive end also includes a mounting shell, a movable plate, and a disc spring; the top surface of the mounting shell has a mounting opening; the movable plate is located within the mounting opening; the bottom surface of the mounting shell has a through hole; the upper end of the arresting rod passes through the through hole and is located within the mounting shell, and the upper end of the arresting rod is fixed to the bottom surface of the movable plate; a spring post is vertically fixed inside the mounting shell; the disc spring is sleeved on the spring post; the upper end of the disc spring abuts against the bottom surface of the movable plate; the lower end of the disc spring abuts against the bottom wall of the mounting shell; the top surface of the mounting shell is fixed to the bottom surface of the passive end base; the bottom surface of the passive end base has an anti-shear rod; the top surface of the elastic element has an anti-shear groove for inserting the anti-shear rod.

[0017] The beneficial effects of this invention are: 1. The present invention uses two locking mechanisms to clamp the arresting rod on the passive end from left to right to achieve locking. The two locking mechanisms are symmetrically arranged from left to right, that is, spaced apart in the lateral direction, which reduces the axial distance between the two satellites after locking, thereby reducing the volume of the satellite platform.

[0018] 2. The locking mechanism includes a primary locking unit and a secondary locking unit. During locking, the cooperation of the two locking units significantly improves the locking effect. During separation, because the unlocking process of the primary locking unit is slow, it is impossible to instantly eject the passive end. Therefore, after the primary locking unit unlocks, the secondary locking unit unlocks with the arresting lever. When the locking block of the secondary locking unit moves out of the secondary locking groove, the elastic element instantly ejects the passive end, thus ensuring the ejection speed.

[0019] 3. The guiding mechanism at the active end guides the arresting lever, enabling it to move precisely to the locking and capture position and reducing lateral errors. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the drive mechanism and the first-stage locking unit in the satellite acquisition and locking device provided in this embodiment of the invention; Figure 2 yes Figure 1 Top view; Figure 3 yes Figure 1 Another structural diagram of the central drive mechanism and the first-stage locking unit; Figure 4 yes Figure 3 Top view; Figure 5 This is a schematic diagram of a portion of the jaw holder structure and the jaw structure provided in an embodiment of the present invention; Figure 6 yes Figure 5 A sectional view; Figure 7 This is a schematic diagram of the structure of the two-stage locking unit provided in an embodiment of the present invention; Figure 8 yes Figure 7 A sectional view; Figure 9 yes Figure 7 Schematic diagram of the secondary horizontal bar and locking block; Figure 10 yes Figure 9 Cross-sectional view of the central locking block; Figure 11 This is a schematic diagram of the structure of the arresting rod provided in an embodiment of the present invention; Figure 12 yes Figure 11 A sectional view; Figure 13 yes Figure 11 Cross-sectional view of the secondary locking groove; Figure 14 yes Figure 3 Intermediate locking unit and Figure 7 Schematic diagram of the structure when the intermediate and secondary locking units are engaged; Figure 15 This is a schematic diagram of the structure when the primary locking unit and the secondary locking unit are engaged with the arresting lever; Figure 16 This is a schematic diagram of the guiding mechanism provided in an embodiment of the present invention; Figure 17 yes Figure 16 A sectional view; Figure 18 This is a schematic diagram of the active terminal provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the passive end provided in an embodiment of the present invention; Figure 20 yes Figure 19 A structural diagram from another perspective.

[0021] Explanation of reference numerals in the attached figures: 1-Drive mechanism; 2-Locking mechanism; 3-Rotating shaft; 4-Fixed shaft; 5-First housing; 6-Second housing; 7-Guiding mechanism; 8-Active end base; 9-Electrical connector socket; 10-Gas-liquid interface socket; 11-Active guide cylinder; 12-Elastic element; 13-Electrical connector plug; 14-Gas-liquid interface plug; 15-Anti-shear rod; 16-Catching rod; 17-Passive end base; 18-Passive guide rod; 19-Spring column; 20-Disc spring; 21-Mounting shell; 22-Moving plate; 23-First-stage locking groove; 24-Second-stage locking groove; 25-Ball bearing; 101-Motor; 102-First gear; 103-Second gear; 104-Third gear; 105-Fourth gear; 106-Wire 107-Fifth Gear; 108-Sixth Gear; 201-Claw Holder; 202-Claw; 203-Rotating Hole; 204-Fixing Hole; 205-Pin; 206-Torsion Spring; 207-Abutment Plate; 208-Secondary Housing; 209-Locking Block; 210-Secondary Horizontal Rod; 211-Compression Spring; 212-Horizontal Rod Boss; 213-Annular Boss; 214-Vertical Long Inclined Side; 215-First Vertical Short Side; 216-Vertical Short Inclined Side; 217-Horizontal Side; 218-First Vertical Long Side; 241-Upper Inclined Side; 242-Second Vertical Short Side; 243-Lower Inclined Side; 244-Second Vertical Long Side; 701-Guide Frame; 702-Guide Plate; 703-Opening. Detailed Implementation

[0022] Combination Figures 1 to 20 This embodiment describes a satellite acquisition and locking device comprising an active end and a passive end. The active end includes an active end base 8, a guide mechanism 7 mounted on the active end base 8, and two locking mechanisms 2 symmetrically arranged on the left and right sides. The guide mechanism 7 includes a guide frame 701 and a guide plate 702 fixed on the guide frame 701. The guide plate 702 is in the shape of an inverted cone and has an opening 703 at its bottom. The passive end includes a passive end base 17 and a capture rod 16 vertically fixed to the bottom surface of the passive end base 17. The guide plate 702 guides the capture rod 16 into the opening 703. A drive mechanism 1 is connected to the locking mechanism 2 and drives the two locking mechanisms 2 to move towards each other to clamp the capture rod 16, thereby achieving locking between the passive end and the active end.

[0023] In use, the active end of this invention is mounted on satellite A, and the passive end is mounted on satellite B. When a large satellite platform needs to be assembled, the robotic arm on satellite A drives satellite B to move towards satellite A. When the capture lever 16 on the passive end contacts the guide plate 702 on the active end, the capture lever 16 moves along the surface of the guide plate 702 under the guidance of the guide plate 702 and inserts into the opening 703 of the guide plate 702. The passive satellite receives the command and stops the robotic arm's drive. The drive mechanism 1 of the active end drives the locking mechanism 2 to move towards the capture lever 16, that is, the two locking mechanisms 2 move towards each other, thereby clamping the capture lever 16 and locking it. At this time, the docking of the active and passive satellites is completed, and the assembly of the large satellite platform is realized.

[0024] The present invention can lock the arresting rod 16 on the passive end by means of the locking mechanism 2. The two locking mechanisms 2 are symmetrically arranged on the left and right, that is, they are spaced apart in the lateral direction, which reduces the axial distance between the two satellites after locking, thereby reducing the volume of the satellite platform.

[0025] The docking of two satellites can be used to build large satellite platforms, improve the accuracy of collaborative observation, and fill the gaps in existing technologies.

[0026] Preferably, a trigger rod and a capture switch can be provided on the active end base 8, and the capture switch is signal-connected to the control unit. When the capture rod 16 is inserted into the opening 703 of the guide plate 702, the bottom surface of the passive end base 17 compresses the trigger rod, causing the trigger rod to touch the capture switch. The capture switch sends a signal to the control unit, and the control unit controls the drive mechanism 1 to start running, and the robotic arm stops moving.

[0027] The locking mechanism 2 can be a clamping block, and the two clamping blocks clamp the arresting rod 16 to achieve locking.

[0028] Specifically, the locking mechanism 2 includes a primary locking unit; the primary locking unit includes a claw frame 201, a claw 202, a pin 205, and a torsion spring 206; the claw 202 is rotatably connected to the claw frame 201 via the pin 205; the torsion spring 206 is sleeved on the pin 205; one end of the torsion spring 206 abuts against the claw frame 201, and the other end abuts against the claw 202; two primary locking grooves 23 are provided on the outer wall of the arresting rod 16; the inner wall of the primary locking groove 23 near the axis of the arresting rod 16 is an inclined surface, so that the thickness of the primary locking groove 23 gradually increases from top to bottom; the driving mechanism 1 is connected to the claw frame 201 and is used to drive the two claw frames 201 to move towards each other so that the claw 202 is engaged in the primary locking groove 23.

[0029] Specifically, the claw holder 201 has a first mounting groove, and the claw 202 is located in the first mounting groove. First connecting holes are respectively provided on the two opposite side walls of the first mounting groove. The claw 202 has a second mounting groove, and second connecting holes are provided on the two opposite side walls of the second mounting groove. One end of the pin 205 passes through one first connecting hole and one second connecting hole, and the other end passes through another first connecting hole and another second connecting hole. A nut can be fitted onto the end of the pin 205 to prevent it from falling off the claw holder 201. A torsion spring 206 is fitted onto the pin 205, with one end of the torsion spring 206 abutting against the claw holder 201 and the other end abutting against the claw 202.

[0030] The drive mechanism 1 drives the claw holder 201 to move toward the arresting lever 16. The claw 202 gradually contacts the first-stage locking groove 23 on the arresting lever 16. Since the inner wall of the first-stage locking groove 23 is an inclined surface, the inclined surface presses down on the claw 202. The claw 202 overcomes the force of the torsion spring 206 and rotates downward, pressing down on the arresting lever 16, thereby causing the arresting lever 16 to move downward. When the arresting lever 16 moves downward to the set position, the drive mechanism 1 stops running, the lead screw 106 stops moving, and the claw holder 201 and the claw 202 also stop moving. At this time, the two claws 202 clamp the arresting lever 16 to achieve locking.

[0031] Through the cooperation of the jaws 202 and the first-level locking groove 23, the jaws 202 can clamp the arresting lever 16 while simultaneously causing the arresting lever 16 to continue moving downwards to reach the set position. This achieves the goal of locking the arresting lever 16 at the preset position.

[0032] The locking mechanism 2 includes a secondary locking unit; the secondary locking unit includes a secondary horizontal rod 210, a secondary housing 208, an abutment plate 207, and a compression spring 211; the bottom surface of the secondary housing 208 is fixedly connected to the upper surface of the active end base 8; a first through hole and a second through hole are respectively provided on two opposite side walls of the secondary housing 208; the secondary horizontal rod 210 passes through the first through hole; the first end of the secondary horizontal rod 210 is located outside the secondary housing 208; the second end of the secondary horizontal rod 210 is located inside the secondary housing 208; a square horizontal rod boss 212 is fixed on the end face of the second end of the secondary horizontal rod 210; a locking block 209 is fixed on the side of the horizontal rod boss 212 away from the secondary horizontal rod 210; the longitudinal section shape of the locking block 209 is... The shape is pentagonal; the pentagon includes a horizontal side 217, a short vertical inclined side 216, a long vertical inclined side 214, a first long vertical side 218 and a first short vertical side 215 arranged in parallel intervals; the first long vertical side 218 is connected to the horizontal rod boss 212; one end of the horizontal side 217 is connected to the lower end of the first long vertical side 218, the other end of the horizontal side 217 is connected to the lower end of the short vertical inclined side 216, the upper end of the short vertical inclined side 216 is connected to the lower end of the first short vertical side 215, the upper end of the first short vertical side 215 is connected to the lower end of the long vertical inclined side 214, and the upper end of the long vertical inclined side 214 is connected to the upper end of the first long vertical side 218; the included angle between the horizontal side 217 and the short vertical inclined side 216 is an obtuse angle; Compression spring 211 is sleeved on secondary horizontal bar 210. One end of compression spring 211 abuts against the horizontal bar boss 212, and the other end abuts against the inner wall of secondary housing 208 with the first through hole. Abutting plate 207 is located outside secondary housing 208 and is fixed to secondary horizontal bar 210. Abutting plate 207 abuts against the side of claw frame away from capture bar 16. The outer wall of the arresting rod 16 is provided with two secondary locking grooves 24; the longitudinal section of the secondary locking groove 24 is trapezoidal; the trapezoid includes a second vertical long side 244, a second vertical short side 242, an upper inclined side 241, and a lower inclined side 243; the second vertical short side 242 is located between the second vertical long side 244 and the axis of the arresting rod 16; the two ends of the upper inclined side 241 are respectively connected to the upper end of the second vertical long side 244 and the upper end of the second vertical short side 242; the two ends of the lower inclined side 243 are respectively connected to the lower end of the second vertical long side 242 and the lower end of the second vertical short side 242. When the two locking blocks 209 clamp the arresting rod 16, part of the vertical long inclined side 214 coincides with the upper inclined side 241; the vertical short inclined side 216 coincides with the lower inclined side 243; and the first vertical short side 215 coincides with the second vertical short side 242.

[0033] Before the drive mechanism 1 is started, the compression spring 211 applies a force to the horizontal bar boss 212 toward the arresting bar 16. However, since the abutment plate 207 abuts against the claw bracket 201 of the primary locking unit, the claw bracket 201 prevents the horizontal bar boss 212 and the secondary horizontal bar 210 from moving toward the arresting bar 16. Therefore, at this time, the secondary horizontal bar 210 and the locking block 209 of the secondary locking unit remain stationary under the action of the compression spring 211 and the claw bracket 201. When the drive mechanism 1 is started, the drive mechanism 1 drives the claw 202 to move toward the arresting bar 16, and the claw bracket 201 separates from the abutment plate 207. At this time, under the force of the compression spring 211, the secondary horizontal bar 210 and the locking block 209 move toward the arresting bar 16. Since the secondary housing 208 is stationary, the locking block 209 on the secondary horizontal bar 210 passes through the second through hole and exits the secondary housing 208. Simultaneously, while the drive mechanism 1 is operating, when the pawl 202 is positioned within the primary locking groove 23 on the arresting lever 16, as described above, the inclined surface presses down on the pawl 202. The pawl 202 overcomes the force of the torsion spring 206, rotates downward, and presses down on the arresting lever 16, thereby causing the arresting lever 16 to move downward. As the arresting lever 16 moves downward, its lower end contacts the vertically inclined edge 214 of the locking block 209 located below. Under the force of the arresting lever 16, the locking block 209 overcomes the force of the compression spring 211 and moves away from the arresting lever 16. The arresting lever 16 continues to move downward. When the secondary locking groove 24 on the arresting lever 16 moves to the position of the locking block 209, the locking block 209 moves towards the secondary locking groove 24 under the action of the compression spring 211 and finally engages with the secondary locking groove 24. The two locking blocks 209 clamp the arresting lever 16 to achieve secondary locking.

[0034] As described above, when the locking block 209 is in contact with the secondary locking groove 24, part of the vertical long inclined side 214 coincides with the upper inclined side 241; the vertical short inclined side 216 coincides with the lower inclined side 243; and the first vertical short side 215 coincides with the second vertical short side 242.

[0035] The locking mechanism 2 uses a primary locking unit to lock the lever 16, and also uses a secondary locking unit to further lock the lever 16, thereby improving the locking effect.

[0036] Furthermore, the locking block 209 is designed with a pentagonal cross-section as described above, and the secondary locking groove 24 is designed with a trapezoidal cross-section as described above. The long vertical inclined side 214 of the pentagon can allow for prior avoidance during the downward movement of the arresting rod 16 (moving away from the arresting rod 16 first), allowing the locking block 209 to smoothly insert into the secondary locking groove 24. The second long vertical side 244 of the trapezoid is located on the outer side, making the opening end of the secondary locking groove 24 larger and the closed end smaller, which facilitates the smooth entry of the locking block 209 into the secondary locking groove 24.

[0037] The present invention designs a short vertical inclined side 216 and a corresponding downward inclined side 243, which can reduce the lateral component of the axial force (vertical direction) and ensure that the locking block 209 will not move due to excessive axial force.

[0038] An annular boss 213 is provided on the inner wall of the second through hole along its circumference. When the locking block 209 passes through the second through hole and exits the locking housing, the horizontal rod boss 212 abuts against the annular boss 213. That is, under the action of the compression spring 211, the locking block 209 passes through the second through hole. During the movement of the locking block 209, the horizontal rod boss 212 gradually contacts the annular boss 213, and the two abut against each other. At this time, the locking block 209 stops passing through. The annular boss 213 can limit the movement of the locking block 209.

[0039] The bottom end of the arresting lever 16 is provided with a groove; a ball bearing 25 is provided in the groove. In practical applications, a locking switch can be provided on the active end base 8. When the ball bearing 25 at the bottom end of the arresting lever 16 contacts the locking switch, locking is completed. The locking process can be automated by controlling the drive mechanism 1 to stop running through the control unit. The ball bearing 25 can reduce the friction when the arresting lever 16 contacts the guide plate 702, allowing the arresting lever 16 to smoothly enter the opening 703.

[0040] A passive guide rod 18 is provided on the bottom surface of the passive end base 17; an active guide cylinder 11 is provided on the upper surface of the active end base 8; the passive guide rod 18 can be inserted into the active guide cylinder 11. During the downward movement of the arresting lever 16, the passive guide rod 18 gradually inserts into the active guide cylinder 11. When the passive end is ejected, the cooperation between the passive guide rod 18 and the active guide cylinder 11 can play a guiding role, preventing the satellite connected to the passive end from being deflected.

[0041] Preferably, the space inside the active guide cylinder 11 is a guide hole; the cross-section of the upper end of the guide hole is an isosceles trapezoid, with the upper base of the isosceles trapezoid being larger than the lower base. The upper end of the passive guide rod 18 is fixed to the passive end base 17 by a mounting post. The cross-section of the lower end of the mounting post is also an isosceles trapezoid, with the upper base of the isosceles trapezoid being larger than the lower base.

[0042] The drive mechanism 1 can take various forms, for example: the drive mechanism 1 includes two motors 101, two gears, and two racks. The motors 101 drive the racks to move horizontally through the gears, thereby driving the chuck holder 201 to move horizontally.

[0043] Preferably, the drive mechanism 1 includes a motor 101, a first gear transmission mechanism, a second gear transmission mechanism, and two lead screw and nut mechanisms; the input end of the first gear transmission mechanism is connected to the power output shaft of the motor 101; the output end of the first gear transmission mechanism is connected to the nut of one of the lead screw and nut mechanisms; the input end of the second gear transmission mechanism is connected to the first gear transmission mechanism, and the output end of the second gear transmission mechanism is connected to the nut of the other lead screw and nut mechanism; two claw holders 201 are fixedly connected to the lead screws 106 of the two lead screw and nut mechanisms respectively; the motor 101 is used to drive the two nuts to rotate through the first gear transmission mechanism and the second gear transmission mechanism respectively, so that the two lead screws 106 move in opposite directions in a linear motion.

[0044] The motor drives the first gear transmission mechanism to rotate, which in turn drives one of the nuts to rotate. Simultaneously, the first gear transmission mechanism drives the second gear transmission mechanism to rotate, which in turn drives the other nut to rotate, thereby achieving linear movement of the two lead screws 106.

[0045] The first gear transmission mechanism includes a first gear 102, a second gear 103, a third gear 104, and a fourth gear 105. The first gear 102 is coaxially fixed to the power output shaft of the motor 101. The second gear 103 meshes with the first gear 102. The third gear 104 is coaxially fixed to the second gear 103 and meshes with the fourth gear 105. The fourth gear 105 is coaxially fixed to a nut.

[0046] The second gear transmission mechanism includes a fifth gear 107 and a sixth gear 108. The fifth gear 107 is coaxially fixed to the second gear 103 via a rotating shaft 3. The sixth gear 108 meshes with the fifth gear 107. The sixth gear 108 is coaxially fixed to another nut.

[0047] Motor 101 drives the first gear 102 to rotate, the first gear 102 drives the second gear 103, the second gear 103 drives the third gear 104, the third gear 104 drives the fourth gear 105, and the fourth gear 105 drives the nut to rotate. The rotation of the second gear 103 simultaneously drives the fifth gear 107 to rotate, the fifth gear 107 drives the sixth gear 108, and the sixth gear 108 drives another nut to rotate.

[0048] Preferably, the first gear transmission mechanism is covered by a first housing 5. The motor 101 is fixed to the outer wall of the housing, and the first gear 102, second gear 103, third gear 104, and fourth gear 105 are all rotatably connected to the first housing 5. The second gear 103 transmission mechanism is covered by a second housing 6. The fifth gear 107 and sixth gear 108 are both rotatably connected to the second housing 6.

[0049] The chuck holder 201 is provided with a fixing hole 204 and a rotating hole 203; the fixing shaft 4 is horizontally arranged, one end of the fixing shaft 4 passes through the fixing hole 204 and is fixed to the first housing 5, and the other end passes through the fixing hole 204 and is fixed to the second housing 6. The rotating shaft 3 is horizontally arranged, one end of the rotating shaft 3 passes through the rotating hole 203 and the first housing 5 and is coaxially fixed to the second gear 103, and the other end of the rotating shaft 3 passes through another rotating hole 203 and the second housing 6 and is coaxially fixed to the fifth gear 107.

[0050] Furthermore, the motor 101 is a reversible motor; the active end base 8 is provided with an elastic element 12; when the arresting rod 16 is locked, the elastic element 12 is compressed. The elastic element 12 can be a spring, etc. When it is necessary to separate the passive end from the active end, the motor 101 rotates in the reverse direction and drives the lead screw of the lead screw 106 nut mechanism to move back through the gear transmission mechanism (the two lead screws 106 move in opposite directions to move away from the arresting rod 16). The pawl 202 of the first-stage locking unit moves out of the first-stage locking groove 23 on the arresting rod 16, and the locking block 209 of the second-stage locking unit moves out of the second-stage locking groove 24 on the arresting rod 16. At this time, the arresting rod 16 moves upward under the action of the elastic element 12, thereby realizing the separation of the passive end from the active end, and realizing the separation of the passive satellite and the active satellite.

[0051] During the separation process, the arresting lever 16 first separates from the pawl 202 of the primary locking unit, and then separates from the locking block 209 of the secondary locking unit. Since the unlocking process of the primary locking unit is a slow process, it is impossible to instantly eject the passive end. Therefore, after the primary locking unit is unlocked, the secondary locking unit unlocks from the arresting lever 16. When the locking block 209 of the secondary locking unit moves out of the secondary locking groove 24, the elastic element 12 instantly ejects the passive end, thereby ensuring the ejection speed.

[0052] Alternatively, the active end base 8 is equipped with a separation switch and an ejection mechanism (such as an electromagnetic mechanism) both connected to the control unit. When the control unit receives a separation command, it controls the motor 101 to reverse, causing the claw 202 to move out of the primary locking groove 23. The lead screw 106 drives the claw frame 201 to move away from the arresting lever 16. When the claw frame 201 contacts the abutment plate 207 of the secondary locking unit, it drives the abutment plate 207, the secondary horizontal bar 210, and the locking block 209 to move away from the arresting lever 16. The locking block 209 gradually moves out of the secondary locking groove 24. When the locking block 209 has completely moved out of the secondary locking groove 24, the claw frame 201 just touches the separation switch. The separation switch sends a separation command to the control unit, which then controls the ejection mechanism to eject the passive end base 17 (moving the passive end away from the active end), completing the separation of the two.

[0053] The bottom surface of the passive end base 17 is provided with an electrical connector plug 13 and a gas-liquid interface plug 14; the top surface of the active end base 8 is provided with an electrical connector socket 9 and a gas-liquid interface socket 10; the electrical connector plug 13 and the electrical connector socket 9 are plugged into each other; the gas-liquid interface plug 14 and the gas-liquid interface socket 10 are plugged into each other. During the process of the arresting lever 16 moving downward and being locked, the electrical connector plug 13 is inserted into the electrical connector socket 9 to realize the power supply between the passive end and the active end, and the gas-liquid interface plug 14 is inserted into the gas-liquid interface socket 10 to realize the gas-liquid connection between the passive end and the active end.

[0054] The passive end also includes a mounting shell 21, a movable plate 22, and a disc spring 20; the top surface of the mounting shell 21 is provided with a mounting opening; the movable plate 22 is located inside the mounting opening; the bottom surface of the mounting shell 21 is provided with a through hole; the upper end of the arresting rod 16 passes through the through hole and is located inside the mounting shell 21, and the upper end of the arresting rod 16 is fixed to the bottom surface of the movable plate 22; a spring post 19 is vertically fixed inside the mounting shell 21; the disc spring 20 is sleeved on the spring post 19; the upper end of the disc spring 20 abuts against the bottom surface of the movable plate 22; the lower end of the disc spring 20 abuts against the bottom wall of the mounting shell 21; the bottom surface of the passive end base 17 is provided with an anti-shear rod 15; the top surface of the elastic element 12 is provided with an anti-shear groove for inserting the anti-shear rod 15.

[0055] During the downward movement of the arresting arm, once the anti-shear bar 15 on the passive end base 17 is inserted into the anti-shear groove on the elastic element 12, the passive end base 17 stops moving downward. At this time, the arresting arm 16 continues to move downward under the action of the pawl 202 of the first-stage locking unit, and the disc spring 20 inside the mounting housing 21 is compressed. When the passive end separates from the active end, the movement process is the reverse of the above.

[0056] Specifically, the longitudinal section of the shear bar 15 is an isosceles trapezoid, with the upper base longer than the lower base. Correspondingly, the longitudinal section of the shear groove is also an isosceles trapezoid, with the upper base shorter than the lower base. There are four shear bars, and the passive end base 17 is square. The four shear bars are located at the four corners of the passive end base 17, with the two diagonally opposite bars 15 parallel to each other, and the two bars on the same side of the square perpendicular to each other. Correspondingly, there are also four elastic elements 12, with the active end base 8 being square, and the four elastic elements located at the four corners of the active end base 8. The two diagonally opposite shear grooves are parallel to each other, and the two bars on the same side of the square perpendicular to each other. The four shear bars 15 correspond one-to-one with the four shear grooves. This layout and cross-sectional shape can effectively resist lateral loads after locking.

[0057] The specific work process is as follows: 1. Initial posture adjustment process Upon receiving the command, the robotic arm on satellite A drives satellite B to move towards satellite A. The passive end on satellite B moves towards the active end on satellite A. When the capture lever 16 on the passive end contacts the guide plate 702 on the active end, under the guidance of the guide plate 702, the capture lever 16 gradually moves and passes into the opening 703 of the guide plate 702. The robotic arm stops moving, the motor 101 of the primary locking unit actuates, and the lead screw 106 drives the claw frame 201 and the claw 202 to move towards the capture lever 16 until the claw 202 extends into the primary locking groove 23 of the capture lever 16. During the movement of the claw 202, the claw frame 201 separates from the abutment plate 207 of the secondary locking unit. Under the action of the compression spring 211, the secondary horizontal bar 210 and the locking block 209 of the secondary locking unit move towards the capture lever 16, while the locking block 209 passes through the second through hole of the secondary housing 208.

[0058] 2. Locking process The lead screw 106 continues to drive the pawl 202 to move towards the arresting lever 16. Under the action of the inclined surface of the primary locking groove 23, the pawl 202 overcomes the force of the torsion spring 206 and presses down on the arresting lever 16, causing the passive end to move downward as a whole. During the downward movement of the arresting lever 16, the outer wall of the arresting lever 16 gradually touches the locking block 209. The locking block 209 overcomes the force of the compression spring 211 and moves away from the arresting lever 16. The arresting lever 16 continues to move downward. When the secondary locking groove 24 of the arresting lever 16 contacts the locking block 209, the locking block 209 extends into the secondary locking groove 24 under the force of the compression spring 211, and finally the locking block 209 and the secondary locking groove 24 are in contact. At this time, the primary locking unit and the secondary locking unit complete the locking of the arresting lever 16, and the motor 101 stops running.

[0059] 3. Separation and Reset Process Upon receiving the separation command, motor 101 reverses its direction, and the lead screw 106 of the primary locking unit drives the claw holder 201 and claw 202 to retract (moving away from the arresting lever 16). When the claw holder 201 contacts the abutment plate 207 of the secondary locking unit, the claw holder 201 drives the abutment plate 207 and locking block 209 to retract as well. Claw 202 first separates from the arresting lever 16, and then locking block 209 separates from the arresting lever 16. After locking block 209 moves out of the secondary locking groove 24, the passive end base 17 pops out under the action of elastic element 12, realizing the separation of the passive end and the active end.

[0060] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention, and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A satellite acquisition and locking device, characterized in that, include: Active end and passive end; The active end includes an active end base and a guide mechanism, a drive mechanism, and two locking mechanisms arranged symmetrically on the active end base. The guiding mechanism includes a guide frame and a guide plate fixed on the guide frame; the guide plate is in the shape of an inverted cone; the bottom of the guide plate has an opening; The passive end includes a passive end base and a capture rod that is vertically fixed to the bottom surface of the passive end base; The guide plate is used to guide the arresting rod into the opening; The driving mechanism is connected to the locking mechanism and is used to drive the two locking mechanisms to move toward each other to clamp the arresting rod, thereby achieving locking between the passive end and the active end.

2. The satellite acquisition and locking device according to claim 1, characterized in that, The locking mechanism includes a primary locking unit; The primary locking unit includes a claw bracket, claws, a pin, and a torsion spring; The jaw is rotatably connected to the jaw holder via the pin; the torsion spring is sleeved on the pin; one end of the torsion spring abuts against the jaw holder, and the other end abuts against the jaw; The outer wall of the arresting rod is provided with two primary locking grooves; the inner wall of the primary locking groove near the axis of the arresting rod is an inclined surface, so that the thickness of the primary locking groove gradually increases from top to bottom; The drive mechanism is connected to the claw holder and is used to drive the two claw holders to move towards each other so that the claws are engaged in the first-level locking groove.

3. The satellite acquisition and locking device according to claim 2, characterized in that, The locking mechanism includes a two-stage locking unit; The secondary locking unit includes a secondary horizontal bar, a secondary housing, an abutment plate, and a compression spring; The bottom surface of the secondary housing is fixedly connected to the upper surface of the active end base; The secondary housing has a first through hole and a second through hole on two opposite side walls respectively; the secondary horizontal rod passes through the first through hole; the first end of the secondary horizontal rod is located outside the secondary housing; the second end of the secondary horizontal rod is located inside the secondary housing; a square horizontal rod boss is fixed on the end face of the second end of the secondary horizontal rod; a locking block is fixed on the side of the horizontal rod boss away from the secondary horizontal rod. The locking block has a pentagonal cross-section; the pentagon includes a horizontal side, a short vertical inclined side, a long vertical inclined side, a first long vertical side and a first short vertical side arranged in parallel intervals; the first long vertical side is connected to the horizontal rod boss; one end of the horizontal side is connected to the lower end of the first long vertical side, the other end of the horizontal side is connected to the lower end of the short vertical inclined side, the upper end of the short vertical inclined side is connected to the lower end of the first short vertical side, the upper end of the first short vertical side is connected to the lower end of the long vertical inclined side, and the upper end of the long vertical inclined side is connected to the upper end of the first long vertical side; the angle between the horizontal side and the short vertical inclined side is an obtuse angle. The compression spring is sleeved on the secondary horizontal bar, with one end of the compression spring abutting against the boss of the horizontal bar and the other end abutting against the inner wall of the secondary housing where the first through hole is provided; The abutment plate is located outside the secondary housing and is fixed to the secondary horizontal bar; the abutment plate abuts against the side of the claw frame away from the arresting bar; The outer wall of the arresting rod is provided with two secondary locking grooves; the longitudinal section of the secondary locking groove is trapezoidal; the trapezoid includes a second vertical long side, a second vertical short side, an upper inclined side, and a lower inclined side; the second vertical short side is located between the second vertical long side and the axis of the arresting rod; the two ends of the upper inclined side are respectively connected to the upper end of the second vertical long side and the upper end of the second vertical short side; the two ends of the lower inclined side are respectively connected to the lower end of the second vertical long side and the lower end of the second vertical short side. When the two locking blocks clamp the arresting rod, a portion of the long vertical inclined side coincides with the upper inclined side; the short vertical inclined side coincides with the lower inclined side; and the first short vertical side coincides with the second short vertical side.

4. The satellite acquisition and locking device according to claim 3, characterized in that, An annular boss is provided on the inner wall of the second through hole along the circumference of the second through hole; when the locking block passes through the second through hole and exits the locking housing, the horizontal rod boss abuts against the annular boss.

5. The satellite acquisition and locking device according to claim 4, characterized in that, The bottom end of the arresting rod is provided with a roller groove; the roller groove is provided with a ball bearing.

6. The satellite acquisition and locking device according to claim 5, characterized in that, The passive end base has a passive guide rod on its bottom surface; the active end base has an active guide cylinder on its upper surface; and the passive guide rod can be inserted into the active guide cylinder.

7. The satellite acquisition and locking device according to claim 6, characterized in that, The drive mechanism includes a motor, a first gear transmission mechanism, a second gear transmission mechanism, and two lead screw and nut mechanisms; The input end of the first gear transmission mechanism is connected to the power output shaft of the motor; the output end of the first gear transmission mechanism is connected to the nut of one of the lead screw and nut mechanisms. The input end of the second gear transmission mechanism is connected to the first gear transmission mechanism, and the output end of the second gear transmission mechanism is connected to the nut of another lead screw and nut mechanism. The two jaw holders are respectively fixedly connected to the lead screws of the two lead screw and nut mechanisms; The motor is used to drive the two nuts to rotate through the first gear transmission mechanism and the second gear transmission mechanism respectively, so that the two lead screws move in opposite linear directions.

8. The satellite acquisition and locking device according to claim 7, characterized in that, The motor is a forward and reverse reversible motor; the active end base is provided with an elastic element; when the arresting rod is locked, the elastic element is compressed.

9. The satellite acquisition and locking device according to claim 8, characterized in that, The bottom surface of the passive end base is provided with an electrical connector plug and a gas-liquid interface plug; The top surface of the active end base is provided with an electrical connector socket and a gas-liquid interface socket; The electrical connector plug is inserted into the electrical connector socket; the gas-liquid interface plug is inserted into the gas-liquid interface socket.

10. The satellite acquisition and locking device according to claim 9, characterized in that, The passive end also includes a mounting shell, a movable plate, and a disc spring; The top surface of the mounting housing is provided with a mounting opening; the movable plate is located inside the mounting opening; the bottom surface of the mounting housing is provided with a through hole; the upper end of the arresting rod passes through the through hole and is located inside the mounting housing, and the upper end of the arresting rod is fixed to the bottom surface of the movable plate; A spring post is vertically fixed inside the mounting housing; a disc spring is sleeved on the spring post; the upper end of the disc spring abuts against the bottom surface of the movable plate; and the lower end of the disc spring abuts against the bottom wall of the mounting housing. The top surface of the mounting housing is fixed to the bottom surface of the passive end base; The bottom surface of the passive end base is provided with an anti-shear rod; the top surface of the elastic element is provided with an anti-shear groove for inserting the anti-shear rod.

Images