A launch and on-orbit docking and separation device for a space vehicle

Abstract

The application discloses a kind of space vehicles with load launching and on-orbit docking separation device, belong to aerospace technical field.It includes active end structure and passive end structure, and docking separation mechanism and fastening mechanism are equipped between the active end support and passive end support;The fastening mechanism includes active fastening platform, fastening thread hole, passive fastening platform, limit seat, fastening bolt and bolt spring, the docking separation mechanism includes transmission screw, screw driving mechanism and transmission nut, when active end structure and passive end structure are docked, the fastening bolt is locked with fastening thread hole and fastening mechanism, and the aircraft can launch with load.The application has simple structure, and is easy to operate, under the cooperation of fastening mechanism locking and docking separation mechanism docking, the aircraft is launched with load, and in the on-orbit stage, the fastening mechanism is unlocked, and the docking and separation of load and aircraft in the on-orbit stage can be realized by docking separation mechanism, and the installation and replacement of load are completed.

Description

Technical Field

[0001] This invention relates to a launch and on-orbit docking and separation device for spacecraft, belonging to the field of aerospace technology. Background Technology

[0002] With the development of aerospace technology, the tasks that spacecraft need to complete are becoming more and more challenging, and the functional requirements for spacecraft are also increasing. It is necessary to regularly replace vulnerable equipment such as cameras, batteries, and energy packs, or consumable storage tanks and other payloads. Considering the cost and risks of extravehicular activity for astronauts, and the fact that some spacecraft are not equipped with astronauts, on-orbit spacecraft mainly use robotic arms and docking and separation devices to replace different payload modules.

[0003] Existing on-orbit docking and separation devices do not have the capability to carry payloads. Before launch and during ascent, the spacecraft cannot carry payloads. Generally, payloads are installed or replaced after the spacecraft reaches the on-orbit operational phase. Taking a space station spacecraft as an example, scientific experimental payloads need to be transported to the space station in batches with cargo spacecraft. The payloads are moved from the cargo spacecraft to the space station module or outside the module. The robotic arm grasps the payload and achieves a rigid connection with the externally exposed experimental platform, as well as power and communication connections, through the on-orbit docking and separation device. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a payload-carried launch and on-orbit docking and separation device for spacecraft.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a launch and on-orbit docking and separation device for a spacecraft, comprising an active end structure disposed on the spacecraft and a passive end structure disposed on the payload, wherein the active end structure comprises an active end support and the passive end structure comprises a passive end support, and a docking and separation mechanism and at least two fastening mechanisms are provided between the active end support and the passive end support. The fastening mechanism includes an active fastening platform, a fastening threaded hole on the active fastening platform, a passive fastening platform, a limiting seat on the passive fastening platform, a fastening bolt, and a bolt spring. The active fastening platform is mounted on the active end bracket and has a boss structure. The passive fastening platform is mounted on the passive end bracket and has a groove structure adapted to the boss structure. The limiting seat has a through hole on its top and a rod hole for the rod end of the fastening bolt to pass through at its tail. The fastening bolt has a wrench structure extending out of the through hole. The fastening bolt has a limiting part in its middle, the outer diameter of which is larger than the outer diameter of the through hole. The bolt spring is fitted onto the fastening bolt between the limiting part and the tail of the limiting seat. The docking and separation mechanism includes a transmission screw mounted on the active end support, a screw drive mechanism for driving the transmission screw to rotate, and a transmission nut mounted on the passive end support. Under the action of the screw drive mechanism, the transmission screw can cooperate with the transmission nut to realize docking or separation of the active end structure and the passive end structure. When the active end structure docks with the passive end structure, the rod end of the fastening bolt passes through the rod hole and engages with the fastening threaded hole to lock the fastening mechanism, and the aircraft can be launched with a load.

[0006] The beneficial effects of this invention are as follows: Before the launch of the aircraft, the passive end structure carrying the load docks with the active end structure mounted on the surface of the aircraft. The boss structure on the active end bracket cooperates with the groove structure on the passive end bracket. By rotating the wrench structure, the fastening bolt passes through the rod hole and engages with the fastening threaded hole. The fastening mechanism locks the load in place. Multiple fastening mechanisms further lock the docking between the active end structure and the passive end structure. The load can ascend with the launch of the aircraft and can withstand the acceleration and vibration during the ascent phase. After the aircraft reaches the predetermined orbit, during the on-orbit phase, the fastening mechanism can be unlocked by a robotic arm. Specifically, the fastening bolt is rotated in the opposite direction to disengage from the fastening threaded hole. Under the action of the bolt spring, the limiting part of the fastening bolt rests against the top of the seat. When the load needs to be replaced, the robotic arm grabs the load, the screw drive mechanism reverses its action, and the transmission nut drives the passive end structure to move away from the active end structure until the transmission nut is completely disengaged from the transmission screw. The passive end structure carrying the load is then disassembled, and the load can be transferred, installed, or replaced. The docking and separation mechanism between the active and passive end structures, along with the cooperation of multiple fastening mechanisms, enables the spacecraft to launch with a payload. The payload is already connected to the spacecraft before launch, eliminating the need for on-orbit docking. Furthermore, the spacecraft carries the payload at launch, reducing the number of payload transport trips. This invention features a simple structure and convenient operation. With the fastening mechanism locking and the docking and separation mechanism working in tandem, the spacecraft can launch and ascend while carrying the payload. During the on-orbit phase, the fastening mechanism unlocks, allowing the docking and separation mechanism to connect and separate the payload from the spacecraft, facilitating payload installation and replacement.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, a pair of guiding alignment mechanisms are provided between the active end structure and the passive end structure. The guiding alignment mechanism includes a positioning support provided on the active end support and a guide post provided on the passive end support. The positioning support is provided with a positioning guide surface and a positioning cylindrical surface. The positioning guide surface is a conical structure that can guide the guide post. The guide post is adapted to the positioning cylindrical surface.

[0009] The beneficial effect of adopting the above-mentioned further scheme is that, during the on-orbit phase, when the passive end structure docks with the active end structure, considering the working error of the robotic arm, a guide is set between the active end structure and the passive end structure. A pair of positioning supports are respectively set on both sides of the active end support. The upper part of the positioning support is the coarse positioning stage. The positioning guide surface of the conical structure is trumpet-shaped, and the opening gradually narrows downward to guide the guide column. The lower part of the positioning support is the fine positioning stage. The positioning cylindrical surface is semi-cylindrical. Under the action of the positioning guide surface, the guide column smoothly enters the positioning cylindrical surface. The guide column and the positioning support cooperate to complete the docking process from coarse positioning to fine positioning, ensuring the accuracy of the docking position between the passive end structure and the active end structure, and also ensuring the stability of the passive end structure after docking with the active end structure.

[0010] Furthermore, the active end structure is provided with an electrical connector socket, and the passive end structure is provided with an electrical connector plug that can be inserted and mated with the electrical connector socket.

[0011] The advantage of adopting the above-mentioned further solution is that, whether the passive end structure is docked with the active end structure or when it is separated, there will be no relative movement between the electrical connector plug and the passive end bracket, and therefore no dragging of the electrical connector circuitry.

[0012] Furthermore, the active end structure is also provided with a liquid circuit disconnector socket, and the passive end structure is provided with a liquid circuit disconnector plug that can be inserted and mated with the liquid circuit disconnector socket.

[0013] The beneficial effect of adopting the above-mentioned further solution is that when the passive end structure is connected or separated from the active end structure, the plug of the liquid circuit disconnector is set on the passive end bracket and there will be no relative movement between it and the passive end bracket, so that the pipeline of the liquid circuit disconnector will not be dragged.

[0014] Furthermore, the passive end bracket is also provided with a positioning post, the positioning post is provided with a receiving cavity for placing the transmission nut, the inner wall of the receiving cavity is provided with an anti-rotation structure for preventing the transmission nut from rotating, the top of the positioning post is provided with a post hole for the rod part of the transmission screw to pass through, the entrance of the mounting hole of the transmission nut is provided with a chamfer structure, and the free end of the transmission screw is provided with a guide cone structure. The passive end structure is also provided with a nut positioning mechanism for positioning the transmission nut in the receiving cavity. The nut positioning mechanism includes a nut spring and a bracket top cover. The bracket top cover is disposed on the passive end bracket, and the nut spring is disposed between the bracket top cover and the transmission nut.

[0015] The beneficial effect of adopting the above-mentioned further solution is that, during the on-orbit phase, when the passive end structure docks with the active end structure, considering the working error of the robotic arm, the position of the transmission nut may deviate. In order to compensate for the insufficient alignment accuracy of the transmission nut and the transmission screw and ensure the accurate alignment of the transmission screw and the transmission nut, a nut positioning mechanism is set up. When there is an error in the alignment of the transmission nut and the transmission screw, the rod end of the transmission screw and the mounting hole of the transmission nut are not aligned. The transmission nut is pushed up and the nut spring is compressed. Under the guidance of the chamfer structure and the guide cone structure, the rod end of the transmission screw will slide into the mounting hole of the transmission nut. As the passive end structure approaches, with the help of the guide alignment mechanism, the mounting hole of the transmission screw and the transmission nut are aligned. Then the screw drive mechanism is activated, the transmission screw rotates, and the transmission nut moves towards the top of the column under the action of the transmission screw. After the nut spring returns to its original position, the transmission nut will move the entire passive end structure to dock with the active end structure until the docking is in place, and then the transmission screw stops moving. The anti-rotation structure effectively prevents the transmission nut from rotating within the receiving cavity, ensuring smooth operation between the transmission screw and the transmission nut and improving the stability and reliability of the entire device. The nut positioning mechanism not only positions the transmission nut within the receiving cavity but also provides room for movement in cases where there is a tolerance for misalignment between the transmission nut and the transmission screw. This assists in guiding the alignment of the transmission screw and the transmission nut, ensuring a proper fit between them and providing strong support for successful docking operations.

[0016] Furthermore, the inner side of the top of the positioning column is provided with an arc swing structure, and the transmission nut is provided with an arc surface structure that is adapted to the arc swing structure.

[0017] The beneficial effect of adopting the above-mentioned further solution is that the size of the receiving cavity is larger than that of the transmission nut, so as to facilitate the insertion of the transmission nut into the receiving cavity. The arc swing structure cooperates with the arc surface structure on the transmission nut, so that the transmission nut can move on the arc swing structure. Considering the working error of the robotic arm, the arc swing structure can provide tolerance correction for the transmission nut. When the passive end structure and the active end structure are docked, the transmission nut can move smoothly in the receiving cavity of the positioning column to realize the alignment connection between the transmission screw and the transmission nut. Furthermore, the lead screw drive mechanism includes a drive motor, and the output shaft of the drive motor is connected to the transmission lead screw.

[0018] The beneficial effect of adopting the above-mentioned further solution is that the rotation of the transmission screw can be driven by the drive motor, realizing the automated control of the docking locking device, which helps to realize the control and remote operation of the device.

[0019] Furthermore, the lead screw drive mechanism also includes a transmission mechanism disposed between the drive motor and the transmission lead screw. The transmission mechanism includes a driving gear and a driven gear meshing with the driving gear. The driving gear is disposed on the output shaft of the drive motor, and the driven gear is disposed on the transmission lead screw.

[0020] The beneficial effect of adopting the above-mentioned further solution is that the transmission mechanism can effectively transmit the power of the drive motor to the transmission screw, thereby driving the transmission screw; moreover, this transmission method also makes the structure of the active end structure more compact and reduces the overall volume of the active end structure.

[0021] Furthermore, the active end bracket is also equipped with a limit switch.

[0022] Furthermore, the limit switch includes a lead screw driven limit switch and a docking limit switch, which are connected to the active end bracket via a limit switch bracket.

[0023] The beneficial effect of adopting the above-mentioned further solution is that when the robotic arm moves the load, the passive end structure moves accordingly, triggering the lead screw drive limit switch. The lead screw drive mechanism starts working, the transmission lead screw rotates, and the transmission lead screw and transmission nut begin to form a threaded engagement. The transmission nut moves towards the active end structure, driving the passive end structure to move towards the active end, and the robotic arm that grasps the load is in a follow-up state. As the passive end structure moves, the docking limit switch is turned on, and the lead screw drive mechanism stops working. The docking of the passive end structure and the active end structure is completed. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 A schematic diagram of the cross-sectional structure along the AA direction; Figure 3 for Figure 1 A schematic diagram of the cross-sectional structure along the BB direction; Figure 4 This is a schematic diagram of the main structure of the present invention; Figure 5 This is a three-dimensional structural diagram of the present invention viewed from below. Figure 6 This is a schematic diagram of the active end structure of the present invention; Figure 7 This is a schematic diagram of the main structure of the active end of the present invention; Figure 8 This is a schematic diagram of the left-side structure of the active end structure of the present invention; Figure 9This is a three-dimensional structural diagram of the active end structure of the present invention; Figure 10 This is a schematic diagram of the passive end structure of the present invention; Figure 11 This is a schematic diagram of the front view of the passive end structure of the present invention; Figure 12 for Figure 11 A schematic diagram of the cross-sectional structure along the CC direction; Figure 13 This is a three-dimensional structural diagram of the passive end structure of the present invention; Figure 14 This is a three-dimensional structural diagram of the passive end structure of the present invention from another angle; In the diagram, 100 is the active end structure; 101 is the active end bracket; 102 is the active fastening platform; 103 is the fastening threaded hole; 104 is the boss structure; 105 is the transmission screw; 106 is the positioning support; 1061 is the positioning guide surface; 1062 is the positioning cylindrical surface; 107 is the electrical connector socket; 108 is the hydraulic circuit disconnect socket; 109 is the drive motor; 110 is the driving gear; 111 is the driven gear; 112 is the screw-driven limit switch; 113 is the docking limit switch; and 114 is the travel limit. Switch bracket; 200, passive end structure; 201, passive end bracket; 202, passive fastening platform; 203, groove structure; 204, limit seat; 205, fastening bolt; 2051, wrench structure; 2052, limit part; 206, bolt spring; 207, transmission nut; 208, guide post; 209, electrical connector plug; 210, hydraulic circuit disconnect plug; 211, positioning post; 212, receiving cavity; 213, nut spring; 214, bracket top cover; 215, circular arc swing structure. Detailed Implementation

[0025] The principles and features of the present invention are described below with reference to examples. The examples are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0026] like Figures 1-14 As shown, a launch and on-orbit docking and separation device for a spacecraft includes an active end structure 100 mounted on the spacecraft and a passive end structure 200 mounted on the payload. The active end structure 100 includes an active end support 101, and the passive end structure 200 includes a passive end support 201. A docking and separation mechanism and at least two fastening mechanisms are provided between the active end support 101 and the passive end support 201. The fastening mechanism includes an active fastening platform 102, a fastening threaded hole 103 disposed on the active fastening platform 102, a passive fastening platform 202, a limiting seat 204 disposed on the passive fastening platform 202, a fastening bolt 205, and a bolt spring 206. The active fastening platform 102 is disposed on the active end bracket 101 and has a boss structure 104. The passive fastening platform 202 is disposed on the passive end bracket 201 and has a corresponding boss structure 104. The 04-adaptive groove structure 203 has a through hole on the top of the seat of the limiting seat 204, a rod hole for the rod end of the fastening bolt 205 to pass through on the tail of the seat of the limiting seat 204, a wrench structure 2051 extending out of the through hole on the fastening bolt 205, a limiting part 2052 in the middle of the fastening bolt 205, the outer diameter of the limiting part 2052 being larger than the outer diameter of the through hole, and a bolt spring 206 fitted on the fastening bolt 205 between the limiting part 2052 and the tail of the seat of the limiting seat 204; The docking and separation mechanism includes a transmission screw 105 mounted on the active end bracket 101, a screw drive mechanism for driving the transmission screw 105 to rotate, and a transmission nut 207 mounted on the passive end bracket 201. Under the action of the screw drive mechanism, the transmission screw 105 can cooperate with the transmission nut 207 to realize docking or separation between the active end structure 100 and the passive end structure 200. When the active end structure 100 docks with the passive end structure 200, the rod end of the fastening bolt 205 passes through the rod hole and engages with the fastening threaded hole 103 to lock the fastening mechanism, and the aircraft can be launched with a load.

[0027] The groove structure 203 on the passive fastening platform 202 can cooperate with the boss structure 104 on the active fastening platform 102 to ensure accurate alignment between the passive end structure 200 and the active end structure 100. The plane around the boss structure 104 can be coated with a high-friction coating to further ensure the friction of the mating surfaces of the active and passive ends and avoid misalignment during the launch and ascent phase. The wrench structure 2051 can be an external hexagonal structure, and the robotic arm can act on the fastening bolt 205. By rotating the wrench structure 2051, the fastening bolt 205 compresses the bolt spring 206. The fastening mechanism engages with the threaded hole 103 to lock the passive end structure 200 and the active end structure 100, achieving a stable connection. After reaching the predetermined track, the fastening mechanism needs to be unlocked. The robotic arm acts on the fastening bolt 205, and the wrench structure 2051 rotates in the opposite direction, causing the fastening bolt 205 to disengage from the threaded hole 103. Under the action of the bolt spring 206, the limiting part 2052 of the fastening bolt 205 will move to the top position of the limiting seat 204, thus unlocking the fastening mechanism. This will not interfere with the replacement and maintenance of the load during the on-orbit operation phase.

[0028] A pair of guiding and aligning mechanisms are also provided between the active end structure 100 and the passive end structure 200. The guiding and aligning mechanisms include a positioning support 106 provided on the active end bracket 101 and a guide post 208 provided on the passive end bracket 201. The positioning support 106 is provided with a positioning guide surface 1061 and a positioning cylindrical surface 1062. The positioning guide surface 1061 is a conical structure that can guide the guide post 208. The guide post 208 is adapted to the positioning cylindrical surface 1062. During the on-orbit phase, when the passive end structure 200 docks with the active end structure 100, considering the working error of the robotic arm, a guide is set between the active end structure 100 and the passive end structure 200. A pair of positioning supports 106 are respectively set on both sides of the active end support 101. The upper part of the positioning support 106 is the coarse positioning stage. The positioning guide surface 1061 of the conical structure is trumpet-shaped, and the opening gradually narrows downward to guide the guide post 208. The lower part of the positioning support 106 is the fine positioning stage. The positioning cylindrical surface 1062 is semi-cylindrical. Under the action of the positioning guide surface 1061, the guide post 208 smoothly enters the positioning cylindrical surface 1062. The guide post 208 and the positioning support 106 cooperate to complete the docking process from coarse positioning to fine positioning, ensuring the accuracy of the docking position between the passive end structure 200 and the active end structure 100, and also ensuring the stability of the passive end structure 200 and the active end structure 100 after docking.

[0029] The active end structure 100 is also provided with an electrical connector socket 107, and the passive end structure 200 is provided with an electrical connector plug 209 that can be inserted and mated with the electrical connector socket 107. Whether the passive end structure 200 is docked with the active end structure 100 or not, there will be no relative movement between the electrical connector plug 209 and the passive end bracket 201, so that the electrical connector lines will not be dragged.

[0030] The active end structure 100 is further provided with a liquid circuit disconnector socket 108, and the passive end structure 200 is provided with a liquid circuit disconnector plug 210 that can be inserted and mated with the liquid circuit disconnector socket 108. When the passive end structure 200 is connected to or separated from the active end structure 100, the liquid circuit disconnector plug 210 is mounted on the passive end bracket 201 and there is no relative movement between it and the passive end bracket 201, so that the liquid circuit disconnector pipeline is not dragged.

[0031] The passive end bracket 201 is also provided with a positioning post 211. The positioning post 211 has a receiving cavity 212 for placing the transmission nut 207. The inner wall of the receiving cavity 212 has an anti-rotation structure to prevent the transmission nut 207 from rotating. The top of the positioning post 211 has a post hole for the rod of the transmission screw 105 to pass through. The entrance of the mounting hole of the transmission nut 207 has a chamfer structure. The free end of the transmission screw 105 has a guide cone structure. The passive end structure 200 is also provided with a nut positioning mechanism for positioning the transmission nut 207 within the receiving cavity 212. The nut positioning mechanism includes a nut spring 213 and a bracket top cover 214. The bracket top cover 214 is disposed on the passive end bracket 201, and the nut spring 213 is disposed between the bracket top cover 214 and the transmission nut 207. During the on-orbit phase, when the passive end structure 200 docks with the active end structure 100, considering the working error of the robotic arm, the position of the transmission nut 207 may deviate. To compensate for the insufficient alignment accuracy between the transmission nut 207 and the transmission screw 105, and to ensure accurate alignment between the transmission screw 105 and the transmission nut 207, a nut positioning mechanism is provided. When there is an alignment error between the transmission nut 207 and the transmission screw 105, the rod end of the transmission screw 105 is not aligned with the mounting hole of the transmission nut 207. The transmission nut 207 is then subjected to force, compressing the nut spring 213, i.e., the transmission nut 207 is lifted, and the nut spring 213... When the screw 105 is compressed, guided by the chamfered and guide cone structures, the end of the transmission screw 105 slides into the mounting hole of the transmission nut 207. As the passive end structure 200 approaches, in conjunction with the guide alignment mechanism, the transmission screw 105 and the mounting hole of the transmission nut 207 are aligned. Then, the screw drive mechanism actuates, the transmission screw 105 rotates, and the transmission nut 207 moves towards the top of the column under the action of the transmission screw 105. After the nut spring 213 returns to its original position, the transmission nut 207 moves along with the passive end structure 200 to engage with the active end structure 100 until the engagement is complete, at which point the transmission screw 105 stops moving. The anti-rotation structure effectively prevents the transmission nut 207 from rotating within the receiving cavity 212, ensuring smooth operation between the transmission screw 105 and the transmission nut 207, and improving the stability and reliability of the entire device. The nut positioning mechanism not only positions the transmission nut 207 within the receiving cavity 212, but also provides room for movement for the transmission nut 207 in cases where there is a tolerance for inaccurate alignment between the transmission nut 207 and the transmission screw 105. This assists in guiding the alignment of the transmission screw 105 and the transmission nut 207, ensuring that the alignment and fit between the transmission nut 207 and the transmission screw 105 provides a strong guarantee for the smooth progress of the docking operation.

[0032] The transmission nut 207 can be a square structure, a hexagonal structure, etc., and the anti-rotation structure can be a quadrilateral structure, a hexagonal structure, etc., adapted to the transmission nut 207.

[0033] The inner side of the top of the positioning column 211 is provided with an arc-shaped swing structure 215, and the transmission nut 207 is provided with an arc-shaped surface structure adapted to the arc-shaped swing structure 215. The size of the receiving cavity 212 is larger than that of the transmission nut 207 to facilitate the insertion of the transmission nut 207 into the receiving cavity 212. The arc-shaped swing structure 215 and the arc-shaped surface structure on the transmission nut 207 cooperate to allow the transmission nut 207 to move on the arc-shaped swing structure 215. Considering the working error of the robotic arm, the arc-shaped swing structure 215 can provide tolerance correction for the transmission nut 207. When the passive end structure 200 and the active end structure 100 are docked, the transmission nut 207 moves smoothly within the receiving cavity 212 of the positioning column 211 to achieve the alignment and connection between the transmission screw 105 and the transmission nut 207. The lead screw drive mechanism includes a drive motor 109, the output shaft of which is connected to the transmission lead screw 105. The rotation of the transmission lead screw 105 can be driven by the drive motor 109, realizing automated control of the docking locking device and facilitating the control and remote operation of the device.

[0034] The lead screw drive mechanism also includes a transmission mechanism disposed between the drive motor 109 and the transmission lead screw 105. The transmission mechanism includes a driving gear 110 and a driven gear 111 meshing with the driving gear 110. The driving gear 110 is disposed on the output shaft of the drive motor 109, and the driven gear 111 is disposed on the transmission lead screw 105. The transmission mechanism effectively transmits the power of the drive motor 109 to the transmission lead screw 105, thereby driving the transmission lead screw 105. Furthermore, this transmission method makes the active end structure 100 more compact, reducing its overall volume. The on-orbit docking and separation device has a simple structure, small size, and light weight, saving unnecessary energy consumption and space on the spacecraft. The replacement, positioning, or docking operations between the active end structure and the passive end structure are convenient and quick, with advantages of stability and reusability, meeting the functional requirements of repeated positioning and docking of payloads in space on-orbit spacecraft.

[0035] The active end bracket 101 is also equipped with a limit switch.

[0036] The limit switches include a lead screw driven limit switch 112 and a docking limit switch 113, which are connected to the active end bracket 101 via a limit switch bracket 114. When the robotic arm moves the load, the passive end structure 200 moves accordingly, triggering the lead screw driven limit switch 112. The lead screw drive mechanism starts working, the transmission lead screw 105 rotates, and the transmission lead screw 105 and transmission nut 207 begin to form a threaded engagement. The transmission nut 207 moves towards the active end structure 100, causing the passive end structure 200 to move towards the active end, thus enabling the robotic arm to follow the load. As the passive end structure 200 moves, the docking limit switch 113 is activated, the lead screw drive mechanism stops working, and the docking of the passive end structure 200 with the active end structure 100 is completed.

[0037] The spacecraft launch and on-orbit docking and separation device is equipped with four fastening mechanisms. Four active fastening platforms 102 are respectively set at the four corners of the active end support 101, and four passive fastening platforms 202 are also set at the corresponding four corners of the passive end support 201. The four fastening mechanisms can be used to lock the active end structure 100 and the passive end structure 200 during the launch and ascent phase of the spacecraft, so that the load can withstand the acceleration and vibration during the launch and ascent phase of the spacecraft, thereby achieving the purpose of launching the spacecraft carrying the load and ascending. After the spacecraft reaches the predetermined orbit, the robotic arm can unlock the fastening mechanism by rotating the fastening bolt 205, and the fastening mechanism has completed its task. During the in-orbit flight phase, the docking process is as follows: The robotic arm grasps the load, and the passive end structure 200 moves accordingly. The transmission screw 105 acts on the transmission nut 207, which is lifted, compressing the nut spring 213. Under the action of the positioning guide surface 1061 of the positioning support 106, the guide column 208 moves towards the positioning cylindrical surface 1062. As the robotic arm moves, the passive end structure 200 continues to move towards the active end structure 100. The guide column 208 engages with the positioning cylindrical surface 1062 of the positioning support 106, triggering the screw drive. When the limit switch 112 is activated, the drive motor 109 is activated, the transmission screw 105 rotates, and the transmission screw 105 forms a threaded engagement with the transmission nut 207. After the transmission nut 207, which was lifted, returns to its original position, it moves the passive end structure 200 toward the active end structure 100. The plug and socket of the electrical connector and the hydraulic circuit disconnector are connected. The activation of the limit switch when the connection is in place indicates that the connection between the passive end structure 200 and the active end structure 100 is complete, and the drive motor 109 stops working. Separation Process: The robotic arm docks with the robotic arm adapter on the load, the drive motor 109 rotates in the opposite direction, the transmission screw 105 rotates, and the transmission nut 207 moves away from the active end structure 100, lifting the passive end support 201. The passive end structure 200 moves away from the active end structure 100, the docking limit switch 113 disconnects, the plug and socket of the electrical connector and the hydraulic circuit disconnector separate, the passive end structure 200 continues to move away from the active end structure 100, the transmission screw 105 separates from the transmission nut 207, the screw drive limit switch 112 disconnects, the robotic arm removes the passive end structure 200, and the active end structure 100 and the passive end structure 200 are separated. During the ascent phase of the aircraft with load, the fastening mechanism can lock the active end structure 100 and the passive end structure 200. After the aircraft reaches the predetermined orbit, the robotic arm unlocks the fastening mechanism; during the on-orbit phase, the robotic arm moves the load, and the docking and separation mechanism can realize the docking and separation of the active end structure 100 and the passive end structure 200 to complete the replacement of different loads. During docking and disengagement, the electrical connector, hydraulic circuit disconnector, and passive end bracket 201 will not move relative to each other, thus preventing dragging of lines and pipelines. After docking, the transmission screw 105 and transmission nut 207 can reliably lock the external loads of the aircraft, thereby achieving reliable connection between the aircraft and different loads.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A launch and on-orbit docking and separation device for a spacecraft, comprising an active end structure (100) mounted on the spacecraft and a passive end structure (200) mounted on the payload, characterized in that, The active end structure (100) includes an active end bracket (101), and the passive end structure (200) includes a passive end bracket (201). A docking separation mechanism and at least two fastening mechanisms are provided between the active end bracket (101) and the passive end bracket (201). The fastening mechanism includes an active fastening platform (102), a fastening threaded hole (103) disposed on the active fastening platform (102), a passive fastening platform (202), a limiting seat (204) disposed on the passive fastening platform (202), a fastening bolt (205), and a bolt spring (206). The active fastening platform (102) is disposed on the active end bracket (101) and has a boss structure (104). The passive fastening platform (202) is disposed on the passive end bracket (201) and has a corresponding boss structure. (104) A matching groove structure (203) is provided. The top of the seat of the limiting seat (204) is provided with a through hole. The tail of the seat of the limiting seat (204) is provided with a rod hole for the rod end of the fastening bolt (205) to pass through. The fastening bolt (205) is provided with a wrench structure (2051) extending out of the through hole. The middle part of the fastening bolt (205) is provided with a limiting part (2052). The outer diameter of the limiting part (2052) is larger than the outer diameter of the through hole. The bolt spring (206) is fitted on the fastening bolt (205) between the limiting part (2052) and the tail of the seat of the limiting seat (204). The docking and separation mechanism includes a transmission screw (105) mounted on the active end bracket (101), a screw drive mechanism for driving the transmission screw (105) to rotate, and a transmission nut (207) mounted on the passive end bracket (201). Under the action of the screw drive mechanism, the transmission screw (105) can cooperate with the transmission nut (207) to realize docking or separation between the active end structure (100) and the passive end structure (200). When the active end structure (100) docks with the passive end structure (200), the rod end of the fastening bolt (205) passes through the rod hole and engages with the fastening threaded hole (103) to lock the fastening mechanism, and the aircraft can be launched with a load.

2. The launch and on-orbit docking and separation device for spacecraft according to claim 1, characterized in that, A pair of guiding alignment mechanisms are also provided between the active end structure (100) and the passive end structure (200). The guiding alignment mechanism includes a positioning support (106) provided on the active end bracket (101) and a guide post (208) provided on the passive end bracket (201). The positioning support (106) is provided with a positioning guide surface (1061) and a positioning cylindrical surface (1062). The positioning guide surface (1061) is a conical structure that can guide the guide post (208). The guide post (208) is adapted to the positioning cylindrical surface (1062).

3. The launch and on-orbit docking and separation device for spacecraft according to claim 1, characterized in that, The active end structure (100) is also provided with an electrical connector socket (107), and the passive end structure (200) is provided with an electrical connector plug (209) that can be inserted and mated with the electrical connector socket (107).

4. The launch and on-orbit docking and separation device for spacecraft according to claim 1, characterized in that, The active end structure (100) is also provided with a liquid circuit disconnector socket (108), and the passive end structure (200) is provided with a liquid circuit disconnector plug (210) that can be inserted and mated with the liquid circuit disconnector socket (108).

5. The launch and on-orbit docking and separation device for a spacecraft according to any one of claims 1-4, characterized in that, The passive end bracket (201) is also provided with a positioning post (211). The positioning post (211) is provided with a receiving cavity (212) for placing the transmission nut (207). The inner wall of the receiving cavity (212) is provided with an anti-rotation structure to prevent the transmission nut (207) from rotating. The top of the positioning post (211) is provided with a post hole for the rod of the transmission screw (105) to pass through. The entrance of the mounting hole of the transmission nut (207) is provided with a chamfer structure. The free end of the transmission screw (105) is provided with a guide cone structure. The passive end structure (200) is also provided with a nut positioning mechanism for positioning the transmission nut (207) in the receiving cavity (212). The nut positioning mechanism includes a nut spring (213) and a bracket top cover (214). The bracket top cover (214) is disposed on the passive end bracket (201), and the nut spring (213) is disposed between the bracket top cover (214) and the transmission nut (207).

6. The launch and on-orbit docking and separation device for spacecraft according to claim 5, characterized in that, The inner side of the top of the positioning column (211) is provided with an arc swing structure (215), and the transmission nut (207) is provided with an arc surface structure that is compatible with the arc swing structure (215).

7. The launch and on-orbit docking and separation device for a spacecraft according to any one of claims 1-4, characterized in that, The lead screw drive mechanism includes a drive motor (109), the output shaft of which is connected to the transmission lead screw (105).

8. The launch and on-orbit docking and separation device for spacecraft according to claim 7, characterized in that, The lead screw drive mechanism further includes a transmission mechanism disposed between the drive motor (109) and the transmission lead screw (105). The transmission mechanism includes a drive gear (110) and a driven gear (111) meshing with the drive gear (110). The drive gear (110) is disposed on the output shaft of the drive motor (109), and the driven gear (111) is disposed on the transmission lead screw (105).

9. The launch and on-orbit docking and separation device for a spacecraft according to any one of claims 1-4, characterized in that, The active end bracket (101) is also equipped with a limit switch.

10. The launch and on-orbit docking and separation device for spacecraft according to claim 9, characterized in that, The limit switch includes a lead screw driven limit switch (112) and a docking limit switch (113). The lead screw driven limit switch (112) and the docking limit switch (113) are connected to the active end bracket (101) through a limit switch bracket (114).

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