A modular and replaceable capture device with a star-arrow flange

Abstract

This utility model discloses a modular and replaceable capture device for satellite flanges, used for capturing and locking the flanges of moving satellites. It includes a mounting base with a fixed seat and a sliding seat mounted on it. A buffer assembly is mounted above one end of the fixed seat, and straight teeth are provided on the upper surface of the middle part of the fixed seat. Symmetrical slide rails are provided below the other end of the fixed seat, and the sliding seat cooperates with the slide rails to slide along the length of the straight teeth. A downward clamping assembly and an anti-jump assembly are fitted onto the sliding seat. The sliding seat and the downward clamping assembly are externally connected to a power assembly via a transmission assembly. This utility model achieves lightweight capture device and reduces the power source, resulting in a lightweight, small-sized device that uses a single power source to drive the operation. This ensures the capture device's attitude correction and gripping downward action. The capture device operates at a low speed with minimal rotational fluctuations, meeting the requirement of minimal disturbance to the target satellite during capture.

Description

Technical Field

[0001] This patent relates to the field of space satellite capture and braking technology, specifically to a modular and replaceable capture device with a star-rocket flange. Background Technology

[0002] On-orbit maintenance and repair, on-orbit refueling, on-orbit function expansion, and software upgrades are increasingly becoming important tasks in my country's satellite development. Space docking mechanisms are used to achieve multiple connections, maintain connections, and separate between two spacecraft. Docking mechanisms are classified into central and peripheral layouts. Peripheral layouts retain a transfer channel at the center and have a universal interface, making them a commonly used docking interface on manned spacecraft. Li Yongzhen et al. proposed a miniature docking device adapted to a single diameter based on a cam curve and linkage mechanism. The European Space Agency's "Debris Removal" project successfully launched a Harpoon, hitting the target satellite and towing it to the launch platform. Currently designed peripheral layout docking mechanisms are generally only suitable for single-diameter target satellites, exhibiting poor versatility.

[0003] With the rapid development of satellite technology, on-orbit capture of target satellites has become a critical technology that urgently needs to be studied. Existing capture devices are not only heavy and energy-intensive, but also prone to causing large disturbances to the target satellite, requiring high precision in attitude control, thus increasing the difficulty of capture control and making it impossible to carry out capture accurately. Utility Model Content

[0004] To address the issues of heavy weight, high energy consumption, and significant disturbance to target satellites during precise capture, this utility model patent proposes a modular and replaceable capture device with a star-rocket flange. This design achieves lightweight construction and reduces the number of power sources, resulting in a lightweight, compact device that operates with a single power source. This ensures proper gripping, pressing down, and attitude correction, while maintaining a low operating speed with minimal rotational fluctuations, thus meeting the design requirement of minimal disturbance to the target satellite during capture.

[0005] The technical solution adopted to achieve the above objectives is:

[0006] A modular and replaceable capture device for satellite flanges is installed on the panel of a satellite maintenance cabin for capturing and locking the flanges of moving satellites. The device includes a mounting base, on which a fixed base and a sliding base are mounted. A buffer assembly is installed above one end of the fixed base, and straight teeth are provided on the upper surface of the middle part of the fixed base. Symmetrical slide rails are provided below the other end of the fixed base, and the sliding base cooperates with the slide rails to slide along the length of the straight teeth.

[0007] The sliding seat is fitted with a pressing and clamping component and an anti-jumping component. The sliding seat and the pressing and clamping component are connected to a power component via a transmission component. During operation, the power component drives the sliding seat, the pressing and clamping component, and the anti-jumping component to approach the satellite's flange via the transmission component. The power component then drives the pressing and clamping component to press down and clamp the satellite's flange via the transmission component. After pressing down to the position, the anti-jumping component restricts the movement of the satellite's flange.

[0008] Furthermore, the buffer assembly includes a pair of spring dampers, which are fixedly mounted on a mounting base.

[0009] Furthermore, the sliding seat includes a sliding plate, and a positioning plate for mounting the power component is provided at the end of the sliding plate away from the fixed seat that is inclined outward and upward; a support part for mounting the transmission component is provided parallel to the upper surface of the sliding plate; a mounting block is provided at the end of the sliding plate near the fixed seat that extends outward; an anti-jump component is installed above the mounting block; an n-shaped groove is provided through the end of the mounting block facing the spring damper; a sliding groove is provided through the mating part between the mounting block and the fixed seat; the straight tooth is installed in the sliding groove, and the length of the sliding groove is greater than the length of the straight tooth.

[0010] Furthermore, the transmission assembly includes a transmission rod, a driving incomplete tooth is installed in the middle of the transmission rod, a passive incomplete tooth is installed in cooperation with the driving incomplete tooth, the passive incomplete tooth is installed in an n-shaped groove and meshes with a straight tooth; the rotation shaft of the passive incomplete tooth passes through the vertical surface of the n-shaped groove, the transmission rod is arranged parallel to the rotation shaft, both ends of the transmission rod pass through parallel support parts and are respectively fitted with a first driving bevel tooth and a second driving bevel tooth, and a bearing is installed between the transmission rod and the support part.

[0011] Furthermore, the power assembly includes a motor, the output end of which is connected to a worm gear, and a worm wheel is fitted onto the worm gear. The worm wheel is mounted on a transmission rod and close to the active incomplete tooth. The motor is mounted on one end of the positioning plate near the mounting base, and the worm gear is mounted on the other end of the positioning plate via a worm gear seat.

[0012] Furthermore, the pressing and engaging assembly includes a first pressing and engaging assembly and a second pressing and engaging assembly symmetrically mounted on the upper surface of the sliding plate; the first pressing and engaging assembly and the second pressing and engaging assembly are respectively engaged and mounted with the first active bevel gear and the second active bevel gear;

[0013] Both the first pressing and engaging assembly and the second pressing and engaging assembly include a connecting seat. The connecting seat includes a vertical plate facing the spring damper. Parallel mounting plates and positioning plates are vertically mounted outward on the side of the vertical plate facing away from the spring damper. The mounting plates are installed in the middle of the vertical plate, and the positioning plates are installed at the end of the vertical plate away from the first active bevel teeth and the second active bevel teeth.

[0014] The mounting vertical plate has a mounting groove extending through the transmission rod axially. A first passive bevel gear that mates with the first active bevel gear is installed in the mounting groove of the first pressing and engaging component. A rotary shaft coaxial with the transmission rod is installed between the mounting vertical plate and the positioning vertical plate. A first driving bevel gear and a first driving gear are installed on the rotary shaft of the first pressing and engaging component. The first driving bevel gear mates with the first passive bevel gear. The first driving gear is installed at the end of the first driving bevel gear away from the first passive bevel gear.

[0015] The second driving bevel gear and the second driving gear are mounted on the rotating shaft of the second pressing and clamping assembly. The second driving bevel gear is installed in conjunction with the second passive bevel gear, and the second driving gear is installed at the end of the second driving bevel gear away from the second passive bevel gear.

[0016] A T-shaped groove is vertically formed on the upright plate near the worm gear end, and a cross-shaped groove is vertically formed on the upright plate away from the worm gear end. The cross-shaped groove is a through groove facing the spring damper. A first clamping claw is fitted on the upright plate of the first pressing clamping assembly, and a second clamping claw is fitted on the upright plate of the second pressing clamping assembly. Both the first and second clamping claws include an inverted L-shaped pressure plate. A T-shaped column that mates with the T-shaped groove and a cross-shaped column that mates with the cross-shaped groove are installed on the vertical end of the inverted L-shaped pressure plate facing away from the spring damper. A transmission spur gear is provided on the end of the cross-shaped column facing away from the spring damper. The transmission spur gear of the first pressing clamping assembly mates with the first drive gear, and the transmission spur gear of the second pressing clamping assembly mates with the second drive gear.

[0017] Furthermore, the pressing and engaging assembly is also equipped with angle deflection assemblies that respectively cooperate with the first pressing and engaging assembly and the second pressing and engaging assembly.

[0018] The angle deflection assembly includes an inverted L-shaped rocker arm. The horizontal part of the inverted L-shaped rocker arm is connected to the lower end face of the mounting vertical plate and is rotatably connected to the upper end face of the sliding plate. A guide block is installed on the vertical part of the inverted L-shaped rocker arm. The guide block is mounted on the mounting base. A guide rail is provided on the upper end face of the guide block to cooperate with the vertical part of the inverted L-shaped rocker arm.

[0019] Furthermore, a rotary hole is provided on the sliding plate, and a rotary protrusion is provided on the lower end face of the horizontal part of the inverted L-shaped rocker arm. The rotary protrusion is installed in the rotary hole, and the horizontal part of the inverted L-shaped rocker arm can drive the downward pressing and clamping assembly to rotate relative to the sliding plate.

[0020] Furthermore, the anti-jump assembly includes an anti-jump seat and an anti-jump pin. The anti-jump seat has a rectangular groove along the length of the straight teeth, and the anti-jump pin is installed in the rectangular groove. A sliding rod is installed on the lower part of the anti-jump pin on the side facing away from the buffer assembly along the length of the straight teeth. The other end of the sliding rod extends out of the anti-jump seat through the rectangular groove, and a limit nut is installed at the extended end. The sliding rod is slidably connected to the anti-jump seat, and a reset spring is installed between the sliding rod and the anti-jump seat. A clearance slope is formed on the upper surface of the anti-jump pin facing the buffer assembly. A T-shaped through groove is formed above the rectangular groove of the anti-jump seat, and movable parts matching the T-shaped through groove are formed on both sides of the anti-jump pin.

[0021] The beneficial effects of this utility model patent are as follows:

[0022] This utility model is a modular and replaceable satellite flange capture device. It uses a power component to drive a sliding seat and a pressing and clamping component to complete the alignment and pressing of the satellite flange. It also uses an anti-jump component to limit the flange position. By using a single power source and multiple components to complete multiple actions such as attitude alignment, pressing, and limiting anti-jump, the device achieves lightweight design and reduces the number of power sources. It is lightweight, small in size, and uses a single power source to drive the device. It ensures that the device can perform attitude alignment, pressing, and limiting of the flange. The device operates at a low speed with no large fluctuations in rotation speed, which meets the requirement of minimal disturbance to the target satellite during capture. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a perspective view of the overall structure of this utility model;

[0025] Figure 3 This is a perspective view of the present invention with the power assembly and buffer assembly disassembled.

[0026] Figure 4 This is a top view of the present invention showing the removal of the power assembly and the buffer assembly;

[0027] Figure 5 For along Figure 4 Sectional view of section BB;

[0028] Figure 6 This is a perspective view of the present invention after the power component has been removed;

[0029] Figure 7 This is a schematic diagram of the sliding seat structure in this utility model;

[0030] Figure 8 This is a front view of the installation of the sliding seat, anti-jump component, downward clamping component, and transmission component in this utility model.

[0031] Figure 9 This is a perspective view of the installation of the sliding seat, anti-jump component, downward clamping component, and transmission component in this utility model. Detailed Implementation

[0032] The present utility model patent will be further described below with reference to the accompanying drawings.

[0033] like Figure 1-9 As shown, a modular and replaceable capture device for satellite flanges is installed on the panel of a satellite maintenance cabin for capturing and locking the flanges of moving satellites. It includes a mounting base 6, on which a fixed base 5 and a sliding base 1 are mounted. A buffer assembly 4 is mounted above one end of the fixed base 5. A straight tooth 51 is provided on the upper surface of the middle part of the fixed base 5, and symmetrical slide rails 52 are provided below the other end of the fixed base 5. The sliding base 1 cooperates with the slide rails 52 to slide along the length of the straight tooth 51. A downward clamping assembly 3 and an anti-jump assembly 9 are mounted on the sliding base 1. The sliding base 1 and the downward clamping assembly 3 are externally connected to a power assembly 2 via a transmission assembly 7. During operation, the power assembly 2 drives the sliding base 1, the downward clamping assembly 3, and the anti-jump assembly 9 to approach the satellite flange via the transmission assembly 7. The power assembly 2 then drives the downward clamping assembly 3 to press down and clamp the satellite flange via the transmission assembly 7. After pressing down to the desired position, the anti-jump assembly 9 restricts the movement of the satellite flange.

[0034] like Figure 1-9 As shown, when the pressing and holding assembly 3 drives the satellite flange to press down towards the sliding seat 1, in order to buffer the satellite flange and reduce the generation of large rigid collisions, in this embodiment, the buffer assembly 4 includes a pair of spring dampers 41. The spring dampers 41 are fixedly installed on the fixed seat 5. The pressing and holding assembly 3 drives the satellite flange to press down towards the sliding seat 1, and the spring dampers 41 absorb the rigid collisions of the flange to achieve the buffering function.

[0035] like Figure 1-9 As shown, in order to achieve the cooperative installation of the power component 2, transmission component 7, anti-jump component 9 and downward clamping component 3, in this embodiment, the sliding seat 1 includes a sliding plate 13. The end of the sliding plate 13 away from the fixed seat 5 is inclined outward and upward with a positioning plate 11 for installing the power component 2. The upper surface of the sliding plate 13 is parallel to the support part 12 for cooperating with the installation of the transmission component 7. The end of the sliding plate 13 near the fixed seat 5 is provided with an installation block 15 extending outward. The anti-jump component 9 is installed above the installation block 15. The end of the installation block 15 facing the spring damper 41 is provided with an n-shaped groove 14. The part of the installation block 15 cooperating with the fixed seat 5 is provided with a sliding groove 16. The straight tooth 51 is installed in the sliding groove 16, and the length of the sliding groove 16 is greater than the length of the straight tooth 51.

[0036] like Figure 1-9 As shown, in order to achieve power transmission, a set of power outputs sequentially completes the functions of correcting the flange's posture, pressing down, and limiting its position. In this embodiment, the transmission assembly 7 includes a transmission rod 71, with an active incomplete tooth 72 installed in the middle of the transmission rod 71. The active incomplete tooth 72 is fitted with a passive incomplete tooth 75, which is installed in an n-shaped groove 14 and meshes with a straight tooth 51. The rotating shaft of the passive incomplete tooth 75 passes through the vertical surface of the n-shaped groove 14. The transmission rod 71 is parallel to the rotating shaft. During operation, the straight tooth 51 on the fixed seat 5 remains stationary. The sliding seat 1 moves along the length direction of the straight tooth 51 through the cooperation of the active incomplete tooth 72, the passive incomplete tooth 75, and the straight tooth 51. The transmission rod 71 passes through the parallel support portion 12 at both ends and is respectively fitted with the first active bevel gear 73 and the second active bevel gear 74. A bearing is installed between the transmission rod 71 and the support portion 12. The first active bevel gear 73 and the second active bevel gear 74 drive the downward clamping assembly 3 to complete the downward pressing action. In this embodiment, after the power component 2 outputs power, it engages with the passive incomplete gear 75 through the active incomplete gear 72. Then, the passive incomplete gear 75 engages with the straight gear 51 fixed in the sliding groove 16, so that the sliding seat 1 moves closer to the flange. The sliding seat 1 drives the downward clamping assembly 3 to move together to complete the alignment of the flange. After alignment, the first active bevel gear 73 and the second active bevel gear 74 respectively drive the first downward clamping assembly 31 and the second downward clamping assembly 32 to complete the downward clamping of the flange.

[0037] like Figure 1-9 As shown, in this embodiment, the power assembly 2 includes a motor 21, the output end of which is connected to a worm gear. A worm wheel 23 is mounted on the worm gear 71, near the active incomplete gear 72. The motor 21 is mounted on one end of the positioning plate 11 near the mounting base 6, and the worm gear is mounted on the other end of the positioning plate 11 via a worm gear seat 22. The worm gear structure transmits the power of the motor 21 to the transmission assembly 7, which then transmits the power to achieve the sliding motion of the sliding seat 1 and the downward pressing motion of the pressing engagement assembly 3. This patent reduces the number of power sources, resulting in a lightweight and compact design, using a single power source to drive the flange's attitude correction and pressing actions.

[0038] like Figure 1-9As shown, in this embodiment, the pressing and engaging assembly 3 includes a first pressing and engaging assembly 31 and a second pressing and engaging assembly 32 symmetrically mounted on the upper surface of the sliding plate 13; the first pressing and engaging assembly 31 and the second pressing and engaging assembly 32 are respectively fitted and installed with the first active bevel gear 73 and the second active bevel gear 74; both the first pressing and engaging assembly 31 and the second pressing and engaging assembly 32 include a connecting seat 39, the connecting seat 39 including a vertical plate 391 facing the direction of the spring damper 41, a parallel mounting vertical plate 394 and a positioning vertical plate 392 are vertically mounted outward on one end face of the vertical plate 391 away from the spring damper 41, the mounting vertical plate 394 is installed in the middle of the vertical plate 391, and the positioning vertical plate 392 is installed at the end of the vertical plate 391 away from the first active bevel gear 73 and the second active bevel gear 74; the mounting vertical plate 394 has a mounting groove 39 through it along the axial direction of the transmission rod 71. 3. A first passive bevel gear 313, which mates with the first active bevel gear 73, is installed in the mounting groove 393 of the first pressing and engaging assembly 31. A rotary shaft 33, coaxially arranged with the transmission rod 71, is installed between the mounting vertical plate 394 and the positioning vertical plate 392. A first driving bevel gear 312 and a first driving gear 311 are installed on the rotary shaft 33 of the first pressing and engaging assembly 31. The first driving bevel gear 312 mates with the first passive bevel gear 313, and the first driving gear 311 is installed at the end of the first driving bevel gear 312 away from the first passive bevel gear 313. A second driving bevel gear 322 and a second driving gear 321 are installed on the rotary shaft 33 of the second pressing and engaging assembly 32. The second driving bevel gear 322 mates with the second passive bevel gear 323, and the second driving gear 321 is installed at the end of the second driving bevel gear 322 away from the second passive bevel gear 323.

[0039] like Figure 1-9As shown, in this embodiment, a T-shaped groove 35 is vertically formed on the vertical plate 391 near the worm gear 23, and a cross-shaped groove 34 is vertically formed on the vertical plate 391 away from the worm gear 23. The cross-shaped groove 34 is a through groove facing the spring damper 41. A first clamping claw 314 is fitted on the vertical plate 391 of the first pressing clamping assembly 31, and a second clamping claw 324 is fitted on the vertical plate 391 of the second pressing clamping assembly 32. The first clamping claw 314 and the second clamping claw 324... Each includes an inverted L-shaped pressure plate 36. The vertical end of the inverted L-shaped pressure plate 36 facing away from the end face of the spring damper 41 is equipped with a T-shaped column 38 that mates with the T-shaped groove 35 and a cross-shaped column 37 that mates with the cross-shaped groove 34. The cross-shaped column 37 is provided with a transmission spur gear 361 at one end facing away from the spring damper 41. The transmission spur gear 361 of the first pressing and clamping assembly 31 mates with the first driving gear 311, and the transmission spur gear 361 of the second pressing and clamping assembly 32 mates with the second driving gear 321. During operation, the motor 21 transmits power to the transmission rod 71 via a worm gear mechanism. The transmission rod 71 drives the first active bevel gear 73 and the second active bevel gear 74 to rotate. The first active bevel gear 73 transmits power to the first driving bevel gear 312 via the first passive bevel gear 313, causing the first driving bevel gear 312 to rotate. The first driving bevel gear 312 drives the first driving gear 311 to rotate via the rotary shaft 33. The first driving gear 311 cooperates with the transmission spur gear 361 of the first pressing and engaging assembly 31 to complete the pressing motion of the first pressing and engaging assembly 31. The flange is pressed down; simultaneously, the second active bevel gear 74 transmits power through the first passive bevel gear 313 and the second drive bevel gear 322, driving the second drive bevel gear 322 to rotate. The second drive bevel gear 322 drives the second drive gear 321 to rotate through the rotary shaft 33. The second drive gear 321 cooperates with the transmission spur gear 361 of the second pressing engagement assembly 32 to complete the pressing motion of the second pressing engagement assembly 32 and complete the flange pressing action. Throughout the process, the first pressing engagement assembly 31 and the second pressing engagement assembly 32 work synchronously to complete the pressing action on the flange.

[0040] like Figure 1-9As shown, in order to coordinate with the sliding seat 1 and achieve the orientation correction of the flange, the downward clamping assembly 3 is also equipped with an angle deflection assembly 8 that cooperates with the first downward clamping assembly 31 and the second downward clamping assembly 32 respectively. The angle deflection assembly 8 includes an inverted L-shaped rocker arm 83. The horizontal part of the inverted L-shaped rocker arm 83 is connected to the lower end face of the mounting vertical plate 394 and is rotatably connected to the upper end face of the sliding plate 13. In this embodiment, the sliding plate 13 is provided with a rotation hole 17. The lower end face of the horizontal part of the inverted L-shaped rocker arm 83 is provided with a rotation protrusion. The rotation protrusion is installed in the rotation hole 17. The horizontal part of the inverted L-shaped rocker arm 83 can drive the downward clamping assembly 3 to rotate relative to the sliding plate 13. The vertical portion of the inverted L-shaped rocker arm 83 is fitted with a guide block 81, which is mounted on the mounting base 6. The upper surface of the guide block 81 has a guide rail 82 that mates with the vertical portion of the inverted L-shaped rocker arm 83. The guide rail 82 of the angle deflection assembly 8, which mates with the first pressing engagement assembly 31 and the second pressing engagement assembly 32, forms a V-shape facing the spring damper 41. During operation, the sliding seat 1 drives the first pressing engagement assembly 31 and the second pressing engagement assembly 32 to move. Under the guidance of the guide rail 82, the vertical portion of the inverted L-shaped rocker arm 83 on the angle deflection assembly 8 rotates relative to the sliding plate 13 with the pressing engagement assembly 3, causing an angle deflection. This maximizes the positive contact area between the first engagement claw 314 and the second engagement claw 324 of the pressing engagement assembly 3 and the flange.

[0041] like Figure 1-9 As shown, after the pressing and clamping assembly 3 presses the flange into place, in order to limit the flange and prevent it from jumping back, in this embodiment, the anti-jump assembly 9 includes an anti-jump seat 95 and an anti-jump pin 91. The anti-jump seat 95 has a rectangular groove along the length of the straight tooth 51. The anti-jump pin 91 is installed in the rectangular groove. A sliding rod 92 is installed on the lower part of the anti-jump pin 91 on the side away from the buffer assembly 4 along the length of the straight tooth 51. The other end of the sliding rod 92 extends out of the anti-jump seat 95 through the rectangular groove, and a limit nut 93 is installed at the extended end. The sliding rod 92 is slidably connected to the anti-jump seat 95, and a reset spring 94 is installed between the sliding rod 92 and the anti-jump seat 95. The upper surface of the anti-jump pin 91 has a clearance slope facing the buffer assembly 4. A T-shaped through groove 951 is opened above the rectangular groove of the anti-jump seat 95, and movable parts matching the T-shaped through groove 951 are opened on both sides of the anti-jump pin 91.

[0042] During operation, the pressing engagement assembly 3 presses down the flange. The flange first contacts the clearance slope of the anti-jump pin 91, pushing the anti-jump pin 91 to move backward along the length of the straight tooth 51 and compressing the return spring 94 to store energy. When the anti-jump pin 91 moves backward and displaces the flange, the flange no longer compresses the anti-jump pin 91. After the lower end face of the anti-jump pin 91 contacts the upper end face of the flange, the anti-jump pin 91 is released. Under the action of the return spring 94, the anti-jump pin 91 moves forward along the length of the straight tooth 51, so that the edge of the flange is locked on the lower end face of the anti-jump pin 91, thereby preventing the flange from jumping back and preparing for subsequent braking and locking.

[0043] The working principle of this utility model is as follows:

[0044] During operation, three actions must be performed: correcting the flange's posture, pressing it down, and limiting its position.

[0045] Attitude Correction: Motor 21 rotates forward, driving the worm and worm wheel 23 to move. Worm wheel 23 drives transmission rod 71 to rotate, and transmission rod 71 drives the active incomplete gear 72 and the first active bevel gear 73 to rotate. Before the worm wheel 23 and the incomplete gear rotate 51°, the active incomplete gear 72 will drive the passive incomplete gear 75 to rotate. After the passive incomplete gear 75 meshes with the spur gear 51 fixed on the fixed seat 5, it will drive the entire sliding seat 1 to move forward. Under the influence of the guide rail 82 on the guide block 81, the vertical part of the inverted L-shaped rocker arm 83 on the angle deflection assembly 8, guided by the guide rail 82, causes the horizontal part of the inverted L-shaped rocker arm 83 to rotate relative to the sliding plate 13 with the downward clamping assembly 3, resulting in an angle deflection. This maximizes the positive contact area between the first clamping claw 314 and the second clamping claw 324 of the downward clamping assembly 3 and the flange. The positive contact between the first clamping claw 314 and the second clamping claw 324 and the flange corrects the flange's posture. When the worm gear 23 and the active incomplete gear 72 rotate more than 51° and continue to rotate, the cylindrical surface of the active incomplete gear 72 contacts the concave surface of the passive incomplete gear 75. As the active incomplete gear 72 continues to rotate, the passive incomplete gear 75 will no longer rotate.

[0046] After the flange is aligned, the motor 21 continues to transmit power to the transmission rod 71 through the worm gear mechanism. While the active incomplete gear 72 continues to rotate, the passive incomplete gear 75 will not rotate. The transmission rod 71 drives the first active bevel gear 73 and the second active bevel gear 74 to rotate. The first active bevel gear 73 transmits power to the first driving bevel gear 312 through the first passive bevel gear 313, driving the first driving bevel gear 312 to rotate. The first driving bevel gear 312 drives the first driving gear 311 to rotate through the rotary shaft 33. The first driving gear 311 cooperates with the transmission spur gear 361 of the first pressing engagement assembly 31 to complete the first pressing engagement assembly 31's first... The first clamping claw 314 presses down to complete the flange pressing action; simultaneously, the second active bevel gear 74 transmits power through the first passive bevel gear 313 and the second driving bevel gear 322, driving the second driving bevel gear 322 to rotate. The second driving bevel gear 322 drives the second driving gear 321 to rotate through the rotary shaft 33. The second driving gear 321 cooperates with the transmission spur gear 361 of the second pressing clamping assembly 32 to complete the pressing action of the second clamping claw 324 of the second pressing clamping assembly 32, thus completing the flange pressing action. Throughout the process, the first pressing clamping assembly 31 and the second pressing clamping assembly 32 work synchronously to complete the pressing action of the flange, pressing the flange tightly onto the sliding seat 1. When the pressing clamping assembly 3 drives the flange to move towards the sliding seat 1, the spring damper 41 fixed on the fixed seat 5 will buffer the movement of the flange to prevent large rigid collisions.

[0047] Limiting flange: The pressing and engaging assembly 3 drives the flange to press down towards the sliding seat 1. The flange first contacts the clearance slope of the anti-jump pin 91, pushing the anti-jump pin 91 to move backward along the length direction of the straight tooth 51 and compressing the reset spring 94 to store energy. When the anti-jump pin 91 moves backward and misaligns to let the flange go, the flange no longer compresses the anti-jump pin 91. After the lower end face of the anti-jump pin 91 contacts the upper end face of the flange, the anti-jump pin 91 is released. Under the action of the reset spring 94, the anti-jump pin 91 moves forward along the length direction of the straight tooth 51, so that the edge of the flange is stuck on the lower end face of the anti-jump pin 91, thereby preventing the flange from jumping back.

[0048] This embodiment does not impose any limitation on the shape, material, structure, etc. of this utility model patent. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model patent shall fall within the protection scope of this utility model patent technical solution.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model patent, and are not intended to limit it. Although this utility model patent has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model patent.

Claims

1. A modular, replaceable flange-grabbing device for satellites, installed on the panel of a satellite maintenance cabin, for grabbing and locking the flange of a moving satellite, characterized in that, Includes a mounting base, on which a fixed base and a sliding base are mounted. A buffer assembly is mounted above one end of the fixed base. Straight teeth are provided on the upper surface of the middle part of the fixed base. A slide rail is symmetrically provided below the other end of the fixed base. The sliding base cooperates with the slide rail and slides along the length direction of the straight teeth. The sliding seat is fitted with a pressing and clamping component and an anti-jumping component. The sliding seat and the pressing and clamping component are connected to a power component via a transmission component. During operation, the power component drives the sliding seat, the pressing and clamping component, and the anti-jumping component to approach the satellite's flange via the transmission component. The power component then drives the pressing and clamping component to press down and clamp the satellite's flange via the transmission component. After pressing down to the position, the anti-jumping component restricts the movement of the satellite's flange.

2. The modular and replaceable capture device with a star-arrow flange according to claim 1, characterized in that, The buffer assembly includes a pair of spring dampers, which are fixedly mounted on a mounting base.

3. The modular and replaceable capture device with a star-arrow flange according to claim 2, characterized in that, The sliding seat includes a sliding plate. A positioning plate for mounting a power component is inclined outward and upward at one end of the sliding plate away from the fixed seat. A support portion for mounting a transmission component is arranged parallel to the upper surface of the sliding plate. A mounting block is extended outward at one end of the sliding plate near the fixed seat. An anti-jump component is mounted on top of the mounting block. An n-shaped groove is formed through the mounting block at the end facing the spring damper. A sliding groove is formed through the mounting block and the fixed seat mating part. A straight tooth is installed in the sliding groove, and the length of the sliding groove is greater than the length of the straight tooth.

4. The modular and replaceable capture device with a star-arrow flange according to claim 3, characterized in that, The transmission assembly includes a transmission rod with an active incomplete tooth mounted in the middle. A passive incomplete tooth is fitted onto the active incomplete tooth and is installed in an n-shaped groove, meshing with a straight tooth. The rotation shaft of the passive incomplete tooth passes through the vertical surface of the n-shaped groove. The transmission rod is parallel to the rotation shaft. Both ends of the transmission rod pass through parallel support portions and are fitted with a first active bevel tooth and a second active bevel tooth, respectively. A bearing is installed between the transmission rod and the support portion.

5. The modular and replaceable capture device with a star-arrow flange according to claim 4, characterized in that, The power assembly includes a motor, the output end of which is connected to a worm gear. A worm wheel is fitted onto the worm gear, which is mounted on a transmission rod and close to the active incomplete tooth. The motor is mounted on one end of the positioning plate near the mounting base, and the worm gear is mounted on the other end of the positioning plate via a worm gear seat.

6. The modular and replaceable capture device with a star-arrow flange according to claim 5, characterized in that, The pressing and gripping assembly includes a first pressing and gripping assembly and a second pressing and gripping assembly symmetrically mounted on the upper surface of the sliding plate; the first pressing and gripping assembly and the second pressing and gripping assembly are respectively fitted and installed with a first active bevel tooth and a second active bevel tooth. Both the first pressing and engaging assembly and the second pressing and engaging assembly include a connecting seat. The connecting seat includes a vertical plate facing the spring damper. Parallel mounting plates and positioning plates are vertically mounted outward on the side of the vertical plate facing away from the spring damper. The mounting plates are installed in the middle of the vertical plate, and the positioning plates are installed at the end of the vertical plate away from the first active bevel teeth and the second active bevel teeth. The mounting vertical plate has a mounting groove extending through the transmission rod axially. A first passive bevel gear that mates with the first active bevel gear is installed in the mounting groove of the first pressing and engaging component. A rotary shaft coaxial with the transmission rod is installed between the mounting vertical plate and the positioning vertical plate. A first driving bevel gear and a first driving gear are installed on the rotary shaft of the first pressing and engaging component. The first driving bevel gear mates with the first passive bevel gear. The first driving gear is installed at the end of the first driving bevel gear away from the first passive bevel gear. The second driving bevel gear and the second driving gear are mounted on the rotating shaft of the second pressing and clamping assembly. The second driving bevel gear is installed in conjunction with the second passive bevel gear, and the second driving gear is installed at the end of the second driving bevel gear away from the second passive bevel gear. A T-shaped groove is vertically formed on the upright plate near the worm gear end, and a cross-shaped groove is vertically formed on the upright plate away from the worm gear end. The cross-shaped groove is a through groove facing the spring damper. A first clamping claw is fitted on the upright plate of the first pressing clamping assembly, and a second clamping claw is fitted on the upright plate of the second pressing clamping assembly. Both the first and second clamping claws include an inverted L-shaped pressure plate. A T-shaped column that mates with the T-shaped groove and a cross-shaped column that mates with the cross-shaped groove are installed on the vertical end of the inverted L-shaped pressure plate facing away from the spring damper. A transmission spur gear is provided on the end of the cross-shaped column facing away from the spring damper. The transmission spur gear of the first pressing clamping assembly mates with the first drive gear, and the transmission spur gear of the second pressing clamping assembly mates with the second drive gear.

7. A modular and replaceable capture device with a star-arrow flange according to claim 6, characterized in that, The pressing and engaging assembly is also equipped with angle deflection assemblies that respectively cooperate with the first pressing and engaging assembly and the second pressing and engaging assembly. The angle deflection assembly includes an inverted L-shaped rocker arm. The horizontal part of the inverted L-shaped rocker arm is connected to the lower end face of the mounting vertical plate and is rotatably connected to the upper end face of the sliding plate. A guide block is installed on the vertical part of the inverted L-shaped rocker arm. The guide block is mounted on the mounting base. A guide rail is provided on the upper end face of the guide block to cooperate with the vertical part of the inverted L-shaped rocker arm.

8. The modular and replaceable capture device with a star-arrow flange according to claim 7, characterized in that, The sliding plate has a rotary hole, and the lower end face of the horizontal part of the inverted L-shaped rocker arm has a rotary protrusion. The rotary protrusion is installed in the rotary hole, and the horizontal part of the inverted L-shaped rocker arm can drive the downward pressing and hugging assembly to rotate relative to the sliding plate.

9. A modular and replaceable capture device with a star-arrow flange according to claim 8, characterized in that, The anti-jump assembly includes an anti-jump seat and an anti-jump pin. The anti-jump seat has a rectangular groove along the length of the straight teeth. The anti-jump pin is installed in the rectangular groove. A sliding rod is installed on the lower part of the anti-jump pin on the side away from the buffer assembly along the length of the straight teeth. The other end of the sliding rod extends out of the anti-jump seat through the rectangular groove, and a limit nut is installed at the extended end. The sliding rod is slidably connected to the anti-jump seat, and a return spring is installed between the sliding rod and the anti-jump seat. The upper end face of the anti-jump pin has a clearance slope facing the buffer assembly. A T-shaped through groove is opened above the rectangular groove of the anti-jump seat, and movable parts matching the T-shaped through groove are opened on both sides of the anti-jump pin.

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