Locking mechanism and capture device

Abstract

The utility model discloses locking mechanism and capture device, locking mechanism includes base, drive mechanism, clamping arm and swing block, base sets up drive mechanism, and drive mechanism output end stretches into the base, and drive mechanism output end is configured as generating movement action along base height direction, a group of clamping arms are symmetrically arranged on both sides of base, and clamping arm bottom end all are connected with drive mechanism output end, and the middle section of clamping arm and swing block on the swing on base constitute the sliding guide cooperation along the height direction of clamping arm, and a group of clamping arm top end reserve distance, the utility model has the beneficial effect: the utility model requires the self -locking effect of drive mechanism self -bearing, and the connection of cooperation clamping arm, swing block and base, realize clamping arm movement and overturn, and finally realize clamping.

Description

Technical Field

[0001] This utility model relates to the field of aerospace technology, and in particular to a locking mechanism and a capture device. Background Technology

[0002] With the development of science and technology, countries around the world have increased their research efforts in the aerospace field. However, Earth's orbital resources are scarce, especially the geostationary orbit used by communication satellites, which is an extremely valuable and unique orbit. Therefore, on-orbit capture technology has become a research hotspot and challenge in the global aerospace field. On-orbit capture of non-cooperative targets will play an important role in auxiliary mechanism deployment, satellite refueling, maintenance, and replacement of faulty components. A major technical challenge in on-orbit capture of non-cooperative targets lies in the design of the capture mechanism.

[0003] Chinese patent document CN109131956A discloses a non-cooperative target star-rocket docking ring capture mechanism and its capture method. The mechanism uses a motor to directly drive a ball screw shaft, which drives a nut to perform linear motion. The nut drives the inner and outer capture fingers to open and close through an adapter, thereby capturing the non-cooperative target. A limit switch and a limit switch signal acquisition board are used to control the opening and closing of the capture fingers.

[0004] Although the capture device has advantages such as small size, large tolerance, high connection rigidity and short capture time, the ball screw itself is not self-locking and needs to be equipped with a brake; and the limit switch and its acquisition board increase the structural complexity of the device, resulting in an overall non-compact structure and low integration.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0006] The technical problem to be solved by this utility model is to solve the problem of complex and non-compact structure of the docking ring capture mechanism while ensuring its self-locking.

[0007] This utility model solves the above-mentioned technical problems through the following technical means: This utility model claims to protect a locking mechanism, including a base, a drive mechanism, clamping arms, and a swing block; the base is provided with a drive mechanism, the output end of which extends into the base, and the output end of the drive mechanism moves to a predetermined position along the height direction of the base and then self-locks; a set of clamping arms are symmetrically arranged on both sides of the base, the bottom end of each clamping arm is connected to the output end of the drive mechanism, the middle section of the clamping arm and the swing block connected to the base form a sliding guide engagement along the height direction of the clamping arm, and a reserved distance is left at the top of the set of clamping arms.

[0008] The present utility model aims to protect the self-locking effect of the driving mechanism. By cooperating with the connection of the clamping arm, the swing block and the base, the movement and flipping of the clamping arm are realized, and finally clamping is achieved.

[0009] Preferably, the driving mechanism includes a driving motor, a丝杆 (should be "screw rod"), a nut and a guiding unit; the longitudinal section of the base is in a "square" shape structure. The driving motor is arranged at the bottom of the base, and the output shaft of the driving motor is coaxially connected to the screw rod. The screw rod passes through the base, and both ends of the screw rod are respectively in transfer cooperation with the base. The screw rod meshes with the nut, and the nut constitutes the output end of the driving mechanism. A guiding unit is arranged between the nut and the base.

[0010] The driving motor provides a power source, so that under the action of the guiding unit, the nut drives the nut to move along its axis.

[0011] Preferably, the guiding unit is a guiding pin. The guiding pin is arranged on the side of the nut, and a guiding groove is opened along the height direction of the inner wall of the base. The guiding pin is in sliding fit with the guiding groove.

[0012] By sliding the guiding pin in the guiding groove, the nut is realized to move linearly along its axis.

[0013] Preferably, the longitudinal section of the clamping arm is in a "C" shape structure. Both sides at the bottom end of the clamping arm extend towards the direction close to the nut to form extension segments, and the extension segments are in transfer cooperation with the nut through pin joints.

[0014] The extension segments extend towards the direction close to the nut, which can avoid the collision between the clamping arm and the base when the clamping arm moves.

[0015] Preferably, the vertical part on the longitudinal section of the clamping arm is defined as the middle section of the clamping arm. The middle section of the clamping arm penetrates through a sliding groove, the length direction of the sliding groove is consistent with the longitudinal rod part of the clamping arm, and a swing block is slidably arranged in the sliding groove.

[0016] Through the cooperation of the sliding groove and the swing block, the guiding effect on the clamping arm is realized. The swing block 35 is a mechanical device, usually made of metal or ceramic materials, and is used to realize the reciprocating swing movement at a specific angle.

[0017] Preferably, mounting holes are opened at both the bottom and the top of the base, and both ends of the screw rod are respectively in transfer cooperation with the mounting holes.

[0018] The mounting holes play a limiting role on the screw rod to ensure the running stability of the screw rod.

[0019] Preferably, the locking mechanism further includes a bearing, and a bearing is arranged between the mounting hole and the screw rod.

[0020] The bearing mainly supports the screw rod, reduces friction, bears loads, ensures the rotation accuracy of the screw rod, and plays a role in sealing and protection in some cases.

[0021] This utility model also claims a capture device employing a locking mechanism, including a locking mechanism, a first elastic pressing mechanism, and a second elastic pressing mechanism; the first elastic pressing mechanism is provided at the top of the base, and the second elastic pressing mechanism is provided at the top of the clamping arm.

[0022] Preferably, the first elastic clamping mechanism includes a boss, a first disc spring, and a first screw. A first circular hole is formed on the top surface of the base, and the axis of the first circular hole is vertical. The boss is connected to the first circular hole through the first disc spring. A first screw hole is formed on the top side of the base, and the axis of the first screw hole is horizontal. The first screw hole and the first circular hole are connected to each other. The first screw hole engages with the first screw, and the first screw slides in the first limiting groove on the side of the boss. The length of the first limiting groove is parallel to the axis of the boss.

[0023] Under the action of the first round hole and the first screw, the boss is limited to the maximum movement distance of the boss in the first round hole. Combined with the elastic restoring force of the first disc spring, the boss is pressed against the mating ring. Therefore, in the locked state, the locking force provided by the boss and the self-locking characteristic of the screw reinforce each other, forming a double insurance.

[0024] Preferably, the second elastic clamping mechanism includes a second pin, a second disc spring, and a second screw. A second circular hole is opened at the top of the clamping arm, the axis of the second circular hole is horizontal, and the second screw is connected to the second circular hole through the second disc spring. A second screw hole is opened in the clamping arm, the axis of the second screw hole is vertical, the second screw hole communicates with the second circular hole, and the second screw is coaxially engaged in the second screw hole. The second screw slides in the second limiting groove on the side of the second pin. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the locking mechanism in Embodiment 1 of this utility model; Figure 2 This is a schematic diagram of the base structure in Embodiment 2 of this utility model; Figure 3 yes Figure 2 Schematic diagram of the cross-section from the perspective of the middle AA (analog optics). Figure 4 yes Figure 3 A magnified view of a portion of the image; Figure 5 This is a schematic diagram of the clamping arm in Embodiment 2 of this utility model; Figure 6 yes Figure 5 Schematic diagram of the cross-section structure from the perspective of the middle BB; Figure 7 yes Figure 6 A magnified view of a portion of the image; Figure 8 This is a perspective view of the first process of the capture device in Embodiment 2 of this utility model for capturing a non-cooperative target space-based satellite-rocket docking ring; Figure 9 This is a front view of the first process of the capture device in Embodiment 2 of this utility model for capturing a non-cooperative space target star-rocket docking ring; Figure 10 This is a front view of the second process of the capture device in Embodiment 2 of this utility model for capturing a non-cooperative space target star-rocket docking ring; Figure 11 This is a front view of the third process of the capture device used to capture the space non-cooperative target star-rocket docking ring in Embodiment 2 of this utility model; Figure 12 This is a front view of the fourth process of the capture device used to capture the space non-cooperative target star-rocket docking ring in Embodiment 2 of this utility model; Figure 13 This is a front view of the fifth process of the capture device used to capture the space non-cooperative target star-rocket docking ring in Embodiment 2 of this utility model; Figure 14 yes Figure 13 Schematic diagram of the cross-section from a mid-CC perspective; 10. Boss; 11. First disc spring; 12. First screw; 20. Second pin; 21. Second disc spring; 22. Second screw; 30. Base; 300. Guide groove; 310. Drive motor; 311. Lead screw; 312. Nut; 313. Guide pin; 32. First bearing; 33. Second bearing; 34. Clamping arm; 340. Extension section; 341. Slide groove; 35. Swing block. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] Example 1 See Figure 1 This embodiment requires a protective locking mechanism, including a base 30, a drive motor 310, a lead screw 311, a nut 312, a guide pin 313, a first bearing 32, a second bearing 33, a clamping arm 34, and a swing block 35.

[0028] The longitudinal section of the base 30 is in the shape of a "mouth" - shaped frame structure. A driving motor 310 is provided at the bottom of the base 30. The output shaft of the driving motor 310 is coaxially connected to a lead screw. The lead screw passes through the first mounting hole at the bottom of the base 30. A first bearing 32 is provided between the first mounting hole and the lead screw. The first bearing 32 is an angular contact bearing. The top of the lead screw is转接 (the specific Chinese word here might be wrong, it should be something like "connected and transferred" in a mechanical sense) with the second mounting hole provided at the top of the base 30. A second bearing 33 is provided between the second mounting hole and the top of the lead screw. A nut 312 is engaged with the lead screw. The lead screw 311 is a mechanical transmission element, mainly cooperating with the nut 312 to convert rotational motion into linear motion or convert linear motion into rotational motion, which is prior art and will not be elaborated further.

[0029] The outer surface of the nut 312 is in a square structure. Guide pins 313 are provided on both the left and right sides of the nut 312. The guide pins 313 and the guide grooves 300 provided on the inner wall of the base 30 form a guiding fit along the height direction of the base 30.

[0030] The guiding fit means that the guide grooves 300 are provided on the inner wall of the base 30. The length of the guide grooves 300 is consistent with the height direction of the base 30. One end of the guide pins 313 is connected to both sides of the nut 312. The guide pins 313 and the nut 312 are perpendicular to each other. The other end of the guide pins 313 is inserted and fitted with the guide grooves 300.

[0031] A set of clamping arms 34 are symmetrically arranged on both the left and right sides of the base 30. A certain distance is reserved between the tops of the set of clamping arms 34. The longitudinal section of the clamping arm 34 is in the shape of a "匚" - shaped structure. The bottom ends of the clamping arms 34 pass through the base 30 and are respectively转接 (again, might be wrong, should be like "connected and transferred") with the front and rear sides of the nut 312.

[0032] The connection between the clamping arm 34 and the nut 312 means that the front and rear sides of the bottom ends of the clamping arm 34 extend towards the nut 312 to form extension segments 340. The extension segments 340 are respectively connected and transferred with the corresponding front and rear sides of the nut 312 through the first pin.

[0033] Swing blocks 35 are symmetrically connected and transferred on both the left and right sides of the base 30. The swing block 35 is a mechanical device, usually made of metal or ceramic materials, used to achieve reciprocating swing motion at a specific angle. It plays a role in transmitting power, adjusting position, and controlling motion in a mechanical system, which is prior art and will not be elaborated further. The swing blocks 35 are respectively fitted with the sliding grooves 341 penetrating the longitudinal rod parts of the corresponding clamping arms 34.

[0034] The longitudinal rod part of the clamping arm 34 refers to the part formed along the vertical direction on the longitudinal section of the clamping arm 34, in the shape of a horizontally placed U - shaped frame structure. Part of the base 30 is located inside the U - shaped opening of the longitudinal rod part of the clamping arm 34. The front and rear sides of the inner wall of the U - shaped frame are penetrated with sliding grooves 341. The sliding grooves 341 are T - shaped grooves. The length of the sliding grooves 341 is consistent with the height direction of the clamping arm 34. The corresponding swing blocks 35 are slidably arranged in the sliding grooves 341.

[0035] It should be noted that there might be some inaccuracies in the Chinese text provided, especially the unclear "转接" parts which are translated as best as possible based on the context, but might need further clarification in the original Chinese for a more accurate translation.The slide 341 is not limited to a T-shaped groove; its main purpose is to ensure that the swing block 35 does not detach from the slide 341 during the sliding process.

[0036] It is worth mentioning that the top of the base 30 is a flat plate structure that is wide in the middle and narrow at both ends. The wide part in the middle is defined as the wide part, and the narrow part at both ends is defined as the narrow part. The nut 312 is almost the same width as the wide part, and the narrow part provides space for the installation of the swing block 35 and the longitudinal rod of the clamping arm 34.

[0037] Example 2 See Figures 2-7 This embodiment, based on Embodiment 1, requires the protection of a capture device for capturing a space non-cooperative target star-rocket docking ring. The space non-cooperative target star-rocket docking ring is a common structure on spacecraft and is often used as a feature component for attitude measurement and capture fixation in space non-cooperative capture missions. The connection between the docking ring and the capture device has an inverted T-shaped structure, which is existing technology and will not be described in detail here.

[0038] The capturing device includes a locking mechanism, a boss 10, a first disc spring 11, a first screw 12, a second pin 20, a second disc spring 21, and a second screw 22.

[0039] Two sets of first circular holes are opened on the left and right sides of the top surface of the base 30. There are two first circular holes in each set, and they are placed along the width direction of the base 30. The first circular hole is a countersunk hole and its axis is vertical. A boss 10 is coaxially inserted into the first circular hole, and the boss 10 is connected to the first circular hole through a first disc spring 11.

[0040] The base 30 has a first screw hole on its side. The first screw hole and the first round hole are arranged in a one-to-one correspondence. The axis of the first screw hole is horizontal and the first screw hole and the first round hole are connected to each other. The first screw 12 is engaged in the first screw hole. The first screw 12 is slidably fitted in the first limiting groove on the side of the boss 10. The length of the first limiting groove is parallel to the axis of the boss 10 to limit the maximum and minimum displacement of the boss 10 sliding along the axis of the first round hole.

[0041] In fact, the number of the first round hole and the first screw hole is not limited to four, but it is necessary to ensure that the first round hole and the first screw hole correspond to each other.

[0042] A second circular hole is opened at the top of the clamping arm 34. The axis of the second circular hole is horizontal. A second pin 20 is coaxially inserted into the second circular hole. The second pin 20 and the second circular hole are connected by a second disc spring 21.

[0043] A second screw hole is opened on the upper surface of the clamping arm 34. The axis of the second screw hole is vertical and communicates with the second round hole. The second screw 22 is coaxially engaged in the second screw hole. The second screw 22 is slidably fitted in the second limiting groove opened on the side of the second pin 20. The second limiting groove is an arc-shaped groove structure to limit the maximum and minimum displacement of the second pin 20 sliding along the axial direction of the second round hole.

[0044] See Figures 8-14 The process by which this capture device captures the docking ring of a non-cooperative space target star-rocket system is as follows: S1. Adjust the capture device to be fully deployed, specifically including: S11. Start the drive motor 310. When the screw 311 and nut 312 mesh, the clamping arm 34 moves upward. The nut 312 drives the bottom end of the clamping arm 34 to move upward, so that the clamping arm 34 rotates around its bottom end. As the bottom end of the clamping arm 34 moves upward and rotates, the swing block 35 rotates accordingly and slides in the slide groove 341 until the rotation center of the rotating pair formed by the clamping arm 34 and the nut 312 is at the same horizontal height as the rotation center of the swing block 35. At this point, the clamping arm 34 completes the linear motion.

[0045] S12. After the nut 312 continues to move upward past the rotation center of the swing block 35, a set of clamping arms 34 open symmetrically until they reach the maximum opening position.

[0046] S2. Place the docking ring on top of the base 30 between a set of clamping arms 34, based on the inverted T-shaped structure of the part where the docking ring and the capture device are installed; reverse start the drive motor 310, refer to S1, and will not be repeated here, until the top of the set of clamping arms 34 are respectively pressed against the bottom sides of the docking ring, and the top of the set of clamping arms 34 respectively abut against the sides of the vertical rod of the docking ring. The vertical rod of the docking ring refers to the vertical part of the docking ring.

[0047] At this time, after the drive motor 310 is de-energized, due to the self-locking characteristic of the lead screw 311, the top of one set of clamping arms 34 engages with the bottom sides of the ring, and the top of another set of clamping arms 34 initially locks the sides of the longitudinal rod of the ring.

[0048] The boss 10, under the action of the first round hole and the first screw 12, restricts the maximum movement distance of the boss 10 in the first round hole. Combined with the elastic restoring force of the first disc spring 11, the boss 10 is pressed against the docking ring. Therefore, in the locked state, the locking force provided by the boss 10 and the self-locking characteristic of the screw 311 reinforce each other, forming a double insurance. Similarly, the second pin 20 presses against both sides of the longitudinal rod of the docking ring, which will not be described in detail.

[0049] It is worth mentioning that the predetermined positions include the maximum opening position reached after the nut 312 moves upward past the rotation center of the swing block 35, and the clamping position when the nut 312 moves in the opposite direction to the top of the clamping arm 34 and presses against the bottom sides of the docking ring respectively.

[0050] In this embodiment, firstly, the complex brake module is replaced by the self-locking function of the lead screw 311 itself. For example, when the nut 312 moves to a specific position, it can resist the reverse movement or load and keep its position unchanged without the need for additional external force or energy, thus achieving the self-locking function of the capture device. Secondly, the capture status is determined by locking the motor current and position, replacing the function of the limit switch and its acquisition board; specifically, when the clamping arm 34 is in place and pressed against the docking ring, the drive motor 310 cannot continue to rotate due to obstruction, and its drive motor 310 output shaft is locked.

[0051] Combined with the synergistic effect of the boss 10 and the second pin 20, it not only ensures the self-locking effect of the capture device, but also makes the whole structure simple and compact.

[0052] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such 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.

Claims

1. A locking mechanism, characterized in that, It includes a base (30), a driving mechanism, clamping arms (34) and a swing block (35); the base (30) is provided with a driving mechanism, the output end of the driving mechanism extends into the base (30), and the output end of the driving mechanism moves along the height direction of the base (30) to a predetermined position and then locks itself. A set of clamping arms (34) are symmetrically arranged on both sides of the base (30). The bottom ends of the clamping arms (34) are all转接配合 with the output end of the driving mechanism. The middle sections of the clamping arms (34) and the swing block (35)转接在 the base (30) form a sliding guiding fit along the height direction of the clamping arms (34). A distance is reserved at the top ends of the set of clamping arms (34).

2. The locking mechanism according to claim 1, characterized in that, The driving mechanism includes a driving motor (310), a丝杆 (311), a nut (312) and a guiding unit; the longitudinal section of the base (30) is in a "mouth" - shaped structure. The driving motor (310) is arranged at the bottom of the base (30). The output shaft of the driving motor (310) is coaxially connected to the丝杆 (311). The丝杆 (311) passes through the base (30), and both ends of the丝杆 (311) are respectively转接配合 with the base (30). The丝杆 (311) meshes with the nut (312). The nut (312) constitutes the output end of the driving mechanism, and a guiding unit is arranged between the nut (312) and the base (30).

3. The locking mechanism according to claim 2, characterized in that, The guiding unit is a guiding pin (313). The guiding pin (313) is arranged on the side surface of the nut (312). A guiding groove (300) is opened on the inner wall of the base (30) along the height direction of the base (30), and the guiding pin (313) is slidably fitted in the guiding groove (300).

4. The locking mechanism according to claim 2, characterized in that, The longitudinal section of the clamping arm (34) is in a "匚" - shaped structure. The two sides of the bottom end of the clamping arm (34) extend towards the direction close to the nut (312) to form an extended section (340), and the extended section (340) is转接配合 with the nut (312) through a pin.

5. The locking mechanism according to claim 4, characterized in that, Define the vertical part on the longitudinal section of the clamping arm (34) as the middle section of the clamping arm (34). The middle section of the clamping arm (34) penetrates through a chute (341). The length direction of the chute (341) is consistent with the longitudinal rod part of the clamping arm (34), and the swing block (35) is slidably arranged in the chute (341).

6. The locking mechanism according to claim 2, characterized in that, Installation holes are opened at both the bottom and the top of the base (30), and both ends of the丝杆 (311) are respectively转接配合 with the installation holes.

7. The locking mechanism according to claim 2, characterized in that, It also includes a bearing, and a bearing is arranged between the installation hole and the丝杆 (311).

8. A capturing device employing the locking mechanism according to any one of claims 1 to 7, characterized in that, It includes a locking mechanism, a first elastic pressing mechanism and a second elastic pressing mechanism; the first elastic pressing mechanism is arranged at the top of the base (30), and the second elastic pressing mechanism is arranged at the top end of the clamping arm (34).

9. The capturing device according to claim 8, characterized in that, The first elastic pressing mechanism includes a boss (10), a first disc spring (11) and a first screw (12). A first round hole is opened on the top surface of the base (30), and the axis of the first round hole is vertical. The boss (10) is connected in the first round hole through the first disc spring (11); a first screw hole is opened on the side surface of the top of the base (30), and the axis of the first screw hole is horizontal. The first screw hole and the first round hole are connected to each other. The first screw (12) is meshed in the first screw hole, and the first screw (12) is slidably fitted in the first limiting groove on the side surface of the boss (10), and the length of the first limiting groove is parallel to the axis of the boss (10). It should be noted that there are some Chinese terms like "转接配合" which may not have a very accurate and common English equivalent in this context. I've tried to translate them as literally as possible while maintaining the meaning. You may need to adjust according to the actual technical context for more accurate translation.

10. The capturing device according to claim 8, characterized in that, The second elastic clamping mechanism includes a second pin (20), a second disc spring (21), and a second screw (22). A second circular hole is opened at the top of the clamping arm (34). The axis of the second circular hole is horizontal. The second screw (22) is connected to the second circular hole through the second disc spring (21). A second screw hole is opened in the clamping arm (34). The axis of the second screw hole is vertical. The second screw hole is connected to the second circular hole. The second screw (22) is coaxially engaged in the second screw hole. The second screw (22) is slidably fitted in the second limiting groove on the side of the second pin (20).

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