A large-tolerance high-expansion-ratio folding and unfolding mechanism for docking and refueling of a space vehicle

Abstract

The utility model discloses a kind of large-tolerance high-expansion-retraction ratio docking refueling folding and unfolding mechanisms of space vehicles, comprising: square board, fixed shaft, rotating base, blade, box, first gear, second gear, internal mounting plate, bearing seat, bearing, shaft sleeve, stepper motor, encoder, third gear, cushion block, blade shaft, elastic baffle ring for shaft and lower cushion block.The utility model solves the problem that the in-situ axial telescopic interface of prior art is poor in adaptability to different size distribution, and the size of the docking mechanism designed to adapt to the given satellite docking interface exceeds the allowable envelope of the carrier.

Description

Technical Field

[0001] This utility model belongs to the field of spacecraft technology, and in particular relates to a folding and unfolding mechanism for docking and refueling of spacecraft with large tolerance and high unfolding-to-recovery ratio. Background Technology

[0002] Space docking is a crucial part of space missions, involving the precise contact and connection of two or more spacecraft in space. This requires complex technologies and systems to ensure safe and accurate docking. However, the mechanisms used in space operations are often large components, prone to significant positioning errors, necessitating substantial tolerances to compensate for these errors. Furthermore, the passive end (client) of the docking mechanism has a large docking interface envelope, while the launch space provided by the launch vehicle is limited. Current docking mechanisms mostly employ in-situ docking, which is incompatible with the diverse sizes of client docking interfaces. Designing a docking mechanism based on in-situ docking would result in a large size envelope, exceeding the launch allowable envelope provided by the launch vehicle. Therefore, achieving a large tolerance while minimizing the mechanism's envelope becomes a significant challenge. Utility Model Content

[0003] The technical problem solved by this utility model is to overcome the shortcomings of the prior art and provide a high-tolerance, high-expansion-retraction ratio docking and refueling mechanism for spacecraft. This solves the problems of poor adaptability of in-situ axial extension to interfaces with different size distributions in the prior art, and the fact that the size of the docking mechanism designed to adapt to a given satellite docking interface exceeds the allowable envelope of the launch vehicle.

[0004] The objective of this utility model is achieved through the following technical solution: a high-tolerance, high-ratio docking and refueling mechanism for spacecraft, comprising: a square plate, a fixed shaft, a rotating base, blades, a housing, a first gear, a second gear, an internal mounting plate, a bearing housing, a bearing, a bushing, a stepper motor, an encoder, a third gear, a pad, a blade shaft, a shaft elastic retaining ring, and a lower pad; wherein, one end of the fixed shaft is fixedly mounted on the square plate, and the other end of the fixed shaft is located in the slide groove of the blade; the blade is connected to one end of the blade shaft, and the other end of the blade shaft is connected to the rotating base. The connection is as follows: the bushing is fitted onto the outer surface of the blade shaft via an elastic retaining ring; the bearing housing is fixedly mounted on the internal mounting plate, the bearing is mounted on the bearing housing, and the rotating base is mounted on the bearing; the outer ring of the rotating base is connected to the cylindrical gear, and both the first gear and the second gear mesh with the third gear; the square plate is connected to the internal mounting plate via a pad, and the internal mounting plate is connected to the housing via a lower pad; the stepper motor is connected to the second gear, and the encoder is connected to the second gear.

[0005] The aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft also includes: a nut and a nut mounting bracket; wherein the nut mounting bracket is located at the center of the internal mounting plate, and a nut is located on the upper part of the nut mounting bracket.

[0006] The aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft also includes a cylindrical pin, wherein the cylindrical pin is fixedly installed on the upper part of the blade.

[0007] The aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft also includes: a clamping plate joint; wherein, the bottom of the housing is provided with a clamping plate joint.

[0008] The aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft also includes a floating disconnector; wherein the floating disconnector is mounted on a square plate.

[0009] In the aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft, the number of fixed axes is three; wherein the lines connecting the three fixed axes form an equilateral triangle.

[0010] In the aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft, the number of blades is three; wherein, the three blades form a circle when folded.

[0011] In the aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft, the slide is elongated and the blades have an air-avoidance section.

[0012] In the aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft, the first gear is a cylindrical gear.

[0013] In the aforementioned high-tolerance, high-ratio docking and refueling mechanism for spacecraft, the number of floating disconnectors is four; wherein, one floating disconnector is provided at each apex corner of the square plate.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] (1) This utility model has strong adaptability to different satellite interfaces and has a compact structure with small space occupation in the launch state: it is suitable for scenarios where the docking passive end (client) docking interface envelope is large and the docking active end (server) structure layout needs to be compact due to limited launch space.

[0016] (2) The folding and unfolding mechanism of this utility model is simple and reliable: This utility model includes a folding and unfolding mechanism with three blades, each blade having a rotating shaft and a slide (groove); the mechanism is driven by a gear mechanism, the gear drives the blades to unfold and close, and the slide restricts the trajectory of the blades unfolding;

[0017] (3) The present invention has a high expansion-contraction ratio: the cross-sectional envelope size of the mechanism when it is closed is rectangular, and the diameter of the cylindrical pin connecting circle after expansion is about twice the length of the rectangle, resulting in a high expansion-contraction ratio;

[0018] (4) This utility model has good flexibility: the unfolded size is large enough, so that the blades of the mechanism have a certain degree of flexibility and good adaptability during docking.

[0019] (5) The interface of this utility model has a large tolerance: cylindrical pin positioning, screw nut mechanism docking and locking, floating disconnector docking, and multiple shaft holes docking at three locations. The large tolerance design of the tapered hole and tapered shaft simplifies the complex docking and realizes the transition from coarse alignment to fine docking. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Figure 1 This is a cross-sectional view of the high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in this embodiment of the utility model;

[0022] Figure 2 This is a schematic diagram of a high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in an embodiment of this utility model;

[0023] Figure 3 This is a top view of the high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in this embodiment of the utility model;

[0024] Figure 4 This is a schematic diagram of the blade provided in an embodiment of the present utility model;

[0025] Figure 5 This is a schematic diagram of the mechanism in its retracted state provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the mechanism in its unfolded state according to an embodiment of this utility model. Detailed Implementation

[0027] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] Figure 1 This is a cross-sectional view of the high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in this embodiment of the utility model; Figure 2 This is a schematic diagram of a high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in an embodiment of this utility model; Figure 3 This is a top view of the high-tolerance, high-ratio docking and refueling mechanism for spacecraft provided in this embodiment of the utility model; Figure 4 This is a schematic diagram of the blade provided in an embodiment of the present utility model; Figure 5 This is a schematic diagram of the mechanism in its retracted state provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the mechanism in its unfolded state according to an embodiment of this utility model.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, the high-tolerance, high-ratio docking and refueling mechanism for this spacecraft includes: a square plate 1, a fixed shaft 2, a rotating base 3, blades 4, a housing 5, a first gear 6, a second gear 7, an internal mounting plate 8, a bearing housing 9, a bearing 10, a bushing 11, a nut 12, a nut mounting bracket 13, a stepper motor 14, an encoder 16, a third gear 17, a pad 19, a cylindrical pin 20, a clamping plate joint 21, a blade shaft 22, a shaft elastic retaining ring 23, a lower pad 24, and a floating disconnector 25. Among these,

[0030] One end of the fixed shaft 2 is fixedly mounted on the square plate 1, and the other end of the fixed shaft 2 is located in the groove of the blade 4; the blade 4 is connected to one end of the blade shaft 22, and the other end of the blade shaft 22 is connected to the rotating base 3. The bushing 11 is fitted onto the outer surface of the blade shaft 22 through the shaft elastic retaining ring 23; the cylindrical pin 20 is fixedly mounted on the upper part of the blade 4; the bearing seat 9 is fixedly mounted on the inner mounting plate 8, the bearing 10 is mounted on the bearing seat 9, and the rotating base 3 is mounted on the bearing 10; the outer ring of the rotating base 3 is connected to the cylindrical gear 6, and the first gear 6 and the second gear 7 are both meshed with the third gear 17; the square plate 1 and the inner mounting plate 8 are connected by a pad 19, and the inner mounting plate 8 is connected to the housing 5 by a lower pad 24; a nut mounting bracket 13 is provided at the center of the inner mounting plate 8, and a nut 12 is provided on the upper part of the nut mounting bracket 13; the stepper motor 14 is connected to the second gear 7, and the encoder 16 is connected to the second gear 7. A clamping plate joint 21 is provided at the bottom of the housing 5. The floating disconnector 25 is mounted on the square plate 1. The first gear 6, the second gear 7, and the third gear 17 are all cylindrical gears.

[0031] There are three fixed axes; the lines connecting the three fixed axes form an equilateral triangle.

[0032] There are three blades 4; when folded, the three blades form a circle.

[0033] The groove is elongated. The blades have clearance sections.

[0034] The number of floating disconnectors is four; one floating disconnector is provided at each top corner of the square plate.

[0035] This embodiment has three fixed shafts 2. One end of the fixed shaft 2 is fixedly installed on the square plate 1, and the other end of the fixed shaft 2 contacts the groove of the blade 4, that is, it is inserted into the groove. Figure 4As shown; there are three blades 4, and the blades 4 can be designed to avoid airflow or be concealed for their deployment path or function. Correspondingly, there are also three shafts 22. The blades 4 and shafts 22 are welded and fixed together. The shafts 22 are installed in bushings 11, and axial movement is restricted by elastic retaining rings 23 and mounted on the rotating base 3. Each blade 4 is fixedly equipped with a cylindrical pin 20, the position of which can be adjusted according to the required docking dimensions after deployment. The bearing housing 9 is fixedly mounted on the internal mounting plate 8, the bearing 10 is mounted on the bearing housing 9, and the rotating base 3 is mounted on the bearing 10, thus allowing the rotating base 3 to rotate. The outer ring of the rotating base 3 is connected to the cylindrical gear 6, and the gear 6 meshes with the gear 7 and the gear 17; the square plate 1 is connected to the internal mounting plate 8 through the pad 19, and the internal mounting plate 8 is connected to the housing 5 through the lower pad 24; a nut mounting bracket 13 is installed in the center of the internal mounting plate 8, and a nut 12 is installed on it, which is the locking mechanism when docking; the floating disconnector 25 is installed on the square plate 1, and the housing 5 is equipped with four clamping joints 21 for quick connection and disassembly, which can be used to insert air pipes or liquid pipes; the stepper motor 14 is connected to the gear 7, and the encoder 16 is connected to the gear 17.

[0036] After the mechanism is started, the stepper motor 14 is powered on, the cylindrical gear 7 drives the cylindrical gear 6 and gear 17 to rotate, the encoder 1 counts the steps, the rotation of gear 6 drives the rotating base 3 to rotate, causing the blade 4 to tend to rotate around the shaft 22, and the groove on the blade 4 restricts the unfolding posture, making its movement controlled; when it rotates to the end of the groove, it reaches the mechanical limit, and the mechanism reaches the fully unfolded state; the cylindrical pin 20 on the blade 4 is a coarse positioning device for docking, and it is matched with a large conical hole, which can achieve a large tolerance; the end of the nut 12 is designed with a section of conical hole, and the corresponding end of the lead screw has a section of conical shaft, which can adapt to a certain error range. The cooperation between the lead screw and nut is the locking device of the mechanism.

[0037] The docking process is as follows: After the blades 4 of the unfolding mechanism are unfolded, docking begins. The cylindrical pin 20 first docks into the conical hole to complete the rough docking. Then the lead screw and nut make contact and fit. As the conical hole transitions to the straight hole, the threaded parts of the lead screw and nut also make contact and fit, completing the locking. During the gradual locking process, the internal locking force is sufficient to connect the floating disconnector, and finally realize the gas-liquid transportation.

[0038] This embodiment is applicable to scenarios where the passive end (client) interface envelope is large and the active end (server) structure layout needs to be compact due to limited launch space.

[0039] This embodiment is highly adaptable to different satellite interfaces and has a compact structure with a small footprint during launch. It is suitable for scenarios where the passive docking end (client) has a large docking interface envelope and the active docking end (server) needs a compact structural layout due to limited launch space.

[0040] The folding and unfolding mechanism of this embodiment is simple and reliable: This utility model includes a folding and unfolding mechanism with three blades, each blade having a rotating shaft and a slide (groove); the mechanism is driven by a gear mechanism, the gears drive the blades to unfold and close, and the slide restricts the trajectory of the blade unfolding.

[0041] The expansion-contraction ratio of this embodiment is high: the cross-sectional envelope size when the mechanism is closed is rectangular, and the diameter of the cylindrical pin connecting circle after expansion is approximately twice the length of the rectangle, resulting in a high expansion-contraction ratio.

[0042] This embodiment has good flexibility: the unfolded size is large enough to give the blades of the mechanism a certain degree of flexibility, which allows for good adaptability during the docking process.

[0043] The interface of this embodiment has a large tolerance: cylindrical pin positioning, lead screw and nut mechanism docking and locking, floating disconnector docking, and multiple shaft holes docking at three locations. The large tolerance design of the tapered hole and tapered shaft simplifies the complex docking and achieves a process from coarse alignment to fine docking.

[0044] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A high-tolerance, high-ratio docking and refueling mechanism for spacecraft, characterized in that... include: Square plate (1), fixed shaft (2), rotating base (3), blade (4), housing (5), first gear (6), second gear (7), internal mounting plate (8), bearing seat (9), bearing (10), bushing (11), stepper motor (14), encoder (16), third gear (17), pad (19), blade shaft (22), shaft elastic retaining ring (23), and lower pad (24); among which, One end of the fixed shaft (2) is fixedly installed on the square plate (1), and the other end of the fixed shaft (2) is located in the groove of the blade (4); The blade (4) is connected to one end of the blade shaft (22), and the other end of the blade shaft (22) is connected to the rotating base (3). The bushing (11) is fitted onto the outer surface of the blade shaft (22) through the shaft elastic retaining ring (23). The bearing housing (9) is fixedly mounted on the internal mounting plate (8), the bearing (10) is mounted on the bearing housing (9), and the rotating base (3) is mounted on the bearing (10); The outer ring of the rotating base (3) is connected to the first gear (6), and both the first gear (6) and the second gear (7) mesh with the third gear (17); The square plate (1) is connected to the inner mounting plate (8) by a pad (19), and the inner mounting plate (8) is connected to the box body (5) by the lower pad (24); The stepper motor (14) is connected to the second gear (7), and the encoder (16) is connected to the second gear (7).

2. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft as described in claim 1, characterized in that... Also includes: Nut (12) and nut mounting bracket (13); wherein the nut mounting bracket (13) is provided at the center of the internal mounting plate (8), and the nut (12) is provided on the upper part of the nut mounting bracket (13).

3. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft as described in claim 1, characterized in that... Also includes: Cylindrical pin (20); wherein the cylindrical pin (20) is fixedly installed on the upper part of the blade (4).

4. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that... Also includes: Clamping joint (21); wherein, the bottom of the box body (5) is provided with clamping joint (21).

5. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that... Also includes: Floating disconnector (25); wherein the floating disconnector (25) is mounted on the square plate (1).

6. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that: The number of fixed axes (2) is three; wherein the line connecting the three fixed axes forms an equilateral triangle.

7. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that: The number of blades (4) is three; wherein the three blades form a circle when folded.

8. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that: The groove is elongated, and the blade has an opening for clearance.

9. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 1, characterized in that: The first gear is a cylindrical gear.

10. The high-tolerance, high-ratio docking and refueling mechanism for spacecraft according to claim 5, characterized in that: The number of floating disconnectors is four; one floating disconnector is provided at each top corner of the square plate.

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