阅读说明：本技术 一种周边式大容差空间对接机构及其工作方法 (Peripheral large-tolerance space docking mechanism and working method thereof ) 是由 杨飞 岳洪浩 马超 刘飞 于 2020-03-30 设计创作，主要内容包括：本发明提供了一种周边式大容差空间对接机构及其工作方法,对接机构包括被动端和主动端,被动端包括被动端筒体和捕获装置,被动端筒体为圆柱形,在被动端筒体的内侧壁安装捕获装置,捕获装置由三个弧形刚性件及其回转铰沿被动端筒体内壁周向均布而成,且三个弧形刚性件及其回转铰在被动端筒体轴向方向上分层布置；主动端包括主动端筒体、缓冲气囊、平移装置和被捕获杆,平移装置使被捕获杆从主动端筒体边缘移动到主动端筒体的中轴线位置,三个弧形刚性件向被动端筒体的中心回转,三个弧形刚性件的重叠区域形成用于捕获主动端的被捕获杆捕获域。本发明大捕获容差和自然通道兼有,提高捕获可靠性和安全性,以及有效载荷传输空间。(The invention provides a peripheral large-tolerance space docking mechanism and a working method thereof, wherein the docking mechanism comprises a passive end and an active end, the passive end comprises a passive end cylinder and a capturing device, the passive end cylinder is cylindrical, the capturing device is arranged on the inner side wall of the passive end cylinder, the capturing device is formed by uniformly distributing three arc-shaped rigid parts and rotary hinges thereof along the circumferential direction of the inner wall of the passive end cylinder, and the three arc-shaped rigid parts and the rotary hinges thereof are arranged in layers in the axial direction of the passive end cylinder; the driving end comprises a driving end cylinder, a buffering air bag, a translation device and a captured rod, the translation device enables the captured rod to move to the central axis position of the driving end cylinder from the edge of the driving end cylinder, the three arc-shaped rigid parts rotate towards the center of the driven end cylinder, and the overlapped area of the three arc-shaped rigid parts forms a captured rod capture domain used for capturing the driving end. The invention has both large capture tolerance and natural channel, and improves the capture reliability and safety and the effective load transmission space.)

1. The utility model provides a peripheral large tolerance space docking mechanism which characterized in that: comprises a passive end (1) and an active end (2) which are respectively arranged on two mutually butted spacecrafts,

the passive end (1) comprises a passive end cylinder body (1-1) and a capturing device (1-3), the passive end cylinder body (1-1) is cylindrical, the bottom end of the passive end cylinder body (1-1) is an inwards concave conical structure (1-2), the capturing device (1-3) is installed on the inner side wall of the passive end cylinder body (1-1), the capturing device (1-3) is formed by uniformly distributing three arc-shaped rigid parts and rotary hinges thereof along the circumferential direction of the inner wall of the active end cylinder body (1-1), and the three arc-shaped rigid parts and the rotary hinges thereof are arranged in layers in the axial direction of the passive end cylinder body (1-1);

the driving end (2) comprises a driving end cylinder (2-1), a buffering air bag (2-2), a translation device (2-3) and a captured rod (2-4), the buffering air bag (2-2) is embedded at the upper end of the driving end cylinder (2-1), and the buffering air bag (2-2) is of an annular structure;

translation device (2-3) arrange in the inside of initiative end barrel (2-1), translation device (2-3) include first arc member (2-3-1), second arc member (2-3-2), annular mounting bracket (2-3-3) and lead screw (2-3-4), the one end of first arc member (2-3-1) and the one end of second arc member (2-3-2) all install on annular mounting bracket (2-3-3) through a hinge, the other end of first arc member (2-3-1) and second arc member (2-3-2) be the free end, catch behind first arc member (2-3-1) the sliding arrangement in second arc member (2-3-3), catch rod (2-4) bottom pass first arc member (2-3-1) and set up -2) a captured rod (2-4) is fixed on the first arc rod piece (2-3-1) in a sliding groove formed in the first arc rod piece, the top end of the captured rod (2-4) penetrates through the inner ring of the buffering air bag (2-2), and a second motor for driving the first arc rod piece (2-3-1) to swing is installed on the annular mounting frame (2-3-3);

the annular mounting frame (2-3-3) is arranged on the inner wall of the driving end cylinder (2-1) in a sliding mode, the annular mounting frame (2-3-3) is matched with the lead screw (2-3-4) through a thread pair, and the lead screw (2-3-4) is driven by a motor III fixed on the inner wall of the driving end cylinder (2-1);

the second motor drives the first arc-shaped rod piece (2-3-1) to swing, and the first arc-shaped rod piece (2-3-1) enables the captured rod (2-4) to move from the edge of the driving end cylinder body (2-1) to the position of the central axis of the driving end cylinder body (2-1); a motor I arranged on the rotary hinge drives the arc-shaped rigid parts to enable the three arc-shaped rigid parts to rotate towards the center of the driven end cylinder body (1-1), and the overlapped areas of the three arc-shaped rigid parts form a capture area for capturing a capture rod (2-4) of the driving end (2); the motor three drives the screw rod (2-3-4) to rotate to drive the annular mounting bracket (2-3-3) to move.

2. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: when the first motor does not drive the arc-shaped rigid part to swing, the three arc-shaped steel parts are completely attached to the inner wall of the driven end cylinder body (1-1), and the central angle of the arc corresponding to the three arc-shaped rigid parts is larger than 90 degrees and smaller than 120 degrees.

3. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: the hinges connected with the first arc-shaped rod piece (2-3-1) and the hinges connected with the second arc-shaped rod piece (2-3-2) are distributed at 180 degrees, the connecting line of the two hinges passes through the central axis of the driving end cylinder body (2-1), when the motor II does not drive the first arc-shaped rod piece (2-3-1) to swing, the first arc-shaped rod piece (2-3-1) and the second arc-shaped rod piece (2-3-2) are completely attached to the annular mounting frame (2-3-3), and the central angle of the arc pair of the first arc-shaped rod piece (2-3-1) and the second arc-shaped rod piece (2-3-2) is larger than 90 degrees and smaller than 180 degrees.

4. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: the captured rod (2-4) comprises a T-shaped rod (2-4-1), a cylindrical spring (2-4-2), a steel wire rope (2-4-3) and a straight rod (2-4-4) which are vertically arranged, the end of the small section of the T-shaped rod (2-4-1) is connected with the top end of the straight rod (2-4-4) through the steel wire rope (2-4-3), and the two ends of the cylindrical spring (2-4-2) are respectively sleeved on the lower portion of the T-shaped rod (2-4-1) and the upper portion of the straight rod (2-4-4).

5. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: the annular buffer air bag (2-2) is provided with a notch, and when the first arc-shaped rod piece (2-3-1) is not driven by the motor II to swing, the top end of the captured rod (2-4) penetrates through the notch of the buffer air bag (2-2).

6. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: the buffer air bag (2-2) is provided with an air inlet pipeline (2-2-1) and an air exhaust pipeline (2-2-3), the high-pressure air bottle (2-2-5) inflates the buffer air bag through the air inlet pipeline (2-2-1), the air exhaust pipeline (2-2-3) is connected with a low-pressure air bottle (2-2-6), an active pressure regulating valve (2-2-4) is installed on the air exhaust pipeline (2-2-3), and air in the low-pressure air bottle (2-2-6) is injected into the high-pressure air bottle (2-2-5) through an air suction pump (2-2-2).

7. A peripheral large-tolerance space docking mechanism according to claim 1, wherein: a first motor is arranged at the rotary hinge of each of the three arc-shaped rigid parts, and the three first motors respectively drive the three arc-shaped rigid parts to rotate to form a capture area.

8. The working method of the peripheral large-tolerance space docking mechanism according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:

1. capture process

When the relative positions and postures of two spacecrafts needing to be butted enter a butting range, starting a second motor to enable a translation device (2-3) of a driving end (2) to move a captured rod (2-4) to the center of a barrel (2-1) of the driving end, starting the capturing device (1-3) of a passive end (1) along with the approaching of the spacecrafts of the passive end (1), enabling three arc-shaped rigid members to rotate towards the center of the barrel (1-1) of the driving end along with the driving of the first motor arranged on a rotary hinge, enabling the three arc-shaped rigid members to form an overlapping area to form a capturing domain and to be in contact with a thin rod of a T-shaped rod (2-4-1) of the captured rod (2-4) of the driving end (2) to finish capturing;

2. docking process

After the capture is finished, starting a third motor, driving a screw rod (2-3-4) to rotate by the third motor to drive an annular mounting bracket (2-3-3) to move downwards so as to drive an arc rod and the captured rod (2-4) to move downwards, enabling a conical structure (1-2) of a passive end (1) to be in contact with a buffer air bag (2-2) of an active end along with the downward movement of the captured rod (2-4), buffering by the buffer air bag (2-2) and adjusting the posture of the passive end (1), enabling the shape of the buffer air bag to be matched with the shape of the conical structure (1-2) of the passive end (1) along with the balance of air pressure in the buffer air bag (2-2), positioning and finishing butt joint;

3. reset procedure

After the butt joint is finished, after the driving end and the driven end are locked by the cooperative locking mechanism, the motor I of the capturing device (1-3) of the driven end (1) is driven reversely, and the three arc-shaped rigid parts return to the position close to the inner wall of the driven end cylinder body (1-1); and the second motor rotates reversely, the first arc-shaped rod piece (2-3-1) rotates to drive the second arc-shaped rod piece (2-3-2) to rotate, the two arc-shaped rod pieces return to the original positions, namely, the translation device (2-3) of the driving end (2) returns to the position close to the inner wall of the cylinder body (2-1) of the driving end, and meanwhile, the driving end (2) and the driven end (1) are butted to form an obstacle-free channel to transport the load.

Technical Field

The invention belongs to the technical field of space docking, and particularly relates to a peripheral large-tolerance space docking mechanism and a working method thereof.

Background

In the tasks of space station operation, on-orbit construction and assembly, on-orbit service, manned aerospace and the like, two aircrafts need to be handed and butted, mechanical connection is established through capturing, butting and locking of an active end and a passive end to realize on-orbit combination, and capturing and butting are important steps of handing and butting. The existing docking mechanism can be generally divided into a central layout form and a peripheral layout form according to the layout form, the central layout structure is compact, the capture tolerance is large, but the central layout structure occupies the position of a central passage, and the peripheral layout structure is provided with a transportation passage in the middle, but the capture tolerance is small. Therefore, how to achieve both large capture tolerance and natural channel to improve capture reliability and increase payload transmission space is a problem to be solved in the art, and the invention aims to achieve capture and docking actions by inventing a novel docking mechanism with peripheral layout and large-tolerance capture.

Disclosure of Invention

In view of this, the present invention is directed to a peripheral large-tolerance space docking mechanism and a working method thereof, which has the advantages of capturing large tolerance, improving the reliability and safety of capturing, forming a natural channel in the center after docking, and having a large load transmission space.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a peripheral large-tolerance space docking mechanism comprises a passive end and an active end which are respectively arranged on two mutually docked spacecrafts,

the passive end comprises a cylindrical passive end barrel and a capturing device, the bottom end of the passive end barrel is of an inwards concave conical structure, the capturing device is arranged on the inner side wall of the passive end barrel, the capturing device is formed by uniformly distributing three arc-shaped rigid parts and rotary hinges thereof along the circumferential direction of the inner wall of the passive end barrel, and the three arc-shaped rigid parts and the rotary hinges thereof are arranged in layers in the axial direction of the passive end barrel;

the driving end comprises a driving end cylinder, a buffering air bag, a translation device and a captured rod, wherein the buffering air bag is embedded at the upper end of the driving end cylinder and is of an annular structure;

the translation device is arranged on the inner wall of the driving end cylinder and comprises a first arc-shaped rod piece and a second arc-shaped rod piece, one end of the first arc-shaped rod piece and one end of the second arc-shaped rod piece are both arranged on the inner wall of the driving end cylinder through hinges, the other ends of the first arc-shaped rod piece and the second arc-shaped rod piece are both free ends, the bottom end of the captured rod penetrates through the first arc-shaped rod piece and then is arranged in a sliding groove formed in the second arc-shaped rod piece in a sliding mode, the captured rod is fixed on the first arc-shaped rod piece, and the top end of the captured rod penetrates through an inner ring of the buffering air bag;

the translation device enables the captured rod to move from the edge of the driving end cylinder to the central axis position of the driving end cylinder along with the driving of a second motor arranged on the hinge on the first arc-shaped rod piece;

the three arc-shaped rigid parts rotate towards the center of the driven end cylinder body along with the driving of a motor I installed on the rotating hinge, and the overlapped areas of the three arc-shaped rigid parts form a captured rod capturing area used for capturing the driving end.

Further, when the motor does not drive the arc-shaped rigid part to swing, the three arc-shaped steel parts are completely attached to the inner wall of the driven end cylinder, and the central angle of the arc corresponding to the three arc-shaped rigid parts is larger than 90 degrees and smaller than 180 degrees.

Further, the hinge that first arc member was connected and the hinge that second arc member was connected are 180 and distribute, and the line of two hinges passes through the axis of initiative end barrel, and when motor two did not drive the swing of first arc member, first arc member and second arc member all laminated annular mounting bracket inner wall completely, and the central angle that the arc of first arc member and second arc member was right is for being greater than 90 and being less than 120.

Furthermore, the captured rod comprises a T-shaped rod, a cylindrical spring, a steel wire rope and a straight rod which are vertically arranged, the small section end of the T-shaped rod is connected with the top end of the straight rod through the steel wire rope, and two ends of the cylindrical spring are respectively sleeved on the lower portion of the T-shaped rod and the upper portion of the straight rod.

Furthermore, the annular buffering air bag is provided with a notch, and when the motor II does not drive the first arc-shaped rod piece to swing, the top end of the captured rod penetrates through the notch of the buffering air bag.

Furthermore, the buffering air bag is provided with an air inlet pipeline and an air exhaust pipeline, the high-pressure air bottle inflates the buffering air bag through the air inlet pipeline, the air exhaust pipeline is connected with the low-pressure air bottle, an active pressure regulating valve is installed on the air exhaust pipeline, and air in the low-pressure air bottle is injected into the high-pressure air bottle through an air suction pump.

Furthermore, a first motor is arranged at the rotating hinge of each of the three arc-shaped rigid parts, and the first motors drive the three arc-shaped rigid parts to rotate respectively to form a capturing area.

A working method of a peripheral large-tolerance space docking mechanism comprises the following steps:

1. capture process

When the relative positions and postures of two spacecrafts to be butted enter a butting range, starting a motor II, moving a captured rod to the center of a cylinder body at the driving end by a translation device at the driving end, starting the capturing device at the passive end along with the approach of the spacecrafts at the passive end, rotating three arc-shaped rigid members to the center of the cylinder body at the driving end along with the driving of a motor I arranged on a rotating hinge, forming an overlapping area by the three arc-shaped rigid members to form a capturing domain, and contacting with a thin rod of a T-shaped rod of the captured rod at the driving end to finish capturing;

2. docking process

After the capturing is finished, starting a motor III, driving a screw rod to rotate by the motor III to drive an annular mounting bracket to move downwards so as to drive an arc-shaped rod piece and a captured rod to move downwards, wherein along with the downward movement of the captured rod, a conical structure of a passive end is contacted with a buffering air bag of an active end, the buffering air bag buffers and adjusts the posture of the passive end, and along with the balance of air pressure in the buffering air bag, the shape of the buffering air bag is matched with the shape of the conical structure of the passive end to achieve positioning and complete butt joint;

3. reset procedure

After the butt joint is completed, after the driving end and the driven end are locked by the cooperative locking mechanism, the motor I of the capturing device of the driven end is driven reversely, and the three arc-shaped rigid parts return to the positions close to the inner wall of the cylinder body of the driven end; the second motor rotates reversely, the first arc-shaped rod piece rotates to drive the second arc-shaped rod piece to rotate, the two arc-shaped rod pieces return to realize the resetting of the translation device of the driving end, meanwhile, the captured rod returns to the position close to the inner wall of the cylinder body of the driving end, and the driving end and the driven end are in butt joint to form an obstacle-free channel to transport loads.

Compared with the prior art, the peripheral large-tolerance space docking mechanism has the following advantages:

the invention relates to a peripheral large-tolerance space docking mechanism,

(1) the thin rod configuration of the captured rod cooperates with the capture device to form a large tolerance capture; the requirement on the postures of two butted spacecrafts is lower;

(2) the buffer air bag and the captured rod form an elastic buffer link by utilizing a steel wire rope and elasticity, so that the collision of the spacecraft is reduced in the capturing and butting process;

(3) the peripheral layout reduces the size space of the docking mechanism and provides larger space for load transportation;

(4) the method and the device have the advantages that the large capture tolerance and the natural channel are combined, the capture reliability and the capture safety are improved, and the transmission space of the effective load is increased.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a peripheral large-tolerance space docking mechanism according to an embodiment of the present invention;

FIG. 2 is a front view of a driven end of a peripheral large-tolerance space docking mechanism according to an embodiment of the present invention;

FIG. 3 is a top view of the passive end;

FIG. 4 is a front view of the active end;

FIG. 5 is a top view of the active end;

FIG. 6 is a view taken along line A-A of FIG. 4;

FIG. 7 is a schematic view of the operation of the translation device;

FIG. 8 is a schematic view of the principle of the cushion bladder;

FIG. 9 is a schematic view of the structure of a captured rod;

FIG. 10 is a schematic diagram of the active side and passive side acquisition process;

FIG. 11 is a schematic diagram of the active end and the passive end connection process;

fig. 12 is a schematic view of the capture device and translation device being reset.

Description of reference numerals:

1-active end, 1-1-active end cylinder, 1-2-conical structure and 1-3-capturing device;

2-passive end, 2-1-active end cylinder, 2-2-buffer air bag, 2-2-1-air inlet pipeline, 2-2-2-air pump, 2-2-3-air outlet pipeline, 2-2-4-active pressure regulating valve, 2-2-5-high pressure air bottle, 2-2-6-low pressure air bottle, 2-3-translation device, 2-3-1-first arc rod piece, 2-3-2-second arc rod piece, 2-3-3-annular mounting rack, 2-3-4-lead screw, 2-4-captured rod, 2-4-1-T type rod, 2-4-2-cylindrical spring, 2-4-3-steel wire rope and 2-4-4-straight rod.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-9, a peripheral large-tolerance space docking mechanism comprises a passive end 1 and an active end 2 respectively mounted on two docked spacecrafts,

the passive end 1 comprises a passive end cylinder 1-1 and a capturing device 1-3, the passive end cylinder 1-1 is cylindrical, the bottom end of the passive end cylinder 1-1 is of an inwards concave conical structure 1-2, the capturing device 1-3 is arranged on the inner side wall of the active end cylinder 1-1, the capturing device 1-3 is formed by uniformly distributing three arc-shaped rigid parts and rotary hinges thereof along the circumferential direction of the inner wall of the passive end cylinder 1-1, and the three arc-shaped rigid parts and the rotary hinges thereof are arranged in a layered manner in the axial direction of the passive end cylinder 1-1;

the driving end 2 comprises a driving end cylinder 2-1, a buffering air bag 2-2, a translation device 2-3 and a captured rod 2-4, the buffering air bag 2-2 is embedded at the upper end of the driving end cylinder 2-1, and the buffering air bag 2-2 is of an annular structure;

the translation device 2-3 is arranged inside the driving end cylinder 2-1, the translation device 2-3 comprises a first arc-shaped rod 2-3-1, a second arc-shaped rod 2-3-2, an annular mounting rack 2-3-3 and a lead screw 2-3-4, one end of the first arc-shaped rod 2-3-1 and one end of the second arc-shaped rod 2-3-2 are both mounted on the annular mounting rack 2-3-3 through hinges, the other ends of the first arc-shaped rod 2-3-1 and the second arc-shaped rod 2-3-2 are both free ends, the bottom end of the captured rod 2-4 penetrates through the first arc-shaped rod 2-3-1 and then is arranged in a sliding groove formed in the second arc-shaped rod 2-3-2 in a sliding mode, the captured rod 2-4 is fixed on the first arc-shaped rod piece 2-3-1, the top end of the captured rod 2-4 penetrates through the inner ring of the buffering air bag 2-2, and a second motor for driving the first arc-shaped rod piece 2-3-1 to swing is installed on the annular mounting frame 2-3-3;

the annular mounting frame 2-3-3 is arranged on the inner wall of the driving end cylinder 2-1 in a sliding mode, the annular mounting frame 2-3-3 is matched with the lead screw 2-3-4 through a thread pair, and the lead screw 2-3-4 is driven by a motor III fixed on the inner wall of the driving end cylinder 2-1;

the second motor drives the first arc-shaped rod piece 2-3-1 to swing, and the first arc-shaped rod piece 2-3-1 enables the captured rod 2-4 to move to the central axis position of the driving end cylinder 2-1 from the edge of the driving end cylinder 2-1; a first motor arranged on the rotary hinge drives the arc-shaped rigid parts to rotate towards the center of the driven end cylinder 1-1, and the overlapped areas of the three arc-shaped rigid parts form a capture area captured by a capture rod 2-4 for capturing the driving end 2; the motor three drives the screw rod 2-3-4 to rotate so as to drive the annular mounting bracket 2-3-3 to move. The mounting modes of the first motor and the second motor are as follows: the output shaft of the motor is directly connected with a corresponding part, and the corresponding part is supported on the cylinder wall or the annular mounting rack through a hinge.

When the first motor does not drive the arc-shaped rigid part to swing, the three arc-shaped steel parts are completely attached to the inner wall of the driven end cylinder 1-1, and the central angle of the arc corresponding to the three arc-shaped rigid parts is larger than 90 degrees and smaller than 180 degrees.

The hinges connected with the first arc-shaped rod piece 2-3-1 and the hinges connected with the second arc-shaped rod piece are distributed in a 180-degree mode, the connecting line of the two hinges passes through the central axis of the driving end cylinder 2-1, when the motor II does not drive the first arc-shaped rod piece 2-3-1 to swing, the first arc-shaped rod piece 2-3-1 and the second arc-shaped rod piece 2-3-2 are completely attached to the inner wall of the annular mounting frame 2-3-3, and the central angle of the arc pair of the first arc-shaped rod piece 2-3-1 and the second arc-shaped rod piece 2-3-2 is larger than 90 degrees and smaller than 120 degrees.

The captured rod 2-4 comprises a T-shaped rod 2-4-1, a cylindrical spring 2-4-2, a steel wire rope 2-4-3 and a straight rod 2-4-4 which are vertically arranged, the small section end of the T-shaped rod 2-4-1 is connected with the top end of the straight rod 2-4-4 through the steel wire rope 2-4-3, and the two ends of the cylindrical spring 2-4-2 are respectively sleeved on the lower portion of the T-shaped rod 2-4-1 and the upper portion of the straight rod 2-4-4. The straight rod 2-4-4 is fixedly connected with the first arc rod piece 2-3-1 of the translation device 2-3. The steel wire rope 2-4-3 is connected between the bottom of the T-shaped rod 2-4-1 and the top of the straight rod 2-4-4, the shape of the T-shaped rod and the shape of the straight rod can be kept and the T-shaped rod and the straight rod can rotate relatively through the cylindrical spring 2-4-2 in tight fit, and the T-shaped rod and the straight rod can also absorb energy in a buffering mode in the capturing process.

The annular buffer air bag 2-2 is provided with a notch, and when the motor II does not drive the first arc-shaped rod piece 2-3-1 to swing, the top end of the captured rod 2-4 penetrates through the notch of the buffer air bag 2-2.

The buffer air bag 2-2 is provided with an air inlet pipeline 2-2-1 and an air outlet pipeline 2-2-3, a high-pressure air bottle 2-2-5 inflates the buffer air bag through the air inlet pipeline 2-2-1, the air outlet pipeline 2-2-3 is connected with a low-pressure air bottle 2-2-6, an active pressure regulating valve 2-2-4 is installed on the air outlet pipeline 2-2-3, and air in the low-pressure air bottle 2-2-6 is injected into the high-pressure air bottle 2-2-5 through an air pump 2-2-2. The buffer air bag 2-2 can be adaptive to the impact energy buffer and absorption of the passive spacecraft in the collision process in all directions.

The specific working process is as follows:

the high-pressure gas bottle (P2)2-2-5 of the buffer gas bag is responsible for inflating the gas bag to enable the gas bag to reach an expected pressure value P1, the pressure in the gas bag can be adjusted in real time according to the speed, the posture and the like of the passive spacecraft in the butt joint process, the impact energy in the collision process of the passive spacecraft in all directions can be buffered and absorbed in a self-adaptive mode, and the gas in the low-pressure gas bottle is injected into the high-pressure gas bottle by the air pump 2-2-2, so that the gas can be recycled.

A first motor is arranged at the rotating hinge of each of the three arc-shaped rigid parts, namely as shown in figure 3, the first motor can be respectively arranged at A, B, C, and the first motors respectively drive the three arc-shaped rigid parts to rotate to form a capturing area. A first motor can be arranged at the rotary hinge of one of the arc-shaped rigid parts, and the other two arc-shaped rigid parts are linked through a flexible steel wire shaft to form a capture area.

As shown in fig. 10-11, a working method of a peripheral large-tolerance space docking mechanism includes the following steps:

1. capture process

When the relative positions and postures of two spacecrafts to be butted enter a butting range, a motor II is started, a translation device 2-3 of an active end 2 moves a captured rod 2-4 to the center of a cylinder 2-1 of the active end, the capture device 1-3 of a passive end 1 is started along with the approaching of the spacecrafts of the passive end 1, three arc-shaped rigid parts rotate towards the center of the cylinder 1-1 of the active end along with the driving of the motor I arranged on a rotating hinge, the three arc-shaped rigid parts form an overlapping area to form a capture area and contact with a thin rod of a T-shaped rod 2-4-1 of the captured rod 2-4 of the active end 2 to finish the capture;

2. docking process

After the capturing is finished, a third motor is started, the third motor drives a screw rod 2-3-4 to rotate to drive an annular mounting bracket 2-3-3 to move downwards along the axis of the driving end, so that an arc-shaped rod piece and the captured rod 2-4 are driven to move downwards, the captured rod 2-4 moves downwards, the translation device 2-3 moves downwards, a conical structure 1-2 of the passive end 1 is contacted with a buffering air bag 2-2 of the driving end, the buffering air bag 2-2 buffers and adjusts the posture of the passive end 1, and the shape of the buffering air bag is matched with the shape of the conical structure 1-2 of the passive end 1 along with the balance of air pressure in the buffering air bag 2-2, so that the positioning is achieved, and the butt joint is finished;

3. reset procedure

After the butt joint is finished, after the active end and the passive end are locked by cooperating with the existing locking mechanism arranged on the periphery, the motor I of the capturing device 1-3 of the passive end 1 is driven reversely, and the three arc-shaped rigid parts return to the position close to the inner wall of the passive end cylinder 1-1; the motor II rotates reversely, the first arc-shaped rod piece 2-3-1 rotates to drive the second arc-shaped rod piece 2-3-2 to rotate, the two arc-shaped rod pieces return to the original positions, namely the translation device 2-3 of the driving end 2 is reset, meanwhile, the captured rod 2-4 returns to a position close to the inner wall of the driving end cylinder 2-1, no obstacle exists in a reserved channel inside the driving end cylinder 1-1, and the driving end 2 and the driven end 1 are in butt joint to form an obstacle-free channel for transporting loads.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.