阅读说明：本技术 一种基于机械锁紧、电磁解锁的空间电磁对接机构 (Space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking ) 是由 韩润奇 王波 庄原 王耀兵 李伟杰 马帅 孔宁 朱佳林 孙国鹏 于 2021-07-27 设计创作，主要内容包括：本发明公开了一种基于机械锁紧、电磁解锁的空间电磁对接机构,涉及航天器空间在轨对接技术领域,包括：服务端与目标端,二者在电磁力作用下通过轴孔配合实现柔性对接与可控分离,二者之间通过锁珠式锁紧器实现机械锁定；本发明的空间电磁对接机构是一种可重复使用的弱撞击对接机构：基于电磁线圈相互作用,实现了捕获、导向、校正和拉近功能以及机构的可靠解锁和分离,利用锁珠式锁紧器实现了对接机构的可靠锁定,从而保证了该空间电磁对接机构迅速作动与重复使用功能。(The invention discloses a space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking, which relates to the technical field of space on-orbit docking of spacecrafts, and comprises the following components: the service end and the target end are matched through the shaft hole under the action of electromagnetic force to realize flexible butt joint and controllable separation, and are mechanically locked through a locking ball type locker; the space electromagnetic butt joint mechanism of the invention is a reusable weak impact butt joint mechanism: based on the interaction of the electromagnetic coils, the functions of capturing, guiding, correcting and drawing and the reliable unlocking and separation of the mechanism are realized, and the reliable locking of the docking mechanism is realized by using the lock bead type locker, so that the space electromagnetic docking mechanism is ensured to have the functions of quick actuation and reuse.)

1. The utility model provides a space electromagnetism docking mechanism based on mechanical locking, electromagnetism unblock which characterized in that includes: the service end (1) and the target end (2) are matched through the shaft hole under the action of electromagnetic force to realize flexible butt joint and controllable separation, and are mechanically locked through the lock bead type locker.

2. The spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking according to claim 1, characterized in that the service end (1) comprises: the system comprises a service satellite (3), a service end base (4), a locking rod (5), a service end central coil (6) and a guide conical rod (7); the target end (2) comprises: the system comprises a target satellite (8), a target end base (9), a mechanical locking electromagnetic unlocking assembly (10) and a target end central coil (11);

one end of the service end base (4) is fixedly connected to a structural plate of the service satellite (3), and the other end of the service end base is provided with more than one locking rod (5) and more than one guide conical rod (7); a mounting hole is formed in the center of the service end base (4) at the end where the locking rod (5) and the guide conical rod (7) are located, and a service end central coil (6) is arranged on the inner wall surface of the front end of the mounting hole;

one end of the target end base (9) is fixedly connected with a front cabin plate of a target satellite (8), and the other end of the target end base is provided with a mechanical locking electromagnetic unlocking assembly (10) which is used for forming the locking ball type locker with the locking rod (5) to realize butt joint locking; the end of a mechanical locking electromagnetic unlocking assembly (10) of the target end base (9) is provided with a central hole and more than one guide taper hole (12), and a guide taper rod (7) is matched with the shaft hole of the guide taper hole (12) to guide the butt joint of the service end (1) and the target end (2); the target end central coil (11) is fixed on the inner wall surface of the front end of the central hole, and under the condition of electrifying, the target end central coil (11) and the service end central coil (6) are attracted under the action of electromagnetic force to drive the front end surface of the service end (1) to be in contact fit with the front end surface of the target end (2).

3. The spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking as claimed in claim 2, characterized in that the locking rod (5) and the guiding tapered rod (7) are integrally formed with the service end base (4) or are separately machined and assembled.

4. The spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking according to claim 2, characterized in that the mechanical locking electromagnetic unlocking assembly (10) comprises: the device comprises a locker shell (13), an unlocking coil (14), a locking bead (15), a pressure plate (16), a pressure plate spring (17), a guide sleeve (18), a locker inner cylinder (19) and a buffer spring (20);

the locker shell (13) is of a cylindrical structure, one end of the locker shell is provided with a shaft shoulder, one end of the locker shell provided with the shaft shoulder is fixed on the target satellite (8), the other end of the locker shell is positioned in the through hole of the target end base (9), and the end of the locker shell (13) is provided with a guide taper hole coaxial with the self central through hole and used for guiding the locking rod (5); a stepped through hole is coaxially expanded at the end where the shaft shoulder of the locker shell (13) is positioned, the aperture of the small end of the stepped through hole is larger than that of the central through hole of the locker shell (13), and the small end of the stepped through hole is communicated with the central through hole through a conical through hole;

the guide sleeve (18) is of a cylindrical structure with openings at two ends and is coaxially arranged in the stepped through hole, the rear end of the guide sleeve (18) is fixed on the target satellite (8), and an annular pressing plate (16) is coaxially sleeved on the outer circumferential surface of the front end; the rear end of the pressing plate (16) in the axial direction is fixed on the target satellite (8) through a pressing plate spring (17);

a locker inner cylinder (19) is coaxially sleeved in the front end of the guide sleeve (18), the locker inner cylinder (19) is in sliding fit with the guide sleeve (18), and the pressing plate (16) slides in an annular cavity between the inner wall surface of the small end of the stepped through hole of the locker shell (13) and the outer circumferential surface of the locker inner cylinder (19); the locking device inner cylinder (19) is a cylinder with an opening at the front end and a closed rear end, the end part of the closed end is supported on the target satellite (8) through a buffer spring (20), and the end part of the open end is abutted against the inner wall surface of the conical through hole of the locking device shell (13);

before the service end (1) and the target end (2) are butted, a locking bead (15) is arranged among a locker inner cylinder (19), a pressure plate (16) and a locker shell (13);

more than one annular groove is axially formed in the body of the locking rod (5) and used for accommodating a locking bead (15) in the mechanical locking electromagnetic unlocking assembly (10) and limiting the locking bead (15); the inner wall surface of each annular groove is inclined forwards and backwards respectively, and the forward inclination angle of each annular groove is larger than the backward inclination angle of each annular groove, so that the acting force along the axial direction of the locking rod (5) required by the locking bead (15) to be separated from the annular groove forwards is larger than the acting force along the axial direction of the locking rod (5) required by the locking bead to be separated from the annular groove backwards;

the unlocking coil (14) is coaxially fixed on the inner bottom surface of the large end of the stepped through hole of the locker shell (13), after the unlocking coil is electrified, electromagnetic unlocking force for the locking bead (15) is generated, the locking bead (15) is adsorbed, and the locking bead (15) compresses the pressure plate spring (17), so that the small end inner wall of the stepped through hole of the locker shell (13) is disengaged to limit the locking bead (15), the locking bead (15) moves outwards along the radial direction, and the radial and axial pressing effects of the locking bead (15) on the locking rod (5) are relieved.

5. The spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking as claimed in claim 4, characterized in that the taper angle of the tapered through hole inside the locker housing (13) is 60 ° to 120 °.

6. Spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking according to claim 5, characterized in that the cone angle of the conical through hole inside the locker housing (13) is 90 °.

7. A space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking as claimed in claim 4, characterized in that the shaft of the locking lever (5) is provided with two annular grooves along the axial direction.

8. The space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking as claimed in claim 2, characterized in that the difference between the outer diameter of the large end of the guide conical rod (7) and the inner diameter of the large end of the guide conical hole (12) is smaller than the difference between the outer diameter of the small end of the guide conical rod (7) and the inner diameter of the small end of the guide conical hole (12).

9. The space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking according to any one of claims 2-8, characterized in that three locking rods (5) and three guiding tapered rods (7) are arranged on the service-end base (4).

10. Spatial electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking according to claim 9, characterized in that three locking rods (5) and three guiding conical rods (7) are evenly spaced, and correspondingly, three mechanical locking electromagnetic unlocking assemblies (10) and three guiding conical holes (12) are evenly spaced.

Technical Field

The invention relates to the technical field of space on-orbit docking of spacecrafts, in particular to a space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking.

Background

The space intersection butt joint is an indispensable operation activity during the in-orbit operation of manned spacecrafts, cargo airships, space station construction and the like. Meanwhile, the method is a prerequisite for realizing space operation such as on-rail assembly, supply, maintenance service and the like. The on-orbit intersection butt joint of the aircraft is a very complex high-difficulty aerospace technology, and relates to the multi-subject technical field of on-orbit attitude control and application technology of the spacecraft and the like.

With the development of complexity, precision and multiple functions of a spacecraft, a traditional space rendezvous docking mechanism carries out rigid collision type hard docking based on inertia at the end of a docking process, and the generated large impact force influences the safety of precision instruments and equipment. The traditional spacecraft relies on chemical fuel to provide kinetic energy to carry out position and attitude control in the butt joint process, plume pollution easily damages adjacent optical instruments and sensitive devices, is limited by propellant capacity, and is not beneficial to repeated efficient butt joint and energy conservation and low pollution. In addition, traditional docking mechanism is comparatively complicated, and butt joint, locking, unblock, separation are difficult to the integrated design and are realized, and repeated locking needs extra driving source with the unblock, are difficult to realize lightweight and low-power consumption, are unfavorable for the high reliable use of long-life, like the space docking mechanism positioning lock that can repeatedly realize locking/unblock that patent CN201710581200.4 discloses, need drive ball screw, slider, the motion of gear mechanism and realize locking and unblock function through arranging the motor in it just reversing, and the structure is all comparatively complicated with the operation.

Disclosure of Invention

In view of the above, the invention provides a space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking, which realizes flexible docking and controllable separation through electromagnetic acting force, realizes reliable locking through a locking ball type locker, and has the characteristics of low impact, no plume pollution, simple structure, light weight and low power consumption.

The technical scheme of the invention is as follows: a space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking comprises: the service end and the target end are matched through the shaft hole under the action of electromagnetic force to realize flexible butt joint and controllable separation, and the service end and the target end are mechanically locked through the locking ball type locker.

Preferably, the server includes: the system comprises a service satellite, a service end base, a locking rod, a service end central coil and a guide conical rod; the target end comprises: the system comprises a target satellite, a target end base, a mechanical locking electromagnetic unlocking assembly and a target end central coil;

one end of the service end base is fixedly connected to a structural plate of a service satellite, and more than one locking rod and more than one guide conical rod are arranged on the end face of the other end of the service end base; a mounting hole is formed in the center of the service end base at the end where the locking rod and the guide conical rod are located, and a service end central coil is arranged on the inner wall surface of the front end of the mounting hole;

one end of the target end base is fixedly connected with a front cabin plate of the target satellite, and the other end of the target end base is provided with a mechanical locking electromagnetic unlocking assembly which is used for forming the locking bead type locker with the locking rod to realize butt locking; the end of the target end base where the mechanical locking electromagnetic unlocking assembly is located is provided with a central hole and more than one guide taper hole, and a guide taper rod is matched with a guide taper hole shaft hole and is used for butt joint guide of a service end and the target end; the target end center coil is fixed on the inner wall surface of the front end of the center hole, and under the condition of electrifying, the target end center coil and the service end center coil are attracted under the action of electromagnetic force to drive the front end surface of the service end to be in contact fit with the front end surface of the target end.

Preferably, the locking rod and the guide taper rod are integrally formed with the service end base or are separately machined and assembled.

Preferably, the mechanical locking electromagnetic unlocking assembly comprises: the device comprises a locker shell, an unlocking coil, a locking bead, a pressing plate spring, a guide sleeve, a locker inner cylinder and a buffer spring;

the locking device shell is of a cylindrical structure, one end of the locking device shell is provided with a shaft shoulder, one end of the locking device shell, which is provided with the shaft shoulder, is fixed on the target satellite, the other end of the locking device shell is positioned in a through hole of the target end base, and the end of the locking device shell is provided with a guide taper hole which is coaxial with a self central through hole and is used for guiding the locking rod; the end of the locker shell where the shaft shoulder is located is coaxially expanded with a stepped through hole, the aperture of the small end of the stepped through hole is larger than that of the central through hole of the locker shell, and the small end of the stepped through hole is communicated with the central through hole through a conical through hole;

the guide sleeve is of a cylindrical structure with openings at two ends and is coaxially arranged in the stepped through hole, the rear end of the guide sleeve is fixed on the target satellite, and an annular pressing plate is coaxially sleeved on the outer circumferential surface of the front end of the guide sleeve; the axial rear end of the pressing plate is fixed on the target satellite through a pressing plate spring;

a locker inner cylinder is coaxially sleeved in the front end of the guide sleeve and is in sliding fit with the guide sleeve, and the pressing plate slides in an annular cavity between the inner wall surface of the small end of the stepped through hole of the locker shell and the outer circumferential surface of the locker inner cylinder; the locking device comprises a locking device shell, a locking device inner cylinder, a buffer spring, a locking device outer shell and a locking device inner cylinder, wherein the locking device inner cylinder is a cylinder body with an opening at the front end and a closed rear end, the end part of the closed end of the locking device inner cylinder is supported on a target satellite through the buffer spring, and the end part of the open end of the locking device inner cylinder is abutted against the inner wall surface of a conical through hole of the locking device shell;

before the service end is in butt joint with the target end, the locking balls are arranged among the locker inner cylinder, the pressing plate and the locker shell;

more than one annular groove is axially formed in the rod body of the locking rod and used for accommodating a locking ball in the mechanical locking electromagnetic unlocking assembly and limiting the locking ball; the inner wall surface of each annular groove is inclined forwards and backwards respectively, and the forward inclination angle of each annular groove is larger than the backward inclination angle of each annular groove, so that the acting force of the locking ball, which is required by being separated from the annular groove forwards, along the axial direction of the locking rod is larger than the acting force, which is required by being separated from the annular groove backwards, along the axial direction of the locking rod;

the unlocking coil is coaxially fixed on the inner bottom surface of the large end of the stepped through hole of the locker shell, after the unlocking coil is electrified, electromagnetic unlocking force to the locking bead is generated, the locking bead is adsorbed, the locking bead compresses the pressure plate spring, the limiting effect of the inner wall of the small end of the stepped through hole of the locker shell facing the locking bead is released, the locking bead moves outwards along the radial direction, and the radial and axial pressing effects of the locking bead on the locking rod are released.

Preferably, the taper angle of the tapered through hole in the locker housing is 60 to 120 °.

Preferably, the taper angle of the tapered through hole inside the locker housing is 90 °.

Preferably, two annular grooves are axially formed in the body of the locking rod.

Preferably, the difference between the outer diameter of the large end of the guide taper rod and the inner diameter of the large end of the guide taper hole is smaller than the difference between the outer diameter of the small end of the guide taper rod and the inner diameter of the small end of the guide taper hole.

Preferably, the service end base is provided with three locking rods and three guide conical rods.

Preferably, the three locking rods and the three guiding taper rods are uniformly distributed at intervals, and correspondingly, the three mechanical locking electromagnetic unlocking assemblies and the three guiding taper holes are uniformly distributed at intervals.

Has the advantages that:

1. the invention provides a space electromagnetic butt-joint mechanism, which is a reusable weak impact butt-joint mechanism: based on the interaction of the electromagnetic coils, the functions of capturing, guiding, correcting and drawing and the reliable unlocking and separation of the mechanism are realized, and the reliable locking of the docking mechanism is realized by using the lock bead type locker, so that the space electromagnetic docking mechanism is ensured to have the functions of quick actuation and reuse.

2. According to the space electromagnetic docking mechanism provided by the invention, the service end and the target end are captured and pulled close through the electromagnetic adsorption force between the service end central coil and the target end central coil, the service end and the target end are guided and corrected through the guide conical rod and the guide conical hole, the docking mechanism is reliably locked through the matching between the locking rod and the mechanical locking electromagnetic unlocking assembly, the electromagnetic docking control difficulty is effectively simplified, and the high-precision docking is realized.

3. The specific design of the mechanical locking electromagnetic unlocking assembly can realize the accurate adjustment of the docking/separating speed and the posture between the service end and the target end, thereby avoiding the problems of plume pollution, larger docking impact force and the like caused by the traditional docking mode, realizing a space weak impact docking mode and further finishing the functions of mechanical locking and electromagnetic unlocking; meanwhile, the unlocking coil provides a locking bead releasing force, so that the service end and the target end can be unlocked quickly.

4. The locking rod is provided with the two annular grooves along the rod body, so that redundant locking acting force can be provided for the locking rod and the mechanical locking electromagnetic unlocking assembly.

5. According to the invention, the specific design between the guide taper rod and the guide taper hole can realize coarse guide and fine guide between the service end and the target end.

6. According to the invention, the specific design of the three locking rods and the three guiding taper rods on the base of the service end and the three mechanical locking electromagnetic unlocking assemblies and the three guiding taper holes on the base of the target end can guide and lock, and meanwhile, the stable butt joint of the service end and the target end is facilitated.

Drawings

Fig. 1 is a schematic structural diagram of a space electromagnetic docking mechanism based on mechanical locking and electromagnetic unlocking provided by the invention.

Fig. 2 is a schematic structural diagram of the server in fig. 1.

Fig. 3 is a schematic structural view of the locking bar of fig. 2.

Fig. 4 is a schematic structural diagram of the target end in fig. 1.

Fig. 5 is a schematic structural view of the mechanical locking electromagnetic unlocking assembly in fig. 4.

Fig. 6 is an exploded view of the mechanical locking electromagnetic unlocking assembly of fig. 5.

Fig. 7 is a schematic diagram illustrating the process of capturing the target end by the service end and the locking rod entering the inner hole of the locker housing to start butt joint.

Fig. 8 is a schematic diagram of a locking state between the server and the target.

The system comprises a service end 1, a target end 2, a service satellite 3, a service end base 4, a locking rod 5, a service end center coil 6, a guide taper rod 7, a target satellite 8, a target end base 9, a mechanical locking electromagnetic unlocking assembly 10, a target end center coil 11, a guide taper hole 12, a locker shell 13, an unlocking coil 14, a locking bead 15, a pressure plate 16, a pressure plate spring 17, a guide sleeve 18, a locker inner cylinder 19 and a buffer spring 20.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The embodiment provides a space electromagnetism docking mechanism based on mechanical locking, electromagnetism unblock, realizes flexible butt joint and controllable separation through electromagnetic force, realizes reliable locking through lock ball formula locker, has the characteristics of low impact, no plume pollution, simple structure, lightweight, low-power consumption.

As shown in fig. 1, the spatial electromagnetic docking mechanism includes: the service end 1 and the target end 2 are matched through the shaft hole under the action of electromagnetic attraction (or electromagnetic force) to realize flexible butt joint and controllable separation, and reliable locking is realized through a locking ball type locker between the service end and the target end;

as shown in fig. 2, the server 1 includes: the system comprises a service satellite 3, a service end base 4, a locking rod 5, a service end central coil 6 and a guide conical rod 7; as shown in fig. 4, the target 2 includes: the system comprises a target satellite 8, a target end base 9, a mechanical locking electromagnetic unlocking assembly 10 and a target end central coil 11;

in the service end 1, one end of a service end base 4 is fixedly connected to a structural plate of a service satellite 3, more than one (preferably three) locking rods 5 and more than one (preferably three) guide conical rods 7 are arranged on the other end of the service end base, and the locking rods 5 and the guide conical rods 7 can be integrally formed with the service end base 4 or can be respectively processed and assembled;

a mounting hole is formed in the center of the service end base 4 at the end where the locking rod 5 and the guide taper rod 7 are located, and a service end center coil 6 is arranged (fixed) on the inner wall surface of the front end of the mounting hole;

it should be noted that, in this embodiment, the end where the server 1 and the target 2 are butted with each other is the front end of the server 1 and the target 2, respectively, and the end far away from the butted end is the rear end;

in the target end 2, one end of a target end base 9 is fixedly connected with a front cabin plate of a target satellite 8, and the other end of the target end base is provided with a mechanical locking electromagnetic unlocking assembly 10 which is used for butt joint and locking with a locking rod 5; the end of the mechanical locking electromagnetic unlocking assembly 10 of the target end base 9 is provided with a central hole and more than one guide taper hole 12, and the guide taper hole 12 is matched with the shaft hole of the guide taper rod 7 in the service end 1 and is used for butt joint guide of the service end 1 and the target end 2; the target end central coil 11 is fixed on the inner wall surface of the front end of the central hole, and under the condition of electrification, the target end central coil 11 can be attracted with the service end central coil 6 under the action of electromagnetic adsorption force, so that the front end surface of the service end 1 is driven to be in contact fit with the front end surface of the target end 2;

as shown in fig. 5 and 6, the mechanical locking electromagnetic unlocking assembly 10 includes: the locking device comprises a locker shell 13, an unlocking coil 14, a locking bead 15, a pressure plate 16, a pressure plate spring 17, a guide sleeve 18, a locker inner cylinder 19 and a buffer spring 20;

the locker shell 13 is of a cylindrical structure with a shaft shoulder at one end, one end of the locker shell provided with the shaft shoulder is fixed on the target satellite 8, the other end of the locker shell is positioned in the through hole of the target end base 9, and the end of the locker shell 13 is provided with a guide taper hole coaxial with the central through hole of the locker shell and used for guiding the locking rod 5, so that the locking rod 5 can be accurately inserted into the mechanical locking electromagnetic unlocking assembly 10 so as to be locked and matched with the mechanical locking electromagnetic unlocking assembly 10 (a locking ball type locker is formed between the locking rod 5 and the mechanical locking electromagnetic unlocking assembly 10); the end of the shaft shoulder of the locker shell 13 is coaxially expanded with a stepped through hole of which the small end aperture is larger than that of the central through hole of the locker shell 13, and the small end of the stepped through hole is communicated with the central through hole through a conical through hole;

the guide sleeve 18 is a cylindrical structure with two open ends and is coaxially arranged in the stepped through hole, the rear end of the guide sleeve 18 is fixed on the target satellite 8, and the outer circumference surface of the front end is coaxially sleeved with an annular pressing plate 16; the axial rear end of the pressure plate 16 is fixed on the target satellite 8 through a pressure plate spring 17; the pressure plate spring 17 is coaxially sleeved in the guide sleeve 18, and the guide sleeve 18 provides internal guide for the pressure plate spring 17;

a locker inner cylinder 19 is coaxially sleeved in the front end of the guide sleeve 18, the locker inner cylinder 19 is in sliding fit with the guide sleeve 18, and the pressure plate 16 slides in an annular cavity between the inner wall surface of the small end of the stepped through hole of the locker shell 13 and the outer circumferential surface of the locker inner cylinder 19; the locker inner cylinder 19 is a cylinder with an open front end and a closed rear end, the end of the closed end is supported on the target satellite 8 through a buffer spring 20 (the buffer spring 20 is externally guided by a guide sleeve 18 and used for reducing butt joint impact), and the end of the open end is abutted against the inner wall surface of the tapered through hole of the locker shell 13;

before the service end 1 and the target end 2 are butted, the locking bead 15 is arranged among the locker inner cylinder 19, the pressure plate 16 and the locker shell 13, the small end of the stepped through hole of the locker shell 13 and the inner wall surface of the tapered through hole limit the locking bead 15 to move outwards along the radial direction and slide forwards along the axial direction, the front end of the pressure plate 16 is abutted against the locking bead 15 to limit the locking bead 15 to move backwards along the axial direction, and the outer circumference of the locker inner cylinder 19 faces the locking bead 15 to move inwards along the radial direction for limiting;

the unlocking coil 14 is coaxially fixed on the inner bottom surface of the large end of the stepped through hole of the locker shell 13, and can provide electromagnetic unlocking force for the locking bead 15 after being electrified, adsorb the locking bead 15, enable the locking bead 15 to firstly compress the pressure plate spring 17, and release the limiting action of the small end inner wall of the stepped through hole of the locker shell 13 on the locking bead 15, so that the locking bead 15 can move outwards along the radial direction, the radial and axial pressing action of the locking bead 15 on the locking rod 5 is released, further the radial and axial restraint of the locking bead 15 on the locking rod 5 is released, and the service end 1 and the target end 2 can be smoothly released;

as shown in fig. 3, more than one annular groove is axially formed on the body of the locking rod 5, and is used for accommodating the locking bead 15 in the mechanical locking electromagnetic unlocking assembly 10 and limiting the locking bead 15; the inner wall surface of each annular groove is inclined forwards and backwards respectively, and the forward inclination angle of each annular groove is larger than the backward inclination angle of each annular groove, so that the acting force along the axial direction of the locking rod 5, which is required by the locking ball 15 to be separated from the annular grooves forwards, is larger than the acting force along the axial direction of the locking rod 5, which is required by the locking ball 15 to be separated from the annular grooves backwards.

In this embodiment, the server-side center coil 6, the target-side center coil 11, the unlocking coil 14, and the locking bead 15 are made of a magnetic conductive material, and the other components are made of a non-magnetic conductive material.

In this embodiment, preferably three locking rods 5 and three guiding conical rods 7 are uniformly spaced, and correspondingly, preferably three mechanical locking electromagnetic unlocking assemblies 10 and three guiding conical holes 12 are uniformly spaced.

In this embodiment, the difference between the outer diameter of the big end of the guide taper rod 7 and the inner diameter of the big end of the guide taper hole 12 is smaller than the difference between the outer diameter of the small end of the guide taper rod 7 and the inner diameter of the small end of the guide taper hole 12, during butt joint, the guide taper rod 7 and the guide taper hole 12 are in large clearance fit and then in small clearance fit, so that the early-stage coarse guide and later-stage fine guide functions are realized, the problem of excessive restraint of a plurality of rods is solved, and the butt joint precision is improved.

In this embodiment, the taper angle of the tapered through hole in the locker housing 13 is 60 ° to 120 °, preferably 90 °.

As shown in fig. 7 and 8, the docking mechanism works as follows:

1) electromagnetic adsorption and guiding of the conical rod 7: the server 1 is continuously close to the target 2, when the preset capture range is reached, the server central coil 6 and the target central coil 11 are electrified to generate electromagnetic adsorption force, and the electromagnetic adsorption force is changed by changing current, so that the relative position and posture between the target 2 and the server 1 are adjusted; when the guide conical rod 7 is in contact with the guide conical hole 12, the guide conical rod 7 slides in the guide conical hole 12, so that the small end of the guide conical rod 7 enters the guide conical hole 12, and the coarse guide process is adopted at the stage, and quick capture and butt joint can be realized;

2) the fine guide of guide conical rod 7, the contact of locking lever 5 and the locking stage: along with the continuous deepening of the guide conical rod 7, the coarse guide process is completed, the fine guide process is started, at the moment, under the guide effect of the guide conical hole at the front end of the locker shell 13, after the locking rod 5 extends into the central through hole of the locker shell 13, the locking rod 5 enters the locker inner cylinder 19 and contacts and pushes the locker inner cylinder, and the butt impact is reduced by the butt resistance of the buffer spring 20;

under the action of electromagnetic adsorption force, along with the continuous reduction of the distance between the target end 2 and the service end 1, the locker inner cylinder 19 continuously moves along the axial direction until the locker inner cylinder 19 releases the limiting effect on the locking bead 15 along the radial direction; at this time, the outer circumference of the locking lever 5 provides a radially inward spacing function to the locking bead 15;

preferably, two annular grooves are axially formed in the body of the locking rod 5, and when the locking rod 5 extends into a first annular groove (located at the front end) and is located below the locking bead 15, the locking bead 15 enters the annular groove of the locking rod 5 under the common acting force of the pressure plate spring 17 and the inner wall surface of the tapered through hole of the locker housing 13; the locking balls 15 can be separated from the annular groove by means of the front and rear inclined planes of the annular groove by adjusting the electromagnetic adsorption force between the service end central coil 6 and the target end central coil 11; when the locking bead 15 is disengaged from the inclined plane at the rear end of the annular groove, the locking rod 5 continues to go deep until the locking bead 15 enters a second annular groove on the locking rod 5, the guide taper rod 7 completely enters the guide taper hole 12, and the front surface of the service end base 4 is attached to the front surface of the target end base 9, so that mechanical locking is realized; the server end central coil 6 and the target end central coil 11 can be powered off, and the whole butt joint process is completed;

when the whole body formed by the service end 1 and the target end 2 is subjected to an unexpected load and the locking bead 15 is disengaged from the front end of the second annular groove of the locking rod 5, the locking rod 5 gradually exits from the central through hole of the locker shell 13 under the action of the buffer spring 20 along with the increase of the relative distance between the service end 1 and the target end 2; when the locking rod 5 moves to the first annular groove and is located under the locking bead 15 again, the locking bead 15 enters the first groove of the locking rod 5 again under the action of the pressure plate spring 17, so that secondary mechanical locking is realized, accidental separation of the service end 1 and the target end 2 is prevented, and the redundant function of mechanical locking is achieved.

3) Electromagnetic unlocking and separating stage: the unlocking coil 14 is electrified, the locking bead 15 overcomes the resistance of the pressure plate spring 17 to push the pressure plate 16 to move along the axial direction under the action of electromagnetic attraction (electromagnetic force), and the locking bead 15 is separated from the annular groove to realize electromagnetic unlocking; at the moment, the server end central coil 6 and the target end central coil 11 are electrified to generate electromagnetic repulsive force, so that the server end 1 is separated from the target end 2; the electromagnetic repulsion force is changed by changing the current, so that the relative speed, the relative position and the posture between the server 1 and the target 2 are adjusted.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.