The docking mechanism was installed on the adapter, which is attached to the active docking assembly by four pyrotechnic locks. The receiving cone of the passive assembly ends in a socket, which contains linkage sensors and pyrotechnic bolts for back-up undocking. Docking begins after the head of the rod makes contact with the receiving cone. On a signal from the contact sensor the control system of the active spacecraft shuts off, and the engines of the jet control systems are turned on, creating a force along the x axis to accelerate linkage. Tn the contacts, the shocks of the collisions of the spacecraft are absorbed. After several impacts the head of the rod enters the socket of the receiving cone, where linkage occurs. The latches, falling into the matching grooves of the socket, are compressed into an intermediate position, and the linkage sensor fires. On a signal from this sensor the jet control system of the active spacecraft is shut off; the control system of the passive spacecraft is shut off on a signal from the linkage sensor in the socket of the receiving cone. If the firing of contact sensor 2 occurs on first contact (the end of the docking frame), the jet control system is automatically turned on at the extraction of the active spacecraft. After linkage the energy of the collision is absorbed by a longitudinal shock absorber and a flexible rod. Turning of the spacecraft after linkage is limited by a circular bracket, and the energy of the rotation is absorbed by deformation of the rod and other parts of the docking assembly. The drive of the docking mechanism is turned on for coupling when a signal is given on linkage and the contact sensor fires. Equalization in roll, pitch, and yaw are done during coupling by a leverage mechanism. In the initial course of coupling the bracket is held immobile relative to the hull, and the levers are separated until they rest in the cone. The latches of the head are drawn inside the tapering grooves of the socket. When they rest in the tapered grooves, a torque is created relative to the longitudinal axis and roll is equalized. Tn the coupled position the latches of the head are fixed in the grooves of the socket to insure separation of the spacecraft during undocking. At the end of equalization the rods of the bracket are released, and the bracket moves with the rod. The final equalization is done by the guiding rods and the sockets, and in the final part of coupling the plugs and sockets of the electrical connectors are joined.
RkJQdWJsaXNoZXIy MTU5NjU0Mg==