阅读说明：本技术 一种缠绕式空间捕获装置 (Wound form space capture device ) 是由 康国华 刘奇弦 吴佳奇 王强 张琪 张文豪 张晗 徐伟证 于 2019-09-29 设计创作，主要内容包括：本发明公开了一种缠绕式空间捕获装置,涉及空间捕获装置领域,能够在刚性与柔性状态之间切换,准确捕获航天器。本发明包括：软绳、卡口、弹簧、柱状节、质量块。柱状节为圆柱状,并沿中心轴设置通孔,柱状节的两端一端为凸台,另一端设置与所述凸台形状大小相匹配的沉孔。软绳穿过若干柱状节中心的通孔,相邻柱状节的凸台和沉孔首尾相接,软绳上还串连弹簧,软绳的两端一端穿过卡口,另一端连接质量块。柱状节、弹簧、软绳共同组成用于缠绕目标物的缠绕体。本发明在不同的运动状态时采取不同的外形状态,综合了刚性装置和柔性装置的优点,在空间目标捕获作业中能够准确捕捉到物体,提高工作效率。(The invention discloses a winding type space capturing device, relates to the field of space capturing devices, and can switch between a rigid state and a flexible state to accurately capture a spacecraft. The invention comprises the following steps: soft rope, bayonet, spring, column festival, quality piece. The columnar section is cylindrical, a through hole is formed in the center shaft, bosses are arranged at one ends of two ends of the columnar section, and counter bores matched with the bosses in shape and size are formed in the other ends of the columnar section. The soft rope penetrates through a through hole in the center of the plurality of columnar sections, the bosses and the counter bores of the adjacent columnar sections are connected end to end, the soft rope is also connected with springs in series, one end of each of two ends of the soft rope penetrates through the bayonet, and the other end of each of the two ends of the soft rope is connected with the mass block. The cylindrical section, the spring and the soft rope jointly form a winding body for winding the target object. The invention adopts different appearance states in different motion states, integrates the advantages of a rigid device and a flexible device, can accurately capture objects in space target capturing operation and improves the working efficiency.)

1. A wrap-around space capture device, comprising: the device comprises a soft rope (4), a bayonet (5), a spring (3), a columnar joint (2) and a mass block (1);

the columnar section (2) is cylindrical, a through hole is formed along the central shaft, bosses are arranged at one ends of two ends of the columnar section (2), and counterbores matched with the bosses in shape and size are formed in the other ends of the columnar section;

the soft rope (4) penetrates through a through hole in the center of the plurality of cylindrical sections (2), bosses and counter bores of adjacent cylindrical sections (2) are connected end to end, springs (3) are further connected in series on the soft rope (4), one end of each of two ends of the soft rope (4) penetrates through the bayonet (5), and the other end of each of two ends of the soft rope (4) is connected with the mass block (1).

2. A wound space capture device according to claim 1, further comprising a receiving chamber (7), wherein the cord (4) is threaded through the receiving chamber (7), the receiving chamber (7) is open on a side thereof close to the mass (1), and the bayonet (5) is mounted on a side thereof remote from the mass (1).

3. A wound space catching device according to claim 1 characterized in that the end of the cord (4) near the bayonet (5) is fixedly wound around the output shaft of the motor (6).

4. A wound space capture device according to claim 1, characterised in that the outer surface of the cylindrical section (2) is provided with a pattern.

5. A spooled space capture device according to claim 1, comprising a plurality of compartments (7), wherein compartments (7) are arranged side by side.

6. A wound space capture device according to claim 1, wherein the wound space capture device is integrally enclosed in a cartridge.

7. A wound space catching device according to claim 6 characterized in that the box body is externally provided with a right angle connector (8).

8. A wound space capture device according to claim 6, characterised in that a motor power supply interface (9) is provided externally of the casing.

Technical Field

The invention relates to the field of space capture devices, in particular to a winding type space capture device.

Background

Space debris, mainly including invalid space vehicles and the like, exists in the space, and the space debris is more and more over time, occupies orbital resources and threatens the safety of other space vehicles, so that the targets need to be captured to achieve the purpose of recycling. At present, the main capturing schemes comprise the scheme that a mechanical arm captures a specific structure of a target spacecraft, a flying net or a flying claw captures the target spacecraft, an electromagnetic docking mechanism is utilized for capturing, and the like.

In 1997, an engineering test satellite-7 (ETS-VII) was launched in Japan for performing space autonomous rendezvous and docking and mechanical arm operation key technology verification, and separation and on-orbit capture of a service satellite and a target satellite are successfully realized through a six-degree-of-freedom space mechanical arm arranged on the service satellite. The united states Defense Advanced Research Planning Agency (DARPA) initiated a full-energy orbital manipulation aircraft (SUMO) project that employed multiple robotic arms to interact with video stereo imaging, utilizing satellite-to-rocket connectors (e.g., adapter docking rings and bolt holes thereof) of the target satellites for capture. The Remove Debris program was developed at the university of saliy, uk, using a satellite platform named Remove Debris, carrying a flying net and a flying claw device, respectively, to verify the key technology for the capture of space Debris. In 2018, a cubic star is captured by successfully launching a flying net by a Remove debrris satellite, in 2019, a test of a 'fish fork' flying claw is successfully carried out, and the flying claw is used for successfully hitting and penetrating an aluminum plate which is tied at the tail end of a satellite extension rod and is in the size of a table tennis bat.

However, there are some disadvantages to the above-described capture approach. The mechanical arm is a rigid mechanical device, the mechanical arm capturing mode has high requirements on contact conditions, the collision problem is easy to generate, and the mechanical arm capturing mode is not suitable for directly capturing the spinning or rolling target spacecraft. The flying net and the flying claws are flexible rope tying devices, and the releasing and recovering control difficulty is higher in the space weightless environment. The electromagnetic capture mode depends on electromagnetic force, and the electromagnetic force is attenuated rapidly along with the increase of the distance, so that larger current is needed, and the power consumption is larger.

Disclosure of Invention

The invention provides a winding type space capturing device which can be switched between a rigid state and a flexible state to accurately capture a spacecraft.

In order to achieve the purpose, the invention adopts the following technical scheme:

a wrap-around space capture device, comprising: soft rope, bayonet, spring, column festival, quality piece.

The columnar section is cylindrical, a through hole is formed in the center shaft, bosses are arranged at one ends of two ends of the columnar section, and counter bores matched with the bosses in shape and size are formed in the other ends of the columnar section. The soft rope penetrates through a through hole in the center of the plurality of columnar sections, the bosses and the counter bores of the adjacent columnar sections are connected end to end, the soft rope is also connected with springs in series, one end of each of two ends of the soft rope penetrates through the bayonet, and the other end of each of the two ends of the soft rope is connected with the mass block. The cylindrical section, the spring and the soft rope jointly form a winding body for winding the target object.

One end of the soft rope close to the bayonet pulls the columnar section and the spring to move towards the bayonet, when the bayonet clamps the columnar section, the adjacent columnar sections are mutually extruded and finally mutually connected through the matching of the boss and the counter bore, and the columnar section strung on the soft rope is changed into a linear rigid state from a flexible state. At the same time, the springs connected in series to the cord compress.

When the tail end of the soft rope is released, the compressed spring is released to drive the soft rope to move in the direction away from the bayonet, and meanwhile, the columnar section is changed into a flexible state again.

After winding is completed, the soft rope pulls the cylindrical section and the spring to move towards the bayonet again, and the cylindrical section strung on the soft rope is unfolded from the flexible state to the linear rigid state again to release winding.

Furthermore, the wound space capturing device further comprises a containing cabin, the soft rope penetrates through the containing cabin, one side of the containing cabin, which is close to the mass block, is provided with an opening, and one side, which is far away from the mass block, is provided with a bayonet. When the columnar section is in a flexible state, the columnar section is stored in the storage cabin.

Furthermore, one end of the soft rope close to the bayonet is fixedly wound on an output shaft of the motor, and the motor controls the soft rope to be tightened or released.

Furthermore, patterns are arranged on the outer surface of the columnar section.

Furthermore, the winding device comprises a plurality of containing cabins which are distributed in parallel, each containing cabin contains a set of winding body which is composed of a cylindrical section, a spring and a soft rope, and the plurality of winding bodies can wind the same target at the same time.

Further, the wound space capture device is integrally packaged in the box body.

Furthermore, the box body is externally provided with a right-angle connector which is used as a mechanical interface.

Furthermore, a motor power supply interface is arranged outside the box body and serves as an electrical interface.

The invention has the beneficial effects that:

the cylindrical section, the spring and the soft rope jointly form the winding body, and the winding body can be switched back and forth in two shapes of flexibility and rigidity through the matching of the soft rope and the bayonet. When the target is approached, the winding body is switched to a rigid state, so that winding and knotting are avoided; when the winding body is used for winding the target object, the winding body is switched to a flexible state to wind the target object, and the rotation of the target can be utilized to accelerate the winding process.

The motor is powered on to operate only when the winding body is switched to a rigid state, the motor does not consume power in other time, the average power consumption is low, and the requirement on power supply of the load platform is low.

A plurality of accomodating cabins distribute side by side to a plurality of winding bodies can twine same target simultaneously, have improved the success rate of twining the target.

The device adopts the integrated design of encapsulation formula, only provides necessary mechanical interface and electric interface to the outside, and the interface is small in quantity, and the form is simple, easily installs.

In conclusion, the invention adopts different appearance states in different motion states, integrates the advantages of a rigid device and a flexible device, can accurately capture objects in space target capture operation and improves the working efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of a columnar section;

FIG. 3 is a three-dimensional schematic view of a packaging scheme;

FIG. 4 is a schematic diagram of the flexible and rigid state of the wound body

FIG. 5 is a schematic illustration of the process of the wrap-around body again converting flexibility to rigidity;

FIG. 6 is a schematic diagram of a process for capturing objects in space according to an embodiment of the present invention.

1-mass block, 2-column joint, 3-spring, 4-soft rope, 5-bayonet, 6-motor, 7-containing chamber, 8-right angle connector, 9-motor power supply interface, 10-load platform and 11-target spacecraft.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.

The embodiment of the invention provides a winding type space capturing device, which comprises a winding body, a bayonet 5, a motor 6, a containing cabin 7 and an external interface, as shown in figure 1. The winding body comprises a mass block 1, a cylindrical section 2, a spring 3 and a soft rope 4. The external interface comprises a right-angle connector 8 and a motor power supply interface 9.

One end of a soft rope 4 is wound on a rotating shaft of the motor 6 and penetrates through the bayonet 5, the other end of the soft rope is connected with the mass block 1, the columnar section 2 and the spring are distributed between the bayonet 5 and the mass block 1, and the soft rope 4 penetrates through the columnar section 2 and the spring 3. The columnar nodes 2 and the springs 3 are alternately distributed, and the plurality of springs 2 can accelerate the deformation speed of the winding body from rigidity to flexibility.

The structure of the columnar section 2 is shown in fig. 2. The interior of the columnar section 2 is provided with a cylindrical cavity, and the soft rope 4 passes through the cylindrical cavity. The external of the columnar section 2 is provided with fine convex lines for increasing the friction force between the columnar section and the wound object. One end of each columnar section 2 is provided with a boss, and the other end of each columnar section is provided with a counter bore, so that different columnar sections 2 can be embedded end to end, and the rigidity of the winding body in a rigid state is improved.

The bayonet 5 is arranged on the wall of the containing cabin 7, the cabin door of the containing cabin 7 is arranged on one side close to the mass block 1, and the bayonet 5 is arranged on the other side far away from the mass block 1.

The packaging scheme of the invention is as shown in fig. 3, a single motor 6 and a plurality of containing cabins 7 are packaged in a box-type structure, the containing cabins 7 are arranged in parallel, and each containing a set of winding body composed of a column-shaped joint 2, a spring 3 and a soft rope 4.

The periphery of the storage cabins 7 arranged in parallel is provided with a box body, the box body is provided with a plurality of right-angle connectors 8 with external mechanical interfaces, and is provided with a motor power supply interface 9 with external electrical interfaces.

The principle of the invention for realizing the conversion from the rigid state to the flexible state is shown in figure 4, a motor 6 is powered on to rotate, a mass block 1 is pulled by a soft rope 4 to move towards the direction close to a bayonet 5, and the bayonet 5 blocks the movement of the columnar nodes 2 and the spring 3, so that the columnar nodes 2 and the spring 3 are mutually extruded, and a winding body is converted into the rigid state.

The winding body releasing process is as shown in fig. 5, when the winding body is in a non-working state, the winding body is stored in the containing cabin 7 in a winding shape, after the motor 6 is powered on, the motor shaft rotates, the winding body deforms when being rigidized, the shape is changed into a cylindrical shape, and the containing cabin door can be jacked open by means of the self-movement of the process.

The embodiment can be combined and practical, a plurality of winding bodies are installed on the same motor 6 in the same direction, and as shown in fig. 5, each winding body is stored in each storage cabin 7 in a winding state before being released.

The process for space target capture in this embodiment is shown in fig. 6, in which a winding type space capture device is carried by a load platform 10, after the load platform 10 approaches a target spacecraft 11, a winding body is released and converted into a rigid state, the winding body is collected to obtain an initial velocity relative to the target spacecraft 11, and the winding body is made to approach the target spacecraft 11 at the velocity. Before the winding body and target spacecraft 11 contacted, motor 6 was cut off the power supply, but the motor shaft free rotation this moment, spring 3 pushed quality piece 1 from bayonet 5, no longer extrudeed between each column festival 2 and the spring 3, and the winding body changes flexible state into, under the 1 inertial action of quality piece, the winding body twined target spacecraft 11, and target spacecraft 11's rotation can help the winding body to a certain extent to twine more fast.

The invention has the beneficial effects that:

the cylindrical section, the spring and the soft rope jointly form the winding body, and the winding body can be switched back and forth in two shapes of flexibility and rigidity through the matching of the soft rope and the bayonet. When the target is approached, the winding body is switched to a rigid state, so that winding and knotting are avoided; when the target object is wound, the winding body is switched to a flexible state to wind the target object, and the self-transmission of the target can be utilized to accelerate the winding process.

The motor is powered on to operate only when the winding body is switched to a rigid state, the motor does not consume power in other time, the average power consumption is low, and the requirement on power supply of the load platform is low.

A plurality of accomodating cabins distribute side by side to a plurality of winding bodies can twine same target simultaneously, have improved the success rate of twining the target.

The device adopts the integrated design of encapsulation formula, only provides necessary mechanical interface and electric interface to the outside, and the interface is small in quantity, and the form is simple, easily installs.

In conclusion, the invention adopts different appearance states in different motion states, integrates the advantages of a rigid device and a flexible device, can accurately capture objects in space target capture operation and improves the working efficiency.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.