CN106394940A - Space rope net capturing system based on recombining rope system formation flying - Google Patents

Abstract

The invention discloses a space rope net capture system based on recombinable rope formation flight. It includes a reconfigurable mechanism, a flexible flat rope net and a closing rope. The reconfigurable mechanism is composed of four sub-organizations with the same structure, and each sub-mechanism includes an ejection-docking part and a tether control part; After the central hole enters, it passes through the tension pretensioner, the rope length measuring wheel, the tension measuring wheel and the auxiliary guide wheel of the tether control part in turn, and is fixed on the inner wall of the rope drum. The middle part of the cone rod is connected; the flexible plane rope net is evenly distributed with rope rings, which are respectively placed in the closing ropes of the four sub-mechanisms, and the shrinkage and expansion of the flexible plane rope net are realized by retracting and releasing the closing ropes. The invention has the advantages of good fault tolerance, long working distance and high capture efficiency; the expansion and contraction of the rope net can be carried out by reorganizing the formation flight of the rope system, which can improve the reliability of the rope net capture and reduce the complexity of control.

Description

Space net capture system based on reconfigurable tether formation flight

technical field

The invention relates to a space rope net capture system, in particular to a space rope net capture system based on recombinable rope formation flight.

Background technique

In order to meet the needs of non-cooperative target acquisition tasks such as malfunctioning spacecraft and space debris in the future, the concept of flexible acquisition has gradually entered people's field of vision, and has become one of the research hotspots in recent years. The concept of flexible capture is a new capture method proposed in recent years. It covers and wraps the target with flexible structures such as nets or cloth, and forms a reliable connection with the mission spacecraft through flexible connectors (such as ropes). The traditional rope net capture system is mostly based on the structure of "task platform + connecting tether + rope net + passive mass block". The traction mass block is launched through the task platform and then pulled to expand the rope net to complete the wrapping and capture of the target. Since the mass block does not have the function of self-maneuvering, the maximum expansion area and holding time of the rope net are too dependent on factors such as the launch speed and angle of the mass block, and the quality of the mass block, which puts forward high requirements on the launch, and its capture distance and Mobility has certain constraints.

Contents of the invention

Taking the space rope net capture robot as the application background, aiming at the problems of high launch requirements, short capture distance and poor maneuverability of the traditional rope net capture system, the purpose of the present invention is to provide a space rope net based on reorganizable tether formation flight The capture system adopts four sub-mechanisms with combined functions of ejection separation and docking, combined with the closing rope for space formation flight, through the change of formation configuration and combined with the tether retraction control to realize the deployment, maintenance and contraction of the rope net, etc. operate.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The space rope net capture system of the present invention includes a reconfigurable mechanism, a flexible planar rope net and a closing rope. The reorganizable mechanism is composed of four sub-mechanisms with the same structure, and each sub-mechanism includes an ejection-docking part and a tether control part;

The ejection-docking part includes: a cone, four springs, four guide rails, a cone rod and a shell; in the shell, the large end of the cone is installed outside the left side plate of the shell, and the four guide rails are vertically and evenly distributed on the shell On the side of the middle plate, each spring is set on the guide rail rod of the respective guide rail, the end of the guide rail rod is connected with the end face of the large end of the cone cylinder, and the two ends of each spring are respectively limited by the boss of the guide rail and the end surface of the cone cylinder. position, the large end of the tapered rod is fixed at the center outside the rear panel of the housing;

The tether control component includes: an encoder, an electromagnetic brake, a servo motor, a tension sensor, a reducer, a first bearing seat, a rope reel, a second bearing seat, an auxiliary guide wheel, a tension measuring wheel, and a rope length measuring wheel , Tension pretensioner, rope board, bottom plate and rope length encoder.

In the casing, the encoder is connected to one end of the electromagnetic brake, the other end of the electromagnetic brake is connected to one end of the servo motor, the other end of the servo motor is connected to one end of the reducer, and the other end of the reducer is fixed on the first bearing seat. The output shaft of the reducer passes through the inner ring of the bearing of the first bearing seat and is connected to the inner ring of the bearing of the second bearing seat through the central hole of the rope drum. The bottoms of the first bearing seat and the second bearing seat are installed on the upper surface of the bottom plate, The rope running board is vertically installed, and the rope running board is parallel to the axis of the cone cylinder. The rope running board is installed with a tension pretensioner, a rope length encoder with a rope length measuring wheel, and a tension sensor with a tension measuring wheel in sequence from left to right. Sensors and training wheels;

One end of the closing rope enters through the central hole of the cone cylinder from the outside of the casing, passes through the tension pretensioner, the rope length measuring wheel, the tension measuring wheel and the auxiliary guide wheel in turn, and is fixed on the inner wall of the rope drum. The other end of the closing rope is connected to the The middle connection of the taper rods of adjacent sets of sub-mechanisms;

The flexible plane rope net is a square net that can be expanded. There are rope rings evenly distributed around the flexible plane rope net. Contraction and expansion of flexible planar rope nets.

When the reconfigurable mechanism is fully contracted, the cone rod of the first sub-mechanism is nested in the cone cylinder of the fourth sub-mechanism, the cone rod of the fourth sub-mechanism is nested in the cone cylinder of the third sub-mechanism, and the cone rod of the third sub-mechanism is nested in the cone cylinder of the third sub-mechanism. The cone rod is nested in the cone cylinder of the second sub-mechanism, and the cone rod of the second sub-mechanism is nested in the cone cylinder of the first sub-mechanism; the flexible planar rope net is folded and stored in the cage surrounded by four sub-mechanisms.

When the reconfigurable mechanism is fully deployed, the cone rod of the first sub-mechanism is completely separated from the cone cylinder of the fourth sub-mechanism, the cone rod of the fourth sub-mechanism is completely separated from the cone cylinder of the third sub-mechanism, and the cone rod of the third sub-mechanism is completely separated from the cone cylinder of the third sub-mechanism. It is completely separated from the cone of the second sub-mechanism, and the cone rod of the second sub-mechanism is completely separated from the cone of the first sub-mechanism; the four non-contact sub-mechanisms are connected to each other through the closing rope, and the flexible flat rope net is fully unfolded state.

The beneficial effects that the present invention has are:

1. Compared with the rigid capture represented by the mechanical arm in the past, the present invention has the advantages of good fault tolerance, long working distance and high capture efficiency.

2. The present invention expands and contracts the rope net by flying in formation with reconfigurable rope systems, which can improve the reliability of rope net capture and reduce the complexity of control.

3. The present invention combines traditional small satellite technology (communication, attitude adjustment, autonomous maneuvering, etc.) to complete the capture of the target without requiring a large mission platform and connecting tethers.

Description of drawings

Fig. 1 is a diagram of the space rope net capture system in the unfolded state of the present invention.

Fig. 2 is a structural diagram of a sub-mechanism of the reconfigurable mechanism of the present invention.

Fig. 3 is a diagram of the space rope net capture system in the combined state of the present invention.

Fig. 4 is a schematic diagram of the space rope net capture system of the present invention before the target is captured.

Fig. 5 is a schematic diagram of the space rope net capturing system of the present invention capturing a target.

Fig. 6 is a schematic diagram of the object caught by the space rope net capture system of the present invention.

In the figure: 1. Reconfigurable mechanism, 2. Flexible plane rope net, 3. Closing rope, 1.1, Cone cylinder, 1.2, Spring, 1.3, Guide rail, 1.4, Cone rod, 1.5, Shell, 1.6, Encoder, 1.7, Electromagnetic brake, 1.8, servo motor, 1.9, tension sensor, 1.10, reducer, 1.11, first bearing seat, 1.12, rope reel, 1.13, second bearing seat, 1.14, auxiliary guide wheel, 1.15, tension measuring wheel, 1.16, rope length measuring wheel, 1.17, tension pretensioner, 1.18, rope running plate, 1.19, bottom plate, 1.20, rope length encoder.

detailed description

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Fig. 1 and Fig. 3, the space rope net capture system of the present invention includes a reconfigurable mechanism 1, a flexible flat rope net 2 and a closing rope 3, and the reorganizable mechanism 1 consists of four sub-mechanisms a, b, c and d constitute, each sub-mechanism includes ejection-docking parts and tether control parts.

As shown in Figure 2, the ejection-docking part includes: a cone 1.1, four springs 1.2, four guide rails 1.3, a cone rod 1.4 and a shell 1.5; in the shell 1.5, the large end of the cone 1.1 is installed on the shell 1.5 Four guide rails 1.3 are vertically and evenly distributed on the side of the middle plate of the shell 1.5 on the outside of the left side plate, each spring 1.2 is set on the guide rail rod of each guide rail 1.3, and the end of the guide rail rod is connected with the end face of the large end of the cone tube 1.1 The two ends of each spring 1.2 are respectively limited by the boss of the guide rail 1.3 and the end face of the cone 1.1, and the large end of the cone rod 1.4 is fixed at the center outside the back plate of the shell 1.5.

The tether control components include: encoder 1.6, electromagnetic brake 1.7, servo motor 1.8, tension sensor 1.9, reducer 1.10, first bearing seat 1.11, rope reel 1.12, second bearing seat 1.13, auxiliary guide wheel 1.14 , Tension measuring wheel 1.15, rope length measuring wheel 1.16, tension pretensioner 1.17, rope walking plate 1.18, bottom plate 1.19 and rope length encoder 1.20.

In the housing 1.5, the encoder 1.6 is connected to one end of the electromagnetic brake 1.7, the other end of the electromagnetic brake 1.7 is connected to one end of the servo motor 1.8, the other end of the servo motor 1.8 is connected to one end of the reducer 1.10, and the other end of the reducer 1.10 is connected. The other end is fixed on the first bearing seat 1.11, and the output shaft of the reducer 1.9 passes through the inner ring of the bearing of the first bearing seat 1.11 and is connected to the second bearing seat 1.13 through the center hole of the rope reel 1.13. The first bearing seat 1.11 Both the bottom of the second bearing housing 1.13 are installed on the upper surface of the bottom plate 1.19, and the bottom plate 1.19 is vertically equipped with a rope running plate 1.18, which is parallel to the axis of the cone 1.1, and the rope running plate 1.18 is installed in turn from left to right. Pretensioner 1.17, rope length encoder 1.20 with rope length measuring wheel 1.16, tension sensor 1.9 and auxiliary wheel 1.14 with tension measuring wheel 1.15.

One end of the closing rope 3 enters through the center hole of the cone barrel 1.1 from the outside of the casing 1.5, passes through the tension pretensioner 1.17, the rope length measuring wheel 1.16, the tension measuring wheel 1.15 and the auxiliary guide wheel 1.14, and is fixed on the inner wall of the rope winding barrel 1.12 place, the other end of the closing rope 3 is connected with the middle part of the tapered rod 6 of the adjacent set of sub-mechanisms.

The flexible plane rope net 2 is a square net that can be expanded, and the specific size can be adjusted according to the size of the target to be captured. There are rope rings evenly distributed around the flexible plane rope net 2, and the rope rings around the four sides are respectively emptied. Among the closing ropes 3 between the mechanisms a, b, c, d, the shrinking and unfolding of the flexible flat rope net 2 is realized through the closing rope 3 .

As shown in Figure 3, when the reconfigurable mechanism 1 is fully contracted, the cone rod 1.4 of the first sub-mechanism a is nested in the cone cylinder 1.1 of the fourth sub-mechanism d, and the cone rod 1.4 of the fourth sub-mechanism d is nested in the third In the cone cylinder 1.1 of the third sub-mechanism c, the cone rod 1.4 of the third sub-mechanism c is nested in the cone cylinder 1.1 of the second sub-mechanism b, and the cone rod 1.4 of the second sub-mechanism b is nested in the first sub-mechanism a Inside the cone cylinder 1.1; the flexible plane rope net 2 is folded and stored in the net warehouse surrounded by four sub-organizations.

As shown in Figure 1 and Figure 5, when the reconfigurable mechanism 1 is fully deployed, the cone rod 1.4 of the first sub-mechanism a is completely separated from the cone cylinder 1.1 of the fourth sub-mechanism d, and the cone rod 1.4 of the fourth sub-mechanism d is separated from the cone rod 1.4 of the fourth sub-mechanism d. The cone 1.1 of the third sub-mechanism c is completely separated, the cone rod 1.4 of the third sub-mechanism c is completely separated from the cone 1.1 of the second sub-mechanism b, and the cone rod 1.4 of the second sub-mechanism b is completely separated from the cone of the first sub-mechanism a. The cylinder 1.1 is completely separated; the four non-contact sub-mechanisms are connected to each other through the closing rope 3, and the flexible flat rope net 2 is in a fully unfolded state.

Working principle of the present invention:

As shown in Figure 3, before the capture, the spring 1.2 of each sub-mechanism is in a compressed state, and the cone rods 1.4 and cone cylinders 1.1 of the four sub-mechanisms are nested; that is, the cone rod 1.4 of the first sub-mechanism a is nested in the fourth In the cone cylinder 1.1 of the sub-mechanism d, the cone rod 1.4 of the fourth sub-mechanism d is nested in the cone cylinder 1.1 of the third sub-mechanism c, and the cone rod 1.4 of the third sub-mechanism c is nested in the cone rod 1.4 of the second sub-mechanism b In the cone cylinder 1.1, the cone rod 1.4 of the second sub-mechanism b is nested in the cone cylinder 1.1 of the first sub-mechanism a; through the electromagnetic brake 1.7 of each tether control part, the tether 3 is locked to realize the reliability between the sub-mechanisms connected, the flexible plane rope net 2 is folded and stored in the net warehouse surrounded by four sub-organizations.

As shown in Figure 3 and Figure 5, when unfolding before capture, the electromagnetic brake 1.7 of each tether control part is unlocked, each tether control part releases the closing rope 3, and the spring 1.2 gradually restores the original length, realizing four sub-mechanisms The mutual separation, that is, the cone rod 1.4 of the first sub-mechanism a and the cone tube 1.1 of the fourth sub-mechanism d, the cone rod 1.4 of the third sub-mechanism c and the cone tube 1.1 of the second sub-mechanism b are separated at the same time; The cone rod 1.4 of the four sub-mechanism d is separated from the cone cylinder 1.1 of the third sub-mechanism c, and the cone rod 1.4 of the second sub-mechanism b is separated from the cone cylinder 1.1 of the first sub-mechanism a, so as to realize the ejection of the four sub-mechanisms Separation and deployment of the flexible planar rope net 2.

As shown in Figure 3 and Figure 6, when shrinking after capture, the tether control part recycles the closing rope 3, and the cone barrel 1.1 and the tapered rod 1.4 of each adjacent sub-mechanism cooperate gradually under the guidance of the closing rope 3 to realize the sub-assembly. Mutual docking between mechanisms; that is, the taper rod 1.4 of the first sub-mechanism a and the cone barrel of the fourth sub-mechanism d, the taper rod 1.4 of the third sub-mechanism c and the cone barrel 1.1 of the second sub-mechanism b are first docked simultaneously; and then The taper rod 1.4 of the fourth sub-mechanism d and the cone tube 1.1 of the third sub-mechanism c, the taper rod 1.4 of the second sub-mechanism b and the cone tube 1.1 of the first sub-mechanism a are docked simultaneously; the spring 1.2 of each sub-mechanism gradually After compression, the electromagnetic brake 1.7 of the tether control part is locked after the cone rod 1.4 of the adjacent sub-mechanism is fully matched with the cone cylinder 1.1, so as to realize the reliable connection of the four sub-mechanisms, so as to realize the docking combination of the four sub-mechanisms and the flexible flat rope Shrinkage and locking of net 2.

As shown in Figure 4, Figure 5, and Figure 6, before capture, the entire capture system combined with traditional small satellite technologies (communication, attitude adjustment, autonomous maneuvering, etc.) is in an integrated state, and the capture system completes the search and identification of targets. , and gradually approach the target within the capture distance range of the capture system (100-meter level); when carrying out the capture task, the electromagnetic brake 1.7 of the tether control part is unlocked, the tether control part releases the closing rope 3, and the spring 1.2 gradually returns to its original position. Long, to realize the mutual separation of the four sub-organizations, that is, the first sub-mechanism a and the fourth sub-mechanism d, the second sub-mechanism b and the third sub-mechanism c are separated at the same time; then the first sub-mechanism a and the second sub-mechanism b. The third sub-mechanism c is separated from the fourth sub-mechanism d, so as to realize the expansion of the flexible flat rope net 2, and gradually wrap the target object to achieve capture; after the capture is completed, the tether control part recovers the closing rope 3, and The cone barrel 1.1 and the cone rod 1.4 adjacent to the reconfigurable mechanism 1 are gradually coordinated under the guidance of the closing rope 3 to realize the mutual docking between the reconfigurable mechanism 1, that is, the first sub-mechanism a, the fourth sub-mechanism d, and the second sub-mechanism b Docking with the third sub-mechanism c first; then the first sub-mechanism a and the second sub-mechanism b, the third sub-mechanism c and the fourth sub-mechanism d and then docking; the spring 1.2 of each sub-mechanism is gradually compressed, in the adjacent After the cone rod 1.4 of the sub-mechanism and the cone tube 1.1 are completely nested, the electromagnetic brake 1.7 of the tether control part is locked to realize the reliable connection of the reconfigurable mechanism, so as to realize the docking combination of the four sub-mechanisms and the contraction of the flexible flat rope net 2 and lock, and drag the target to the designated track.

Claims (3)

1. a kind of based on can recombinate rope be formation flight space netting capture systems it is characterised in that：This space netting capture System, including the mechanism (1) that can recombinate, flexible flat netting (2) and the rope (3) that closes up, the mechanism (1) that can recombinate is identical by four structures Clamp mechanism (a, b, c, d) constitute, each clamp mechanism all includes ejection-joint unit and tether control parts；

Described ejection-joint unit, including：Cone cylinder (1.1), four springs (1.2), four guide rails (1.3), cone bar (1.4) and Shell (1.5)；In shell (1.5), the big end of cone cylinder (1.1) is arranged on outside the left plate of shell (1.5), four guide rails (1.3) vertically it is distributed on the intermediate plate side of shell (1.5), every spring (1.2) is all placed on the guide rail of respective guide rail (1.3) On bar, the end of guide rail pole is connected with the end face at the big end of cone cylinder (1.1), and every spring (1.2) two ends are respectively by guide rail (1.3) The end face of boss and cone cylinder (1.1) carries out spacing, and the big end of cone bar (1.4) is fixed on the center outside the back plate of shell (1.5)；

Described tether control parts, including：Encoder (1.6), electromagnetic brake (1.7), servomotor (1.8), tension pick-up (1.9), decelerator (1.10), first bearing seat (1.11), rope drum (1.12), second bearing seat (1.13), auxiliary guide wheel (1.14), tonometry wheel (1.15), rope length measurement wheel (1.16), tension force preloader (1.17), fall line plate (1.18), base plate And rope length encoder (1.20) (1.19)；

In shell (1.5), encoder (1.6) is connected with one end of electromagnetic brake (1.7), the other end of electromagnetic brake (1.7) It is connected with one end of servomotor (1.8), the other end of servomotor (1.8) is connected with one end of decelerator (1.10), slow down The other end of device (1.10) is fixed in first bearing seat (1.11), and decelerator (1.9) output shaft passes through first bearing seat (1.11) bearing inner race is rotated with second bearing seat (1.13) bearing inner race through rope drum (1.12) centre bore and is connected, clutch shaft bearing The bottom of seat (1.11) and second bearing seat (1.13) is installed in base plate (1.19) upper surface, base plate (1.19) upper vertical equipped with Fall line plate (1.18), fall line plate (1.18) and cone cylinder (1.1) diameter parallel, fall line plate (1.18) is sequentially installed with from left to right opens Power preloader (1.17), rope length encoder (1.20) with rope length measurement wheel (1.16), with tonometry wheel (1.15) Tension pick-up (1.9) and auxiliary wheel (1.14)；

After one end of closing in rope (3) is entered by cone cylinder (1.1) centre bore from shell (1.5), sequentially pass through tension force preloader (1.17), after rope length measurement wheel (1.16), tonometry wheel (1.15) and auxiliary guide wheel (1.14), it is fixed on rope drum (1.12) At inwall, the other end of the rope (3) that closes up is connected with the middle part of the cone bar (6) of adjacent a set of clamp mechanism；

Flexible flat netting (2) is a square net that can launch, flexible flat netting (2) be uniformly distributed on peripheries with becket bridle, four Empty set is in the closing in rope (3) between four clamp mechanisms (a, b, c, d), real by the folding and unfolding of closing in rope (3) respectively for the becket bridle in week The contraction of existing flexible flat netting (2) and expansion.

2. according to claim 1 based on can recombinate rope be formation flight space netting capture systems it is characterised in that： Mechanism (1) can be recombinated when shrinking completely, the cone bar (1.4) of the first clamp mechanism (a) is nested in the cone cylinder of the 4th clamp mechanism (d) (1.1), in, the cone bar (1.4) of the 4th clamp mechanism (d) is nested in the cone cylinder (1.1) of the 3rd clamp mechanism (c), the 3rd clamp mechanism C the cone bar (1.4) of () is nested in the cone cylinder (1.1) of the second clamp mechanism (b), the cone bar (1.4) of the second clamp mechanism (b) is nested in In the cone cylinder (1.1) of the first clamp mechanism (a)；Flexible flat netting (2) fold storage is in the net storehouse that four clamp mechanisms surround.

3. according to claim 1 based on can recombinate rope be formation flight space netting capture systems it is characterised in that： Can recombinate mechanism (1) fully deployed when, the cone bar (1.4) of the first clamp mechanism (a) is complete with the cone cylinder (1.1) of the 4th clamp mechanism (d) Fully separating, the cone bar (1.4) of the 4th clamp mechanism (d) and the cone cylinder (1.1) of the 3rd clamp mechanism (c) are kept completely separate, the 3rd clamp mechanism C the cone bar (1.4) of () is kept completely separate with the cone cylinder (1.1) of the second clamp mechanism (b), the cone bar (1.4) of the second clamp mechanism (b) with The cone cylinder (1.1) of the first clamp mechanism (a) is kept completely separate；Four non-touching clamp mechanisms pass through closing in rope (3) and are connected with each other, Flexible flat netting (2) is in its fully unfolded position.