CN109850190B - Space shape following capturing device - Google Patents

Abstract

A space conformal catching device includes a catching net, a closing mechanism is arranged on the periphery of the catching net, and an adaptive claw is arranged on the net body of the catching and laying net, and the adaptive claws can follow the movement of the catching net. It is launched and stretched out. After the grabbing net collides with the space target, the adaptive claw hugs the space target in the grabbing net. The grabbing net wraps the target and completes the closing through the closing mechanism to complete the capture of the target. The invention can ensure the complete capture of the target by utilizing the large-area coverage feature of the grasping and laying net, combined with the self-locking function of the adaptive claw, and completes the closing of the grasping and laying net through the closing mechanism, ensuring that the grasping rope net and the captured target can be formed. A more stable complex for accurate, reliable, and efficient on-orbit capture of non-cooperative targets.

Description

Space conformal capture device

technical field

The invention relates to the technical field of spacecraft catching devices, in particular to a catching rope net for on-orbit catching of non-cooperative targets.

Background technique

The capture and on-orbit service of spacecraft are the focus of attention in the current international space field. How to capture space targets safely, accurately and quickly is a major challenge for the future development of space technology.

At present, the autonomous on-orbit capture technology of space robots has been demonstrated and verified by flight tests. However, the captured objects in these flight tests are all cooperative targets, that is, equipped with feature identification for measurement and a device for grasping or docking of a robotic arm. However, space debris can be classified as non-cooperative targets. Non-cooperative targets have motion characteristics such as spin, nutation and escape. It is difficult to obtain real-time measurement feedback of their relative spatial position and motion information, so it is difficult to capture.

On-orbit capture of non-cooperative targets is still a key technical bottleneck that has not yet been resolved in aerospace engineering.

SUMMARY OF THE INVENTION

In view of the defects existing in the prior art, the present invention provides a space conformal capture device, which can be used for capturing non-cooperative targets such as space debris.

For realizing the technical purpose of the present invention, the following technical solutions are adopted:

A space conforming catching device includes a catching net, a closing mechanism is arranged on the periphery of the catching net, and an adaptive claw is arranged on the net body of the catching net, and the adaptive claws can follow the movement of the catching net. After launching and extending, after the capture net collides with the space target, the adaptive claw hugs the space target in the capture net, the capture net wraps the target and completes the closing through the closing mechanism to complete the capture of the target.

The geometric center of the grabbing net of the present invention is provided with a central mass block, and the first-level launch of the space target grabbing rope net is realized through the central mass block.

The adaptive claw comprises a central chassis and a plurality of single arms distributed around the central chassis, one end of each single arm is fixedly mounted on the chassis, the other end of each single arm is connected with the catching net, and each single arm includes a plurality of The monomers connected end-to-end through the end connectors are the first monomer, the second monomer, the third monomer... until the nth monomer, wherein the head end of the first monomer is fixedly connected to the central chassis , the end connector is a rotating hinge, and the folding, stretching and embracing of each single arm are realized through the rotating hinge. Before the conformal capture net is launched, each single arm is in a folded state. After the conformal capture with rope net is launched, the launch and deployment of the capture net drives each arm to be stretched and unfolded. When the capture net collides with the space target, each arm moves towards the space in the capture net under the action of inertia The target hugs and completes the capture of the target. The central chassis is connected with the mooring rope, which is used to connect with the mooring platform on the spacecraft. After the space target capture rope net completes the capture of the target, the spacecraft uses the mooring rope to pull the target space target. Catch the rope net forcibly off the track, reach the grave track and discard.

On the central chassis, a plurality of connecting pieces for connecting the single arms are evenly arranged around the center of the chassis. Each connecting piece is distributed correspondingly to connect a single arm. The head end of the first unit of each single arm is fixedly connected with the corresponding connecting piece on the central chassis.

Further, the rotating hinge used in the present invention includes a one-way hinge and a fixed position locking hinge. A one-way hinge is a one-way rotary hinge, and the two monomers connected by the one-way hinge can rotate in one direction, such as counterclockwise or clockwise. In the present invention, the two monomers connected by the one-way hinge can perform one-way rotation. The two units connected by a fixed position lock and hinge are rotated to a fixed angle position and then locked to become a stable structure. Before the conformal capture rope net is launched, the monomers of each single arm are in a zigzag folded state. After the conformal arresting rope net is launched, with the opening of the arresting net, each single arm that is originally in a folded state is stretched and unfolded, wherein the two monomers connected by the fixed position locking hinge are rotated and unfolded to a fixed angle position (such as 180 degrees) and then locked, it becomes a stable structure, and the two monomers connected by a one-way hinge rotate counterclockwise. When the capture net collides with the space target, each unit connected by the one-way hinge in each arm rotates counterclockwise under the action of inertia, and hugs the space target in the capture net to complete the capture of the target.

Specifically, in the present invention, the end of the first unit and the head end of the second unit are connected by a one-way hinge, and the end of the second unit and the head end of the third unit are connected by a fixed position locking hinge, The end of the third unit and the head end of the fourth unit are connected by a one-way hinge, and the end of the fourth unit and the head end of the fifth unit are connected by a fixed position locking hinge, and so on until the nth unit. The end of the -2 monomer is connected with the head end of the n-1th monomer through a fixed position locking hinge, and the end of the n-1th monomer is connected with the head end of the nth monomer through a one-way hinge. The end of the n monomer is connected to the peripheral network wire of the capture net.

In order to ensure that the self-adaptive claw and the capture target will not be damaged after collision, the strength of each monomer needs to meet certain conditions, and it is hoped that the mass of each monomer is as small as possible. Each monomer is a metal plate with a certain length, such as an aluminum alloy plate. In order to keep its structure light, a hollow design can be added to the monobloc to reduce its weight. The width of each monomer on the single arm gradually decreases from one end close to the chassis to the other end, and as the distance from the chassis increases, the width of the monomer decreases.

The head end of the first unit is fixedly connected to the corresponding connector on the chassis by means of screwing, welding or riveting. The chassis is circular, and four connecting pieces are distributed on the circular chassis in a cross shape around the center of the circle. Each connector includes two oppositely arranged connecting plates, the head end of the first unit of each single arm is inserted between the two pairs of oppositely arranged connecting plates, and the first unit of the first unit is connected by screwing, welding or other means. The ends are fixed between two pairs of oppositely arranged connecting plates.

Two single-unit ends connected by a fixed-position locking rotary hinge, one of the single-unit ends is provided with a fixed-position locking-rotating hinge male head, and the other single-unit end is provided with a fixed-position locking-rotating hinge female head . The male head of the fixed position locking rotary hinge and the female head of the fixed position locking rotary hinge are buckled with each other. The hinge male head is provided with a positioning pin, one end of the positioning pin is connected with the fixed position locking rotary hinge male head through a spring, and the other end of the positioning pin is pressed against the fixed position locking rotary hinge female head, and the fixed position is locked. There is a positioning hole on the female head of the rotary hinge. The male head of the rotary hinge is locked in the fixed position and the female head of the rotary hinge is rotated around the central axis under the action of external force. When the fixed position is locked, the positioning pin on the male head of the rotary hinge is locked. Turn to the position of the corresponding positioning hole on the female head of the locking rotary hinge at the fixed position, and the compressed spring releases the positioning pin to pop out and insert it into the positioning hole on the female head of the locking rotary hinge at the fixed position, so as to realize the locking of the fixed position.

The one-way pivoting hinge includes a one-way pivoting male head, a one-way pivoting female head, and a one-way rotation damping component arranged between the one-way pivoting male head and the one-way pivoting female head. The one-way rotation damping assembly includes a one-way hinge shaft, an intermediate cam, a gear lever and a shrapnel. The intermediate cam is fixedly installed on the inner side of the one-way hinge male head, and the inner side of the one-way hinge female head is provided with a concave corresponding to the intermediate cam. The groove wall is provided with a circle of guide tooth grooves; the outer edge of the middle cam is evenly distributed with a plurality of gear rods, the two ends of each gear rod are respectively the rotating end and the free end, and the outer edge of the middle cam is provided with a plurality of gear rods. A groove is adapted to the cross section of the rotating end of the gear lever, the rotating end of each gear lever is correspondingly placed in each groove of the middle cam, the rotating end of the gear lever is movably connected with the male head of the one-way hinge through the rotating shaft The rods are inclined in a clockwise direction, and the other end, ie, the free end, is in contact with the guide tooth slot. The lower side of each gear lever is in contact with the free end of the elastic piece, and the other end of the elastic piece is fixed on the middle cam. The one-way hinge rotating shaft provided on the one-way hinge female head passes through the corresponding through hole on the intermediate cam into the corresponding positioning hole on the inner side of the one-way hinge male head. The one-way hinge can only rotate along the inclined direction of the gear lever without destroying the structure. When the two units connected by the one-way hinge try to rotate against the inclination direction of the lever, the lever on the middle cam will hinder its reverse movement. There is an interference fit between the one-way hinge shaft, the intermediate cam and the one-way hinge male head, which will not affect the rotation of the one-way hinge, and can avoid the dislocation of the one-way hinge during rotation.

Further, in the present invention, a plurality of traction ropes are evenly arranged on the periphery of the catching net. The closing mechanism is a closing mechanism with a mass block launching function. The closing mechanism includes multiple closing ropes and multiple closing boxes. The bottom of each take-up box is provided with a launch rod, and each traction rope is connected with a launch rod correspondingly. The design of the launch rod here is to realize the secondary launch of the space target capture rope net. First, the first-level launch of the space target capture rope net is achieved through the central mass block, will. The launch device on the spacecraft first launches the center mass block, and the space target capture rope net uses the launch device on the spacecraft to realize the launch. The center mass block is launched first, and the center mass block drives the capture net to fly out of the net cabin. After a certain time sequence, The closing mechanism with the mass block function on the periphery of the capture net is launched, and the closing mechanism obtains the initial speed and flies out of the net cabin. During the flight, the capture net and the adaptive claws are gradually unfolded and formed. When the capture net collides with the target , the capture net wraps and wraps the target, the adaptive claw changes its own shape according to the shape of the target to fix the target, and the closing mechanism closes the capture net to achieve the target locked state.

Two wire outlet holes are opened at the bottom of the take-up box, and the two wire outlet holes are symmetrically distributed on both sides of the launch rod. Each winding box is provided with a closing rope, the two ends of the closing rope are respectively pierced through two outlet holes, and one end of the closing rope is passed through an outlet hole as a closing axis rope, and the closing axis rope is used to connect with the spacecraft. The other end of the closing rope is passed through another outlet hole and then used as the closing edge rope to be connected to the corner of the corresponding peripheral edge of the adjacent closing box along the outer edge of the capture net or connected to On the traction rope connected to the adjacent take-up box. In order to avoid the entanglement of the closing edge cords, guide rings for the closing edge cords to pass through in turn are evenly arranged on the outer edge of the catching net. Each peripheral edge of the catching net corresponds to a closing edge rope of a reeling box. The closing axis rope of each reeling box is tightened by external force, and the closing edge rope on each peripheral edge is tightened, and each corner of the catching net is caught. The one-way approach to its adjacent corners also drives each single arm to embrace inward, so as to complete the further closing of the capture net, and finally form a stable "rope-object" complex.

Further, the wire take-up box is provided with a claw hook. After the invention is launched, the catching net and the adaptive claws are rapidly unfolded. After the catching net and the target collide, the claw hook on each wire take-up box is under the action of inertia. Carrying out the back hug movement, the net claw can be tangled with the rope net (that is, the net claw and the rope net are hooked together) to avoid the escape of the space target. The space targets in the net are cohesive to complete the capture of the target. Further, the claw hook is arranged in the center of the top cover of the take-up box; the claw hook includes a center rod and a plurality of hooks distributed on the center rod, and the center rod is distributed with multiple layers of hooks from top to bottom, each The layer hooks include four hooks distributed in a cross shape.

As a preferred technical solution of the present invention, the catching net is a regular polygonal or circular rope net. For the catch net that is a regular polygon, it is enough to set a take-up box at each corner of the catch net of the regular polygon.

Further, the catching net of the present invention can adopt a square rope net with a diamond mesh, and the rope net mesh of the catching net is not aligned with the side line, but is aligned with the diagonal line. The topological structure of the rope net can ensure that the rope nodes on the four sidelines reach the center point of the rope net at the same distance after the rope net is gathered into a bundle, which is beneficial to the folding and sealing of the rope net and the orderly unfolding of the rope net. The traction rope of the catching net is formed by extending the diagonal lines of the catching net. A take-up box is correspondingly arranged at the four corners of the catching net, and the take-up boxes are respectively connected to the two ends of the two diagonal lines.

Further, the take-up box is a cylindrical box body; the inside of the take-up box is provided with a closing rope conduction mechanism; The closing rope inside the take-up box is folded in a zigzag shape and passes through the series of threading holes in turn. Each threading hole is used as a folding point of the closing rope, and the closing ropes on both sides of each folding point are connected by sewing. There is a fixed force tearing belt. When the closing rope is tightened, the closing ropes on both sides of the fixed force tearing belt are under the action of external force, and the stitches sewn between the fixed force tearing belt and the closing rope are continuously broken, and the formation direction is opposite to the external force. the reverse force.

The selection of the rope net material used in the catching net of the present invention mainly considers the space environment and task requirements. The space environment requires the rope mesh material to have the characteristics of high and low temperature resistance, strong radiation resistance, shear resistance, and strong insulation. Catch nets are made of cross-woven ropes. When the target is captured, the diagonal lines of the capture net and the peripheral edges of the capture net are subjected to relatively large forces. Enhanced bold processing.

The working process of the invention is as follows: when it is necessary to launch the space target to capture the rope net, the central mass block is first launched to drive the capture net to fly out of the net cabin. After a certain time sequence, the closing mechanism with the mass block function launches and drives the adaptive claw. Expand and fly out. During the flight, the two units in each single arm of the adaptive claw, which are connected by a fixed position locking hinge, rotate to a fixed position and then lock into a rigid structure during the re-deployment process. During the unfolding process, the two monomers connected by the hinge rotate counterclockwise to unfold, and the catching net and the self-adaptive claws are gradually formed. When the grabbing net collides with the target, the adaptive claw adaptively changes its shape according to the shape characteristics of the target to fix the target, and the claw hook in the closing mechanism performs a hugging motion, and the claw hook can be entangled with the rope net to complete the capture of the target. Further, the present invention utilizes the principle of cloth bags and designs a closing structure through the closing rope, which can realize the closing of the peripheral edge of the capture net, thereby completing further closing, and finally forming a stable "rope-object" complex. The invention can realize accurate, reliable and efficient on-orbit capture for non-cooperative targets.

In the present invention, the two monomers connected by the one-way hinge in each single arm of the self-adaptive claw rotate counterclockwise to embrace the target, because each single arm in the one-way hinge self-adaptive claw can only rotate in the target direction and further embrace the target. Tighten the target to avoid the target loosening and escaping. At the same time, the capture net wraps the target and completes the closing through the closing mechanism to achieve the target locked state. Finally, the spacecraft forced the target to deorbit through the tethered rope. After reaching the grave orbit and discarding, the spacecraft returned to standby. The space target capture rope net of the present invention can successfully capture non-cooperative targets, and after capture is completed, a stable "rope-object" complex can be formed with the target to avoid escape. The invention can realize accurate, reliable and efficient on-orbit capture for non-cooperative targets.

In addition, the present invention is also designed with a constant force tearing tape, because the design of the constant force tearing tape enables the catching net of the present invention to have a net shape control function. Specifically, the catch net will rebound quickly after it is unfolded to the maximum. The reason is that after the catch net is stretched by the fast mass traction, the rope in the net plane also has kinetic energy that extends outward in the net plane, and then due to the elasticity of the rope , so that the rope rebounds, if the residual kinetic energy is large, the capture net will rebound quickly. The function of the fixed force tearing belt is to convert the kinetic energy in the plane of the rope net into the internal energy of the rupture of the fixed force breaking belt, thereby weakening or even eliminating the rebound movement of the rope net. This greatly increases the effective capture distance and effective capture time of the rope net, which increases the distance between the capture spacecraft and the target, thereby reducing the orbital maneuverability requirements for the capture spacecraft.

Compared with the traditional rope net capture, after the invention collides with the capture target, not only the large-area coverage feature of the rope net can ensure the complete capture of the target, but also the self-locking function of the adaptive claw ensures that the capture rope net and the target can be completely captured. Capture targets can form more stable complexes. This feature of the present invention greatly reduces the complexity of subsequent controls such as racemization control, orbital transfer control, etc. on the basis of completing target capture, and greatly improves the success rate of space target capture and deorbit.

Description of drawings

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

FIG. 2 is a schematic structural diagram of the stretched state of the adaptive claw in an embodiment of the present invention;

3 is a schematic structural diagram of the folded state of the adaptive claw in an embodiment of the present invention;

4 is a schematic structural diagram of a center chassis in an embodiment of the present invention;

5 is a schematic structural diagram of a single arm in an embodiment of the present invention;

FIG. 6 is an exploded view of the structure of the fixed position locking hinge adopted in an embodiment of the present invention.

7 is a schematic structural diagram of a one-way hinge adopted in an embodiment of the present invention;

8 is a detailed view of a one-way hinge used in an embodiment of the present invention;

9 is a schematic structural diagram of an intermediate cam in a one-way hinge adopted in an embodiment of the present invention;

10 is an exploded structural diagram of a one-way hinge adopted in an embodiment of the present invention;

11 is a schematic structural diagram of a net claw housed in a spacecraft launch device;

Fig. 12 is the structural representation of the closing rope in the closing box;

Fig. 13 is the working process schematic diagram of constant force tearing tape;

FIG. 14 is a schematic diagram of a working scene of the present invention.

In the picture:

1. Catching net; 101. Traction rope; 102. Reeling box; 103. Launching rod; 104. Closing rope; 105. Outlet hole; 106. Closing axis rope; 107. Closing edge rope; 108. Guide ring; 109 , claw hook; 110, center rod; 111, hook; 112, fixed force tearing belt;

2. Adaptive claw; 201, central chassis; 202, single arm; 203, connecting piece; 204, single body; 205, end connecting piece; 206, one-way hinge; 207, fixed position locking hinge; 208 , connecting plate; 209, fixed position locking rotary hinge male head; 210, fixed position locking rotary hinge female head; 211, central shaft; 212, positioning pin; 213, spring; 214, positioning hole; 215, one-way rotation Hinged male head; 216, one-way hinge female head; 217, intermediate cam; 218, gear lever; 219, shrapnel; 220, pin shaft; 221, guide tooth slot; 222, gear lever groove; 223, gear lever shaft ; 224. One-way hinge shaft;

3. Mooring rope;

4. Center mass block.

Detailed ways

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

Referring to FIG. 1 , it is an embodiment of the present invention, a space conforming capture device, including a capture net 1 , a central mass block 4 is arranged in the geometric center of the capture net 1 , and the space target capture is realized by the central mass block 4 The first stage launch of the rope net. A closing mechanism is provided on the periphery of the catching net 1 , and the closing mechanism is a closing mechanism with the function of launching a mass block. A plurality of traction ropes 101 are evenly arranged on the periphery of the catching net 1 . The closing mechanism includes multiple closing ropes 104 and multiple closing boxes 102 . A firing rod 103 is provided at the bottom of each wire take-up box 102 , and each traction rope 101 is connected to a firing rod 103 correspondingly. The design of the launch rod 103 here is to realize the secondary launch of the space target catching rope net. An adaptive claw 2 is arranged on the net body of the catching net. The adaptive claws 2 can be stretched out with the launch of the catching net 1. After the catching net 1 collides with the space target, the adaptive claws 2 will catch the The space targets in the net 1 are cohesive, and the capture net 1 wraps the target and completes the closing through the closing mechanism to complete the capture of the target.

First, through the central mass block 4, the first-level launch of the space target grabbing rope net is realized. The launch device on the spacecraft first launches the center mass block 4, and the space target capture rope net uses the launch device on the spacecraft to realize the launch. The center mass block 4 is launched first, and the center mass block 4 drives the capture net to fly out of the net cabin. After the timing, the closing mechanism with the function of mass block is launched on the periphery of the capturing net, and the closing mechanism obtains the initial speed and flies out of the net cabin. During the flight, the capturing net and the adaptive claws are gradually formed. After a collision, the capture net wraps and wraps the target, the adaptive claw changes its shape according to the shape of the target to fix the target, and the closing mechanism closes the capture net to achieve the target locked state.

The shape of the catching net 1 is not limited, and it is common to use regular polygonal or circular rope nets in practice. In this embodiment, the catching net adopts a square rope net with diamond mesh, and the rope net mesh of the catching net is not aligned with the side line, but aligned with the diagonal line. The topological structure of the rope net can ensure that the rope nodes on the four sidelines reach the center point of the rope net at the same distance after the rope net is gathered into a bundle, which is beneficial to the folding and sealing of the rope net and the orderly unfolding of the rope net.

Referring to FIG. 2 , it is a schematic structural diagram of an extended state of the adaptive claw in an embodiment of the present invention. Referring to FIG. 3 , it is a schematic structural diagram of the folded state of the adaptive claw in an embodiment of the present invention. The adaptive claw 2 includes a central chassis 201 and four single arms 202 distributed around the central chassis 201. One end of each single arm 202 is fixedly installed on the central chassis 201, and the other end of each single arm 202 is connected to the catching net 1. connect. Each single arm 202 is in a folded state before the conformal capture net is launched. After the conformal capture with rope net is launched, the launch and deployment of the capture net 1 drives each single arm to be stretched and unfolded. When the capture net 1 collides with the space target, each single arm 1 moves toward the capture net under the action of inertia. The space target in the interior is clasped to complete the capture of the target. 1, the central chassis 201 of the adaptive claw 2 is connected with the mooring rope 3, and the mooring rope 3 is used to connect with the mooring platform on the spacecraft. The tethered rope 3 is used to pull and capture the space with the target, and the target capture rope net is forced to derail, and it reaches the grave track and discards it.

Referring to FIG. 4 , it is a schematic structural diagram of a center chassis in an embodiment of the present invention. On the central chassis 201, four connecting pieces 203 for connecting the single arms 202 are distributed in a cross shape around the center of the chassis. Each connecting member 203 is distributed and connected to a single arm 202 correspondingly.

Referring to FIG. 5 , which is a schematic diagram of the structure of a single arm in an embodiment of the present invention, the single arm 202 includes a plurality of monomers 204 connected to each other end-to-end through end connectors 205 , which are a first monomer and a second monomer, respectively. , the third unit ... up to the nth unit, wherein the head end of the first unit is fixedly connected with the corresponding connecting piece 203 on the central chassis 201 . The end connector 205 is a rotating hinge, and the folding, extending and embracing of each single arm are realized through the rotating hinge. The rotating hinge used in the present invention includes a one-way hinge 206 and a fixed position locking hinge 207 . The one-way hinge 206 is a one-way rotary hinge, and the two units connected by the one-way hinge 206 can rotate counterclockwise. The two units connected by the fixed position locking hinge 207 are rotated to a fixed angle position and then locked to form a stable structure. Referring to Figure 2, Figure 3, Figure 5, the end of the first unit and the head end of the second unit are connected by a one-way hinge 206, and the end of the second unit and the head end of the third unit are locked by a fixed position. The dead hinge 207 is connected, the end of the third unit and the head end of the fourth unit are connected by the one-way hinge 206, and the end of the fourth unit and the head end of the fifth unit are locked by the fixed position of the hinge 207 Connection, according to this rule, until the end of the n-2th monomer and the head end of the n-1th monomer are connected by a fixed position locking hinge 207, and the end of the n-1th monomer and the head of the nth monomer are connected. The ends are connected by a one-way hinge 206, and the end of the nth monomer is connected with the peripheral wire of the capture net 1.

Referring to FIG. 3 , it is a schematic structural diagram of the folded state of the adaptive claw in an embodiment of the present invention. Before the conformal capture rope net is launched, the monomers of each single arm are in a zigzag folded state. After the conformal capture rope net is launched, with the opening of the capture net, each single arm that is originally in a folded state is stretched and unfolded, wherein the two monomers 204 connected by the fixed position locking hinge 207 are rotated and unfolded to the fixed position. The angular position (eg, 180 degrees) is then locked to become a stable structure, and the two monomers 204 connected by the one-way hinge 206 are rotated and unfolded counterclockwise. When the capture net collides with the space target, each unit 204 connected by the one-way hinge 206 in each arm rotates counterclockwise under the action of inertia, and hugs the space target in the capture net to complete the capture of the target.

In order to ensure that the self-adaptive claw and the capture target will not be damaged after collision, the strength of each monomer needs to meet certain conditions, and it is hoped that the mass of each monomer is as small as possible. Each monomer is a metal plate with a certain length, such as an aluminum alloy plate. In order to keep its structure light, a hollow design can be added to the monobloc to reduce its weight. The width of each monomer on the single arm gradually decreases from one end close to the chassis to the other end, and as the distance from the chassis increases, the width of the monomer decreases.

Referring to FIGS. 2 and 3 , the head end of the first unit is fixedly connected to the corresponding connecting piece 203 on the central chassis 201 by screwing. The central chassis 201 is circular, and four connecting pieces 203 are distributed on the circular chassis in a cross shape around its center. Each connecting piece 203 includes two oppositely arranged connecting plates 208, the head end of the first unit of each single arm 202 is inserted between the two pairs of oppositely arranged connecting plates 208, and the first unit of the first unit is screwed together. The ends are secured between two pairs of oppositely disposed connecting plates 208 .

Referring to FIG. 6 , it is an exploded view of the structure of the fixed position locking hinge adopted in an embodiment of the present invention. Two single-unit ends connected by a fixed-position locking hinge 207, one of which is provided with a fixed-position locking hinge male 209, and the other single-unit end is provided with a fixed-position locking hinge Female header 210. The fixed position locking rotary hinge male head 209 and the fixed position locking rotary hinge female head 210 are engaged with each other, and the fixed position locking rotary hinge male head 209 and the fixed position locking rotary hinge female head 210 are provided with a central rotating shaft 211. There is a positioning pin 212 in the fixed position locking rotary hinge male head 209, one end of the positioning pin 212 is connected with the fixed position locking rotary hinge male head 209 through a spring 213, and the other end of the positioning pin 212 is pressed against the fixed position to lock the rotary hinge. On the hinge female head 210, the fixed position locking rotary hinge female head 210 is provided with a positioning hole 214, the fixed position locking rotating hinge male head 209 and the fixed position locking rotating hinge female head 210 under the action of external force around the central axis of rotation 211 rotates, when the positioning pin 212 on the male head 209 of the locked rotary hinge is rotated to the position of the positioning hole 214 correspondingly opened on the female head 210 of the locked rotary hinge at the fixed position, the compressed spring 213 is released and the positioning pin 212 is ejected and inserted. Lock the inside of the positioning hole 214 on the female head 210 of the rotary hinge to the fixed position, so as to realize the locking of the fixed position.

Referring to FIG. 7 , FIG. 8 , FIG. 9 and FIG. 10 , it is a schematic structural diagram of a one-way hinge used in an embodiment of the present invention. The one-way hinge 206 includes a one-way hinge male head 215 , a one-way hinge female head 216 , a one-way hinge shaft 224 , and a one-way hinge male head 215 and one-way hinge female head 216 . Rotate damping assembly. The one-way rotation damping assembly includes an intermediate cam 217, a gear lever 218 and a shrapnel 219. The intermediate cam 217 is fixedly installed on the inner side of the one-way hinge male head 215 through a plurality of pins 220, and the inner side of the one-way hinge female head 216 is provided with The groove corresponding to the middle cam 217 is provided with a ring of guide tooth grooves 221 on the groove wall. The outer edge of the intermediate cam 217 is evenly distributed with a plurality of gear rods 218, and the two ends of each gear rod 218 are respectively the rotating end and the free end. The gear lever groove 222, the rotating end of each gear lever is correspondingly placed in each gear lever groove 222 of the intermediate cam 217, the rotating end of the gear lever 218 is movably connected with the one-way hinge male head 215 through the gear lever rotating shaft 223, each The gear levers 218 are inclined in a clockwise direction, and the other end, ie, the free end, is in contact with the guide tooth slot 221 . The lower side of each gear lever 218 abuts against the free end of the elastic piece 219 , and the other end of the elastic piece 219 is fixed on the middle cam 217 by screws. The one-way hinge 206 can only rotate along the inclination direction of the gear lever without destroying the structure. achieve rotation. When the two units connected by the one-way hinge attempt to rotate against the inclination direction of the lever, the lever 218 will hinder the reverse movement. The one-way hinge shaft 224 provided on the one-way hinge female head 216 passes through the corresponding through hole on the intermediate cam 217 and into the corresponding positioning hole on the inner side of the one-way hinge male head 215, which is conducive to one-way rotation. The positioning and rotation of the hinge male head 215 , the one-way hinge female head 216 and the intermediate cam 217 . The one-way hinge shaft 224 is an interference fit with the intermediate cam 217 and the one-way hinge male head 215, which will not affect the rotation of the one-way hinge, and can avoid the situation such as dislocation of the one-way hinge during rotation.

Referring to FIG. 1 , FIG. 11 , FIG. 12 and FIG. 13 , two wire outlet holes 105 are opened at the bottom of the take-up box 102 , and the two wire outlet holes 105 are symmetrically distributed on both sides of the launch rod 103 . Each closing box 102 is provided with a closing rope 104, and the two ends of the closing rope 104 are respectively protruded from two outlet holes 105, wherein one end of the closing rope 105 is passed through an outlet hole as the closing axis rope 106, and the closing axis The rope 106 is used to connect with the mooring platform on the spacecraft; the other end of the closing rope 105 is passed through another outlet hole as the closing edge rope 107 and is connected to the adjacent receiving box 102 along the outer edge of the catching net 1 The corners of the corresponding peripheral edge lines or connected to the traction ropes 101 connected to the adjacent take-up boxes.

In order to avoid the entanglement of the closing edge cords 107 , guide rings 108 for the closing edge cords 107 to pass through in turn are evenly arranged on the outer edge of the catching net 1 . Each peripheral edge of the catching net 1 corresponds to a closing edge rope 107 of a reeling box 102, and the closing axis rope 106 of each reeling box 102 is tightened by external force, and the closing edge rope 106 on each peripheral edge is tightened. Each corner of the catching net 1 is unidirectionally approached to its adjacent corners, and also drives each single arm to embrace inwardly, thereby completing the further closing of the catching net, and finally forming a stable "rope-object" complex.

A claw hook 109 is provided on the wire take-up box 102 . After the present invention is launched, the catching net and the self-adaptive claws are rapidly deployed. After the catching net collides with the target, the claw hooks 109 on each wire take-up box carry out a retraction movement under the action of inertia, and the net claws can be tangled with the rope net ( That is, the net claw and the rope net are hooked together) to prevent the space target from escaping. The closing mechanism on the capture net realizes the closing of the capture net and drives the single arms to hug the space target in the capture net to complete the capture of the target. Further, the claw hook 109 is arranged in the center of the top cover of the take-up box 102; the claw hook 109 includes a central rod 110 and a plurality of hooks 111 distributed on the central rod 110, and the central rod 110 is distributed from top to bottom There are multiple layers of hooks 111 , and each layer of hooks 111 includes four hooks distributed in a cross shape.

In this embodiment, a regular polygonal catching net 1 is used, and a wire take-up box 102 may be provided at each corner position of the regular polygonal catching net 1 .

The catching net 1 of the present invention can adopt a square rope net with diamond mesh, and the rope net of this catching net is not aligned with the side line, but aligned with the diagonal line. The topological structure of the rope net can ensure that the rope nodes on the four sidelines reach the center point of the rope net at the same distance after the rope net is gathered into a bundle, which is beneficial to the folding and sealing of the rope net and the orderly unfolding of the rope net. The traction rope 101 of the catching net 1 is formed by extending the catching net diagonally. A take-up box 102 is correspondingly arranged at the four corners of the catching net 1, and the take-up boxes 102 are respectively connected to the two diagonals. Both ends will do.

The wire take-up box 102 is a cylindrical box body; the wire take-up box 102 is provided with a wire-closing rope conduction mechanism; The closing rope inside the box is folded in a zigzag shape and passes through the series of threading holes in turn. Each threading hole is used as a folding point of the closing rope. The fixed-force tearing belt 112, when tightening the closing rope, the closing ropes on both sides of the fixed-force tearing belt 112 under the action of external force, the stitches sewn between the fixed-force tearing belt 112 and the closing rope are continuously broken, forming a direction with the same direction. The opposite of the external force.

The selection of the rope net material used in the catching net of the present invention mainly considers the space environment and task requirements. The space environment requires the rope mesh material to have the characteristics of high and low temperature resistance, strong radiation resistance, shear resistance, and strong insulation. Catch nets are made of cross-woven ropes. When the target is captured, the diagonal lines of the capture net and the peripheral edges of the capture net are subjected to relatively large forces. Enhanced bold processing.

Referring to Figure 14, the working process of the present invention is as follows: when it is necessary to launch the space target to capture the rope net, first launch the central mass block and drive the capture net to fly out of the cage, and after a certain time sequence, the closing mechanism with the mass block function launches and Drive the adaptive claw to expand and fly out; during the flight, the capture net and the adaptive claw are gradually formed, and collide with the captured target; during the collision process, the adaptive claw adaptively changes its shape according to the shape characteristics of the target to fix At the same time, grab the net to wrap the target and complete the closing mechanism to achieve the target locked state; finally, the spacecraft uses the tethered rope to force the target to deorbit, and after reaching the grave orbit and discarding, the spacecraft returns to standby. The space target capture rope net of the present invention can successfully capture non-cooperative targets, and after capture is completed, a stable "rope-object" complex can be formed with the target to avoid escape. The invention can realize accurate, reliable and efficient on-orbit capture for non-cooperative targets.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. A space conforming catching device, comprising a catching net, is characterized in that: a closing mechanism is provided on the periphery of the catching net, and an adaptive claw is set on the net body of the catching net, and the adaptive claw can With the launch of the capture net, it spreads out. After the capture net collides with the space target, the adaptive claw hugs the space target in the capture net. The capture net wraps the target and completes the closing through the closing mechanism to complete the target's opening. Capture; the adaptive claw includes a central chassis and a plurality of single arms distributed around the central chassis, one end of each single arm is fixedly installed on the chassis, the other end of each single arm is connected with the catching net, and each single arm includes multiple The monomers are connected to each other end-to-end through the end connectors, respectively the first monomer, the second monomer, the third monomer ... up to the nth monomer, wherein the head end of the first monomer is connected to the central chassis. Fixed connection, the end connector is a rotating hinge, and the folding, stretching and embracing of each single arm are realized through the rotating hinge; the rotating hinge includes a one-way hinge and a fixed position locking hinge, and the one-way hinge The connected two units can be rotated in one direction, and the two units connected by the hinge are rotated to a fixed angle position after being locked at a fixed position; Among the two single-unit ends connected by the fixed position locking rotary hinge, one of the single end ends is provided with a fixed position locking rotating hinge male head, and the other single single end is provided with a fixed position locking rotating hinge female Head; fixed position locking rotary hinge male head and fixed position locking rotary hinge female head are buckled with each other, fixed position locking rotary hinge male head and fixed position locking rotary hinge female head There is a central shaft between fixed position locking rotary hinge female head, fixed position locking hinge The dead hinge male head is provided with a positioning pin, one end of the positioning pin is connected with the fixed position locking hinge male head through a spring, and the other end of the positioning pin is pressed against the fixed position locking rotating hinge female head, the fixed position There is a positioning hole on the female head of the locked rotary hinge, and the male head of the locked rotary hinge in the fixed position and the female head of the locked rotary hinge in the fixed position rotate around the central axis under the action of external force. The positioning pin is rotated to the fixed position to lock the position of the corresponding positioning hole on the female head of the rotary hinge, and the compressed spring releases the positioning pin to pop out and insert it into the positioning hole on the female head of the fixed position to lock the rotary hinge, so as to realize the fixed position locking. . 2 . The space conforming capture device according to claim 1 , wherein the end of the first unit and the head end of the second unit are connected by a one-way hinge, and the end of the second unit and the third unit are connected by a one-way hinge. 3 . The head end of the unit is connected by a fixed position locking hinge, the end of the third unit and the head end of the fourth unit are connected by a one-way hinge, and the end of the fourth unit and the head end of the fifth unit are connected by a one-way hinge. The fixed position is locked and hinged, and according to this rule, the end of the n-2th monomer and the head end of the n-1th monomer are connected by a fixed position lock and hinge, and the end of the n-1th monomer is connected with the first end of the n-1th monomer. The head end of the n monomer is connected by a one-way hinge, and the end of the n-th monomer is connected with the outer wire of the capture net. 3. The space conforming capture device according to claim 2, wherein the one-way hinge comprises a one-way hinge male head, a one-way hinge female head, and a one-way hinge male head and one-way hinge arranged on the one-way hinge male head and one-way hinge. The one-way rotary damping assembly between the female heads of the rotary hinge; the one-way rotary damping assembly includes the one-way rotary hinge shaft, the intermediate cam, the gear lever and the shrapnel, and the intermediate cam is fixedly installed on the inner side of the one-way rotary hinge male head. The inner side of the female head is provided with a groove corresponding to the middle cam, and the groove wall is provided with a circle of guide tooth grooves; the outer edge of the middle cam is evenly distributed with a plurality of gear rods, and the two ends of each gear rod are respectively rotated. end and free end, the outer edge of the intermediate cam is provided with a plurality of grooves that are adapted to the cross section of the rotating end of the gear lever, the rotating end of each gear lever is correspondingly placed in each groove of the intermediate cam, and the rotating end of the gear lever passes through the The rotating shaft is movably connected with the male head of the one-way hinge, each gear lever is inclined in a clockwise direction and the other end, that is, the free end, is in contact with the guide tooth groove, and the lower side of each gear lever is in contact with the free end of the shrapnel. The other end is fixed on the intermediate cam; the one-way hinge rotating shaft set on the one-way hinge female head passes through the corresponding through hole on the intermediate cam and enters the corresponding positioning hole on the inner side of the one-way hinge male head; The two units connected by the one-way hinge can only rotate along the inclination direction of the gear lever. When rotating, the external force presses the gear lever, and the gear lever presses the shrapnel to realize the rotation; when the two units connected by the one-way hinge try to rotate When turning against the lever tilt, the lever on the middle cam blocks its reverse movement. 4 . The space conforming capture device according to claim 1 , wherein a plurality of traction ropes are evenly arranged on the periphery of the capture net, and the closing mechanism comprises a plurality of closing ropes. 5 . and a plurality of take-up boxes, each take-up box is provided with a firing rod at the bottom, and each traction rope is connected to a firing rod correspondingly; at the bottom of the take-up box, there are two wire outlet holes, and the two wire outlet holes are symmetrically distributed on the bottom of the firing rod. On both sides, each take-up box is provided with a closing rope, the two ends of the closing rope are respectively pierced through two outlet holes, and one end of the closing rope is passed through an outlet hole as the closing axis rope, and the closing axis rope is used for It is connected with the mooring platform on the spacecraft; the other end of the closing rope is passed through another outlet hole and used as the closing edge rope and is connected to the corner of the peripheral edge corresponding to the adjacent closing box along the outer edge of the catch net. Or connected to the traction rope connected to the adjacent take-up box; each peripheral edge of the catching net corresponds to a closing edge rope of a take-up box, and the closing axis rope of each take-up box is tightened by external force. The closing edge rope is tightened, and each corner of the catching net moves toward its adjacent corners in one direction, and also drives each single arm to fold inward to realize the closing of the catching net. 5 . The space conforming catching device according to claim 4 , wherein a guide ring is evenly arranged on the outer edge of the catching net for the closing edge cord to pass through in sequence. 6 . 6 . The space conforming capture device according to claim 4 , wherein: the top of the wire take-up box is provided with a claw hook, and the claw hook is fixed at the center of the top cover of the wire take-up box; the claw hook comprises: 7 . The center rod and a plurality of hooks distributed on the center rod, the center rod is distributed with multiple layers of hooks from top to bottom, and each layer of hooks includes four hooks distributed in a cross shape. 7 . The space-following capture device according to claim 4 , wherein: the wire take-up box is a cylindrical box body; the wire take-up box is provided with a wire-closing rope conduction mechanism; the wire-winding wire conducts The mechanism is a series of threading holes arranged on the inner wall of the top cover of the closing box. The closing rope inside the closing box is folded in a zigzag shape and passes through the series of threading holes in turn. Each threading hole is used as a fold of the closing rope. Point, the closing ropes on both sides of each folding point are connected with a fixed force tearing belt by stitching. When the closing rope is tightened, the closing ropes on both sides of the fixed force tearing belt are torn under the action of external force. The stitches sewn between the belt and the closing rope are continuously broken, forming a reverse force in the opposite direction to the external force.

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