CN108945534A - A kind of Space Autonomous multiple target objects arrest netting system and method - Google Patents
A kind of Space Autonomous multiple target objects arrest netting system and method Download PDFInfo
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- CN108945534A CN108945534A CN201810672263.5A CN201810672263A CN108945534A CN 108945534 A CN108945534 A CN 108945534A CN 201810672263 A CN201810672263 A CN 201810672263A CN 108945534 A CN108945534 A CN 108945534A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention discloses a kind of Space Autonomous multiple target objects to arrest netting system and method.Including mechanism, remote control locking mechanism, flexible 3 D netting and closing mechanism can be recombinated.Before capture, can four clamp mechanisms of recombination structure be in mutually nested defrag status, flexible 3 D netting is in folded state, and compression is stored between each closing mechanism, mechanism can be recombinated by being remotely controlled locking mechanism and closing mechanism compress it is locked；When capture starts, can the clamp mechanism that is in of recombination structure by spring realize that ejection separates, flexible 3 D netting is launched into a space three-dimensional mesh bag under effect of inertia, and each closing mechanism is in open state；When capture carries out, as soon as often arresting an object, the closing-in structure movement of every section netting enters closing in closed state, to complete arresting for space multiple target objects.The present invention has many advantages, such as that zmodem, operation distance are remote and it is high-efficient to arrest, and has very strong replicability, can extend to any section netting as needed.
Description
Technical field
The present invention relates to space netting capturing systems, more particularly, to a kind of Space Autonomous that achievable multiple target objects are arrested
Netting system and method.
Background technique
With the increase of mankind's solar-system operation, space debris environment is worsening.In order to protect valuable space orbit money
The safety of solar-system operation is improved in source, need to handle space junk, captures space junk and is drawn to other discarded
Track is effective method.Flexibility capture concept is that propose in recent years novel arrests mode, with flexible structures such as net or cloth
Covering, package object simultaneously form the assembly being reliably connected by flexible connection object (such as rope) and task spacecraft.As
The Typical Representative of flexible acquisition mode, space netting capture systems, which have, arrests between strong fault-tolerance, operation distance and aircraft
The advantages that coupling is weak has broad application prospects, and is one of the hot spot of space research in recent years.Traditional space netting
Capturing system proposes transmitting higher since the mass block being unfolded for netting does not have autonomous motor-driven function generally
Requirement, engagement range is general also shorter, and general a set of netting capturing system can only arrest an object, arrest efficiency compared with
It is low.
Summary of the invention
It is captured as background with extraterrestrial target object, capture high for launch requirements existing for Traditional Space netting capturing system
Apart from short and the problems such as arrest low efficiency, the purpose of the present invention is to provide a kind of Space Autonomous that achievable multiple target objects are arrested
Netting system and method drag space more piece netting using the restructural mechanism for having ejection separation with docking combination function, lead to
The Formation Configuration for crossing the minor structure of restructural mechanism change and combine the closing mechanism of every section netting realize the dehiscing of space netting,
It keeps and the operation such as closure of closing up.
In order to achieve the above object, the technical solution adopted by the present invention is that:
One, a kind of Space Autonomous multiple target objects arrest netting system:
Including mechanism, remote control locking mechanism, flexible 3 D netting and closing mechanism can be recombinated；Flexible 3 D netting mainly by
Successively it is connected first segment netting, the second section netting, third section netting, Section of four netting composition of arrangement, flexible 3 D netting
One end is tied as capture end, and the other end, which is connected to, can recombinate mechanism conduct capture arrival end, between adjacent segments netting
Closing mechanism is installed, is isolated or is connected to space in adjacent segments netting by closing mechanism.
When the netting system collapses, mechanism gathering and each closing mechanism can be recombinated against arrangement, then pass through remote control
Locking mechanism can recombinate mechanism and each closing mechanism banding, so that every section netting among flexible 3 D netting is received and is tied to
Between adjacent closing mechanism, a section netting of flexible 3 D netting capture end, which is received, ties up remote control locking mechanism, flexible 3 D rope
One section netting of net capture arrival end, which is received to be tied to, can recombinate mechanism；When the netting system is unfolded, mechanism opening can be recombinated, respectively
A closing mechanism separation arrangement, remote control locking mechanism, which is opened to be detached from, can recombinate mechanism and each closing mechanism, so that flexible 3 D
For every section netting free extension among netting between adjacent closing mechanism, flexible 3 D netting captures a section netting of end certainly
By extending between remote control locking mechanism and closing mechanism, a section netting free extension of flexible 3 D netting capture arrival end exists
It can recombinate between mechanism and closing mechanism.
The closing mechanism includes rectangle frame, the lock that closes up, two lateral closing in components and two longitudinal closing in components, and two
A transverse direction closing in component is symmetrically arranged at rectangle frame inner ring frame wherein opposite both sides, two longitudinal closing in components difference
It is arranged symmetrically in the other opposite both sides of rectangle frame inner ring frame；Lateral closing in component includes crossed strip and lateral closing in bar,
Lateral closing in bar both ends pass through crossed strip and are connected to rectangle frame inner ring frame, the rectangle of lateral closing in bar and its connection
Frame inner ring frame periphery is tight by closing in locking clip；Longitudinal closing in component includes longitudinal spring and longitudinal closing in bar, longitudinal closing in bar
Both ends pass through longitudinal spring and are connected to rectangle frame inner ring side, the rectangle frame inner ring frame of longitudinal closing in bar and its connection
Periphery is tight by closing in locking clip.
When closing mechanism collapses, four four locked respectively by two lateral closing in components and two longitudinal closing in components that close up
A closing in pole band fastens on four side frames of rectangle frame inner ring, spring be compressed in closing in bar and rectangle frame inner ring frame it
Between, four closing in bars of four groups of closing in components are respectively positioned on the inner ring of rectangle frame, not to the blocking of rectangle frame intermediate space；Closing-up machine
When structure is unfolded, four closing in locks, which are opened, to be detached from rectangle frame and closing in component, and each closing in component will be received by acting force of the spring
Mouth bar is located away from rectangle frame inner ring frame, is moved in the middle part of rectangle frame, and four closing in bars of four groups of closing in components are respectively positioned on rectangle
The blocking to rectangle frame intermediate space is formed in the middle part of frame.
The netting of the flexible 3 D netting wears and lies in the rectangle frame of closing mechanism.
The closing in lock is mainly docked by two U-clamps.
The remote control locking mechanism is by wirelessly carrying out switch control.
The mechanism that recombinates mainly is made of the identical recombination clamp mechanism of four structures, by the exhibition for recombinating clamp mechanism
It opens and separates and draw close the expansion and closing in for docking realization first segment netting；
Described recombinates in mechanism, and closing in rope, the flexible 3 D are connected between two neighboring recombination clamp mechanism
The netting end of netting capture arrival end is connected to closing in rope.
When the netting system collapses, mechanism gathering and each closing mechanism can be recombinated against arrangement, then pass through remote control
Locking mechanism can recombinate mechanism and each closing mechanism banding, so that every section netting among flexible 3 D netting is received and is tied to
Between adjacent closing mechanism, a section netting of flexible 3 D netting capture end, which is received, ties up remote control locking mechanism, flexible 3 D rope
One section netting of net capture arrival end, which is received to be tied to, can recombinate mechanism.
When the netting system is unfolded, mechanism opening, each closing mechanism separation arrangement can be recombinated, remote control locking mechanism is beaten
It opens and is not connected to that mechanism and each closing mechanism can be recombinated, so that every section netting free extension among flexible 3 D netting is adjacent
Between closing mechanism, flexible 3 D netting capture end a section netting free extension remote control locking mechanism and closing mechanism it
Between, a section netting free extension of flexible 3 D netting capture arrival end can recombinate between mechanism and closing mechanism.
Two, a kind of Space Autonomous multiple target objects arrest method, it is characterised in that:
1) before capture, can recombination structure be in recombination rounding state, flexible 3 D netting be in fold rounding state, it is soft
Property three-dimensional netting among every section netting compression be stored between each closing mechanism, flexible 3 D netting capture end a section
Netting compression is stored in remote control locking mechanism, and the section netting compression of flexible 3 D netting capture arrival end, which is stored in, can recombinate machine
Structure can recombinate mechanism by remote control locking mechanism and lock with each closing mechanism banding；
2) capture starts, and remote control locking mechanism, which is opened to be detached from, can recombinate mechanism and each closing mechanism, can recombination structure point
From expansion, flexible 3 D netting is freely launched into a space three-dimensional mesh bag, and each closing mechanism is in open communication state；
3) when capture carries out, after first capturing first aim object from Section of four netting, Section of four last netting entrance
The closing in lock unlock of the closing mechanism at place is opened, and two lateral closing in bars are under the elastic force effect of crossed strip respectively to rectangle frame
Middle part movement, two longitudinal closing in bars under the elastic force effect of longitudinal spring respectively to moving in the middle part of rectangle frame so that closing up
Mechanism intermediate space is stopped by four closing in bars, realizes the closing in closure of Section of four netting；
4) after capturing next object, the closing mechanism of third section netting and the second section netting inlet is successively pressed
It realizes that netting closes up according to step 3) same way to be closed, until first segment netting captures the last one object, can then weigh
Structure mechanism docking recombination, the closing in closure of first segment netting inlet, completes Space Autonomous multiple target objects and arrests.
The invention has the advantages that:
1, the present invention has mobility strong, engagement range remote and control is easy to compared to Traditional Space netting capturing system
The advantages that Project Realization.
2, the present invention can be improved netting and catch by that can recombinate mechanism and closing mechanism realizes the expansion and closing in of every section netting
The complexity of the reliability, reduction control that obtain.
3, arresting for multiple extraterrestrial target objects can be achieved in the present invention, has the advantages that arrest high-efficient, and reproducibility is strong,
It can be required according to arresting, extend to any section netting.
For synthesis, the present invention has many advantages, such as that zmodem, operation distance are remote and it is high-efficient to arrest, and has very strong
Replicability can extend to any section netting as needed.
Detailed description of the invention
Fig. 1 is the space netting capturing system figure under compressive state of the invention.
Fig. 2 is the structure chart of the closing mechanism under closing in state of the invention.
Fig. 3 is the space netting capturing system figure under unfolded state of the invention.
Fig. 4 is the schematic diagram recombinated when mechanism is shunk completely of the invention.
Fig. 5 is the system schematic arrested after an object of the invention.
Fig. 6 is the system schematic arrested after two objects of the invention.
Fig. 7 is the system schematic arrested after three objects of the invention.
Fig. 8 is the system schematic arrested after four objects of the invention.
Fig. 9 is the structure chart of the clamp mechanism for recombinating mechanism of the invention.
Figure 10 is the structure chart of the closing mechanism under open state of the invention.
In figure: 1, it can recombinate mechanism, 2, remote control locking mechanism, 3, flexible 3 D netting, 4, closing mechanism, 1.2, spring,
1.3, guide rail, 1.4, cone bar, 1.5, shell, 1.6, encoder, 1.7, electromagnetic brake, 1.8, servo motor, 1.9, tension sensing
Device, 1.10, retarder, 1.11, first bearing seat, 1.12, rope drum, 1.13, second bearing seat, 1.14, auxiliary guide wheel,
1.15, tonometry wheel, 1.16, rope length measurement wheel, 1.17, tension preloader, 1.18, fall line plate, 1.19, bottom plate, 1.20, rope
Long codes device, 1.21, closing in rope, 3.1 first segment nettings, the 3.2, second section netting, 3.3, third section netting, 3.4, the 4th sections of ropes
Net, 4.1, rectangle frame, 4.2, closing in lock, 4.3, crossed strip, 4.4, longitudinal spring, 4.5, lateral closing in bar, 4.6, Zong Xiangshou
Mouth bar.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, present invention specific implementation includes that can recombinate mechanism 1, remote control locking mechanism 2,3 and of flexible 3 D netting
Closing mechanism 4；Flexible 3 D netting 3 is mainly by being successively connected first segment netting 3.1, the second section netting 3.2, third section of arrangement
Netting 3.3, Section of four netting 3.4 form, and every section netting is arranged around by several ropes are circumferentially spaced, and every rope edge is arrested
Direction is extended, the rope of adjacent segments netting linking docking or integral rope, and one end of flexible 3 D netting 3 is tied as catching
End is obtained, the other end, which is connected to, can recombinate mechanism 1 as arrival end is captured, and be equipped with closing mechanism 4 between adjacent segments netting, lead to
Cross space in the isolation of closing mechanism 4 or connection adjacent segments netting；
It is successively caught according to Section of four netting 3.4, third section netting 3.3, the second section netting 3.2,3.1 sequence of first segment netting
Obtain target object.
As shown in Figure 1, can recombinate the gathering of mechanism 1 when netting system collapses and each closing mechanism 4 is abutted along direction is arrested
Arrangement forms the same mount structure of close parallel, and then by being remotely controlled, locking mechanism 2 can recombinate mechanism 1 and each closing mechanism 4 is bound round
Tightly, so that every section netting among flexible 3 D netting 3 is received and is tied between adjacent closing mechanism 4, flexible 3 D netting 3 is captured
One section netting of end is tied up the side of remote control locking mechanism 2 by receiving, and the section netting that flexible 3 D netting 3 captures arrival end is received
Mechanism 1 can be recombinated by being tied to.
As shown in figure 4, can recombinate the opening of mechanism 1 when netting system is unfolded, each closing mechanism 4 is separated along direction is arrested
Arrangement forms spaced and parallel same mount structure, and remote control locking mechanism 2, which is opened to be detached from, can recombinate mechanism 1 and each closing mechanism 4, so that
For every section netting free extension among flexible 3 D netting 3 between adjacent closing mechanism 4, flexible 3 D netting 3 captures end
A section netting free extension remote control locking mechanism 2 and closing mechanism 4 between, flexible 3 D netting 3 capture arrival end one
Section netting free extension can recombinate between mechanism 1 and closing mechanism 4.
As shown in Fig. 2-Fig. 3, closing mechanism 4 includes rectangle frame 4.1, close up 4.2, two, lock lateral closing in components and two
Longitudinal closing in component, two lateral closing in components are symmetrically arranged at 4.1 inner ring frame of rectangle frame wherein opposite both sides, and two
A longitudinal direction closing in component is symmetrically arranged at the other opposite both sides of 4.1 inner ring frame of rectangle frame；Lateral closing in component includes
Crossed strip 4.3 and lateral closing in bar 4.5, lateral 4.5 both ends of closing in bar pass through crossed strip 4.3 and are connected to rectangle frame 4.1
Inner ring frame, lateral closing in bar 4.5 4.1 inner ring frame periphery of rectangle frame connected to it pass through 4.2 bandings of lock that close up；It is longitudinal to receive
Mouth component includes longitudinal spring 4.4 and longitudinal closing in bar 4.6, and longitudinal 4.6 both ends of closing in bar pass through longitudinal spring 4.4 and are connected to
4.1 inner ring side of rectangle frame, longitudinal closing in bar 4.6 4.1 inner ring frame periphery of rectangle frame connected to it pass through 4.2 hoop of lock that closes up
Tightly, the lock 4.2 that closes up mainly is docked by two U-clamps.
As shown in Fig. 2, four closing in locks 4.2 are vertical by two lateral closing in components and two respectively when closing mechanism 4 collapses
It is fastened on four side frames of 4.1 inner ring of rectangle frame to four closing in pole bands of closing in component, spring is compressed in closing in bar
Between 4.1 inner ring frame of rectangle frame, four closing in bars of four groups of closing in components are respectively positioned on the inner ring of rectangle frame 4.1, not to square
The blocking of 4.1 intermediate space of shape frame acts on to form the connection to space in adjacent segments netting.
As shown in figure 3, four closing in locks 4.2, which are opened, to be detached from rectangle frame 4.1 and closing in component when closing mechanism 4 is unfolded,
Closing in bar is located away from 4.1 inner ring frame of rectangle frame by acting force of the spring by each closing in component, is moved in rectangle frame 4.1
Portion, four closing in bars of four groups of closing in components are respectively positioned on the blocking formed in the middle part of rectangle frame 4.1 to 4.1 intermediate space of rectangle frame,
To form the buffer action to space in adjacent segments netting.
The netting of flexible 3 D netting 3 wears and lies in the rectangle frame 4.1 of closing mechanism 4.In specific implementation, laterally close up
Component and longitudinal closing in component are arranged in 4.1 axile displacement of rectangle frame and are installed.
Remote control locking mechanism 2 is mainly made of two U-shaped frame docking, and one of U-shaped frame, which is connected to, can recombinate mechanism 1,
Another U-shaped frame is equipped with flexible 3 D netting 3 and captures the closing in that end concentrates system to connect.Remote control locking mechanism 2 is by wirelessly carrying out
Switch control.
As shown in Fig. 9-Figure 10, mechanism 1 can be recombinated and be mainly made of identical recombination clamp mechanism a, b, c, the d of four structures,
It is separated by the expansion of recombination clamp mechanism and draws close the expansion and closing in of docking realization first segment netting；It can recombinate in mechanism 1, phase
Closing in rope 1.21 is connected between neighbour two recombination clamp mechanisms a, b, c, d, flexible 3 D netting 3 captures the netting end of arrival end
It is connected to closing in rope 1.21.
In specific implementation, can recombinate mechanism 1 can use the applying date for " on October 25th, 2016 ", application No. is
" 201610937892.7 ", in the application for a patent for invention of entitled " recombinating mechanism for the formation flight of space rope system "
Technical solution documented by summary of the invention.As shown in figure 9, specifically, the identical recon of each structure in mechanism 1 can be recombinated
Mechanism a/b/c/d specifically: in shell 1.5,1.1 big end of cone cylinder is mounted on the outside of the left plate of shell 1.5, four guide rails
1.3 are vertically evenly arranged on the intermediate plate side of shell 1.5, and every spring 1.2 is placed on the guide rail pole of respective guide rail 1.3, is led
The end of rail bar is connect with the end face of 1.1 big end of cone cylinder, and every 1.2 both ends of spring are connected to the flange at 1.3 middle part of guide rail
It is limited with the end face of cone cylinder 1.1, cone 1.4 big end of bar is fixed at the center outside the back plate of shell 1.5.
Encoder 1.6 is connect with one end of electromagnetic brake 1.7, the other end of electromagnetic brake 1.7 and the one of servo motor 1.8
End connection, the other end of servo motor 1.8 are connect with one end of retarder 1.10, and the other end of retarder 1.10 is fixed on first
On bearing block 1.11,1.10 output shaft of retarder passes through 1.11 bearing inner race of first bearing seat through 1.12 centre bore of rope drum and the
The bottom of the rotation connection of 1.13 bearing inner race of two bearing bracket, first bearing seat 1.11 and second bearing seat 1.13 is installed in bottom plate
1.19 upper surfaces, vertically equipped with fall line plate 1.18 on bottom plate 1.19, fall line plate 1.18 is parallel with 1.1 axis of cone cylinder, fall line plate
1.18 are sequentially installed with tension preloader 1.17 from left to right, the rope length encoder 1.20 with rope length measurement wheel 1.16, have
The tension sensor 1.9 and auxiliary wheel 1.14 of tonometry wheel 1.15.
One end of closing in rope 1.21 is after the outer entrance by 1.1 centre bore of cone cylinder of shell 1.5, successively through overtension preloader
1.17, it after rope length measurement wheel 1.16, tonometry wheel 1.15 and auxiliary guide wheel 1.14, is fixed at 1.12 inner wall of rope drum.Weight
The middle part of the cone bar 1.4 of the other end of the closing in rope 1.21 of group clamp mechanism a/b/c/d and adjacent a set of recombination clamp mechanism a/b/c/d
Connection.
As shown in Fig. 2, can recombinate the gathering of mechanism 1 when netting system collapses and each closing mechanism 4 is abutted along direction is arrested
Arrangement forms the same mount structure of close parallel, and then by being remotely controlled, locking mechanism 2 can recombinate mechanism 1 and each closing mechanism 4 is bound round
Tightly, so that every section netting among flexible 3 D netting 3 is received and is tied between adjacent closing mechanism 4, flexible 3 D netting 3 is captured
One section netting of end is tied up the side of remote control locking mechanism 2 by receiving, and the section netting that flexible 3 D netting 3 captures arrival end is received
Mechanism 1 can be recombinated by being tied to.
As shown in figure 4, can recombinate the opening of mechanism 1 when netting system is unfolded, each closing mechanism 4 is separated along direction is arrested
Arrangement forms spaced and parallel same mount structure, and the remote control opening of locking mechanism 2 is not connected to that mechanism 1 and each closing mechanism 4 can be recombinated, makes
Every section netting free extension among flexible 3 D netting 3 is obtained between adjacent closing mechanism 4, flexible 3 D netting 3 captures end
For the one section netting free extension at end between remote control locking mechanism 2 and closing mechanism 4, flexible 3 D netting 3 captures arrival end
One section netting free extension can recombinate between mechanism 1 and closing mechanism 4.
It is as follows that the Space Autonomous multiple target objects of present system arrest method:
1) as shown in Figure 1, before capture, can recombination structure 1 be in recombination rounding state, can be each in recombination structure 1
A recombination clamp mechanism a, b, c, d are in mutually nested defrag status, and flexible 3 D netting 3, which is in, folds rounding state, flexible
Every section netting compression among three-dimensional netting 3 is stored between each closing mechanism 4, and flexible 3 D netting 3 captures the one of end
Section netting compression is stored in the side of remote control locking mechanism 2, and the section netting that flexible 3 D netting 3 captures arrival end compresses storage
In mechanism 1 can be recombinated, mechanism 1 can be recombinated by remote control locking mechanism 2 and locked with each 4 banding of closing mechanism；
2) as shown in figure 4, capture starts, remote control locking mechanism 2, which is opened to be detached from, can recombinate mechanism 1 and each closing mechanism 4,
Can recombination structure 1 separation expansion launched by contained spring, can each recombination clamp mechanism a, b, c, d in recombination structure 1 it is logical
Contained spring ejection separation expansion is crossed, mechanism 1 can be recombinated and each closing mechanism 4 is freely separating between each other, adjacent closing-up machine
Every section netting free extension among flexible 3 D netting 3 between structure 4, is remotely controlled catching between locking mechanism 2 and closing mechanism 4
The 3 one section netting free extension of flexible 3 D netting for obtaining end, can recombinate the capture arrival end between mechanism 1 and closing mechanism 4
3 one section netting free extension of flexible 3 D netting so that flexible 3 D netting 3 is freely launched into a space three-dimensional mesh bag, respectively
Closing mechanism 4 is in open communication state, i.e., four closing in locks 4.2 are respectively by two lateral closing in components and two longitudinal closing ins
Four closing in pole bands of component fasten on four side frames of 4.1 inner ring of rectangle frame, and spring is compressed in closing in bar and rectangle
Between 4.1 inner ring frame of frame, four closing in bars of four groups of closing in components are respectively positioned on the inner ring of rectangle frame 4.1, in rectangle frame 4.1
Between space do not stopped by closing in bar；
3) when capture carries out, as shown in figure 5, after first capturing first aim object from Section of four netting 3.4, last the
4.2 unlock of closing in lock of the closing mechanism 4 of four section netting, 3.4 inlet is opened, and two lateral closing in bars 4.5 are in crossed strip
It is moved respectively to the middle part of rectangle frame 4.1 under 4.3 elastic force effect, elastic force of two longitudinal closing in bars 4.6 in longitudinal spring 4.3
Respectively to moving in the middle part of rectangle frame 4.1 under effect, so that 4 intermediate space of closing mechanism is stopped by four closing in bars, Section of four rope
It is isolated between net 3.4 and third section netting 3.3, realizes the closing in closure of Section of four netting 3.4,
4) after capturing next object, the closing mechanism 4 of 3.4 inlet of third section netting 3.4 and the second section netting
It successively realizes that netting closes up according to step 3) same way to be closed, respectively as Figure 6-Figure 7, until first segment netting 3.4
Capture the last one object, then restructural mechanism 1 by internal tethers draw off gear collapse tether realize minor structure a,
B, c, d docking recombination, respectively as shown in figure 8, i.e. so that can each recombination clamp mechanism a, b, c, d in recombination structure 1 locate again
It is closed in the closing in of mutually nested defrag status, 3.1 inlet of first segment netting, completes Space Autonomous multiple target objects and arrest.
Claims (7)
1. a kind of Space Autonomous multiple target objects arrest netting system, it is characterised in that:
Including mechanism (1), remote control locking mechanism (2), flexible 3 D netting (3) and closing mechanism (4) can be recombinated；Flexible 3 D rope
Net (3) is mainly by being successively connected first segment netting (3.1), the second section netting (3.2), third section netting (3.3), the 4th of arrangement
Netting (3.4) composition is saved, one end of flexible 3 D netting (3) is tied as capture end, and the other end, which is connected to, to be recombinated
Mechanism (1) is equipped with closing mechanism (4) between adjacent segments netting as capture arrival end, by closing mechanism (4) isolation or
It is connected to space in adjacent segments netting；
When the netting system collapses, mechanism (1) gathering and each closing mechanism (4) can be recombinated against arrangement, then by distant
Control locking mechanism (2) can recombinate mechanism (1) and each closing mechanism (4) banding, so that every among flexible 3 D netting (3)
Section netting, which is received, to be tied between adjacent closing mechanism (4), and a section netting of flexible 3 D netting (3) capture end, which is received, ties up remote control
Locking mechanism (2), a section netting of flexible 3 D netting (3) capture arrival end, which is received to be tied to, can recombinate mechanism (1)；The netting
When system is unfolded, mechanism (1) opening can be recombinated, each closing mechanism (4) separation arrangement, remote control locking mechanism (2), which is opened, to be detached from
Mechanism (1) and each closing mechanism (4) can be recombinated, so that every section netting free extension among flexible 3 D netting (3) is in phase
Between adjacent closing mechanism (4), flexible 3 D netting (3) captures a section netting free extension of end in remote control locking mechanism (2)
Between closing mechanism (4), a section netting free extension of flexible 3 D netting (3) capture arrival end can recombinate mechanism (1)
Between closing mechanism (4)；
The closing mechanism (4) includes rectangle frame (4.1), the lock (4.2) that closes up, two lateral closing in components and two longitudinal receipts
Mouthful component, two lateral closing in components are symmetrically arranged at rectangle frame (4.1) inner ring frame wherein opposite both sides, and two vertical
The other opposite both sides of rectangle frame (4.1) inner ring frame are symmetrically arranged to closing in component；Lateral closing in component includes cross
To spring (4.3) and lateral closing in bar (4.5), lateral closing in bar (4.5) both ends pass through crossed strip (4.3) and are connected to rectangle
Rectangle frame (4.1) inner ring frame periphery of frame (4.1) inner ring frame, lateral closing in bar (4.5) and its connection passes through closing in
Lock (4.2) banding；Longitudinal closing in component includes longitudinal spring (4.4) and longitudinal closing in bar (4.6), longitudinal closing in bar (4.6) two
End is connected to rectangle frame (4.1) inner ring side, longitudinal closing in bar (4.6) and its connection by longitudinal spring (4.4)
Rectangle frame (4.1) inner ring frame periphery passes through lock (4.2) banding that closes up；
When closing mechanism (4) collapses, four closing in locks (4.2) are respectively by two lateral closing in components and two longitudinal closing in components
Four closing in pole bands fasten on the four side frames of rectangle frame (4.1) inner ring, spring is compressed in closing in bar and rectangle frame
(4.1) between inner ring frame, four closing in bars of four groups of closing in components are respectively positioned on the inner ring of rectangle frame (4.1), not to rectangle frame
(4.1) blocking of intermediate space；When closing mechanism (4) is unfolded, four closing in lock (4.2) open disengaging in rectangle frame (4.1) and
Closing in bar is located away from rectangle frame (4.1) inner ring frame by acting force of the spring, is moved to square by closing in component, each closing in component
In the middle part of shape frame (4.1), four closing in bars of four groups of closing in components are respectively positioned in the middle part of rectangle frame (4.1) and are formed to rectangle frame (4.1)
The blocking of intermediate space.
2. Space Autonomous multiple target objects according to claim 1 arrest netting system, it is characterised in that:
The netting of the flexible 3 D netting (3) wears and lies in the rectangle frame (4.1) of closing mechanism (4).
3. Space Autonomous multiple target objects according to claim 1 arrest netting system, it is characterised in that:
The closing in lock (4.2) is mainly docked by two U-clamps.
4. Space Autonomous multiple target objects according to claim 1 arrest netting system, it is characterised in that:
The remote control locking mechanism (2) is by wirelessly carrying out switch control.
5. Space Autonomous multiple target objects according to claim 1 arrest netting system, it is characterised in that:
The mechanism (1) that recombinates mainly is made of the identical recombination clamp mechanism (a, b, c, d) of four structures, passes through recon
The expansion of mechanism separates and draws close the expansion and closing in for docking realization first segment netting.
6. Space Autonomous multiple target objects according to claim 5 arrest netting system, it is characterised in that: described recombinates
In mechanism (1), closing in rope (1.21), the flexible 3 D rope are connected between two neighboring recombination clamp mechanism (a, b, c, d)
The netting end of net (3) capture arrival end is connected to closing in rope (1.21).
7. the Space Autonomous multiple target objects for being applied to any netting system of claim 1-6 arrest method, it is characterised in that:
1) before capture, can recombination structure (1) be in recombination rounding state, flexible 3 D netting (3) be in fold rounding state,
The intermediate every section netting compression of flexible 3 D netting (3) is stored between each closing mechanism (4), and flexible 3 D netting (3) is caught
The section netting compression for obtaining end is stored in remote control locking mechanism (2), and flexible 3 D netting (3) captures a section netting of arrival end
Compression, which is stored in, can recombinate mechanism (1), can recombinate mechanism (1) and each closing mechanism (4) hoop by being remotely controlled locking mechanism (2)
It is tight locked；
2) capture starts, and remote control locking mechanism (2), which opens to be detached from, can recombinate mechanism (1) and each closing mechanism (4), can recombinate knot
Structure (1) separation expansion, flexible 3 D netting (3) are freely launched into a space three-dimensional mesh bag, and each closing mechanism (4) is in opening and connects
Logical state；
3) when capture carries out, after first capturing first aim object from Section of four netting (3.4), Section of four last netting
(3.4) closing in lock (4.2) unlock of the closing mechanism (4) of inlet is opened, and two lateral closing in bars (4.5) are in crossed strip
(4.3) it is moved respectively to the middle part of rectangle frame (4.1) under elastic force effect, two longitudinal closing in bars (4.6) are in longitudinal spring
(4.3) respectively to movement in the middle part of rectangle frame (4.1) under elastic force effect, so that closing mechanism (4) intermediate space is closed up by four
Bar stops, and realizes the closing in closure of Section of four netting (3.4)；
4) after capturing next object, the closing mechanism of third section netting (3.4) and second section netting (3.4) inlet
(4) it successively realizes that netting closes up according to step 3) same way to be closed, until first segment netting (3.4) capture the last one
Object, then restructural mechanism (1) docking recombination, the closing in closure of first segment netting (3.1) inlet complete Space Autonomous
Multiple target objects are arrested.
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