CN108945534B - Spatial autonomous multi-target object capturing rope net system and method - Google Patents
Spatial autonomous multi-target object capturing rope net system and method Download PDFInfo
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- CN108945534B CN108945534B CN201810672263.5A CN201810672263A CN108945534B CN 108945534 B CN108945534 B CN 108945534B CN 201810672263 A CN201810672263 A CN 201810672263A CN 108945534 B CN108945534 B CN 108945534B
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Abstract
The invention discloses a spatial autonomous multi-target object capturing rope net system and a spatial autonomous multi-target object capturing rope net method. Comprises a reconfigurable mechanism, a remote control locking mechanism, a flexible three-dimensional rope net and a closing mechanism. Before capturing, the four sub-mechanisms of the reconfigurable structure are in a mutually nested and reconfigured state, the flexible three-dimensional rope net is in a folded state, the flexible three-dimensional rope net is compressed and stored among all closing-in mechanisms, and the reconfigurable mechanism and the closing-in mechanisms are tightly pressed and locked through a remote control locking mechanism; when the capturing starts, the sub-mechanism with the reconfigurable structure realizes the ejection separation through the spring, the flexible three-dimensional rope net is unfolded into a space three-dimensional net bag under the inertia effect, and each closing-in mechanism is in an opening state; when the capture is carried out, when one target object is captured, the closing structure of each rope net moves to enter a closing closed state, and therefore the capture of the multiple target objects in the space is completed. The invention has the advantages of good fault tolerance, long operation distance, high capturing efficiency and the like, has strong reproducibility and can be expanded to any rope knot network as required.
Description
Technical Field
The invention relates to a spatial rope net catching system, in particular to a spatial autonomous rope net system and a spatial autonomous rope net method capable of realizing catching of multiple targets.
Background
With the increase of human aerospace activities, the space debris environment is increasingly deteriorated. In order to protect precious space orbit resources and improve the safety of space activities, space debris needs to be treated, and the method is an effective method for capturing the space debris and dragging the space debris to other abandoned orbits. The flexible capture concept is a novel capture mode proposed in recent years, and the flexible structure such as a net or cloth is used for covering and wrapping a target object and forms a reliably connected assembly with a mission spacecraft through a flexible connecting object (such as a rope). As a typical representative of a flexible capturing mode, the space rope network capturing system has the advantages of strong capturing fault tolerance, long operation distance, weak coupling effect between aircrafts and the like, has wide application prospect, and is one of the hot spots of space research in recent years. In the traditional spatial rope net capturing system, as the mass block for rope net expansion generally does not have an autonomous maneuvering function, higher requirements are provided for launching, the capturing distance is generally shorter, and generally one set of rope net capturing system can only capture one target, so that the capturing efficiency is lower.
Disclosure of Invention
The invention aims to provide a space autonomous rope net system and a method capable of realizing multi-target object capture, aiming at the problems of high launching requirement, short capture distance, low capture efficiency and the like of the traditional space rope net capture system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a spatial autonomous multi-target object capturing rope net system comprises:
comprises a reconfigurable mechanism, a remote control locking mechanism, a flexible three-dimensional rope net and a closing mechanism; the flexible three-dimensional rope net mainly comprises a first rope net section, a second rope net section, a third rope net section and a fourth rope net section which are sequentially connected and arranged, one end of the flexible three-dimensional rope net section is tied together to be used as a capturing tail end, the other end of the flexible three-dimensional rope net section is connected to a reconfigurable mechanism to be used as a capturing inlet end, a closing mechanism is installed between the adjacent rope net sections, and the closing mechanism is used for isolating or communicating the inner space of the adjacent rope net sections.
When the rope net system is folded, the reconfigurable mechanism is folded, all closing mechanisms are arranged in a close manner, then the reconfigurable mechanism and all closing mechanisms are hooped through the remote control locking mechanism, so that each rope net in the middle of the flexible three-dimensional rope net is bound between the adjacent closing mechanisms, one rope net at the capturing tail end of the flexible three-dimensional rope net is bound to the remote control locking mechanism, and one rope net at the capturing inlet end of the flexible three-dimensional rope net is bound to the reconfigurable mechanism; when the rope net system is unfolded, the reconfigurable mechanism is opened, the closing mechanisms are separately arranged, the remote control locking mechanism is opened to be separated from the reconfigurable mechanism and each closing mechanism, each section of rope net in the middle of the flexible three-dimensional rope net freely extends between the adjacent closing mechanisms, a section of rope net at the tail end of the flexible three-dimensional rope net is freely extended between the remote control locking mechanism and the closing mechanism, and a section of rope net at the inlet end of the flexible three-dimensional rope net is freely extended between the reconfigurable mechanism and the closing mechanism.
The closing-in mechanism comprises a rectangular frame, a closing-in lock, two transverse closing-in assemblies and two longitudinal closing-in assemblies, wherein the two transverse closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the inner frame of the rectangular frame, and the two longitudinal closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the other inner frame of the rectangular frame; the transverse closing-in component comprises a transverse spring and a transverse closing-in rod, the transverse closing-in rod is connected to the frame of the inner ring of the rectangular frame through the longitudinal spring, and the transverse closing-in rod is hooped with the periphery of the frame of the inner ring of the rectangular frame through a closing-in lock; the longitudinal closing-in assembly comprises a longitudinal spring and a longitudinal closing-in rod, the longitudinal closing-in rod is connected to the inner ring frame of the rectangular frame through the transverse spring, and the longitudinal closing-in rod and the periphery of the inner ring frame of the rectangular frame are clamped through a closing-in lock.
When the closing-in mechanism is closed, four closing-in locks respectively and tightly hoop and fix four closing-in rods of two transverse closing-in assemblies and two longitudinal closing-in assemblies on four side frames of the inner ring of the rectangular frame, a spring is compressed between the closing-in rods and the side frames of the inner ring of the rectangular frame, and the four closing-in rods of the four groups of closing-in assemblies are all positioned on the inner ring of the rectangular frame and do not form a barrier to the middle space of the rectangular frame; when the closing-in mechanism is unfolded, the four closing-in locks are opened to be separated from the rectangular frame and the closing-in assemblies, each closing-in assembly separates the closing-in rod from the inner ring frame of the rectangular frame by means of the acting force of the spring and moves to the middle of the rectangular frame, and the four closing-in rods of the four closing-in assemblies are all located in the middle of the rectangular frame to form blocking of the middle space of the rectangular frame.
The rope net of the flexible three-dimensional rope net penetrates through and is tied to the rectangular frame of the closing-in mechanism.
The binding off lock is mainly formed by butt joint of two U-shaped clamps.
The remote control locking mechanism is controlled to be switched on and off in a wireless mode.
The reconfigurable mechanism mainly comprises four reconfigurable sub-mechanisms with the same structure, and the first section of rope net is unfolded and closed up by unfolding, separating, closing and butting the reconfigurable sub-mechanisms.
In the reconfigurable mechanism, a closing rope is connected between two adjacent reconfigurable sub-mechanisms, and the end part of the rope net at the capturing inlet end of the flexible three-dimensional rope net is connected with the closing rope.
When the rope net system is folded, the reconfigurable mechanism is folded, all the closing mechanisms are arranged closely, then the reconfigurable mechanism and all the closing mechanisms are hooped tightly through the remote control locking mechanism, so that each rope net in the middle of the flexible three-dimensional rope net is collected between the adjacent closing mechanisms, one rope net at the tail end of the flexible three-dimensional rope net is collected by the remote control locking mechanism, and one rope net at the inlet end of the flexible three-dimensional rope net is collected by the reconfigurable mechanism.
When the rope net system is unfolded, the reconfigurable mechanism is opened, all the closing mechanisms are separately arranged, the remote control locking mechanism is opened to disconnect the reconfigurable mechanism and all the closing mechanisms, so that each section of rope net in the middle of the flexible three-dimensional rope net freely extends between the adjacent closing mechanisms, a section of rope net at the capturing end of the flexible three-dimensional rope net freely extends between the remote control locking mechanism and the closing mechanisms, and a section of rope net at the capturing inlet end of the flexible three-dimensional rope net freely extends between the reconfigurable mechanism and the closing mechanisms.
Secondly, a space autonomous multi-target object capturing method is characterized by comprising the following steps:
1) before capturing, the reconfigurable mechanism is in a reconfigurable folding state, the flexible three-dimensional rope net is in a folding state, each section of rope net in the middle of the flexible three-dimensional rope net is compressed and stored between the closing mechanisms, one section of rope net at the capturing tail end of the flexible three-dimensional rope net is compressed and stored in the remote control locking mechanism, one section of rope net at the capturing inlet end of the flexible three-dimensional rope net is compressed and stored in the reconfigurable mechanism, and the reconfigurable mechanism and each closing mechanism are clamped and locked by the remote control locking mechanism;
2) when the capturing starts, the remote control locking mechanism is opened to separate the reconfigurable mechanism and each closing mechanism, the reconfigurable mechanism is separated and unfolded, the flexible three-dimensional rope net is freely unfolded into a space three-dimensional net bag, and each closing mechanism is in an opening communication state;
3) when the capturing is carried out, after a first target object is captured from a fourth section of rope net, a closing-up lock of a closing-up mechanism at an inlet of the last fourth section of rope net is unlocked and opened, two transverse closing-up rods respectively move towards the middle of the rectangular frame under the elastic force of a longitudinal spring, and two longitudinal closing-up rods respectively move towards the middle of the rectangular frame under the elastic force of the transverse spring, so that the middle space of the closing-up mechanism is blocked by the four closing-up rods, and the closing-up closing of the fourth section of rope net is realized;
4) after the next target object is captured, the closing mechanisms at the inlets of the third section of rope net and the second section of rope net sequentially realize closing of the rope nets according to the same mode of the step 3) until the last target object is captured by the first section of rope net, then the reconfigurable mechanism is in butt joint reconfiguration, the closing at the inlet of the first section of rope net is closed, and the spatial autonomous multi-target object capture is completed.
The invention has the beneficial effects that:
1. compared with the traditional spatial rope net capturing system, the spatial rope net capturing system has the advantages of strong maneuverability, long capturing distance, easiness in control and the like, and is easy to realize in engineering.
2. The invention realizes the expansion and closing of each section of rope net through the reconfigurable mechanism and the closing mechanism, can improve the reliability of rope net capture and reduce the complexity of control.
3. The invention can realize the capture of a plurality of space targets, has the advantage of high capture efficiency, has strong reproducibility, and can be expanded to any rope knot according to the capture requirement.
In summary, the invention has the advantages of good fault tolerance, long working distance, high capturing efficiency and the like, has strong reproducibility, and can be expanded to any rope knot network according to requirements.
Drawings
Fig. 1 is a diagram of a spatial rope net catching system in a compressed state.
Fig. 2 is a structural view of the closing mechanism in the closed state of the present invention.
Fig. 3 is a diagram of the spatial netting capture system of the present invention in the deployed state.
FIG. 4 is a schematic view of the reconfigurable mechanism of the present invention fully collapsed.
Fig. 5 is a schematic diagram of the system of the present invention after capturing an object.
Fig. 6 is a schematic diagram of the system of the present invention after capturing two objects.
Fig. 7 is a schematic diagram of the system of the present invention after capturing three targets.
Fig. 8 is a schematic diagram of the system of the present invention after capturing four targets.
FIG. 9 is a block diagram of a sub-mechanism of the reconfigurable mechanism of the present invention.
Fig. 10 is a structural view of the closing mechanism in an opened state of the present invention.
In the figure: 1. reconfigurable mechanism, 2, remote control locking mechanism, 3, flexible three-dimensional rope net, 4, closing-up mechanism, 1.2, spring, 1.3, guide rail, 1.4, taper rod, 1.5, shell, 1.6, encoder, 1.7, electromagnetic brake, 1.8, servo motor, 1.9, tension sensor, 1.10, reducer, 1.11, first bearing seat, 1.12, rope drum, 1.13, second bearing seat, 1.14, auxiliary guide wheel, 1.15, tension measuring wheel, 1.16, rope length measuring wheel, 1.17, tension pretensioner, 1.18, rope walking plate, 1.19, bottom plate, 1.20, rope length encoder, 1.21, closing-up rope, 3.1 first rope net, 3.2, second rope net, 3.3, third rope net, 3.4, fourth rope net, 4.1, closing-up rectangular frame, 4.2, closing-up locking mechanism, 4.3, transverse spring, 4.5, transverse spring, 4.6, longitudinal rod, 4.6, transverse rod, and transverse rod.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, the embodiment of the invention comprises a reconfigurable mechanism 1, a remote locking mechanism 2, a flexible three-dimensional rope net 3 and a closing mechanism 4; the flexible three-dimensional rope net 3 mainly comprises a first rope net section 3.1, a second rope net section 3.2, a third rope net section 3.3 and a fourth rope net section 3.4 which are sequentially connected and arranged, each rope net section is surrounded by a plurality of ropes at intervals along the circumferential direction, each rope extends along the capturing direction, the ropes of the adjacent rope net sections are connected and butted together or form an integral rope, one end of the flexible three-dimensional rope net 3 is tied together to be used as a capturing tail end, the other end of the flexible three-dimensional rope net 3 is connected to the reconfigurable mechanism 1 to be used as a capturing inlet end, a closing-up mechanism 4 is arranged between the adjacent rope net sections, and the inner space of the adjacent rope net sections is isolated or communicated through the closing;
and sequentially capturing the target object according to the fourth section of rope net 3.4, the third section of rope net 3.3, the second section of rope net 3.2 and the first section of rope net 3.1.
As shown in fig. 1, when the rope net system is closed, the reconfigurable mechanism 1 is closed and each closing mechanism 4 is arranged closely along the capturing direction to form a close parallel same frame structure, then the reconfigurable mechanism 1 and each closing mechanism 4 are hooped by the remote control locking mechanism 2, so that each rope net in the middle of the flexible three-dimensional rope net 3 is captured between the adjacent closing mechanisms 4, one rope net at the capturing end of the flexible three-dimensional rope net 3 is captured at one side of the remote control locking mechanism 2, and one rope net at the capturing inlet end of the flexible three-dimensional rope net 3 is captured at the reconfigurable mechanism 1.
As shown in fig. 4, when the rope net system is unfolded, the reconfigurable mechanism 1 is opened, the closing mechanisms 4 are separately arranged along the capturing direction to form a spaced parallel same frame structure, the remote-control locking mechanism 2 is opened to separate the reconfigurable mechanism 1 and the closing mechanisms 4, so that each rope net section in the middle of the flexible three-dimensional rope net 3 freely extends between the adjacent closing mechanisms 4, a rope net section at the capturing end of the flexible three-dimensional rope net 3 freely extends between the remote-control locking mechanism 2 and the closing mechanisms 4, and a rope net section at the capturing inlet end of the flexible three-dimensional rope net 3 freely extends between the reconfigurable mechanism 1 and the closing mechanisms 4.
As shown in fig. 2-3, the closing-in mechanism 4 includes a rectangular frame 4.1, a closing-in lock 4.2, two transverse closing-in assemblies and two longitudinal closing-in assemblies, the two transverse closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the inner frame of the rectangular frame 4.1, and the two longitudinal closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the inner frame of the rectangular frame 4.1; the transverse closing-in assembly comprises a transverse spring 4.3 and a transverse closing-in rod 4.5, the transverse closing-in rod 4.5 is connected to the inner ring frame of the rectangular frame 4.1 through a longitudinal spring 4.4, and the transverse closing-in rod 4.5 and the periphery of the inner ring frame of the rectangular frame 4.1 are hooped through a closing-in lock 4.2; the longitudinal closing-in assembly comprises a longitudinal spring 4.4 and a longitudinal closing-in rod 4.6, the longitudinal closing-in rod 4.6 is connected to the inner ring frame of the rectangular frame 4.1 through a transverse spring 4.3, the longitudinal closing-in rod 4.6 and the periphery of the inner ring frame of the rectangular frame 4.1 are clamped through a closing-in lock 4.2, and the closing-in lock 4.2 is mainly formed by butting two U-shaped clamps.
As shown in fig. 2, when the closing mechanism 4 is closed, the four closing-in locks 4.2 respectively fasten the four closing-in rods of the two horizontal closing-in assemblies and the two longitudinal closing-in assemblies on the four side frames of the inner ring of the rectangular frame 4.1, the springs are compressed between the closing-in rods and the frames of the inner ring of the rectangular frame 4.1, the four closing-in rods of the four closing-in assemblies are all located in the inner ring of the rectangular frame 4.1, and no blocking of the middle space of the rectangular frame 4.1 is formed, so that the communicating function of the space in the rope net of the adjacent section is formed.
As shown in fig. 3, when the closing-in mechanism 4 is unfolded, four closing-in locks 4.2 are opened and separated from the rectangular frame 4.1 and the closing-in assemblies, each closing-in assembly separates the closing-in rod from the inner circle frame of the rectangular frame 4.1 by means of the spring acting force and moves to the middle of the rectangular frame 4.1, and the four closing-in rods of the four closing-in assemblies are all positioned in the middle of the rectangular frame 4.1 to form a barrier to the middle space of the rectangular frame 4.1, so that an isolation effect on the space in the rope net of the adjacent section is formed.
The rope net of the flexible three-dimensional rope net 3 is arranged in a penetrating way and tied on the rectangular frame 4.1 of the closing-in mechanism 4. In specific implementation, the transverse closing-in component and the longitudinal closing-in component are arranged on the rectangular frame 4.1 in an axially staggered mode.
The remote control locking mechanism 2 is mainly formed by butt joint of two U-shaped frames, wherein one U-shaped frame is connected with the reconfigurable mechanism 1, and the other U-shaped frame is provided with a flexible three-dimensional rope net 3 for capturing a closing opening of which the tail end is intensively tied. The remote locking mechanism 2 is controlled to be opened and closed wirelessly.
As shown in fig. 9-10, the reconfigurable mechanism 1 is mainly composed of four reconfigurable sub-mechanisms a, b, c, d with the same structure, and the unfolding and closing of the first rope net are realized by unfolding, separating, closing and butting of the reconfigurable sub-mechanisms; in the reconfigurable mechanism 1, a closing rope 1.21 is connected between two adjacent reconfigurable sub-mechanisms a, b, c and d, and the end part of the rope net at the capturing inlet end of the flexible three-dimensional rope net 3 is connected with the closing rope 1.21.
In the specific implementation, the reconfigurable mechanism 1 can adopt the technical scheme described in the invention content of the invention patent application with the filing date of "2016, 10, 25, and the filing number of" 201610937892.7 ", entitled" reconfigurable mechanism for flying spatial tether formation ". As shown in FIG. 9, each structurally identical recombinator mechanism a/b/c/d in the recombinable mechanism 1 is specifically: in the shell 1.5, the big end of the cone 1.1 is arranged on the outer side of the left side plate of the shell 1.5, four guide rails 1.3 are vertically and uniformly distributed on the side surface of the middle plate of the shell 1.5, each spring 1.2 is sleeved on a guide rail rod of each guide rail 1.3, the end part of each guide rail rod is connected with the end surface of the big end of the cone 1.1, the two ends of each spring 1.2 are respectively connected with the flange in the middle of the guide rail 1.3 and are limited with the end surface of the cone 1.1, and the big end of the cone 1.4 is fixed at the center outside the back plate of the shell 1.5.
The device comprises an encoder 1.6, an electromagnetic brake 1.7, a servo motor 1.8, a speed reducer 1.10, a first bearing seat 1.11, a speed reducer 1.10, a rope walking plate 1.18, a rope pre-tensioner 1.17, a rope length encoder 1.20, a tension sensor 1.9 and an auxiliary wheel 1.14, wherein the encoder 1.6 is connected with one end of the electromagnetic brake 1.7, the other end of the electromagnetic brake 1.7 is connected with one end of the servo motor 1.8, the other end of the servo motor 1.8 is connected with one end of the speed reducer 1.10, the other end of the speed reducer 1.10 is fixed on the first bearing seat 1.11, an output shaft of the speed reducer 1.10 penetrates through an inner bearing ring of the first bearing seat 1.11 and is rotatably connected with an inner bearing ring of a second bearing seat 1.13 through a central hole of a rope winding drum 1.12, the bottoms of the first bearing seat 1.11 and the second bearing seat 1.13 are both arranged on.
One end of the closing rope 1.21 enters from the outer side of the shell 1.5 through the center hole of the cone 1.1, passes through the tension pretensioner 1.17, the rope length measuring wheel 1.16, the tension measuring wheel 1.15 and the auxiliary guide wheel 1.14 in sequence, and is fixed on the inner wall of the rope winding drum 1.12. The other end of the closing rope 1.21 of the recombinant mechanism a/b/c/d is connected with the middle part of the taper rod 1.4 of the adjacent recombinant mechanism a/b/c/d.
As shown in fig. 2, when the rope net system is closed, the reconfigurable mechanism 1 is closed and each closing mechanism 4 is arranged closely along the capturing direction to form a close parallel same frame structure, then the reconfigurable mechanism 1 and each closing mechanism 4 are hooped by the remote control locking mechanism 2, so that each rope net in the middle of the flexible three-dimensional rope net 3 is captured between the adjacent closing mechanisms 4, one rope net at the capturing end of the flexible three-dimensional rope net 3 is captured at one side of the remote control locking mechanism 2, and one rope net at the capturing inlet end of the flexible three-dimensional rope net 3 is captured at the reconfigurable mechanism 1.
As shown in fig. 4, when the rope net system is unfolded, the reconfigurable mechanism 1 is opened, the closing mechanisms 4 are separately arranged along the capturing direction to form a spaced parallel same frame structure, the remote-control locking mechanism 2 is opened to disconnect the reconfigurable mechanism 1 and the closing mechanisms 4, so that each rope net section in the middle of the flexible three-dimensional rope net 3 freely extends between the adjacent closing mechanisms 4, a rope net section at the capturing end of the flexible three-dimensional rope net 3 freely extends between the remote-control locking mechanism 2 and the closing mechanisms 4, and a rope net section at the capturing inlet end of the flexible three-dimensional rope net 3 freely extends between the reconfigurable mechanism 1 and the closing mechanisms 4.
The spatial autonomous multi-target object capturing method of the system comprises the following steps:
1) as shown in fig. 1, before capturing, the reconfigurable mechanism 1 is in a reconfigured folded state, that is, each reconfigurable sub-mechanism a, b, c, d in the reconfigurable mechanism 1 is in a mutually nested reconfigured state, the flexible three-dimensional rope net 3 is in a folded state, each rope net section in the middle of the flexible three-dimensional rope net 3 is compressed and stored between each closing mechanism 4, one rope net section at the capturing end of the flexible three-dimensional rope net 3 is compressed and stored at one side of the remote control locking mechanism 2, one rope net section at the capturing inlet end of the flexible three-dimensional rope net 3 is compressed and stored in the reconfigurable mechanism 1, and the reconfigurable mechanism 1 and each closing mechanism 4 are tightly locked by the remote control locking mechanism 2;
2) as shown in fig. 4, at the beginning of capturing, the remote-controlled locking mechanism 2 is opened to separate the reconfigurable mechanism 1 and each closing mechanism 4, the reconfigurable mechanism 1 is ejected and separated by the internal spring and unfolded, i.e. each reconfigurable sub-mechanism a, b, c, d in the reconfigurable mechanism 1 is ejected and separated and unfolded by the internal spring, the reconfigurable mechanism 1 and each closing mechanism 4 are freely separated from each other, each rope net in the middle of the flexible three-dimensional rope net 3 between the adjacent closing mechanisms 4 is freely extended, one rope net in the flexible three-dimensional rope net 3 at the capturing end between the remote-controlled locking mechanism 2 and the closing mechanism 4 is freely extended, one rope net in the flexible three-dimensional rope net 3 at the capturing inlet end between the reconfigurable mechanism 1 and the closing mechanism 4 is freely extended, so that the flexible three-dimensional rope net 3 is freely unfolded into a spatial three-dimensional net bag, each closing mechanism 4 is in an open communication state, namely, four closing-in locks 4.2 respectively and tightly hoop and fix four closing-in rods of two transverse closing-in assemblies and two longitudinal closing-in assemblies on four side frames of an inner ring of a rectangular frame 4.1, a spring is compressed between the closing-in rods and the inner ring frames of the rectangular frame 4.1, the four closing-in rods of the four closing-in assemblies are all positioned at the inner ring of the rectangular frame 4.1, and the middle space of the rectangular frame 4.1 is not blocked by the closing-in rods;
3) when the capturing is carried out, as shown in fig. 5, after a first target object is captured from a fourth section of rope net 3.4, a closing lock 4.2 of a closing mechanism 4 at an inlet of the last fourth section of rope net 3.4 is unlocked and opened, two transverse closing rods 4.5 move to the middle of a rectangular frame 4.1 under the elastic force of a longitudinal spring 4.4, two longitudinal closing rods 4.6 move to the middle of the rectangular frame 4.1 under the elastic force of a transverse spring 4.3, so that the middle space of the closing mechanism 4 is blocked by the four closing rods, the fourth section of rope net 3.4 is separated from the third section of rope net 3.3, and the closing of the fourth section of rope net 3.4 is realized,
4) after the next target object is captured, closing-up closing of the rope net is sequentially achieved by the third rope net 3.4 and the closing-up mechanism 4 at the inlet of the second rope net 3.4 according to the same mode of the step 3), and the closing-up closing is respectively shown in fig. 6-7 until the last target object is captured by the first rope net 3.4, then the reconfigurable mechanism 1 folds the rope through the internal rope retracting device to achieve butt-joint reconfiguration of the sub-structures a, b, c and d, and the closing-up closing at the inlet of the first rope net 3.1 is achieved, and space autonomous multi-target object capturing is achieved.
Claims (7)
1. A spatial autonomous multi-target object capturing rope net system is characterized in that:
comprises a reconfigurable mechanism (1), a remote control locking mechanism (2), a flexible three-dimensional rope net (3) and a closing mechanism (4); the flexible three-dimensional rope net (3) mainly comprises a first rope net section (3.1), a second rope net section (3.2), a third rope net section (3.3) and a fourth rope net section (3.4) which are sequentially connected and arranged, one end of the flexible three-dimensional rope net (3) is tied together to serve as a capturing tail end, the other end of the flexible three-dimensional rope net (3) is connected to the reconfigurable mechanism (1) to serve as a capturing inlet end, a closing mechanism (4) is arranged between every two adjacent rope net sections, and the inner space of the adjacent rope net sections is isolated or communicated through the closing mechanism (4);
when the rope net system is folded, the reconfigurable mechanism (1) is folded, all closing mechanisms (4) are arranged closely, then the reconfigurable mechanism (1) and all closing mechanisms (4) are hooped by the remote control locking mechanism (2), each rope net in the middle of the flexible three-dimensional rope net (3) is bound between the adjacent closing mechanisms (4), one rope net at the tail end of the flexible three-dimensional rope net (3) is captured by the remote control locking mechanism (2), and one rope net at the inlet end of the flexible three-dimensional rope net (3) is captured by the reconfigurable mechanism (1); when the rope net system is unfolded, the reconfigurable mechanism (1) is opened, the closing mechanisms (4) are separately arranged, the remote control locking mechanism (2) is opened to be separated from the reconfigurable mechanism (1) and the closing mechanisms (4), so that each rope net section in the middle of the flexible three-dimensional rope net (3) freely extends between the adjacent closing mechanisms (4), one rope net section at the tail end captured by the flexible three-dimensional rope net (3) freely extends between the remote control locking mechanism (2) and the closing mechanisms (4), and one rope net section at the inlet end captured by the flexible three-dimensional rope net (3) freely extends between the reconfigurable mechanism (1) and the closing mechanisms (4);
the closing-in mechanism (4) comprises a rectangular frame (4.1), a closing-in lock (4.2), two transverse closing-in assemblies and two longitudinal closing-in assemblies, wherein the two transverse closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the inner ring frame of the rectangular frame (4.1), and the two longitudinal closing-in assemblies are respectively and symmetrically arranged on two opposite sides of the other inner ring frame of the rectangular frame (4.1); the transverse closing-in assembly comprises a transverse spring (4.3) and a transverse closing-in rod (4.5), the transverse closing-in rod (4.5) is connected to the inner ring frame of the rectangular frame (4.1) through a longitudinal spring (4.4), and the transverse closing-in rod (4.5) and the periphery of the inner ring frame of the rectangular frame (4.1) are hooped through a closing-in lock (4.2); the longitudinal closing-in assembly comprises a longitudinal spring (4.4) and a longitudinal closing-in rod (4.6), the longitudinal closing-in rod (4.6) is connected to the inner ring frame of the rectangular frame (4.1) through a transverse spring (4.3), and the longitudinal closing-in rod (4.6) and the periphery of the inner ring frame of the rectangular frame (4.1) are hooped through a closing-in lock (4.2);
when the closing-in mechanism (4) is closed, four closing-in locks (4.2) respectively clamp and fix four closing-in rods of two transverse closing-in assemblies and two longitudinal closing-in assemblies on four side frames of an inner ring of the rectangular frame (4.1), springs are compressed between the closing-in rods and the inner ring frames of the rectangular frame (4.1), and the four closing-in rods of the four closing-in assemblies are all positioned in the inner ring of the rectangular frame (4.1) and do not form a barrier to the middle space of the rectangular frame (4.1); when the closing-in mechanism (4) is unfolded, the four closing-in locks (4.2) are opened to be separated from the rectangular frame (4.1) and the closing-in assemblies, each closing-in assembly separates the closing-in rod from the inner ring frame of the rectangular frame (4.1) by means of the action force of a spring and moves to the middle of the rectangular frame (4.1), and the four closing-in rods of the four closing-in assemblies are all located in the middle of the rectangular frame (4.1) to form blocking of the middle space of the rectangular frame (4.1).
2. The space autonomous multi-target object catching rope net system according to claim 1, characterized in that:
the rope net of the flexible three-dimensional rope net (3) is arranged in a penetrating way and tied to the rectangular frame (4.1) of the closing mechanism (4).
3. The space autonomous multi-target object catching rope net system according to claim 1, characterized in that:
the closing lock (4.2) is mainly formed by butting two U-shaped clamps.
4. The space autonomous multi-target object catching rope net system according to claim 1, characterized in that:
the remote control locking mechanism (2) is controlled to be opened and closed wirelessly.
5. The space autonomous multi-target object catching rope net system according to claim 1, characterized in that:
the reconfigurable mechanism (1) is mainly composed of four reconfigurable sub-mechanisms (a, b, c and d) with the same structure, and the first rope net is unfolded and closed up through unfolding, separating, closing and butting of the reconfigurable sub-mechanisms.
6. The space autonomous multi-target object catching rope net system according to claim 5, characterized in that: in the reconfigurable mechanism (1), a closing rope (1.21) is connected between two adjacent reconfigurable sub-mechanisms (a, b, c and d), and the end part of the rope net at the capturing inlet end of the flexible three-dimensional rope net (3) is connected with the closing rope (1.21).
7. The space autonomous multi-target object catching method applied to the rope net system of any one of claims 1 to 6 is characterized in that:
1) before capturing, the reconfigurable mechanism (1) is in a reconfigurable folding state, the flexible three-dimensional rope net (3) is in a folding state, each rope net in the middle of the flexible three-dimensional rope net (3) is compressed and stored between the closing-in mechanisms (4), one rope net at the capturing tail end of the flexible three-dimensional rope net (3) is compressed and stored in the remote control locking mechanism (2), one rope net at the capturing inlet end of the flexible three-dimensional rope net (3) is compressed and stored in the reconfigurable mechanism (1), and the reconfigurable mechanism (1) and each closing-in mechanism (4) are hooped and locked tightly through the remote control locking mechanism (2);
2) when the capturing starts, the remote control locking mechanism (2) is opened to separate the reconfigurable mechanism (1) and each closing mechanism (4), the reconfigurable mechanism (1) is separated and unfolded, the flexible three-dimensional rope net (3) is freely unfolded into a space three-dimensional net bag, and each closing mechanism (4) is in an opening communication state;
3) when the capturing is carried out, after a first target object is captured from a fourth section of rope net (3.4), a closing lock (4.2) of a closing mechanism (4) at an inlet of the last fourth section of rope net (3.4) is unlocked and opened, two transverse closing rods (4.5) respectively move towards the middle part of a rectangular frame (4.1) under the elastic action of longitudinal springs (4.4), and two longitudinal closing rods (4.6) respectively move towards the middle part of the rectangular frame (4.1) under the elastic action of transverse springs (4.3), so that the middle space of the closing mechanism (4) is blocked by the four closing rods, and closing of the fourth section of rope net (3.4) is realized;
4) after the next target object is captured, the closing-in closing of the rope net is sequentially realized by the closing-in mechanisms (4) at the inlets of the third rope net (3.4) and the second rope net (3.4) according to the same mode of the step 3) until the last target object is captured by the first rope net (3.4), then the recombinable mechanism (1) is in butt joint recombination, the closing-in at the inlet of the first rope net (3.1) is closed, and the space autonomous multi-target object capturing is completed.
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