CN102991731A - Flying mesh catapulting device for acquiring discarded spacecraft - Google Patents
Flying mesh catapulting device for acquiring discarded spacecraft Download PDFInfo
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- CN102991731A CN102991731A CN201210547962XA CN201210547962A CN102991731A CN 102991731 A CN102991731 A CN 102991731A CN 201210547962X A CN201210547962X A CN 201210547962XA CN 201210547962 A CN201210547962 A CN 201210547962A CN 102991731 A CN102991731 A CN 102991731A
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Abstract
The invention relates to a flying mesh catapulting device for acquiring a discarded spacecraft and particularly relates to a flying mesh catapulting device for on-track acquisition of a discarded spacecraft and track resetting, belonging to the field of space mechanism designs. The flying mesh catapulting device concretely comprises a flying mesh, a flying mesh catapulting device and a rope release and control mechanism. An initiating explosive device is catapulted in the acquisition device, and the flying mesh can automatically unfold and realize retention of configuration in the process of flying towards a target; and after the flying mesh finishes the envelopment for the target, a mass block for guiding the flying mesh to unfold can automatically tighten the opening of the mesh and lock the target by means of self residual kinetic energy, and meanwhile, a safety design and a reliability redundancy design are realized, so that the safety of the acquisition device is ensured. The flying mesh catapulting device has the advantages of light weight and small size so as to be convenient for realizing modular design; and the flying mesh catapulting device can be used as an on-track target acquisition executing mechanism of a space robot system and particularly suitable for an on-track acquisition and clearing tasks for the discarded spacecraft.
Description
Technical field
The present invention relates to a kind of net that flies of catching for discarded spacecraft and launch acquisition equipment, particularly catch the net that flies of resetting with track for discarded spacecraft at rail and launch acquisition equipment, belong to space mechanism's design field.
Technical background
In recent years, along with the continuous generation at the discarded mutual crash of spacecraft of rail, the space debris problem more and more is subject to the attention of various countries.Space debris refers to the delay except the spacecraft of normal operation and the culture in space in the middle of the cosmic space.Space debris is in uncontrollable high-speed flight state, to the fatal threat of spacecraft formation of normal operation.
Space debris produces pattern analysis and shows, discarded spacecraft (comprising that exhaust service life and fault spacecraft, final vehicle etc.) though in the middle of the space debris sum shared ratio little, but the crucial source that space debris increases.The impetus that space debris population is increased in order effectively to reduce discarded spacecraft suppresses the growth of space debris population from the source, space flight mechanism in various countries' has mainly taked the passivation of following measures: a, spacecraft.Be carrier rocket and the satellite remaining fuel of emptying when task finishes, avoid occuring the blast of fuel storage cylinder.B, spacecraft independently leave the right or normal track.Independently leaving the right or normal track to increase the consumption of fuel of spacecraft.C, spacecraft orbit are reset.Spacecraft is taked the orbit maneuver strategy at end of lifetime, makes self track be reduced to certain altitude, and naturally passed away its within a short period of time.But orbit maneuver measure meeting makes subhost kinetic force and fuel aspect pay too high cost, in fact is difficult to carry out.The quantity of being detained at rail for reducing discarded spacecraft, initiatively Removal Technology of a kind of discarded spacecraft just must be sought and develop to the degradating trend of establishment space environment, and Space Robot System has then received the concern of height because of it target catching function that possesses.
Space robot refers to that a class possesses the general name at the spacecraft of rail autonomous operation function, generally form by flying platform with at rail operation actuating unit, launched and operated actuating unit take space manipulator as main at the Space Robot System that grinds at rail in countries in the world, the end of space manipulator is equipped with the space manipulator that possesses the target catching function, rely on free flight pedestal Space Robot System to finish the closely intersection in the rail target is kept with stop, and then rely on space manipulator and end spaces manipulator thereof to realize arresting in the rail target.Yet, if space manipulator is applied to catching and clean-up task at rail of discarded spacecraft, exist high difficulty risk.This is because discarded spacecraft is noncooperative target, can't communicate collaborative with Space Robot System, and its architectural feature is variety, find that to be suitable for the universal machine interface that space manipulator arrests very difficult, discarded spacecraft generally is in attitude rolling state out of control in addition, and the motion of relative attitude makes space manipulator can't realize arresting discarded spacecraft privileged site.
Above-mentioned the analysis showed that is difficult to adapt to discarded spacecraft is arrested task at rail requirement take space manipulator as the Space Robot System of arresting actuating unit, therefore must design the novel actuating unit of arresting and substitute space manipulator.Arrest technical risk and the task risk of operation in order to reduce discarded spacecraft, novelly arrest that actuating unit should possess the distance of arresting, the error redundancy ability is strong, need not specifically to arrest the characteristics such as mechanical interface.
In order to clear up the inert satellite of geostationary orbit, German EADS has proposed a kind of spring loaded and has flown the conception scheme that net launches acquisition equipment in the middle of " Roger " project.This device can be divided into and flies net and fly net catapult-launching gear two parts, and wherein flying the host will form (two masses are for twining motor) by body and four masses, and mainly by flying the net storage cylinder, body construction and energy stroage spring form catapult-launching gear.Fly net and be stored in impaction state before launching and fly in the net storage cylinder, spring application is also laid in certain elastic potential energy, fly net when launching spring be the kinetic energy of mass with its potential energy converting and energy, mass is ejected with certain speed and will fly guipure to go out to launch.After flying net envelope target, twine electric motor starting and begin to twine the network interface rope to tighten up network interface, finally finish catching of target.The net catapult-launching gear advantage that flies of " Roger " is to have realized flying net and the design of catapult-launching gear coaxial type, and compact conformation is convenient to the integral layout of system.But still there is following open defect in such scheme: 1) such scheme does not provide and how to judge and fly complete envelope target of net.2) winding motor closing in speed is slow, easily causes target to miss the target.3) under the condition of space microgravity, the rotation of motor can cause the rolling of self, thereby causes the winding that flies to net.4) design of spring application release gear is comparatively complicated, and any one et out of order all can cause catching unsuccessfully, so reliability is lower.
Summary of the invention
The present invention is the reliability and safety that further improves discarded spacecraft acquisition equipment, proposes a kind of net that flies of catching at rail for discarded spacecraft and launches acquisition equipment.
The described net that flies launches acquisition equipment, comprises flying net, flying net catapult-launching gear and rope and discharge and control mechanism.
1) the described net that flies adopts the polyhedron design, and network interface is a polygon, and the size that flies to net is adjusted according to leading dimensions to be captured.The composition that flies to net comprises and flies net body, a plurality of unidirectional logical card (more than four), a plurality of connection firing device, many opening tightening ropes and a plurality of mass; Wherein, the quantity of connection firing device, opening tightening rope and mass is identical; Fly the net body and adopt high strength, the braiding of high-tenacity fiber material forms; A plurality of opening tightening ropes are separate, be connected with the network interface that flies the net body by unidirectional logical card respectively, opening tightening rope is installed one with the point of connection of network interface and is connected firing device, and the other end is installed a mass, unidirectional logical fastening is installed on the network interface the identical and even distribution of every limit quantity.
Unidirectional logical card guarantees that opening tightening rope tightens up the one-way of stroke, and network interface no longer unclamps after tightening up; Comprise opening tightening rope guide pipe, a plurality of spacing bail and a plurality of limit spring concrete the composition; Opening tightening rope guide pipe hollow space is the opening tightening rope through hole, and outer wall is provided with network interface rope through hole, each spacing bail respectively with is connected limit spring and connects, be installed in guide pipe one end.
Opening tightening rope surface band limited location projection can only be unidirectional by unidirectional logical card under the mating reaction of limit spring and spacing bail.
Connect firing device and comprise body construction, primary explosive column and the electrode that detonates; Primary explosive column places in the body construction, and the electrode that detonates is positioned at the body construction lower end, links to each other with primary explosive column; Its function is quality of connection piece and fly the net network interface in flying the net unfolding process, and the piece of ensuring the quality of products guide in flight course and flies the net network interface and launch gradually, makes simultaneously opening tightening rope avoid stressed and the maintenance relaxed state.After flying net envelope target, connect the detonator detonates fracture, make opening tightening rope under the guiding of mass remaining kinetic energy, tighten up rapidly network interface.
The guiding that act as of mass flies net target and gradually expansion.Mass will have larger quality and oad conformability, and is identical to guarantee each mass launch velocity degree.In the middle of the engineering manufacturing process, mass and canister launcher inside face are done passivation and lubricated, reduce the friction between mass and the canister launcher inside face, prevent simultaneously the generation of space cold welding phenomenon.
2) fly the layout that the net catapult-launching gear adopts canister launcher to separate with storage cylinder, adopt the mode of priming system emission; Its radical function is that orientation is launched the mass that flies to net, and guarantees to fly the synchronism of net mass in ejection process and the conformability of ejection speed, makes to fly net target and gradually expansion under the guiding of mass.Adopt this kind scheme to make to fly net storage cylinder part and mass ejection mechanism part structurally comparatively succinct, the interface is clear, has avoided structural mechanism that both integrated designs bring and the coupling of layout; Offset flies the net catapult-launching gear and adopts priming system launch mass piece in addition, has avoided the design of complicated ejection mechanism, has also greatly improved the reliability of emission process simultaneously.
Flying the net catapult-launching gear comprises canister launcher and flies net storage cylinder two parts.Wherein canister launcher comprises base, air cavity, exhaust capillary, a plurality of emission port and emission powder column; A plurality of emission ports are co-located at the base top around exhaust capillary, and the base center is air cavity.Tighten up attitude and fly the net body and place and fly in the net storage cylinder, each mass places respectively in the emission port, and a plurality of emission powder columns are installed on the base, in the air cavity, connected by fastening rope between mass and the emission powder column.Canister launcher center shaft and mass emission shaft are to certain drift angle is arranged.
Flying net storage cylinder bottom has a through hole, and the connecting rope that discharges with control mechanism for rope passes through, and with fly that net is terminal to link to each other.
Emission shaft at the canister launcher center designs exhaust capillary, and catapult-launching gear is gradually venting in process is entered the orbit in emission, and an internal gas pressure and space environment air pressure are consistent, and eliminates inner and outer air pressure poor; Fastening rope guarantees that the mass in the canister launcher is not keeping original installation site before the emission, and disconnected to discharge mass in propellant powder pin deck combustion moment combustion; The emission powder column has two and backup each other, and there is respectively independently ignition electrode of two-way the lower end, to increase the reliability of feedway.When propellant powder pin deck combustion moment, the air pressure moment in the air cavity increases, simultaneously fastening rope fired disconnected, thereby mass is penetrated with certain initial velocity, the initial velocity of emission is controlled by the explosive load of regulating the emission powder column.
3) rope discharges with control mechanism and finishes release and the control that flies the net connecting rope, rope discharge with control mechanism comprise support, motor, connecting rope, around wheel, coded disc counting device and firer's cutter; Motor be installed in support one side with around the wheel coaxial connection, connecting rope is wrapped on wheel, the coded disc counting device with around the coaxial one end that is installed in of wheel, the rack-mount end of firer's cutter, the through hole of connecting rope on firer's cutter with fly to net end and be connected.
Motor is controlled by rotating speed in the rope dispose procedure, realizes the purpose of rope tension control is prevented that rope is because of the overtension fracture; The coded disc counting utensil has the revolution accumulation function, and can indirect calculation obtain rope release length.Firer's cutter radical function detonates when being out of control after target is being caught, and cuts off connecting rope and also target is separated with system, bumps avoiding.
Of the present inventionly fly the workflow that net launches acquisition equipment and be:
1, when the inefficacy spacecraft enters within the capture range, flies the ignition electrode energising of net catapult-launching gear, the combustion of propellant powder pin deck.
2, the pressure moment increase in the catapult-launching gear air cavity, fastening rope combustion is disconnected, and mass breaks away from emission port and flies to the inefficacy spacecraft under the effect of chamber internal gas pressure, and the coded disc counting device calculates the number of turns that turns over around wheel simultaneously, and the mass guiding flies net and launches gradually.
If 3 fly net envelope inefficacy spacecraft, be installed in subsequently and fly online connection detonator detonates disconnection, under the traction of the remaining kinetic energy of mass, the opening tightening rope rope tightens up rapidly network interface and finishes target acquisition;
Do not have envelope inefficacy spacecraft if 4 fly net, then after connecting rope discharges length and surpasses setting value, firer's cutter cut-out connecting rope that detonates, make fly net and flying platform disconnection and float from.
Beneficial effect
Acquisition equipment of the present invention adopts the priming system impelling, in the middle of the process of target, flies net and can launch voluntarily and carry out Formation keeping; When flying after net finishes envelope to target, the mass that guiding flies net unfolding independently tightens up network interface and locks target by the remaining kinetic energy of self, has carried out simultaneously the design of safety Design and reliability redundancy, can guarantee the capture systems inherently safe.
With respect to the target acquisition mechanism of prior art, the present invention has following characteristics: a, arrests distance, and the effective operation scope is wide, need not Space Robot System and too approaches discarded spacecraft; B, error redundancy ability are strong, need not specifically to arrest mechanical interface; C, catch and be swift in motion acquisition procedure safety; D, catch actuating unit with flight pedestal the Dynamics Coupling form succinct; E, quality is light, volume is little, is convenient to realize modular design.Can as Space Robot System at rail target acquisition actuating unit, what be specially adapted to discarded spacecraft catches clean-up task at rail.
Description of drawings
Fig. 1 is that the net that flies of the present invention launches acquisition equipment integral installation structural representation;
Fig. 2 a is the structural representation that flies the net catapult-launching gear;
Fig. 2 b is the section-drawing that flies canister launcher in the net catapult-launching gear;
Fig. 3 a is the composition schematic diagram that flies to net;
Fig. 3 b is the structural representation of the unidirectional logical card that flies to net;
Fig. 4 is the structural representation of the release control mechanism of connection tether;
Fig. 5 is the process schematic diagram that net is finished target acquisition that flies in the specific embodiment;
Fig. 6 is the system configuration behind the net target acquisition of flying in the specific embodiment;
Label declaration: 1-flies the net casting device, and the 2-connecting rope discharges and control mechanism, 3-the first adapter plate, 4-the second adapter plate, the 5-mass, 6-tightens up attitude and flies net, 7-flies net storage cylinder lid, and 8-flies the net storage cylinder, and 9-flies to net terminal connecting rope, 10-exhaust capillary, 11-fly net canister launcher and emission shaft to the drift angle, 12-launches powder column, the electrode that detonates of 13-casting device priming system, 14-air cavity, 15-mass fastening rope, the unidirectional logical card of 16-, 17-connects firing device, and 18-flies the net body, the 19-opening tightening rope, the 20-pin, 21-pin holddown spring, 22-opening tightening rope rope through hole, 23-network interface rope connecting bore, 24-opening tightening rope guide pipe, the 25-rope is the release control motor, the 26-support, 27-is around wheel, 28-coded disc counting device, 29-firer cutter, 30-fire attack cutter cable hole.
The specific embodiment
Objects and advantages of the present invention technical scheme of the present invention is described further below in conjunction with drawings and Examples in order better to illustrate.
The composition that flies to net is shown in Fig. 3 a.Fly net in the present embodiment and adopt the pentahedron design, network interface is a square, and the size that flies net body 18 can be adjusted according to leading dimensions to be captured, flies the net body and adopts the Kafra fiber braiding to form, and has the characteristics such as intensity is large, quality is light; The whole net that flies is equipped with altogether four opening tightening ropes 19 and is connected a connection firing device 17, is that redundancy backup concerns each other each other, can guarantee that flying net reliably tightens up as long as there is a firing device just to open, thereby improve the reliability that flies to net.The composition of unidirectional logical card 16 is shown in Fig. 3 b.The maximum engagement range design value of catapult-launching gear is 100m, is 4 ° of angles between canister launcher downrange and axis, make fly net flight 100m after network interface open fully;
The net that flies of the present invention launches acquisition equipment integral installation structure as shown in Figure 1, flies net casting device 1 and places on the first adapter plate 3, and connecting rope discharges with control mechanism 2 and places on the second adapter plate 4.
Fly the structure of net casting device shown in Fig. 2 a, the net 6 that flies that is in the state of tightening up was stored at before launching in the storage cylinder 8, and was compressed by storage cylinder lid 7, flew to net terminal connecting rope 9, the wire that comprises the ignition and detonation of priming system in the middle of the connecting rope is used for the electric signal that detonates that output connects firing device.
Fly the canister launcher section of net casting device shown in Fig. 2 b, exhaust capillary 10 exits air cavity in the middle of process is entered the orbit in emission gradually; Fly net canister launcher and emission shaft to drift angle 11 sizes design according to the leading dimensions of engagement range and target, launch gradually when guaranteeing to fly the net target; Emission powder column 12 links to each other with the electrode 13 that detonates of casting device priming system, and mass 5 is positioned at air cavity 14, and mass fastening rope 15 prevents that mass is along emission shaft to being subjected to displacement before impelling;
Connect the release control mechanism of tether as shown in Figure 4, the release rate of control linkage tether in flying net impelling process, tether discharge with control mechanism and mainly consist of the following components: rope is release control motor 25, support 26, around wheel 27, coded disc counting device 28 and firer's cutter 29; Rope is that the release speed of 25 pairs of rope systems of release control motor is controlled, and adjusting rope is tension force; Coded disc counting device 28 obtains the length that tether has discharged by record around the angle conversion that wheel 27 rotates; Fire attack cutter cable hole 30 is arranged on firer's cutter 29.Connect tether by firer's cutter cable hole with fly to net terminal the connection, cause system out of control because targeted attitude rolls afterwards if catch, firer's cutter can cut off rapidly the connection tether, makes flying platform fly away from target, with the assurance system security;
Fly the flow process of net target acquisition as shown in Figure 5: after target enters capture range, fly net catapult-launching gear sensing target and launch mass, mass with certain kinetic energy flies net target and gradually expansion by the guiding of AB section, when flying net before the envelope target, connect the firing device electrode and add electric initiating and fracture, this moment, mass was connected with opening tightening rope with the AD section by AC.After flying net envelope target, be subject to the target resistance at heading and slow down owing to flying net, thereby cause AC and AD section opening tightening rope under the guiding of mass, rapidly network interface to be tightened up.Fly behind the net target acquisition system configuration as shown in Figure 6.
Claims (9)
1. one kind is used for the net that flies that discarded spacecraft catches and launches acquisition equipment, it is characterized in that: comprise flying net, flying the net catapult-launching gear and rope discharges and control mechanism;
The described net that flies comprises and flies net body, a plurality of unidirectional logical card, a plurality of connection firing device, many opening tightening ropes and a plurality of mass; Wherein, the quantity of connection firing device, opening tightening rope and mass is identical; A plurality of opening tightening ropes are separate, be connected with the network interface that flies the net body by unidirectional logical card respectively, opening tightening rope is installed one with the point of connection of network interface and is connected firing device, and the other end is installed a mass, unidirectional logical fastening is installed on the network interface the identical and even distribution of every limit quantity;
The described net catapult-launching gear that flies comprises canister launcher and flies the net storage cylinder, the two separation, employing priming system launch mode; Wherein canister launcher comprises base, air cavity, exhaust capillary, a plurality of emission port and emission powder column; A plurality of emission ports are co-located at the base top around exhaust capillary, and the base center is air cavity; Tighten up attitude and fly the net body and place and fly in the net storage cylinder, each mass places respectively in the emission port, and a plurality of emission powder columns are installed on the base, in the air cavity, connected by fastening rope between mass and the emission powder column; Flying net storage cylinder bottom has a through hole, rope discharge with the connecting rope of control mechanism by this hole with fly that net is terminal to link to each other;
Described rope discharge with control mechanism comprise support, motor, connecting rope, around wheel, coded disc counting device and firer's cutter; Motor be installed in support one side with around the wheel coaxial connection, connecting rope is wrapped on wheel, the coded disc counting device with around the coaxial one end that is installed in of wheel, the rack-mount end of firer's cutter, the through hole of connecting rope on firer's cutter with fly to net end and be connected.
2. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, it is characterized in that: the described net that flies is polyhedron, and network interface is polygon, adopts high strength, the braiding of high-tenacity fiber material flies the net body, and its size designs according to leading dimensions to be captured.
3. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, it is characterized in that: unidirectional logical card is so that opening tightening rope is unidirectional tightens up, and network interface no longer unclamps after tightening up; Specifically comprise opening tightening rope guide pipe, a plurality of spacing bail and a plurality of limit spring; Opening tightening rope guide pipe hollow space is the opening tightening rope through hole, and outer wall is provided with network interface rope through hole, each spacing bail respectively with is connected limit spring and connects, be installed in guide pipe one end.
4. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, it is characterized in that: opening tightening rope surface band limited location projection, and unidirectional by unidirectional logical card under the effect of limit spring and spacing bail.
5. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, it is characterized in that: connect firing device and comprise body construction, primary explosive column and the electrode that detonates; Primary explosive column places in the body construction, and the electrode that detonates is positioned at the body construction lower end, links to each other with primary explosive column; Connect the detonator detonates fracture after flying net envelope target, opening tightening rope tightens up rapidly network interface under the guiding of mass remaining kinetic energy.
6. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, and it is characterized in that: the mass quality is large consistent with oad, and each mass launch velocity degree is identical; Fly net by mass guiding target and gradually expansion; Mass and canister launcher inside face are done passivation and lubricated.
7. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, and it is characterized in that: canister launcher center shaft and mass emission shaft are to the drift angle is arranged.
8. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, and it is characterized in that: exhaust capillary is gradually venting in process is entered the orbit in emission, and an internal gas pressure and space environment air pressure are consistent; Mass in the canister launcher is not keeping original installation site by fastening rope before the emission, and fastening rope is disconnected in propellant powder pin deck combustion moment combustion, discharges mass; The emission powder column has two, backups each other, and there is respectively independently ignition electrode of two-way the lower end.
9. a kind of net that flies of catching for discarded spacecraft according to claim 1 launches acquisition equipment, and it is characterized in that: in the rope dispose procedure, motor is controlled rope tension by rotating speed; The revolution of coded disc counting device is cumulative, calculates rope and discharges length; Firer's cutter detonates when out of control behind target acquisition, cuts off connecting rope and target is separated with system.
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| CN201210547962XA CN102991731A (en) | 2012-12-17 | 2012-12-17 | Flying mesh catapulting device for acquiring discarded spacecraft |
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| CN201210547962XA CN102991731A (en) | 2012-12-17 | 2012-12-17 | Flying mesh catapulting device for acquiring discarded spacecraft |
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