CN103072142B - Space rope catching and locking device - Google Patents
Space rope catching and locking device Download PDFInfo
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- CN103072142B CN103072142B CN201210575036.3A CN201210575036A CN103072142B CN 103072142 B CN103072142 B CN 103072142B CN 201210575036 A CN201210575036 A CN 201210575036A CN 103072142 B CN103072142 B CN 103072142B
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Abstract
The invention discloses a space rope catching and locking device, which comprises a catching device body, a locking mechanism, a rope cable and mechanical paws, wherein the mechanical paws are fixedly arranged on an installation support frame arranged at the upper part of the catching device body, three sets of mechanical paws are controlled to synchronously rotate through a driving motor, the opposite surrounding is realized, a three-finger structure is formed, the locking mechanism is positioned at two sides of the upper part of the catching device body and is in mutually vertical and symmetrical installation with the mechanical paws. The rope cable is fixedly connected with the center position of the bottom end of the catching device body, and the other end of the rope cable is connected with a space mobile platform. During the target catching, cameras approach to and guide the catching device to go close to the garget when the cameras enter the measurement blind region, the target is implemented and is tightly locked and limited in a certain range for realizing the reliable catching capable of preventing the target escaping. The catching and locking device is applied to a system in the structure including the space mobile platform, the space rope and the space rope catching and locking device, and the space rope catching and locking device has the advantages that the structure is simple, the reliability is high, and the space rope catching and locking device is suitable for catching and locking single-rod type targets.
Description
Technical field
The present invention relates to a kind of mechanical type break catching apparatus, specifically, relating to a kind of space rope is to arrest locking device.
Background technology
Along with the fast development of space technology, high aerial all kinds satellite, aircraft increasing year by year, and act on increasing.But the thing followed is that on track, various Gu Zhangweixing discard also increasing year by year of satellite, the recovery of inert satellite is become to the study hotspot of each spacefaring nation.In general, to losing efficacy, at satellite, the aircraft of spatial roaming, taked or destroyed or arrest recovery measure; The mode of destroying mainly contains KKV (KKV, Kinetic Kill Vehicle), KKV is mainly the huge kinetic energy that utilizes non-explosivity high-speed flight to have, by direct collision or install the mode prang satellite of servicing unit additional, the shortcoming of this mode is at a large amount of fragments of the aerial generation of height, to cause the pollution to space environment.What break catching apparatus research was more is Fei Wanghe space, space Dextrous Hand, space flies net and when capture target satellite, mainly relies on and increase the area of arresting fly net and improve and arrest success rate, but it is passive type that space flies the emission control of net, controllability is not strong, and arrest rear locking and mainly rely on closing device, reliability is not high; Space Dextrous Hand is that the privileged site that captures the discarded satellite of fault completes the task of arresting, and self attitude orbit control accuracy is had relatively high expectations, and the damping force that space Dextrous Hand is arrested rear main dependence joint is carried out locked, arrests fastness not strong.
In existing disclosed document, the demonstration and verification robot for space technical plan (FREND) of the U.S. has been developed a kind of bolt hole grabber, for arresting the disengagement bolts of extraterrestrial target.The intelligent spacecraft life system (SMART-OLEV) in the service satellite experiment plan (ESS) of Germany and Europe adopts screwdriver type arresting agency, for capture target apogee engine nozzle.These arresting agencies are all the specific positions of arresting for target, and it is very high to arrest required precision.
A kind of novel three freedom degree manipulator pawl is disclosed in patent 201010191494.8, this mechanical paw is by simple motion, flexible, rotation and the multivariant attitude adjustment of retractable mechanical system design paw of executing agency arrested in realization, more flexible during capture target, but on mechanical paw, only have a cradle head.
In patent 200610009814.7, disclose a kind of Foldable space manipulator, be characterized in that arresting agency can be folded into compact configuration when not executing the task, rotation, expansion manipulator by modularized joint while executing the task are carried out and are arrested operation.It is less that its operation paw is arrested envelope scope, and there is no the special rear locking destination apparatus of arresting.
Summary of the invention
Deficiency for avoiding prior art to exist, overcomes its complex structure, and break catching apparatus scope of activities is little, arrest easily loosening problem of locking, and it is to arrest locking device that the present invention proposes a kind of space rope.Arrest locking application of installation in the system of " space maneuver platform+space tether+space rope system arrests locking device " structure; Arrest retaining mechanism and be arranged on and arrest on locking device body, by drive motors controls realize mechanical paw synchronous rotation, stretch, folding, mechanical paw is encircled formation " three finger structures " in opposite directions; During capture target, be when camera enters measurement blind area, to approach also guide space rope system to arrest locking device near target, implement also its locking to be limited to realization in a certain scope and prevent reliably arresting of escape of objects.
The technical solution adopted for the present invention to solve the technical problems is: comprise break catching apparatus body, retaining mechanism, mechanical paw, rope,
Described break catching apparatus body is cylindric, and there is mounting bracket both sides, top, and mechanical paw is connected in respectively on mounting bracket, and retaining mechanism is positioned at break catching apparatus body top and the mutual vertical symmetry of mechanical paw is installed; Body panels is provided with two relative step-like draw-in grooves, and two cameras are positioned at the two ends of draw-in groove in body panels, and with retaining mechanism on same axis; Three cover mechanical paws are controlled synchronous rotation by drive motors, realize and encircle in opposite directions formation " three finger structures ";
Described retaining mechanism is comprised of pedestal, guide rod, support bar, swingle, Compress Spring, pedestal both sides are arc surface and break catching apparatus body is harmonious, there is screw at arc surface center, and pedestal top is provided with semi-circular recesses, and guide rod and support bar are connected in the two ends of pedestal; Support bar is connected by hinge axis with swingle, two bars fixedly connected to the inner side Compress Spring; Fluted inside the guide rod other end, swingle other end outside is provided with wedge shaped projection, and groove is corresponding with wedge shaped projection to be harmonious;
Described mechanical paw comprises the first paw guiding pawl, the second paw guiding pawl, the 3rd paw guiding pawl, the first paw, the second paw, the 3rd paw, the first drive motors, the second drive motors, the first driving gear, the second driving gear, the first driven gear, the second driven gear, first paw one end is connected by turning cylinder and the second mounting bracket, the other end is connected with the first paw guiding pawl, paw is provided with limited block with the junction of guiding pawl, the second drive motors is fixedly mounted on break catching apparatus body, the second driving gear and the second drive motors output shaft fixed connection, and be connected in the second driven gear engaged transmission on turning cylinder, realization is controlled the rotation of the first paw,
The second paw and the 3rd paw are connected on the first mounting bracket by turning cylinder, the other end is connected with the 3rd paw guiding pawl with the second paw guiding pawl respectively, paw is provided with limited block with the junction of guiding pawl, the first drive motors is fixedly mounted on break catching apparatus body, the first driving gear and the first drive motors output shaft fixed connection, and be connected in the first driven gear engaged transmission on turning cylinder; Realization is controlled the synchronous rotation of the second paw and the 3rd paw.
One end of rope is connected in break catching apparatus body bottom center position, and the other end is connected with space maneuver platform.
Beneficial effect
Space of the present invention rope is to arrest locking device, realizes flexible, the folding of mechanical paw by motion, and capture target is flexible.Mechanical paw is fixedly mounted on the mounting bracket of both sides, break catching apparatus body top, and three cover mechanical paws are controlled synchronous rotation by drive motors, realize and encircle in opposite directions formation " three finger structures "; Retaining mechanism is positioned at break catching apparatus body top and the mutual vertical symmetry of mechanical paw is installed.Rope is connected in break catching apparatus body bottom center position, and the other end is connected with space maneuver platform.During capture target, be when camera enters measurement blind area, to approach and guide to arrest locking device near target, implement also its locking to be limited in a certain scope and to realize and prevent reliably arresting of escape of objects.Arrest locking application of installation in the system of " space maneuver platform+space tether+space rope system arrests locking device " structure; Space rope system arrests that locking device structure is simple, reliability is high, is applicable to arresting and locks single pole class target.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of space of the present invention rope system being arrested to locking device is described in further detail.
Fig. 1 is that space of the present invention rope is the mechanical paw deployed condition schematic diagram of arresting locking device.
Fig. 2 is that space of the present invention rope is the mechanical paw rounding state schematic diagram of arresting locking device.
Fig. 3 is that space of the present invention rope is the retaining mechanism schematic diagram of arresting locking device.
Fig. 4 is that space of the present invention rope system arrests locking device and arrests assembly schematic diagram after single pole target.
In figure:
1. the first paw guiding pawl 2. second paw guiding pawl 3. the 3rd paws guide pawl 4. limited block 5. second paw 6. the 3rd paw 7. first driven gear 8. first drive motors 9. first driving gear 10. break catching apparatus body 11. rope 12. first mounting bracket 13. body panels 14. draw-in groove 15. retaining mechanism 16. camera 17. second mounting bracket 18. second driven gear 19. first paw 20. swingle 21. Compress Spring 22. support bar 23. pedestal 24. guide rod 25. second drive motors 26. second driving gear 27. targets
The specific embodiment
The present embodiment is that a kind of space rope is to arrest locking device.Arrest locking application of installation in the system of " space maneuver platform+space tether+space rope system arrests locking device " structure; Mechanical paw is fixedly mounted on the mounting bracket of both sides, break catching apparatus body top, and three cover mechanical paws are controlled synchronous rotation by drive motors, realize and encircle in opposite directions formation " three finger structures "; Be applicable to arresting and lock single pole class target.
Consult Fig. 1, Fig. 2, Fig. 3, Fig. 4, space of the present invention rope is to arrest locking device to be comprised of break catching apparatus body, retaining mechanism, mechanical paw, rope; Break catching apparatus body 10 is cylindrical-shaped structure, and both sides, top are fixed with the first mounting bracket 12 and the second mounting bracket 17; In body panels 13, centre is installed with two relative step-like draw-in grooves 14, the camera 16 of two target-seeking targets is positioned at the both sides of 14 of draw-in grooves in body panels 13, and with the retaining mechanism 15 that is arranged on break catching apparatus body 10 both sides, top on same axis.Retaining mechanism is comprised of pedestal 23, guide rod 24, support bar 22, swingle 20, Compress Spring 21, pedestal 23 both sides are arc surface and break catching apparatus body 10 matches, there is screw at arc surface center, pedestal 23 tops are provided with semi-circular recesses, and guide rod 24 and support bar 22 are connected in the two ends of pedestal 23; Support bar 22 is connected by hinge axis with swingle 20, and the inner side between swingle 20 and support bar 22 is connected with Compress Spring 21; Swingle 20 is played to restriction and active rebound effect; Fluted inside guide rod 24 other ends, swingle 20 other end arranged outside have wedge shaped projection, and groove is corresponding with wedge shaped projection to be harmonious, and restricting rotation bar 20 is to guide rod 24 envelope inner rotary motions.Retaining mechanism 15 is installed on break catching apparatus body 10 both sides, top with the mutual vertical symmetry of mechanical paw, after break catching apparatus capture target is successfully depressed into retaining mechanism 15, can prevent escape of objects.
On break catching apparatus body 10 both sides, top mounting brackets, be fixed with mechanical paw, mechanical paw comprises the first paw guiding pawl 1, the second paw guiding pawl 2, the 3rd paw guiding pawl 3, the first paw 19, the second paw 5, the 3rd paw 6, the first drive motors 8, the second drive motors 25, the first driving gear 9, the second driving gear 26, the first driven gear 7, the second driven gear 18; Wherein, one end of the first paw 19 is fixedly connected with the second mounting bracket 17 by turning cylinder, the other end of the first paw 19 is connected with the first paw guiding pawl 1, paw is provided with limited block 4 with the junction of guiding pawl, to 1 position-limiting action of the first paw guiding pawl, the second drive motors 25 is fixedly mounted on break catching apparatus body 10, the second driving gear 26 and the second drive motors 25 output shaft fixed connections, and with the second driven gear 18 engaged transmission that are connected on turning cylinder; Realization is controlled the rotation of the first paw 19.The second paw 5 and the 3rd paw 6 are fixedly connected on respectively on the first mounting bracket 12 by turning cylinder, the other end of the second paw 5 and the 3rd paw 6 is connected with the 3rd paw guiding pawl 3 with the second paw guiding pawl 2 respectively, the junction of two paws and two guiding pawls is respectively arranged with limited block, and paw guiding pawl is played to position-limiting action; The first drive motors 8 is fixedly mounted on break catching apparatus body 10, the first driving gear 9 and the first drive motors 8 output shaft fixed connections, and be connected in the first driven gear 7 engaged transmission on turning cylinder, realize the synchronous rotation of the second paw 5 and the 3rd paw 6 controlled; Three cover mechanical paws are encircled formation " three finger structures " in opposite directions.
One end of rope 11 is connected in break catching apparatus body 10 bottom center positions, and the other end is connected with space maneuver platform.
Take and arrest operation that satellite sun energy windsurfing single pole target arrests locking device as example to space rope system and control and describe:
The first step: space maneuver platform is arrested locking device by rope 11 Free up Memory rope systems, space rope system arrests the autonomous target-seeking discarded satellite of fault that approaches of locking device, when approaching to certain distance, mechanical paw rounding state as shown in Figure 2 slowly opens and is the state to be arrested shown in Fig. 1, the first paw guiding pawl 1 in this process, the second paw guiding pawl 2 and the 3rd paw guiding pawl 3 are first controlled rotation by steering wheel separately and are flared to precalculated position, the first paw 19 is by the second drive motors 25, the second paw 5 and the 3rd paw 6 are driven and are flared to predetermined angular by the first drive motors 8,
Second step: after entering the target-seeking measurement category of camera 16, the navigation information providing according to camera is controlled space rope system and is arrested locking device body pose, make the first paw guiding pawl 1 and the second paw guiding pawl 2, the 3rd paw guiding pawl 3 lays respectively at solar energy sailboard single pole target 27 both sides, until space rope system, arrest locking device measurement blind area due to camera 16 while approaching target to state closely, can not accurately obtain the various information of single pole target 27 to be arrested, now the first paw guiding pawl 1 and the second paw guide pawl 2, the 3rd paw guiding pawl 3 drives under steering wheel control and starts slowly to close up at three, when all guiding pawls all touch single pole target 27, expression single pole target 27 has been arrested within the scope of envelope, the guiding pawl that first touches single pole target 27 in this process stops the rotation and waits for that other guiding pawl all touches target after contact, if contact force is crossed conference and is made to guide pawl reverse rotation, rotation is stopped the rotation to blocking after corresponding paw limited block,
The 3rd step: the first paw guiding pawl 1, the second paw guiding pawl 2, the 3rd paw guiding pawl 3 continue to close up, guide space rope system arrests locking device body 10 and continues near single pole target 27, after certain hour, the first paw 19, the second paw 5 and the 3rd paw 6 start to close up, when the first paw 19, the second paw 5 and the 3rd paw 6 touch single pole target 27, show to arrest substantially and complete, now the first paw guiding pawl 1, the second paw guiding pawl 2, the 3rd paw guiding pawl 3 stop closing up;
The 4th step: the first paw 19 and the second paw 5, the 3rd paw 6 continue to close up, after single pole target 27 touches retaining mechanism swingle 20, forcing swingle 20 to overcome Compress Spring 21 pressure rotations opens retaining mechanism 15, single pole target 27 enters in retaining mechanism 15, swingle 20 oppositely closes up to guide rod 24 limited blocks and blocks stop motion under Compress Spring 21 elastic force effects, the first paw 19 and the second paw 5, the 3rd paw 6 continue to close up, and single pole target 27 is compacted in draw-in groove 14; When single pole escape of objects, because the first paw 19 and the second paw 5, the opposition of the 3rd paw 6 and the restriction completely of retaining mechanism 15 can not be escaped it, finally arrested; As shown in Figure 4.
Claims (2)
1. rope system in space arrests a locking device, it is characterized in that: comprise break catching apparatus body, retaining mechanism, mechanical paw, rope,
Described break catching apparatus body is cylindric, and there is mounting bracket both sides, top, and mechanical paw is connected in respectively on mounting bracket, and retaining mechanism is positioned at break catching apparatus body top and the mutual vertical symmetry of mechanical paw is installed; Body panels is provided with two relative step-like draw-in grooves, and two cameras are positioned at the two ends of draw-in groove in body panels, and with retaining mechanism on same axis; Three cover mechanical paws are controlled synchronous rotation by drive motors, realize and encircle in opposite directions formation " three finger structures ";
Described retaining mechanism is comprised of pedestal, guide rod, support bar, swingle, Compress Spring, pedestal both sides are arc surface and break catching apparatus body is harmonious, there is screw at arc surface center, and pedestal top is provided with semi-circular recesses, and guide rod and support bar are connected in the two ends of pedestal; Support bar is connected by hinge axis with swingle, two bars fixedly connected to the inner side Compress Spring; Fluted inside the guide rod other end, swingle other end outside is provided with wedge shaped projection, and groove is corresponding with wedge shaped projection to be harmonious;
Described mechanical paw comprises the first paw guiding pawl, the second paw guiding pawl, the 3rd paw guiding pawl, the first paw, the second paw, the 3rd paw, the first drive motors, the second drive motors, the first driving gear, the second driving gear, the first driven gear, the second driven gear, first paw one end is connected by turning cylinder and the second mounting bracket, the other end is connected with the first paw guiding pawl, paw is provided with limited block with the junction of guiding pawl, the second drive motors is fixedly mounted on break catching apparatus body, the second driving gear and the second drive motors output shaft fixed connection, and be connected in the second driven gear engaged transmission on turning cylinder, realization is controlled the rotation of the first paw, the second paw and the 3rd paw are connected on the first mounting bracket by turning cylinder, the other end is connected with the 3rd paw guiding pawl with the second paw guiding pawl respectively, paw is provided with limited block with the junction of guiding pawl, the first drive motors is fixedly mounted on break catching apparatus body, the first driving gear and the first drive motors output shaft fixed connection, and be connected in the first driven gear engaged transmission on turning cylinder, realization is controlled the synchronous rotation of the second paw and the 3rd paw.
2. space according to claim 1 rope is to arrest locking device, it is characterized in that: one end of rope is connected in break catching apparatus body bottom center position, and the other end is connected with space maneuver platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210575036.3A CN103072142B (en) | 2012-12-26 | 2012-12-26 | Space rope catching and locking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210575036.3A CN103072142B (en) | 2012-12-26 | 2012-12-26 | Space rope catching and locking device |
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| CN103072142A CN103072142A (en) | 2013-05-01 |
| CN103072142B true CN103072142B (en) | 2014-09-10 |
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| CN110282137B (en) * | 2019-06-19 | 2022-11-11 | 西北工业大学 | Intelligent air capture device based on tether connection and control method |
| CN112591042B (en) * | 2020-12-15 | 2021-10-01 | 哈尔滨工程大学 | A take cable hard lever to catch and connecting device for underwater robot |
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