CN103770955A - Space floating object capturing device - Google Patents
Space floating object capturing device Download PDFInfo
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- CN103770955A CN103770955A CN201410058731.1A CN201410058731A CN103770955A CN 103770955 A CN103770955 A CN 103770955A CN 201410058731 A CN201410058731 A CN 201410058731A CN 103770955 A CN103770955 A CN 103770955A
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Abstract
The invention discloses a space floating object capturing device in the field of aerospace technology. The space floating object capturing device comprises a floating platform with a propelling device, an auxiliary adjusting device and a capturing device; the floating platform is connected with an aerospace carrier through a flexible mechanism; the flexible mechanism comprises multiple sets of wire roller systems fixed on the surface of the aerospace carrier, multiple sets of wire rolling mechanisms arranged in the aerospace carrier or the floating platform, and wire sets which have two ends respectively connected with a dragging motor and a floating platform and pass through the wire roller systems; According to the space floating object capturing device, the floating platform provided with the propelling device is controlled by the plurality of wires, the capturing device is carried by the platform, the floating platform is driven by the jet propelling device to be close to a target, and the posture and angle of the platform are adjusted by controlling the lengths of wires connected with the floating platform and the auxiliary adjusting device. The space floating object capturing device has the advantages of simple structure, small size, easiness in implementation of control, being capable of mounting in carious aerospace devices and capable of recycling for use and the like.
Description
Technical field
What the present invention relates to is a kind of device of field of aerospace technology, specifically a kind of space floating debris acquisition equipment.
Background technology
The mankind, through the space probation development of 50 years, have become space a huge soot, and countless space debris swim among space, and between moment and space station, satellite, space telescope, planet, detector etc. is brushed past.The event that the discarded floating debris of space damages satellite also happens occasionally.Countries in the world are all in the research and development of carrying out the discarded floating object cleaning device of space.Meanwhile, space is potential future battlefield, and the technology that the floating debris such as enemy satellites, airship is caught has great military value.But also there is not ripe space floating debris acquisition equipment present stage.The space floating debris capture technique of present stage application is that space station discharges a satellite, Seeds of First Post-flight grabbing device, approach floating debris by controlling satellite self injection rocket, then adjust satellite attitude by jet gas, catch floating debris by the grabbing device of catching Seeds of First Post-flight, finally get back to space station by controlling satellite.This equipment and technology requires high, captures satellite bulky, control complexity, and satellite is easy to out of control.Crawl satellite, except equipment grabbing device or high pressure acquisition equipment, also needs equipment to spray rocket, and multiple attitudes are adjusted jet propulsion units, causes like this crawl satellite bulky.Owing to approaching in floating debris process, need to repeatedly change satellite attitude, and adjust the method control accurately of attitude by jet gas, and easily occur out of control.
Through the retrieval of prior art is found, the open day 2013-05-01 of Chinese patent literature CN103072142A, disclosing a kind of space rope is to arrest latching device, this technology comprises break catching apparatus body, catch gear, rope, mechanical paw, mechanical paw is fixedly mounted on the mounting bracket on break catching apparatus body top, three cover mechanical paws synchronously rotate by drive motor control, realize and encircle in opposite directions formation " three finger structures "; Catch gear is positioned at both sides, break catching apparatus body top and the mutual vertical summetry 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.When capture target, be in the time that camera enters measurement blind area, to approach and guide to arrest latching 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 latching device " structure.
This technology relies on satellite carrier (or space tether platform) to approach and captures target, and the actions such as grabbing device position and attitude adjustment relies on carrier satellite to reach completely, and after crawl target, attitude and position are still by the control of carrier satellite.Grabbing device required drive based on carrier satellite is all provided by satellite, and carrier satellite needs fuel many.And capture hand and use solar power or battery that power is provided, power is little, thus capture hand provide grasp force and moment limited.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of space floating debris acquisition equipment is proposed, the raft of jet propulsion unit is housed by one of multiple rope control, on platform, carry grabbing device, make raft approach object by jet propulsion unit, the rope lengths and the auxiliary propulsion plant that are connected on raft by manipulation are adjusted platform stance, angle etc.Raft is installed jet propulsion unit and grabbing device, and simple in structure, volume is little.Owing to only need to controlling its attitude of on off control of jet propulsion unit, so control simple.Be connected to the length of rope on raft by adjustment, control raft attitude.When raft grabbing device is caught after floating debris, catch floating debris by regaining rope.This device can be equipped on space station or satellite, thereby catches the remote space floating debris of periphery.This invention has simple in structure, and volume is little, controls easily and realizes, and can be equipped in various space equipments the features such as recoverable.
The present invention is achieved by the following technical solutions, the present invention includes: with the raft of propelling unit, auxiliary adjusting device and grabbing device, this raft is connected by compliant mechanism with space flight carrier.
Described compliant mechanism comprises: many groups are fixed on the rope group that the wire train of space flight carrier surface, the many groups mechanism of twisting rope that is arranged at space flight carrier inside or raft inside and two ends are connected with raft with towing motor respectively and pass wire train.
Described rope group is made up of many ropes, its layout type is based on parallel principle, be distributed in the periphery, axis of raft and space flight carrier, make raft, space flight carrier and compliant mechanism form flexible parallel mechanism, space flight carrier forms parallel institution fixed platform, raft forms parallel institution moving platform, and rope group forms the each side chain of parallel institution; By regulating the different length of side chain to reach the object of adjusting raft attitude.
Described space flight carrier includes but not limited to: the outside face of space station, satellite or spacecraft etc.
Described mechanism of twisting rope comprises: towing motor, coupler and ropewinder, wherein: in the time that towing motor is fixed in space flight carrier, rope group is that one way connects; In the time that towing motor is fixed on raft, rope group connects for coming and going; Ropewinder is connected with towing motor with wire train respectively by coupler, rope of each towing electric machine control.
Described towing motor be for can control linear electric motors, by adjusting different motor steerings and rotating speed, and elongation and the shortening of driven by motor coupler and ropewinder control rope, and control rope kinematic velocity.Length variations and velocity variations control raft attitude and the position of different ropes.
The present invention makes raft depart from space flight carrier completely, coordinates to adjust to capture position of platform and attitude by many ropes and propelling unit.
Described grabbing device includes but not limited to the grabbing devices such as pawl formula grabbing device, multi freedom degree mechanical arm.Grabbing device is the concrete objective for implementation that captures object, by grabbing device control object.
Described propelling unit includes but not limited to jet propeller, high-pressure injector, electronic type propelling unit etc.Propelling unit Main Function advances for promoting raft, for raft provides power.
Described auxiliary adjusting device includes but not limited to jet propeller, high-pressure injector, electronic type propelling unit etc.Auxiliary adjusting device act as auxiliary mechanism of twisting rope work, adjusts raft attitude.
Technique effect
Compared with prior art, the present invention does not need multiple high-pressure injection propelling units to adjust acquisition equipment attitude, replaces injecting type to advance and setting device with rope group, so reduce raft volume, reduces propellant expenditure.Because many ropes are can bearing capacity larger, so can catch, quality is large, the space floating debris of distance.Control capture platform attitude by controlling multiple motors adjustment rope length, can reduce control technology difficulty, because rope quality is light, little on spacecraft stability impact.And because rope connects, raft can conveniently reclaim.In the present invention, rope can change cable and cable rigging into, and can be the supply energy sources such as raft, propelling unit, grabbing device by cable, make raft volume little, and can supply high-tensile strength and high torque grabbing device, so can capture large volume high quality space floating debris.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is embodiment of the present invention schematic diagram;
In figure: 1 is that raft, 2 is for rope group, 3 is for wire train, 4 is for towing motor, 5 is for coupler, 6 is for ropewinder, 7 is for space flight carrier, 8 is for propelling unit, 9 is for auxiliary adjusting device, 10 is for grabbing device.
The specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: with the raft 1 of propelling unit 8, auxiliary adjusting device 9 and grabbing device 10, this raft 1 is connected by compliant mechanism 0 with space flight carrier 7.
Described compliant mechanism 0 comprises: many groups are fixed on the rope group 2 that the wire train 3 on space flight carrier 7 surfaces, the many groups mechanism of twisting rope that is arranged at space flight carrier 7 inside or raft 1 inside and two ends are connected with raft 1 with towing motor 4 respectively and pass wire train 3.
As Fig. 1 with as shown in a-c in Fig. 2, described rope group 2 is made up of many ropes, its layout type can adopt following any one:
Fig. 1: corresponding two the wire trains 3 of every rope, all wire trains 3 and rope are positioned at point of connection on raft 1 and are along the circumferential direction and are evenly distributed, and three dual control side chains realizing between raft 1 and space flight carrier 7 flexibly connect;
Fig. 2 is the corresponding wire train 3 of every rope a), and all wire trains 3 and rope are positioned at point of connection on raft 1 and are along the circumferential direction and are evenly distributed, and three independent side chains realizing between raft 1 and space flight carrier 7 flexibly connect;
Fig. 2 is the corresponding wire train 3 of every rope b), and all wire trains 3 and rope are positioned at point of connection on raft 1 and are along the circumferential direction and are evenly distributed, and four independent side chains realizing between raft 1 and space flight carrier 7 flexibly connect;
Fig. 2 is the corresponding wire train 3 of every rope c), and all wire trains 3 and rope are positioned at point of connection on raft 1 and are along the circumferential direction and are evenly distributed, and six independent side chains realizing between raft 1 and space flight carrier 7 flexibly connect.
Described rope group 2 makes raft 1, space flight carrier 7 and compliant mechanism 0 form flexible parallel mechanism, and space flight carrier 7 forms parallel institution fixed platform 1, and raft 1 forms parallel institution moving platform, and rope group 2 forms the each side chain of parallel institution; By regulating the different length of side chain to reach the object of adjusting raft 1 attitude.
In the time that space floating debris is in acquisition equipment capture range, discharge raft 1, by raft, 1 afterbody jet propulsion unit 8(can be the different modes such as combustion jet, spraying high-pressure gas) thrust power is provided, it is close to target floating debris that jet propulsion unit 8 promotes raft 1.Due to the existence of rope group 2, raft 1 and carrier 7 are by many flexible parallel mechanisms that connect and compose with rope, and carrier 7 forms parallel institution fixed platform 1, and raft 1 forms parallel institution moving platform, and rope group 2 forms the each side chain of parallel institution.By regulating the different length of side chain to reach the object of adjusting as raft 1 attitude of moving platform.In process at raft 1 near floating debris, motor 4 constantly discharges rope, and according to rope release rate control raft 1 fltting speed.In platform 1 progradation, calculate raft 1 desired location and attitude, in the time that raft 1 need to turn to or adjust attitude, by calculating the solution of parallel institution, draw each rope Len req and velocity variations in rope group 2, regulate the release rate of different ropes and open closed auxiliary adjusting device 9, thereby the side chain in parallel between raft 1 and carrier 7 has different length and speed, thereby make raft 1 by towards the slow directional steering of rope release rate.After direction and attitude adjustment, then with all ropes of the synchronous release of identical speed, make forwards linear advancement of raft 1.When raft 1 approaches after floating debris, stop discharging rope locked rope, jet propulsion unit 8 quits work or maintains balance with minimum thrust, now grabbing device 10 target acquisition floating debriss, after having caught, adjust different rope lengths based on parallel principle equally, adjust floating attitude by rope and auxiliary adjusting device 9, the all ropes of synchronous withdrawal simultaneously, after rope is all regained, raft 1 and space floating debris are just recycled in space flight carrier 7 simultaneously.
Compared with prior art, this device is advanced to target location by single propelling unit, and platform 1 attitude is by how with 2 one-tenth rope groups 2 of rope group, and the interior different ropes of rope group 2 coordinate to adjust to be controlled, and does not rely on satellite carrier 7 and adjusts.Propelling required for the present invention and adjustment air jet system are few, so the fuel that need to carry is few.Rope of the present invention can be replaced by cable, can originally provide power as raft 1 by matrix like this, so the exportable larger grasp force of raft 1 and crawl moment.
Claims (7)
1. a space floating debris acquisition equipment, is characterized in that, comprising: with the raft of propelling unit, auxiliary adjusting device and grabbing device, this raft is connected by compliant mechanism with space flight carrier;
Described compliant mechanism comprises: many groups are fixed on the rope group that the wire train of space flight carrier surface, the many groups mechanism of twisting rope that is arranged at space flight carrier inside or raft inside and two ends are connected with raft with towing motor respectively and pass wire train;
Described rope group is made up of many ropes, makes raft, space flight carrier and compliant mechanism form flexible parallel mechanism, and space flight carrier forms parallel institution fixed platform, and raft forms parallel institution moving platform, and rope group forms the each side chain of parallel institution; By regulating the different length of side chain to reach the object of adjusting raft attitude.
2. device according to claim 1, is characterized in that, described mechanism of twisting rope comprises: towing motor, coupler and ropewinder, wherein: in the time that towing motor is fixed in space flight carrier, rope group is that one way connects; In the time that towing motor is fixed on raft, rope group connects for coming and going; Ropewinder is connected with towing motor with wire train respectively by coupler, rope of each towing electric machine control.
3. device according to claim 2, is characterized in that, described towing motor be for can control linear electric motors, by adjusting different motor steerings and rotating speed, and elongation and the shortening of driven by motor coupler and ropewinder control rope, and control rope kinematic velocity.Length variations and velocity variations control raft attitude and the position of different ropes.
4. device according to claim 1 and 2, is characterized in that, the layout type of described rope group comprises:
1) corresponding two the wire trains of every rope, all wire trains and rope are positioned at point of connection on raft and are along the circumferential direction and are evenly distributed, and three dual control side chains realizing between raft and space flight carrier flexibly connect;
2) the corresponding wire train of every rope, all wire trains and rope are positioned at point of connection on raft and are along the circumferential direction and are evenly distributed, and three independent side chains realizing between raft and space flight carrier flexibly connect;
3) the corresponding wire train of every rope, all wire trains and rope are positioned at point of connection on raft and are along the circumferential direction and are evenly distributed, and four independent side chains realizing between raft and space flight carrier flexibly connect;
4) the corresponding wire train of every rope, all wire trains and rope are positioned at point of connection on raft and are along the circumferential direction and are evenly distributed, and six independent side chains realizing between raft and space flight carrier flexibly connect.
5. device according to claim 1, is characterized in that, described grabbing device comprises pawl formula grabbing device, multi freedom degree mechanical arm.
6. device according to claim 1, is characterized in that, described propelling unit comprises: jet propeller, high-pressure injector, electronic type propelling unit.
7. device according to claim 1, is characterized in that, described auxiliary adjusting device comprises: jet propeller, high-pressure injector, electronic type propelling unit.
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| CN201410058731.1A CN103770955B (en) | 2014-02-21 | 2014-02-21 | Space floating debris acquisition equipment |
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| CN201410058731.1A CN103770955B (en) | 2014-02-21 | 2014-02-21 | Space floating debris acquisition equipment |
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| CN103770955B CN103770955B (en) | 2016-02-17 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104555754A (en) * | 2014-12-24 | 2015-04-29 | 江苏科技大学 | Platform for ship crane |
| CN104691782A (en) * | 2015-03-28 | 2015-06-10 | 哈尔滨工业大学 | Multiple-pipe-combined helical aerated capturing arm |
| CN105994111A (en) * | 2016-05-31 | 2016-10-12 | 东莞市扬盛欣智能设备有限公司 | Fishpond cleaning purification system |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
| CN106184830A (en) * | 2016-07-07 | 2016-12-07 | 西北工业大学 | The automatic apparatus for removing of space junk and removing method thereof |
| CN106647786A (en) * | 2016-11-24 | 2017-05-10 | 西北工业大学 | Fractional order differential-based staged space tethered capture device attitude stabilization control method |
| CN106826795A (en) * | 2017-03-01 | 2017-06-13 | 清华大学 | A kind of space capture robot based on rope parallel architecture |
| CN108372941A (en) * | 2018-02-05 | 2018-08-07 | 西北工业大学深圳研究院 | A kind of space junk break catching apparatus with energy absorption function |
| CN108382612A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | A kind of break catching apparatus for Space Rotating noncooperative target |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN109178354A (en) * | 2018-09-07 | 2019-01-11 | 哈尔滨工业大学 | A kind of non-cooperative Spacecraft butt-joint locking system based on satellite-rocket docking ring |
| CN109552673A (en) * | 2018-11-29 | 2019-04-02 | 西北工业大学 | A kind of the space end break catching apparatus that can be reused and control method of active |
| CN113734479A (en) * | 2021-08-30 | 2021-12-03 | 清华大学 | Terminal driving cable parallel carrying device for aerospace application |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104555754A (en) * | 2014-12-24 | 2015-04-29 | 江苏科技大学 | Platform for ship crane |
| CN104691782A (en) * | 2015-03-28 | 2015-06-10 | 哈尔滨工业大学 | Multiple-pipe-combined helical aerated capturing arm |
| CN104691782B (en) * | 2015-03-28 | 2016-07-27 | 哈尔滨工业大学 | Multitube combined helical formula inflation catching hand |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
| CN105994111A (en) * | 2016-05-31 | 2016-10-12 | 东莞市扬盛欣智能设备有限公司 | Fishpond cleaning purification system |
| CN105994111B (en) * | 2016-05-31 | 2019-07-26 | 广州市宝瓶净水智能科技有限公司 | Fishpond Cress system |
| CN106184830B (en) * | 2016-07-07 | 2018-07-03 | 西北工业大学 | Space junk removes device and its removing method automatically |
| CN106184830A (en) * | 2016-07-07 | 2016-12-07 | 西北工业大学 | The automatic apparatus for removing of space junk and removing method thereof |
| CN106647786B (en) * | 2016-11-24 | 2019-08-13 | 西北工业大学 | Utilize the system of the space rope stage by stage catching device pose stabilization control method of fractional order differential |
| CN106647786A (en) * | 2016-11-24 | 2017-05-10 | 西北工业大学 | Fractional order differential-based staged space tethered capture device attitude stabilization control method |
| CN106826795A (en) * | 2017-03-01 | 2017-06-13 | 清华大学 | A kind of space capture robot based on rope parallel architecture |
| CN108372941A (en) * | 2018-02-05 | 2018-08-07 | 西北工业大学深圳研究院 | A kind of space junk break catching apparatus with energy absorption function |
| CN108382612A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | A kind of break catching apparatus for Space Rotating noncooperative target |
| CN108382612B (en) * | 2018-02-05 | 2021-02-02 | 西北工业大学深圳研究院 | Catching device for space rotation non-cooperative target |
| CN108639381A (en) * | 2018-03-28 | 2018-10-12 | 上海宇航系统工程研究所 | A kind of pop-up type locking relieving mechanism |
| CN109178354A (en) * | 2018-09-07 | 2019-01-11 | 哈尔滨工业大学 | A kind of non-cooperative Spacecraft butt-joint locking system based on satellite-rocket docking ring |
| CN109178354B (en) * | 2018-09-07 | 2022-09-20 | 哈尔滨工业大学 | Non-cooperative spacecraft docking locking system based on satellite and rocket docking ring |
| CN109552673A (en) * | 2018-11-29 | 2019-04-02 | 西北工业大学 | A kind of the space end break catching apparatus that can be reused and control method of active |
| CN109552673B (en) * | 2018-11-29 | 2022-03-11 | 西北工业大学 | Active reusable space tail end capturing device and control method |
| CN113734479A (en) * | 2021-08-30 | 2021-12-03 | 清华大学 | Terminal driving cable parallel carrying device for aerospace application |
| CN113734479B (en) * | 2021-08-30 | 2024-01-26 | 清华大学 | Terminal drive cable parallel carrying device for aerospace application |
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