CN104743144A - Variable-cross-section spiral winding type gas-filled capturing manipulator - Google Patents

Abstract

A variable cross-section helically wound inflatable catcher belongs to the field of aerospace technology and solves the problems existing in the existing space target catch mechanism. The front end decreases, and the cross-sectional radius of the inflatable tube decreases from the rear end to the front end; the tube wall of the inflatable tube is an airtight layer, a load-bearing layer, a heating layer and an anti-skid layer from the inside to the outside; Spring, the free coiling direction of the coil spring is opposite to the helical direction of the inflatable tube, and the invention is used to capture large-sized non-cooperative targets in space.

Description

Variable cross-section spiral wound inflatable catcher

technical field

The invention belongs to the field of aerospace technology, and in particular relates to a helically wound inflatable catcher with variable cross-section.

Background technique

The on-orbit operation and service of space targets (including cooperative targets and non-cooperative targets) requires a capture mechanism to complete the on-orbit capture, release, and relative fixation of the target; the existing space target capture mechanisms mainly use mechanical The claw mechanism can be used to realize the capture of space cooperation targets. However, if the mechanical claw capture mechanism is used to capture non-cooperative targets, including one's own aircraft that is not equipped with a cooperative grasping mechanism, a malfunctioning or invalid satellite of one's own device's cooperative components, the opponent's spacecraft, and large-scale debris in space, etc., it will A large increase in the size and number of joints of the capture mechanism increases the complexity, overall quality and operational difficulty of the capture mechanism and its control system, reduces the reliability of the system, increases the cost of manufacturing and launching, and is easy to cause damage to the target. damage.

Contents of the invention

The object of the present invention is to solve the above-mentioned problems existing in the existing space target capture mechanism, and to provide a variable cross-section helically wound inflatable capture hand, whose technical scheme is as follows:

A variable-section helically wound inflatable catcher, which includes a helical inflatable tube, the helical radius of the inflatable tube decreases from the rear end to the front end, and the cross-sectional radius of the inflatable tube decreases from the rear end to the front end; the inflatable tube The pipe wall is composed of airtight layer, load-bearing layer, heating layer and anti-skid layer from inside to outside. The material of the air-tight layer is butyl rubber film material to ensure the stability of the inflation pressure in the catcher; the material of the load-bearing layer is aromatic The nylon fiber composite material is the main structure that bears the inflation pressure of the catcher; the heating layer is an electric heating wire to ensure the stability of the air pressure inside the structure and the material performance of the catcher under the condition of low temperature in space; the anti-slip layer is made of non-slip rubber material, The material layer in contact with the target is used to increase the friction of the contact surface between the target body and the catcher, which can prevent the target from slipping, and an anti-skid layer can be set only on the inner side of the inflatable tube to reduce the overall quality; on the outside of the inflatable tube A coil spring is arranged on the side, and the free coiling direction of the coil spring is opposite to the helical direction of the inflatable tube.

The beneficial effects of the present invention are: it is possible to capture large-sized non-cooperative targets; it does not need to cooperate with the grasping mechanism installed on the target body; the capture form is flexible; the target can be captured from multiple positions, The capture process is reliable; it has great adaptability to the shape and size of the target; after capturing the target, the catcher has sufficient rigidity under the action of inflation pressure, and the catcher adopts a variable cross-section structure to further increase the rigidity of the catcher , so that a hard connection is formed between the catcher and the caught target, which is convenient for moving and fixing the target; the capture process is controlled by inflating and deflated, and the control method is simple and reliable; the launch volume is small and light; the inflatable capture The hand can be curled and folded automatically, which can realize the release of the target and multiple captures; the capture hand is made of flexible composite materials, which will not cause damage to the target.

Description of drawings:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic cross-sectional view of an inflatable tube;

Figure 3 is a schematic diagram of the capture process.

Detailed ways:

Referring to Fig. 1, Fig. 2 and Fig. 3, a variable cross-section helically wound inflatable catcher includes a helical inflatable tube 1, the spiral radius of the inflatable tube 1 decreases from the rear end to the front end, and the inflatable tube 1 The cross-sectional radius decreases from the rear end to the front end; the tube wall of the inflatable tube 1 is an airtight layer 1-1, a load-bearing layer 1-2, a heating layer 1-3 and an anti-slip layer 1-4 from the inside to the outside, and the airtight The material of layer 1-1 is butyl rubber film material, which ensures the stability of the inflation pressure in the catcher; the material of load-bearing layer 1-2 is aramid fiber composite material, which is the main structure that bears the inflation pressure of the catcher; the heating layer 1-3 are heating wires to ensure the stability and material performance of the internal air pressure of the catcher under the condition of low temperature in space; the anti-slip layer 1-4 is made of anti-slip rubber material, and the material layer directly in contact with the target is used to increase the size of the target. The friction force between the contact surface with the catcher can prevent the target from slipping, and the anti-skid layer 1-4 can be set only on the inner side of the inflatable tube 1 to reduce the overall quality; the outer side of the inflatable tube 1 is provided with a coil spring 2, The free coiling direction of the coil spring 2 is opposite to the helical direction of the inflatable tube 1 .

The front end of the inflatable tube 1 is directly flattened and sealed by bonding, and has a flat end structure, so that the inflatable tube 1 is more likely to be curled under the drive of the coil spring 2 after the gas is deflated.

An air nozzle is arranged at the rear end of the inflation pipe 1 .

Method of use and principle: connect the rear end of the inflatable tube 1 with the mechanical telescopic arm of the aircraft, connect the air nozzle with the inflation and deflation equipment, connect the heating layers 1-3 with the heating control circuit, and the inflatable tube 1 is made of flexible composite materials. In the state of inflation pressure, the coil spring 2 drives the inflation tube 1 to curl and fold; when capturing the target, use the inflation and deflation equipment to inflate the inflation tube 1, and the inflation pressure drives the inflation tube 1 to spirally expand gradually to wrap and capture the target , since the helical radius of the inflatable tube 1 decreases from the rear end to the front end, the external dimensions of the captured target can be firmly wound within the range between the front end helical radius and the rear end helical radius of the inflatable tube 1; when the target needs to be released , the inflatable catcher is deflated, and under the action of the coil spring 2, the inflatable tube 1 is driven to curl and retract, and the target is released.

Claims (4)

1. A variable-section helically wound inflatable catcher, characterized in that it comprises a helical inflatable tube (1), the helical radius of the inflatable tube (1) decreases from the rear end to the front end, and the inflatable tube (1) The radius of the cross-section decreases from the rear end to the front end; the tube wall of the inflatable tube (1) is the airtight layer (1-1), the load-bearing layer (1-2), and the heating layer (1-3) from the inside to the outside. and an anti-skid layer (1-4); a coil spring (2) is arranged on the outer surface of the gas tube (1), and the free coiling direction of the coil spring (2) is opposite to the helical direction of the gas tube (1). 2. As claimed in claim 1, a variable cross-section spiral wound type inflatable catcher is characterized in that the material of the air-tight layer (1-1) is a butyl rubber film material; the material of the load-bearing layer (1-2) is aromatic Lun fiber composite material; the heating layer (1-3) is an electric heating wire; the anti-slip layer (1-4) adopts anti-slip rubber material, and the anti-slip layer (1-4) is only arranged on the inner surface of the inflation tube (1). 3. A variable cross-section helically wound inflatable catcher as claimed in claim 1, characterized in that the front end of the inflatable tube (1) is directly crushed and bonded closed, and has a flat end structure. 4. A variable-section helically wound inflatable catcher according to claim 1, characterized in that an air nozzle is arranged at the rear end of the inflatable tube (1).