CN104743144A

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

Info

Publication number: CN104743144A
Application number: CN201510139311.0A
Authority: CN
Inventors: 苗常青
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2015-03-28
Filing date: 2015-03-28
Publication date: 2015-07-01

Abstract

The invention discloses a variable-cross-section spiral winding type gas-filled capturing manipulator and belongs to the technical field of spaceflight. The problems of an existing spatial target capturing mechanism are solved. The variable-cross-section spiral winding type gas-filled capturing manipulator comprises a spiral gas-filled tube, the spiral radius of the gas-filled tube is gradually decreased from the rear end to the front end, and the radius of the cross section of the gas-filled tube is gradually decreased from the rear end to the front end; the tube wall of the gas-filled tube is sequentially composed of an airtight layer, a force bearing layer, a heating layer and an anti-slip layer from inside to outside; a reed is arranged on the outer side face of the gas-filled tube, and the free winding direction of the reed is opposite to the spiral direction of the gas-filled tube. The variable-cross-section spiral winding type gas-filled capturing manipulator is used for capturing space larger-size non-cooperative targets.

Description

Variable section spiral winded type inflation catching hand

Technical field

The invention belongs to space technology field, be specifically related to a kind of variable section spiral winded type inflation catching hand.

Background technology

Extraterrestrial target (comprising cooperative target and noncooperative target) is operated in-orbit and needs arresting agency and complete the arresting in-orbit of target with serving, discharge and the relative operation such as fixing; Existing extraterrestrial target arresting agency mainly adopts mechanical type paw mechanism, can be used for arresting of implementation space cooperative target.But utilize mechanical type paw arresting agency to carry out arresting of noncooperative target, comprise one's own side's aircraft, one's own side's device cooperation component malfunction or inert satellite, the other side's spacecraft, space large scale fragment etc. that cooperation grasping mechanism is not installed, then size and the amount of articulation of arresting agency will be rolled up, increase the complexity of arresting agency and control system thereof, total quality and operation easier, reduce the reliability of system, add manufacture and launch cost, and easily damage is caused to target.

Summary of the invention

The object of the invention is the problems referred to above existed to solve existing extraterrestrial target arresting agency, provide a kind of variable section spiral winded type inflation catching hand, its technical scheme is as follows:

A kind of variable section spiral winded type inflation catching hand, it comprises a spiral appendix, and the radius of spin of appendix is successively decreased to front end by rear end, and the cross sectional radius of appendix is successively decreased to front end by rear end; The tube wall of appendix is followed successively by air-retaining liner, bearing layer, heater mat and skid resistant course from inside to outside, and air-retaining liner material is butyl rubber membraneous material, ensures the stability of inflation pressure in catching hand; Bearing layer material is aramid fiber reinforced composite, is the keystone configuration bearing catching hand inflation pressure; Heater mat is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course adopts anti-slip rubber material, the material layer directly contact with target, is used for the friction force in increase objective body and catching hand Contact face, can prevent target slippage, only can arrange skid resistant course at the medial surface of appendix, reduction total quality; The lateral surface of appendix is provided with wind spring, and the free curl direction of wind spring is contrary with the hand of spiral of appendix.

Beneficial effect of the present invention is: can arrest the noncooperative target of large-size; Do not need to coordinate the grasping mechanism be arranged on objective body; Arrest flexible form; Can carry out arresting of target from multiple position, capture process is reliable; Great adaptive capacity is had for the shape of target and size; After capture target, catching hand has enough rigidity under inflation pressure effect, and catching hand adopts variable section structure, increases catching hand rigidity further, thus makes catching hand and grabbed between target to form Hard link, be convenient to operations such as moving target, fix; By inflating and exit control capture process, mode is simple and reliable; Launch volume little, lightweight; Inflation catching hand can fold by automatic curled, can realize target release and repeatedly arrest; Catching hand adopts flexible composite, can not cause damage to target.

accompanying drawing illustrates:

Fig. 1 is structural representation of the present invention;

Fig. 2 is the cross sectional representation of appendix;

Fig. 3 is capture process schematic diagram.

detailed description of the invention:

With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of variable section spiral winded type inflation catching hand, it comprises a spiral appendix 1, and the radius of spin of appendix 1 is successively decreased to front end by rear end, and the cross sectional radius of appendix 1 is successively decreased to front end by rear end; The tube wall of appendix 1 is followed successively by air-retaining liner 1-1, bearing layer 1-2, heater mat 1-3 and skid resistant course 1-4 from inside to outside, and air-retaining liner 1-1 material is butyl rubber membraneous material, ensures the stability of inflation pressure in catching hand; Bearing layer 1-2 material is aramid fiber reinforced composite, is the keystone configuration bearing catching hand inflation pressure; Heater mat 1-3 is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course 1-4 adopts anti-slip rubber material, the material layer directly contact with target, is used for the friction force in increase objective body and catching hand Contact face, can prevent target slippage, only can arrange skid resistant course 1-4 at the medial surface of appendix 1, reduction total quality; The lateral surface of appendix 1 is provided with wind spring 2, and the free curl direction of wind spring 2 is contrary with the hand of spiral of appendix 1.

Bonding closing directly is flattened in the front end of appendix 1, in flat end structure, easier to be curling under the driving of wind spring 2 after appendix 1 is lost heart.

The rear end of appendix 1 is provided with valve.

Using method and principle: appendix 1 rear end is connected with the mechanical-stretching arm of aircraft, valve and inflation/deflation equipment connection, heater mat 1-3 is connected with heating control circuit, and appendix 1 adopts flexible composite manufacture, without under inflation pressure state, wind spring 2 drives appendix 1 curling folding; When target is arrested, inflation/deflation equipment is utilized to inflate appendix 1, inflation pressure drive appendix 1 gradually spiral expansion winding carried out to target arrest, because the radius of spin of appendix 1 is successively decreased to front end by rear end, so the oad of capture target all can be firmly wound around in the scope between the front end radius of spin and the rear end radius of spin of appendix 1; When needing release target, inflation catching hand is exitted, under the effect of wind spring 2, drive the curling retraction of appendix 1, target is discharged.

Claims

1. a variable section spiral winded type inflation catching hand, it is characterized in that it comprises a spiral appendix (1), the radius of spin of appendix (1) is successively decreased to front end by rear end, and the cross sectional radius of appendix (1) is successively decreased to front end by rear end; The tube wall of appendix (1) is followed successively by air-retaining liner (1-1), bearing layer (1-2), heater mat (1-3) and skid resistant course (1-4) from inside to outside; The lateral surface of appendix (1) is provided with wind spring (2), and the free curl direction of wind spring (2) is contrary with the hand of spiral of appendix (1).

2. a kind of variable section spiral winded type inflates catching hand as claimed in claim 1, it is characterized in that air-retaining liner (1-1) material is butyl rubber membraneous material; Bearing layer (1-2) material is aramid fiber reinforced composite; Heater mat (1-3) is heating wire; Skid resistant course (1-4) adopts anti-slip rubber material, only arranges skid resistant course (1-4) at the medial surface of appendix (1).

3. a kind of variable section spiral winded type inflates catching hand as claimed in claim 1, it is characterized in that bonding closing, in flat end structure is directly flattened in the front end of appendix (1).

4. a kind of variable section spiral winded type inflates catching hand as claimed in claim 1, it is characterized in that the rear end of appendix (1) is provided with valve.