CN106628275A - Space rapid rotation fragment despun capture system based on double-tethered satellite - Google Patents
Space rapid rotation fragment despun capture system based on double-tethered satellite Download PDFInfo
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- CN106628275A CN106628275A CN201610874783.5A CN201610874783A CN106628275A CN 106628275 A CN106628275 A CN 106628275A CN 201610874783 A CN201610874783 A CN 201610874783A CN 106628275 A CN106628275 A CN 106628275A
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- rope
- adsorbable
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- main body
- recovery system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Aviation & Aerospace Engineering (AREA)
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Abstract
A space rapid rotation fragment despun capture system based on a double-tethered satellite comprises a satellite body provided with a solar panel, and the satellite body is provided with two rope ejecting recovery systems and a mechanical arm for capturing space fragments after despinning is performed; each rope ejecting recovery system comprises a rope end suction cup connected to the front end of an adsorbable rope, the adsorbable rope is wound around a rope winding shaft, the rope winding shaft is connected with a rotating shaft of the satellite body through a bearing, the two sides of the rope winding shaft are provided with stretchable ejection rods which are in clearance fit with the bottom face of the rope end suction cup, and the top end of each stretchable ejection rod is an elastic device which can eject the rope end suction cup. A force sensor connected to the tail end of the adsorbable rope is fixedly arranged on the rope winding shaft, and multiple auxiliary suction cups are further arranged on a rope body, behind the rope end suction cup, of the adsorbable rope. The ejected adsorbable rope is utilized for being adsorbed and wound around the space fragments, the rotating speed of the space fragments can be lowered by repeatedly pulling the adsorbable rope till despinning is achieved, finally, the mechanical arm is used for capturing, and execution reliability is high.
Description
Technical field
The present invention relates to space technology, and in particular to a kind of space based on double tethered satellites quickly rotates fragment racemization and grabs
Catch system.
Background technology
A large amount of space junks can threaten to in-orbit all kinds of spacecrafts, therefore emerge large quantities of for space junk
The research arrested.Because space junk has certain speed/angular speed at the generation initial stage, therefore racemization problem is space junk
An important ring in arresting and removing.At present conventional racemization method is divided into contact and contactless two big class, conventional
Mode is arrested for contact.Contact includes：(1) rigid contact：The mechanical arm that classics are most typically employed in such is direct
Stop, that is, arrest rear monolithic stability, this mode is theoretical most ripe, but be only applicable to low speed rotation or relative velocity is relatively low
Target, too fast rotating speed/speed can cause the damage of mechanical arm；(2) flexible contact：Typically rope is and flying mesh in such,
This kind of mechanism will not damage because fragment rotating speed is excessive, and due to the characteristic of compliant mechanism when arresting, to target shape and greatly
Little pardon is higher, but the deficiency of the complicated and executing agency due to model, it is unobvious to the racemization effect of target.
It is contactless including：(1) electromagnetic force racemization：Magnetic field is produced by the coil on body, cutting magnetic field is produced when target rotates
Raw electromagnetic force, so as to reduce rotating speed；(2) laser/air-flow racemization：Laser/air-flow is launched by body, makes to produce in target and rotation
Turn torque in opposite direction, and then reach racemization purpose.But it is contactless target effectively to be controlled, and racemization
The required time is longer.
In sum, contact effect for the racemization of atwirl space junk is not so good, but for disappearing
Very well, and theory is more ripe for effect for the arresting of supination fragment, and takes shorter, is more easy to realize；It is contactless to rotate to quick
Space junk racemization for effect preferably, but do not arrest ability, it is and time-consuming long, it is relatively costly, be difficult to realize.Cause
This needs to propose that one by atwirl space junk racemization and can arrest, the method for being easier to realize again.
Goal of the invention
Present invention aims to above-mentioned the problems of the prior art, there is provided a kind of space based on double tethered satellites
Quick rotation fragment racemization capturing system, its racemization effect is obvious, and the impact to satellite main body is less.
To achieve these goals, the technical solution used in the present invention is：Including the satellite master for being provided with solar energy sailboard
Body, satellite main body is provided with two rope ejection recovery systems and the mechanical arm for capturing space junk after racemization；It is described
Rope ejection recovery system include being connected to the fag end sucker of adsorbable rope front end, described adsorbable rope is wrapped in around reel for rope
On, it is connected with satellite main body rotating shaft by bearing around reel for rope, it is provided with and the activity cooperation of fag end sucker bottom surface around the both sides of reel for rope
Scalable piston ejector ram, ejector piston, scalable piston ejector ram, ejector piston top is the elastic force apparatus that can be launched in fag end sucker.
Described is fixed with the force snesor being connected with adsorbable tail of rope end on reel for rope.
Described adsorbable rope is additionally provided with many assisted sucking discs with the rope at fag end sucker rear.
Described scalable piston ejector ram, ejector piston includes some telescopic rods and the elastic force positioned at the section of top one for saving and combining
Device.
Described elastic force apparatus adopt spring.
Described two ropes ejection recovery system is respectively arranged in satellite main body surface both sides, and rope ejection is reclaimed
System can rotate adjustment direction, and offering on satellite main body surface can receive the groove that rope launches recovery system.
Described mechanical arm launches recovery system and is arranged on the same surface of satellite main body with rope, and mechanical arm
It is arranged between two rope ejection recovery systems.
Compared with prior art, the present invention has following beneficial effect：Launched by two ropes in satellite main body
Recovery system to space junk is launched and the adsorbable fag end sucker restricted and be connected, after linking with space junk, due to space
Fragment quickly rotates, and adsorbable rope will be wrapped on space junk and shorten, and the tail end of adsorbable rope is wrapped on reel for rope, and
It is connected with the rotating shaft of satellite main body by bearing around reel for rope, then by the way that adsorbable rope is pulled back, is put within load critical value
The adsorbable rope of pine makes it wind again, reciprocal to perform until space junk racemization, finally by mechanical arm by the space after racemization
Debris catching.The present invention is big compared to the active force that target is linked by single rope, at the same it is adsorbable restrict pull back during according to
Rotating shaft by satellite main body rotates, and so can effectively reduce to the impact of satellite main body operation during target racemization, performs
Reliability is higher.
Further, the present invention is fixed with the force snesor being connected with adsorbable tail of rope end on reel for rope, during pulling back
The pulling force of two ropes ejection recovery systems is balanced according to the numerical value that determines of force snesor, while carrying out rope ejection recovery system
The measure of load situation, and judged whether to start to loosen the degree that adsorbable rope and both sides are loosened according to result, keep system
Balance.
Further, the adsorbable rope of the present invention is additionally provided with many assisted sucking discs with the rope at fag end sucker rear, many
Individual assisted sucking disc can be effectively adsorbed on space junk, it is ensured that link when adsorbable rope is wrapped on space junk
Reliability.
Description of the drawings
The overall structure diagram of Fig. 1 racemization capturing systems of the present invention；
Fig. 2 ropes of the present invention launch the structural representation of recovery system；
The structural representation of the adsorbable rope of Fig. 3 present invention and fag end sucker；
In accompanying drawing：1- space junks；2- satellite main bodies；3- ropes launch recovery system；4- mechanical arms；5- solar energy sails
Plate；6- fag end suckers；The adsorbable ropes of 7-；The scalable piston ejector ram, ejector pistons of 8-；9- bearings；10- is around reel for rope；11- force snesors；12- is aided in
Sucker.
Specific embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
Referring to Fig. 1-3, the present invention includes being provided with the satellite main body 2 of solar energy sailboard 5 in structure, and satellite main body 2 is
Utility Satellite platform, comprising rail control system, power-supply system and payload required in orbit etc..In satellite main body 2
Two rope ejection recovery systems 3 and the mechanical arm 4 for capturing space junk 1 after racemization are provided with, two ropes are launched back
Receipts system 3 is respectively arranged in the both sides on the surface of satellite main body 2, and rope ejection recovery system 3 can rotate adjustment direction, defend
Offering on the surface of star main body 2 can receive the groove that rope launches recovery system 3, and mechanical arm 4 launches recovery system 3 with rope
On the same surface of satellite main body 2, and mechanical arm 4 is arranged between two rope ejection recovery systems 3.
Rope ejection recovery system 3 includes being connected to the fag end sucker 6 of 7 front ends of adsorbable rope, and adsorbable rope 7 is inhaled in fag end
Many assisted sucking discs 12 are additionally provided with the rope at the rear of disk 6.Adsorbable rope 7 is wrapped on reel for rope 10, solid on reel for rope 10
Surely there is the force snesor 11 being connected with 7 tail ends of adsorbable rope.It is connected with satellite main body rotating shaft by bearing 9 around reel for rope 10, wiring
The both sides of axle 10 are provided with the scalable piston ejector ram, ejector piston 8 coordinated with the activity of the bottom surface of fag end sucker 6, and scalable piston ejector ram, ejector piston 8 includes some sections
The telescopic rod for combining and the elastic force apparatus positioned at the section of top one, elastic force apparatus adopt spring.
Space of the present invention quickly rotates the course of work of fragment racemization capturing system：First Jie Jin atwirl space
Fragment 1；Both sides ejection adsorbable rope 7 of the recovery system 3 from space junk 1 is launched by rope, by fag end sucker 6, assisted sucking disc
After 12 are adsorbed on space junk 1, because the rotation of space junk 1 makes adsorbable rope 7 be wrapped on space junk 1；Start rope
Bullet penetrates recovery system 3 and is pulled back to pull adsorbable rope 7, and by force snesor 11 numerical value is determined, and closes on set load threshold value
Shi Fangsong, and so on until rotating speed of target drops to tolerable region, is finally caught by the mechanical arm 4 in satellite main body
Obtain.
The quick rolling target that the present invention can be directed to Rigid Robot Manipulator and cannot directly arrest is operated.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not done to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology
Personnel, in the range of without departing from technical solution of the present invention, when the method and technology contents using the disclosure above makes a little
Change or be modified to the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to the present invention
Technical spirit to any simple modification made for any of the above embodiments, equivalent variations and modification, still belong to technical solution of the present invention
In the range of.
Claims (7)
1. a kind of space based on double tethered satellites quickly rotates fragment racemization capturing system, it is characterised in that：Including being provided with
The satellite main body (2) of solar energy sailboard (5), satellite main body (2) is provided with two ropes ejection recovery system (3) and for disappearing
The mechanical arm (4) of supination capture space junk (1)；Described rope ejection recovery system (3) is including being connected to adsorbable rope (7)
The fag end sucker (6) of front end, described adsorbable rope (7) is wrapped on reel for rope (10), around reel for rope (10) by bearing (9) with
Satellite main body rotating shaft connects, and the scalable piston ejector ram, ejector piston coordinated with the activity of fag end sucker (6) bottom surface is provided with around the both sides of reel for rope (10)
(8), scalable piston ejector ram, ejector piston (8) top is the elastic force apparatus that can be launched in fag end sucker (6).
2. the space for being based on double tethered satellites according to claim 1 quickly rotates fragment racemization capturing system, and its feature exists
In：Described is fixed with the force snesor (11) being connected with adsorbable rope (7) tail end on reel for rope (10).
3. the space for being based on double tethered satellites according to claim 1 quickly rotates fragment racemization capturing system, and its feature exists
In：Described adsorbable rope (7) is additionally provided with many assisted sucking discs (12) with the rope at fag end sucker (6) rear.
4. the space for being based on double tethered satellites according to claim 1 quickly rotates fragment racemization capturing system, and its feature exists
In：Described scalable piston ejector ram, ejector piston (8) includes some telescopic rods and the elastic force dress positioned at the section of top one for saving and combining
Put.
5. fragment racemization capturing system, its feature are quickly rotated based on the space of double tethered satellites according to claim 1 or 4
It is：Described elastic force apparatus adopt spring.
6. the space for being based on double tethered satellites according to claim 1 quickly rotates fragment racemization capturing system, and its feature exists
In：Two ropes ejection recovery system (3) are respectively arranged in satellite main body (2) surface both sides, and rope ejection recovery system
(3) adjustment direction can be rotated, offering on satellite main body (2) surface can receive the groove of rope ejection recovery system (3).
7. the space for being based on double tethered satellites according to claim 1 quickly rotates fragment racemization capturing system, and its feature exists
In：Described mechanical arm (4) launches recovery system (3) on the same surface of satellite main body (2) with rope, and machine
Tool arm (4) is arranged between two ropes ejection recovery system (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610874783.5A CN106628275B (en) | 2016-09-30 | 2016-09-30 | Space based on double tethered satellites quickly rotates fragment racemization capturing system |
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|---|---|---|---|
| CN201610874783.5A CN106628275B (en) | 2016-09-30 | 2016-09-30 | Space based on double tethered satellites quickly rotates fragment racemization capturing system |
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| CN106628275A true CN106628275A (en) | 2017-05-10 |
| CN106628275B CN106628275B (en) | 2019-02-01 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176311A (en) * | 2017-07-06 | 2017-09-19 | 中国科学院上海技术物理研究所 | A kind of adaptive laser racemization system for space junk |
| CN107364589A (en) * | 2017-07-04 | 2017-11-21 | 上海宇航系统工程研究所 | Racemization control method of being diversion based on more tether tie points to Spatial Instability target |
| CN107651224A (en) * | 2017-07-04 | 2018-02-02 | 上海宇航系统工程研究所 | Substep Racemization control method based on monosystem rope tie point to Spatial Instability target |
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN108415449A (en) * | 2018-05-21 | 2018-08-17 | 北京航空航天大学 | A kind of device applied to the expansion of Aerospace Satellite system tether, recycling and tension force |
| CN108820264A (en) * | 2018-08-01 | 2018-11-16 | 北京理工大学 | It is a kind of for removing the rope system towing system and method for space junk |
| CN108820265A (en) * | 2018-07-09 | 2018-11-16 | 河北工业大学 | A kind of flexible terminal actuator for space junk racemization |
| CN109131954A (en) * | 2018-08-02 | 2019-01-04 | 西北工业大学 | Change the space junk racemization device and method of rotary inertia distribution using absorption type mass block |
| CN109178359A (en) * | 2018-10-17 | 2019-01-11 | 北京控制工程研究所 | A kind of passive racemization mechanism of contact adjustable rigidity |
| CN109250157A (en) * | 2018-07-25 | 2019-01-22 | 西北工业大学 | It is a kind of based on the tentative space non-cooperative target catching method touched with racemization |
| CN109649700A (en) * | 2018-12-14 | 2019-04-19 | 南京航空航天大学 | Radiate open loop Tethered Systems spin expansion experiment porch |
| CN109726515A (en) * | 2019-01-29 | 2019-05-07 | 西北工业大学 | A kind of cell satellite absorption type arrests noncooperative target method |
| CN113044249A (en) * | 2021-04-19 | 2021-06-29 | 北京理工大学 | Space debris capturing and despinning system based on damper |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364589B (en) * | 2017-07-04 | 2020-11-20 | 上海宇航系统工程研究所 | Flying around and despinning control method for space instability target based on multi-rope connecting points |
| CN107364589A (en) * | 2017-07-04 | 2017-11-21 | 上海宇航系统工程研究所 | Racemization control method of being diversion based on more tether tie points to Spatial Instability target |
| CN107651224A (en) * | 2017-07-04 | 2018-02-02 | 上海宇航系统工程研究所 | Substep Racemization control method based on monosystem rope tie point to Spatial Instability target |
| CN107651224B (en) * | 2017-07-04 | 2021-03-09 | 上海宇航系统工程研究所 | Step-by-step despinning control method for space instability target based on single-rope connecting point |
| CN107176311A (en) * | 2017-07-06 | 2017-09-19 | 中国科学院上海技术物理研究所 | A kind of adaptive laser racemization system for space junk |
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN108415449A (en) * | 2018-05-21 | 2018-08-17 | 北京航空航天大学 | A kind of device applied to the expansion of Aerospace Satellite system tether, recycling and tension force |
| CN108820265A (en) * | 2018-07-09 | 2018-11-16 | 河北工业大学 | A kind of flexible terminal actuator for space junk racemization |
| CN108820265B (en) * | 2018-07-09 | 2023-10-03 | 河北工业大学 | Flexible end effector for racemization of space debris |
| CN109250157B (en) * | 2018-07-25 | 2022-02-08 | 西北工业大学 | Space non-cooperative target capturing method based on trial touch and derotation |
| CN109250157A (en) * | 2018-07-25 | 2019-01-22 | 西北工业大学 | It is a kind of based on the tentative space non-cooperative target catching method touched with racemization |
| CN108820264A (en) * | 2018-08-01 | 2018-11-16 | 北京理工大学 | It is a kind of for removing the rope system towing system and method for space junk |
| CN108820264B (en) * | 2018-08-01 | 2020-07-07 | 北京理工大学 | Rope system dragging method for clearing space debris |
| CN109131954A (en) * | 2018-08-02 | 2019-01-04 | 西北工业大学 | Change the space junk racemization device and method of rotary inertia distribution using absorption type mass block |
| CN109178359B (en) * | 2018-10-17 | 2020-04-10 | 北京控制工程研究所 | Contact type rigidity-adjustable passive despinning mechanism |
| CN109178359A (en) * | 2018-10-17 | 2019-01-11 | 北京控制工程研究所 | A kind of passive racemization mechanism of contact adjustable rigidity |
| CN109649700A (en) * | 2018-12-14 | 2019-04-19 | 南京航空航天大学 | Radiate open loop Tethered Systems spin expansion experiment porch |
| CN109649700B (en) * | 2018-12-14 | 2024-03-19 | 南京航空航天大学 | Spin unfolding experimental platform of radiation open loop tethered satellite system |
| CN109726515A (en) * | 2019-01-29 | 2019-05-07 | 西北工业大学 | A kind of cell satellite absorption type arrests noncooperative target method |
| CN109726515B (en) * | 2019-01-29 | 2022-06-24 | 西北工业大学 | Cell satellite adsorption type non-cooperative target capturing method |
| CN113044249A (en) * | 2021-04-19 | 2021-06-29 | 北京理工大学 | Space debris capturing and despinning system based on damper |
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