CN106628275B - Space based on double tethered satellites quickly rotates fragment racemization capturing system - Google Patents
Space based on double tethered satellites quickly rotates fragment racemization capturing system Download PDFInfo
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- CN106628275B CN106628275B CN201610874783.5A CN201610874783A CN106628275B CN 106628275 B CN106628275 B CN 106628275B CN 201610874783 A CN201610874783 A CN 201610874783A CN 106628275 B CN106628275 B CN 106628275B
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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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Abstract
A kind of space based on double tethered satellites quickly rotates fragment racemization capturing system, the satellite main body including being equipped with solar energy sailboard, sets in satellite main body there are two rope ejection recovery system and the mechanical arm for capturing space junk after racemization；The rope ejection recovery system includes the rope end sucker for being connected to adsorbable rope front end, adsorbable rope is wrapped on reel for rope, it is connect by bearing with satellite main body shaft around reel for rope, the scalable piston ejector ram, ejector piston cooperated with the bottom surface activity of rope end sucker is equipped with around the two sides of reel for rope, scalable piston ejector ram, ejector piston top is the elastic force apparatus that can launch rope end sucker.The force snesor connecting with adsorbable tail of rope end is fixed on reel for rope, adsorbable rope is additionally provided with many assisted sucking discs with the rope at rope end sucker rear.The present invention is adsorbed and is wrapped on space junk using the adsorbable rope ejected, so that space junk revolving speed is decreased up to racemization by pullling adsorbable rope repeatedly, is finally arrested with mechanical arm, it is higher to execute reliability.
Description
Technical field
The present invention relates to space technologies, and in particular to a kind of space based on double tethered satellites quickly rotates fragment racemization and grabs
Catch system.
Background technique
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.Since space junk has certain speed/angular speed at the early stage of production, racemization problem is space junk
An important ring in arresting and removing.Currently used racemization method is divided into contact and contactless two major class, commonly
Arresting mode is contact.Contact includes: (1) rigid contact: most typically direct using classical mechanical arm in such
It stops, that is, arrests rear monolithic stability, this mode theory is most mature, but is only applicable to low speed rotation or relative velocity is lower
Target, too fast revolving speed/speed will lead to the damage of mechanical arm；(2) flexible contact: typically restrict in such system and flying mesh,
This kind of mechanism will not be damaged because fragment revolving speed is excessive, and due to the characteristic of compliant mechanism when arresting, to target shape and big
Small inclusiveness is stronger, but due to the complexity of model and the deficiency of executing agency, is not obvious to the racemization effect of target.
Contactless includes: (1) electromagnetic force racemization: generating magnetic field by the coil on ontology, cutting magnetic field produces when target rotation
Raw electromagnetic force, to reduce revolving speed；(2) laser/air-flow racemization: emitting laser/air-flow by ontology, makes to generate and revolve in target
Turn contrary torque, and then reaches racemization purpose.But it is contactless target can not effectively be controlled, and racemization
The required time is longer.
In conclusion contact effect for the racemization of atwirl space junk is not so good, but for disappearing
Effect is fine for the arresting of supination fragment, and theoretical more mature, time-consuming shorter, is easier to realize；It is contactless to be rotated to quick
Space junk racemization for effect it is preferable, but do not arrest ability, and take long time, higher cost is not easy to realize.Cause
This need to propose one can be by atwirl space junk racemization and the method arrested and realized.
Summary of the invention
It is an object of the invention to be directed to above-mentioned the problems of the prior art, a kind of space based on double tethered satellites is provided
Quickly rotation fragment racemization capturing system, racemization effect is obvious, and the influence to satellite main body is smaller.
To achieve the goals above, the technical solution adopted by the present invention are as follows: the satellite master including being equipped with solar energy sailboard
Body, sets in satellite main body there are two rope ejection recovery system and the mechanical arm for capturing space junk after racemization；It is described
Rope ejection recovery system include the rope end sucker for being connected to adsorbable rope front end, the adsorbable rope is wrapped in around reel for rope
On, it is connect by bearing with satellite main body shaft around reel for rope, around the two sides of reel for rope equipped with cooperating with the bottom surface activity of rope end sucker
Scalable piston ejector ram, ejector piston, scalable piston ejector ram, ejector piston top are the elastic force apparatus that can launch rope end sucker.
Described is fixed with the force snesor connecting with adsorbable tail of rope end on reel for rope.
The adsorbable rope is additionally provided with many assisted sucking discs with the rope at rope end sucker rear.
The scalable piston ejector ram, ejector piston includes the telescopic rod that several sections are composed and the elastic force positioned at one section of top
Device.
The elastic force apparatus uses spring.
Two ropes ejection recovery system is respectively arranged in satellite main body surface two sides, and rope ejection recycling
System can rotate adjustment direction, and the groove that can store rope ejection recovery system is offered on satellite main body surface.
The mechanical arm and rope ejection recovery system are mounted on the same surface of satellite main body, and mechanical arm
It is set between two rope ejection recovery systems.
Compared with prior art, the present invention is with following the utility model has the advantages that being launched by two ropes in satellite main body
Recovery system launches the rope end sucker being connected with adsorbable rope to space junk, 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 around reel for rope by the shaft of bearing and satellite main body, then by the way that adsorbable rope is pulled back, is put within load critical value
The adsorbable rope of pine winds it again, reciprocal to execute 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 for linking target by single rope, at the same it is adsorbable rope pull back during according to
Shaft by satellite main body rotates, and can effectively reduce the influence run during target racemization to satellite main body in this way, execute
Reliability is higher.
Further, the present invention is fixed with the force snesor connecting with adsorbable tail of rope end on reel for rope, during pulling back
The pulling force of two rope ejection recovery systems is balanced according to the measurement numerical value of force snesor, while carrying out rope ejection recovery system
The measurement of load situation, and judged whether to start to loosen the adsorbable degree restricted 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 rope end sucker rear, more
A assisted sucking disc can be effectively adsorbed on space junk when adsorbable rope is wrapped on space junk, guarantee to link
Reliability.
Detailed description of the invention
The overall structure diagram of Fig. 1 racemization capturing system of the present invention；
The structural schematic diagram of Fig. 2 rope ejection recovery system of the present invention；
The structural schematic diagram of Fig. 3 present invention adsorbable rope and rope end sucker；
In attached drawing: 1- space junk；2- satellite main body；3- rope launches recovery system；4- mechanical arm；5- solar energy sail
Plate；6- rope end sucker；The adsorbable rope of 7-；The scalable piston ejector ram, ejector piston of 8-；9- bearing；10- is around reel for rope；11- force snesor；12- auxiliary
Sucker.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawing.
Referring to Fig. 1-3, the present invention includes the satellite main body 2 for being equipped with solar energy sailboard 5 in structure, and satellite main body 2 is
Utility Satellite platform, comprising rail control system, power-supply system and payload etc. required in orbit.In satellite main body 2
If the mechanical arm 4 there are two rope ejection recovery system 3 and for capturing space junk 1 after racemization, two ropes launch back
Receipts system 3 is respectively arranged in the two sides on 2 surface of satellite main body, and rope ejection recovery system 3 can rotate adjustment direction, defend
The groove that can store rope ejection recovery system 3 is offered on 2 surface of star main body, mechanical arm 4 and rope launch recovery system 3
It is mounted on the same surface of satellite main body 2, and mechanical arm 4 is set between two rope ejection recovery systems 3.
Rope ejection recovery system 3 includes the rope end sucker 6 for being connected to 7 front ends of adsorbable rope, and adsorbable rope 7 is inhaled in rope end
Many assisted sucking discs 12 are additionally provided with the rope at 6 rear of disk.Adsorbable rope 7 is wrapped on reel for rope 10, solid on reel for rope 10
Surely there is the force snesor 11 connecting with 7 tail ends of adsorbable rope.It is connect by bearing 9 with satellite main body shaft around reel for rope 10, wiring
The two sides of axis 10 are equipped with the scalable piston ejector ram, ejector piston 8 cooperated with the 6 bottom surface activity of rope end sucker, and scalable piston ejector ram, ejector piston 8 includes several sections
The telescopic rod being composed and the elastic force apparatus positioned at one section of top, elastic force apparatus use spring.
Space of the present invention quickly rotates the course of work of fragment racemization capturing system are as follows: first close to atwirl space
Fragment 1；Recovery system 3 is launched from the adsorbable rope 7 of the both sides of space junk 1 ejection, by rope end sucker 6, assisted sucking disc by rope
After 12 are adsorbed on space junk 1, since the rotation of space junk 1 is wrapped in adsorbable rope 7 on space junk 1；Start rope
Bullet, which is penetrated recovery system 3 and is pulled back, pulls adsorbable rope 7, measures numerical value by force snesor 11, closes on set load threshold value
Shi Fangsong is finally caught by the mechanical arm 4 in satellite main body and so on until rotating speed of target drops to tolerable region
It obtains.
The quick rolling target that the present invention can not can directly be arrested for Rigid Robot Manipulator operates.
The above described is only a preferred embodiment of the present invention, limitation in any form not is done to the present invention, though
So the present invention has been disclosed above in the preferred embodiment, and however, it is not intended to limit the invention, any technology for being familiar with this profession
Personnel, without departing from the scope of the present invention, when the method and technique content using the disclosure above make it is a little
The equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content are changed or are modified to, according to the present invention
Technical spirit any simple modification, equivalent change and modification made to the above embodiment, still belong to technical solution of the present invention
In range.
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 equipped with
The satellite main body (2) of solar energy sailboard (5) is set in satellite main body (2) there are two rope ejection recovery system (3) and for disappearing
Supination captures the mechanical arm (4) of space junk (1)；Rope ejection recovery system (3) includes being connected to adsorbable rope (7)
The rope end sucker (6) of front end, the adsorbable rope (7) are wrapped on reel for rope (10), around reel for rope (10) by bearing (9) with
The connection of satellite main body shaft, the scalable piston ejector ram, ejector piston cooperated with rope end sucker (6) bottom surface activity is equipped with around the two sides of reel for rope (10)
(8), scalable piston ejector ram, ejector piston (8) top is the elastic force apparatus that can launch rope end sucker (6).
2. the space according to claim 1 based on double tethered satellites quickly rotates fragment racemization capturing system, feature exists
In: it is described that the force snesor (11) connecting with adsorbable rope (7) tail end is fixed on reel for rope (10).
3. the space according to claim 1 based on double tethered satellites quickly rotates fragment racemization capturing system, feature exists
In: the adsorbable rope (7) is additionally provided with many assisted sucking discs (12) with the rope at rope end sucker (6) rear.
4. the space according to claim 1 based on double tethered satellites quickly rotates fragment racemization capturing system, feature exists
In: the scalable piston ejector ram, ejector piston (8) includes the telescopic rod that several sections are composed and fills positioned at the elastic force of one section of top
It sets.
5. according to claim 1 or 4 spaces based on double tethered satellites quickly rotate fragment racemization capturing system, feature
Be: the elastic force apparatus uses spring.
6. the space according to claim 1 based on double tethered satellites quickly rotates fragment racemization capturing system, feature exists
In: two rope ejections recovery system (3) are respectively arranged in satellite main body (2) surface two sides, and rope launches recovery system
(3) adjustment direction can be rotated, the groove that can store rope ejection recovery system (3) is offered on satellite main body (2) surface.
7. the space according to claim 1 based on double tethered satellites quickly rotates fragment racemization capturing system, feature exists
In: the mechanical arm (4) and rope ejection recovery system (3) are mounted on the same surface of satellite main body (2), and machine
Tool arm (4) is set between two rope ejections recovery system (3).
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| 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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| CN106628275B true CN106628275B (en) | 2019-02-01 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN107176311B (en) * | 2017-07-06 | 2023-05-05 | 中国科学院上海技术物理研究所 | Self-adaptive laser racemization system for space debris |
| CN108248897B (en) * | 2017-12-01 | 2019-09-03 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN108415449B (en) * | 2018-05-21 | 2020-05-08 | 北京航空航天大学 | Device for unfolding, recovering and tension controlling tether of space satellite system |
| 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 |
| CN108820264B (en) * | 2018-08-01 | 2020-07-07 | 北京理工大学 | Rope system dragging method for clearing space debris |
| CN109131954B (en) * | 2018-08-02 | 2020-08-04 | 西北工业大学 | Space debris racemization device and method for changing distribution of rotational inertia by using adsorption 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 |
| 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 |
| CN109726515B (en) * | 2019-01-29 | 2022-06-24 | 西北工业大学 | Cell satellite adsorption type non-cooperative target capturing method |
| CN113044249B (en) * | 2021-04-19 | 2023-03-17 | 北京理工大学 | Space debris capturing and despinning system based on damper |
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