CN108382612A - A kind of break catching apparatus for Space Rotating noncooperative target - Google Patents

Abstract

The invention discloses a capture device for spatially rotating non-cooperative targets, which includes a chassis and a capture net claw installed on the chassis; a motor is arranged on the chassis, and the joint between the capture net claw and the driving device is assembled There is a buffer mechanism. The present invention realizes the non-cooperative goal of "bear hug" rotation by designing the opening and closing of the spokes formed by five tooth-claw mechanisms. When the prongs are closed, a fixed outer envelope can be formed that inhibits the range of motion of non-cooperative targets, making escape impossible. In the present invention, when a collision occurs during the capture process, the impact force is prolonged by compressing the spring, thereby reducing the impact force. In addition, the invention also connects the universal joint and the micro switch in series, so that the five tooth-claw mechanisms can be controlled in series, which greatly reduces the complexity of the control and improves the reliability of the control.

Description

A Capture Device for Spatially Rotating Non-cooperative Targets

technical field

The invention belongs to the field of capture and capture of space-rotating non-cooperative targets, and relates to a capture device for space-rotating non-cooperative targets.

Background technique

Due to external disturbances, most non-cooperative targets float and spin in space. Unlike cooperative targets, non-cooperative targets cannot identify capture points and therefore cannot be captured using traditional touchpoint methods. Secondly, there is relative motion between the capture device and the rotating non-cooperative target. The capture device will be subjected to shock and vibration during capture, and this vibration will be directly transmitted to the main spacecraft, which may cause the spacecraft to malfunction.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a capture device for spatially rotating non-cooperative targets, which can adapt to the capture of rotating non-cooperative targets, and can slow down the impact of collisions during the capture process force, thereby reducing the disturbance effect of the impact on the active spacecraft.

In order to achieve the above object, the present invention adopts the following technical solutions to achieve:

A capture device for spatially rotating non-cooperative targets, including a chassis, and a capture net claw installed on the chassis; a motor is arranged on the chassis, and a buffer mechanism is installed at the root connection between the capture net claw and the driving device; The motor drives the catch net claws to rotate through the driving device, and then changes the opening and closing angles of the catch net claws so that the catch net claws form an outer envelope to embrace non-cooperative targets.

The further improvement of the present invention is:

The chassis is a ring structure.

The catching claws include several tooth-claw mechanisms evenly distributed on the chassis, and each tooth-claw mechanism consists of a claw with a knuckle in the middle and two teeth assembled at the root of the claw.

The number of tooth-claw mechanisms is five.

The drive device includes several single drive units arranged on the chassis, which are used to transmit torque to the catching net claws so as to make the catching action of opening or closing.

Each single drive unit includes a micro switch and a universal joint, each tooth-claw mechanism is installed on the chassis through the universal joint, and the end of the universal joint is connected with the micro switch through the limit pin; when the first After the end single drive unit works under the drive of the motor, the first end single drive unit drives the micro switch of the next single drive unit, and then the micro switch drives the universal joint through the positioning pin to transfer the torque of the motor to the next single drive unit The micro switch output, thus driving the next single drive unit.

The buffer mechanism includes a torsion spring and a rotating bracket. The rotating bracket is installed on the universal joint, and the torsion spring is arranged between the rotating bracket and the claw root; When the target collides with the claw, the impact load will drive the torsion spring to twist, thereby playing a buffering effect.

The outer envelope geometry of the tooth-claw mechanism makes it impossible for non-cooperative targets to escape.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention realizes the non-cooperative goal of "bear hug" rotation by designing the opening and closing of the spokes composed of five tooth-claw mechanisms. When the prongs are closed, a fixed outer envelope can be formed that inhibits the range of motion of non-cooperative targets, making escape impossible. In the present invention, when a collision occurs during the capture process, the impact force is prolonged by compressing the spring, thereby reducing the impact force. In addition, the present invention also connects the universal joint and the micro switch in series to realize series control of the five tooth-claw mechanisms, which greatly reduces the complexity of control and improves the reliability of control.

Description of drawings

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

Fig. 2 is a schematic diagram of a component module of the rotary tooth-claw mechanism of the present invention;

Fig. 3 is the schematic diagram of the microswitch of the serial driving device of the present invention;

Fig. 4 is a schematic diagram of the universal joint of the serial driving device of the present invention.

Among them, 1-chassis; 2-tooth-claw mechanism; 3-motor; 4-claw; 5-tooth; 6-micro switch; 7-universal joint; 8-limit pin.

Detailed ways

The present invention is described in further detail below in conjunction with accompanying drawing:

Referring to Figs. 1-4, the present invention, the present invention is aimed at the catching device of spatially rotating non-cooperative targets, includes a chassis 1 of a circular structure, and a catching net claw installed on the chassis 1, and the catching net claw includes several uniformly distributed The tooth-claw mechanism 2 on the chassis 1; a motor 3 is arranged on the chassis 1, and the motor 3 drives the tooth-claw mechanism 2 to rotate through the driving device, and then changes the opening and closing angles of the tooth-claw mechanism 2 so that several tooth-claw mechanisms 2 form a The outer envelope clings to non-cooperative targets. Five tooth-claw mechanisms 2 are evenly arranged on the chassis 1, and each tooth-claw mechanism 2 is composed of a claw 4 with a knuckle in the middle and two teeth 5 assembled at the root of the claw; the driving device is arranged on the chassis 1, it is used to transmit torque to the tooth-claw mechanism 2 so as to make an open or closed grasping action; each single drive unit includes a micro switch 6 and a universal joint 7, when assembled on After the single drive unit at the head end of the capture device chassis works, it will drive the micro switch, and then the micro switch will drive the universal joint, and output the torque of the motor to the micro switch of the next single drive unit, thereby driving the next single drive unit. unit. The buffer mechanism assembled at the root connection between the tooth-claw mechanism 2 and the driving device, the buffer mechanism is composed of a torsion spring and a rotating bracket; each tooth-claw mechanism 2 is connected with the micro switch 6 through a limit pin 8 . The outer envelope geometry of the tooth-claw mechanism makes it impossible for non-cooperative targets to escape.

Principle of the present invention:

Due to the uncertainty of the motion state of the rotating non-cooperative target, it is difficult to determine the capture point during the capture process. As shown in Figure 1, the present invention is aimed at the rotating non-cooperative target. In the process of approaching the non-cooperative target, it does not use point contact to capture, but forms a capture by closing multiple tooth-claw mechanisms of the capture device. Outer envelopes, constraints restrict the motion of non-cooperative targets. In order to realize the "bear hug" capture, five sets of tooth-claw mechanisms are designed; a single tooth-claw mechanism is composed of a claw with a folded angle in the middle and two teeth assembled at the root of the claw, while the "bear hug" grasp The netting claws consist of five sets of tooth-claw mechanisms, which are evenly distributed on the chassis of the catching device. The tooth-claw mechanism can be rotated through the output torque of the motor, thereby changing the opening and closing angle of the tooth-claw mechanism, forming a capture envelope for non-cooperative targets, and finally realizing the "bear hug" capture. When designing the outer envelope geometry of the tooth-claw mechanism, it is necessary to ensure that the finger gap between the two fingers cannot allow non-cooperative targets to escape.

As shown in Figure 2, when capturing a rotating non-cooperative target, there is a collision due to the relative motion between the non-cooperative target and the capturing device. Therefore the present invention assembles the buffer mechanism at the root connection of tooth-claw mechanism and driving device, and buffer mechanism is made up of torsion spring, rotating bracket. During the capture of non-cooperative targets, when the tooth-claw mechanism is folded and closed, if the non-cooperative target collides with the capture claws, the impact load will drive the torsion spring to twist, thereby playing a buffering effect. When unfolding, the direct drive shaft drives the movement of the tooth-claw mechanism through the limit pin.

As shown in Figure 3, in order to simplify the design, the five tooth-claw mechanisms are controlled by serial drive. Under the condition of a single motor drive, the torque is transmitted to each tooth-claw mechanism unit through the micro switch and the universal joint, so that A "bear hug" capture for non-cooperative goals. The drive device is arranged on the chassis of the capture device, and is used to transmit torque to the tooth-claw mechanism to make an open or close capture action. The five tooth-claw mechanisms adopt a serial drive method, and the drive module is driven by five The tooth-claw mechanism is composed of a single drive unit, and each single drive unit is composed of a micro switch and a universal joint. When the first-end single drive unit assembled on the chassis of the arresting device works, it will drive the micro switch, and then the micro switch will drive the universal joint, and output the torque of the motor to the micro switch of the next single drive unit, thereby driving the next A single drive unit. Each tooth-claw mechanism is connected with a micro switch through a limit pin, and only a single motor is used in the capture process, which can simplify the drive module, thereby improving the reliability and safety of the capture task.

Working process of the present invention:

The whole capture process is as follows: the capture execution is given, the motor moves in the retracting direction, drives the universal joint, and drives the tooth-claw mechanism to close. When a collision occurs during capture, if the impact force is greater than the predetermined threshold, it will drive the tooth-claw mechanism to move in the direction of deployment, and then compress the torsion spring to reduce the impact and protect the tooth-claw mechanism. During this process, the motor maintains torque until the non-cooperative target "bear hug" is captured.

The "bear hug" capture of the present invention captures rotating non-cooperative targets by controlling the opening and closing angles of the teeth and claws, and captures can also be realized when the capture point cannot be determined. The opening and closing of the five tooth-claw mechanism can form a closed or semi-closed envelope space, which can prevent the rotating non-cooperative target from escaping; at the same time, by controlling the motor speed, the opening and closing angle of the tooth-claw mechanism can be controlled to achieve "bear hug" arrest. Shock vibration mitigation device, so that it can slow down the impact caused by the collision between non-cooperative targets and the capture device during the capture process. The serial driving device can effectively control the capture opening and closing angle, simplify the control method, and improve the reliability and safety of the task.

The above content is only to illustrate the technical ideas of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solutions according to the technical ideas proposed in the present invention shall fall within the scope of the claims of the present invention. within the scope of protection.

Claims (8)

1. A catching device for non-cooperative targets rotating in space is characterized in that it comprises a chassis (1), and a catch net claw installed on the chassis (1); a motor (3) is provided on the chassis (1) ), the connection between the catch net claw and the drive device is equipped with a buffer mechanism; the motor (3) drives the catch net claw to rotate through the drive device, and then changes the opening and closing angle of the catch net claw so that the catch net claw forms an external envelope Cling to non-cooperative targets. 2. The capture device for spatially rotating non-cooperative targets according to claim 1, characterized in that the chassis (1) is a ring structure. 3. According to claim 1 or 2, the capture device for spatially rotating non-cooperative targets is characterized in that the capture net claws include several tooth-claw mechanisms (2) evenly distributed on the chassis (1), each Each tooth-claw mechanism (2) is composed of a claw (4) with a knuckle in the middle and two teeth (5) assembled at the root of the claw. 4. The capture device for spatially rotating non-cooperative targets according to claim 3, characterized in that the number of tooth-claw mechanisms (2) is five. 5. The catching device for spatially rotating non-cooperative targets according to claim 3, wherein the driving device includes several single drive units arranged on the chassis (1), used to transmit torque to the catching net claws so that Make an open or closed catch action. 6. The arresting device for space-rotating non-cooperative targets according to claim 5, wherein each single drive unit includes a microswitch (6) and a universal joint (7), and each tooth- The claw mechanism (2) is installed on the chassis (1) through the universal joint (7), and the end of the universal joint (7) is connected with the micro switch (6) through the limit pin (8); After the drive unit works under the drive of the motor (3), the single drive unit at the head end drives the micro switch of the next single drive unit, and then the micro switch drives the universal joint through the positioning pin to drive the torque of the motor to the next single drive unit. The micro switch output of the unit drives the next single drive unit. 7. The arresting device for spatially rotating non-cooperative targets according to claim 6, wherein the buffer mechanism includes a torsion spring and a rotating bracket, the rotating bracket is installed on the universal joint (7), and the torsion spring is arranged on the rotating Between the bracket and the root of the claw (4); in the process of capturing non-cooperative targets, when the tooth-claw mechanism is folded and closed, the non-cooperative target collides with the claw, and the impact load will drive the torsion spring to twist, thereby playing a buffering effect . 8. The arresting device for spatially rotating non-cooperative targets according to claim 3, characterized in that the outer envelope geometry of the tooth-claw mechanism (3) can make it impossible for non-cooperative targets to escape.