CN108382612A - A kind of break catching apparatus for Space Rotating noncooperative target - Google Patents
A kind of break catching apparatus for Space Rotating noncooperative target Download PDFInfo
- Publication number
- CN108382612A CN108382612A CN201810114218.8A CN201810114218A CN108382612A CN 108382612 A CN108382612 A CN 108382612A CN 201810114218 A CN201810114218 A CN 201810114218A CN 108382612 A CN108382612 A CN 108382612A
- Authority
- CN
- China
- Prior art keywords
- pawl
- noncooperative target
- chassis
- catching apparatus
- tooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Superstructure Of Vehicle (AREA)
- Toys (AREA)
- One-Way And Automatic Clutches, And Combinations Of Different Clutches (AREA)
Abstract
The invention discloses a kind of break catching apparatus for Space Rotating noncooperative target, including chassis, and the arrest net pawl being installed on chassis；The root junction of motor there are one settings on chassis, arrest net pawl and driving device is equipped with buffer gear.The opening and closing for the spoke that the present invention is made of design five hock mechanisms are realized and rotate noncooperative target to " bearhug ".After hock is closed, a fixed external envelope can be formed, which can inhibit the motion range of noncooperative target, make it that can not escape.When the present invention collides in capture process, the impact force action time is extended by compressed spring, and then reduce impact force.In addition, the present invention is also connected by universal joint and microswitch, so that five hock mechanisms is realized series control, substantially reduce the complexity of control, improve the reliability of control.
Description
Technical field
The invention belongs to Space Rotating noncooperative targets to arrest field, be related to a kind of for the non-cooperative target of Space Rotating
Target break catching apparatus.
Background technology
Due to external disturbance, most of noncooperative targets float spin in space.It is different from cooperative target, non-cooperative target
Mark, which can not determine, arrests a little, therefore can not be arrested using conventional contacts point mode.Secondly, break catching apparatus and rotation noncooperative target
Between there are relative motion, when arresting, break catching apparatus can be by impact vibration, and this vibration can be directly delivered to ontology boat
Its device may result in spacecraft failure.
Invention content
It is an object of the invention to overcome the above-mentioned prior art, provide a kind of for Space Rotating noncooperative target
Break catching apparatus, which is adapted to and rotates noncooperative target and arrest, and can slow down the collision being subject in capture process
Impact force, to reduce disturbing influence of the impact to active spacecraft.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of break catching apparatus for Space Rotating noncooperative target, including chassis, and it is installed on arresting on chassis
Net pawl；The root junction of motor there are one settings on chassis, arrest net pawl and driving device is equipped with buffer gear；Motor is logical
Over-driving device drives the rotation of arrest net pawl, and then the opening and closing angle for changing arrest net pawl makes arrest net claw type at an outer envelope
Embrace noncooperative target.
The present invention, which further improves, to be：
Chassis is circular ring structure.
Arrest net pawl includes several teeth-pawl mechanism being evenly distributed on chassis, and each tooth-pawl mechanism is by a middle part
Pawl with dog-ear and two tooth compositions for being assemblied in radix unguis portion.
The quantity of tooth-pawl mechanism is five.
Driving device includes several single driving units being arranged on chassis, for being done to arrest net pawl transmission torque
Go out the cAN _ SNture of opening or closure.
Each list driving unit includes a microswitch and a universal joint, is pacified by universal joint per rooted tooth-pawl mechanism
On chassis, and the end of universal joint is connected by spacer pin with microswitch；When head end list driving unit is in the drive of motor
After dynamic lower work, head end list driving unit drives the microswitch of next single driving unit, and then microswitch passes through positioning
Pin drives universal joint, and the microswitch of the torque of motor toward next single driving unit is exported, to drive next list to drive
Moving cell.
Buffer gear includes torsional spring and rotating bracket, and rotating bracket is installed on universal joint, and torsional spring is set to rotating bracket
Between radix unguis portion；In noncooperative target capture process, when tooth-pawl mechanism, which collapses, to be closed, noncooperative target and pawl is arrested
Collision, shock loading can drive torsional spring to reverse, and then play buffering effect.
The external envelope geometric dimension of tooth-pawl mechanism can make noncooperative target that can not escape.
Compared with prior art, the invention has the advantages that：
The opening and closing for the spoke that the present invention is made of design five teeth-pawl mechanism are realized and are rotated to " bearhug "
Noncooperative target.After hock is closed, a fixed external envelope can be formed, which can inhibit noncooperative target
Motion range makes it that can not escape.When the present invention collides in capture process, impact force action is extended by compressed spring
Time, and then reduce impact force.In addition, the present invention is also connected by universal joint and microswitch, five teeth-pawl mechanism is made to realize
Series control substantially reduces the complexity of control, improves the reliability of control.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is turning gear of the present invention-pawl mechanism part module diagram；
Fig. 3 is the schematic diagram of tandem drive microswitch of the present invention；
Fig. 4 is the schematic diagram of the tandem drive universal joint of the present invention.
Wherein, the chassis 1-；2- teeth-pawl mechanism；3- motors；4- pawls；5- teeth；6- microswitches；7- universal joints；8- is limited
Pin.
Specific implementation mode
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-4 present invention, the present invention is directed to the break catching apparatus of Space Rotating noncooperative target, including circular ring structure
Chassis 1, and be installed on the One On The Chassis arrest net pawl, arrest net pawl include several being evenly distributed on the One On The Chassis tooth-pawl machine
Structure 2；There are one motors 3, motor 3 to rotate by driving device band moving teeth-pawl mechanism 2, and then change tooth-pawl for setting on chassis 1
The opening and closing angle of mechanism 2 makes several teeth-one outer envelope of the formation of pawl mechanism 2 embrace noncooperative target.It has been evenly arranged on chassis 1
Five teeth-pawl mechanism 2, each tooth-pawl mechanism 2 are carried the pawl 4 and two teeth 5 for being assemblied in radix unguis portion of dog-ear by a middle part
Composition；Driving device is to be arranged in the One On The Chassis several single driving unit compositions, for tooth -2 transmission torque of pawl mechanism so as to
Make the cAN _ SNture of opening or closure；Each list driving unit includes microswitch 6 and universal joint 7, is arrested when being assemblied in
After the head end list driving unit work on device chassis, microswitch can be driven, then microswitch drives universal joint, by motor
The microswitch of torque toward next single driving unit exports, to drive next single driving unit.Tooth-pawl mechanism 2 and drive
The buffer gear of the root junction assembly of dynamic device, buffer gear are made of torsional spring, rotating bracket；It is logical per rooted tooth-pawl mechanism 2
Spacer pin 8 is crossed to connect with microswitch 6.The external envelope geometric dimension of tooth-pawl mechanism can make noncooperative target that can not escape.
The principle of the present invention：
It is difficult that determination is arrested in capture process since rotation noncooperative target movement has motion state uncertain
Point.During close to noncooperative target, connect using point as shown in Figure 1, the present invention be directed to rotate noncooperative target
It touches and arrests, but by being closed multiple teeth-pawl mechanism of break catching apparatus, it forms one and arrests external envelope, the non-cooperation of restrict
The movement of target.In order to realize that " bearhug formula " is arrested, five sets of teeth-pawl mechanism is designed；Single tooth-pawl mechanism is that had by a middle part
The pawl of dog-ear and two tooth compositions for being assemblied in radix unguis portion, and " bearhug formula " arrest net pawl is made of five sets of teeth-pawl mechanism, and
The even chassis for being distributed in break catching apparatus.Can be with turning gear-pawl mechanism by motor output torque, and then change tooth-pawl mechanism
Envelope is arrested in opening and closing angle for noncooperative target formation, final to realize that " bearhug formula " is arrested.In the outsourcing of design tooth-pawl mechanism
When network geometric dimension, therefore, to assure that the webs between two fingers cannot be such that noncooperative target escapes.
As shown in Fig. 2, when arresting rotation noncooperative target, it is opposite due to existing between noncooperative target and break catching apparatus
Movement, therefore there is collision.Therefore the present invention delays in the buffer gear of the root junction of tooth-pawl mechanism and driving device assembly
Punch mechanism is made of torsional spring, rotating bracket.In noncooperative target capture process, when tooth-pawl mechanism, which collapses, to be closed, if non-
Cooperative target is collided with pawl is arrested, and shock loading can drive torsional spring to reverse, and then play buffering effect.When being unfolded to move,
It directly drives axis and passes through movement of the spacer pin with moving teeth-pawl mechanism.
As shown in figure 3, in order to simplify design, five teeth-pawl mechanism realizes control using tandem drive, is driven in single motor
Under the conditions of dynamic, torque is transmitted to by each tooth-pawl mechanism unit by microswitch and universal joint, to realize non-cooperative target
Target " bearhug " is arrested.Drive arrangement is on the chassis of break catching apparatus, for being made to tooth-pawl mechanism transmission torque
The cAN _ SNture opened or be closed, five rooted teeth-pawl mechanism use tandem drive method, and drive module is by respectively driving five
Single driving unit of tooth-pawl mechanism forms, and each list driving unit is made of microswitch and universal joint.Dress is arrested when being assemblied in
After the head end list driving unit work of bottom set disk, microswitch can be driven, then microswitch drives universal joint, by the power of motor
The microswitch of square toward next single driving unit exports, to drive next single driving unit.Pass through per rooted tooth-pawl mechanism
Spacer pin is connect with microswitch, only with single motor in capture process, can simplify drive module, is arrested to improve
The reliability of task and safety.
The course of work of the present invention：
Entirely capture process is：It provides and arrests execution, motor is moved to direction is collapsed, and drives universal joint, band moving teeth-pawl machine
Structure is closed.It collides in arresting, it, can be with band moving teeth-pawl mechanism to expansion side if impact force is more than scheduled threshold value
To movement, and then torsional spring is compressed, slow down impact, tooth-pawl mechanism for implementing is protected.Motor holding torque in this process, directly
It is arrested to noncooperative target " bearhug " is completed.
It is to catch rotation noncooperative target by controlling hock opening and closing corner grasper that " the bearhug formula " of the present invention, which is arrested, can not determined
It can also realize and arrest in the case of arresting a little.The opening and closing of five rooted teeth-pawl mechanism can form closing or semi-enclosed
The enveloping space can prevent rotation noncooperative target escape；Simultaneously by controlling motor speed, the opening and closing of tooth-pawl mechanism are controlled
Angle is to realize that " bearhug " formula is arrested.Impact vibration slowing device, makes it in capture process, slow down because noncooperative target and
Break catching apparatus collides and the impact of generation.Tandem drive, can be while opening and closing angle be arrested in effective control, simplify control side
Method improves reliability and the safety of task.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (8)
1. a kind of break catching apparatus for Space Rotating noncooperative target, which is characterized in that including chassis (1), and be installed on
Arrest net pawl on chassis (1)；There are one motor (3), the root junctions of arrest net pawl and driving device for setting on chassis (1)
It is equipped with buffer gear；Motor (3) drives the rotation of arrest net pawl by driving device, and then the opening and closing angle for changing arrest net pawl makes
Arrest net claw type embraces noncooperative target at an outer envelope.
2. the break catching apparatus according to claim 1 for Space Rotating noncooperative target, which is characterized in that chassis (1)
For circular ring structure.
3. the break catching apparatus according to claim 1 or 2 for Space Rotating noncooperative target, which is characterized in that arrest
Net pawl includes several teeth-pawl mechanism (2) being evenly distributed on chassis (1), and each tooth-pawl mechanism (2) is by a middle part band
The tooth (5) for being assemblied in radix unguis portion by the pawl (4) of dog-ear and two forms.
4. the break catching apparatus according to claim 3 for Space Rotating noncooperative target, which is characterized in that tooth-pawl machine
The quantity of structure (2) is five.
5. the break catching apparatus according to claim 3 for Space Rotating noncooperative target, which is characterized in that driving device
Including several single driving units being arranged on chassis (1), for opening or closing to make to arrest net pawl transmission torque
The cAN _ SNture of conjunction.
6. the break catching apparatus according to claim 5 for Space Rotating noncooperative target, which is characterized in that each single drive
Moving cell includes a microswitch (6) and a universal joint (7), is mounted on by universal joint (7) per rooted tooth-pawl mechanism (2)
On chassis (1), and the end of universal joint (7) is connected by spacer pin (8) with microswitch (6)；When head end list driving unit exists
After working under the driving of motor (3), head end list driving unit drives the microswitch of next single driving unit, then fine motion to open
It closes and universal joint is driven by positioning pin, the microswitch of the torque of motor toward next single driving unit is exported, to drive
Next list driving unit.
7. the break catching apparatus according to claim 6 for Space Rotating noncooperative target, which is characterized in that buffer gear
Including torsional spring and rotating bracket, rotating bracket is installed on universal joint (7), torsional spring be set to rotating bracket and pawl (4) root it
Between；In noncooperative target capture process, when tooth-pawl mechanism, which collapses, to be closed, noncooperative target is carried with pawl collision, impact is arrested
Lotus can drive torsional spring to reverse, and then play buffering effect.
8. the break catching apparatus according to claim 3 for Space Rotating noncooperative target, which is characterized in that tooth-pawl machine
The external envelope geometric dimension of structure (3) can make noncooperative target that can not escape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810114218.8A CN108382612B (en) | 2018-02-05 | 2018-02-05 | Catching device for space rotation non-cooperative target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810114218.8A CN108382612B (en) | 2018-02-05 | 2018-02-05 | Catching device for space rotation non-cooperative target |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108382612A true CN108382612A (en) | 2018-08-10 |
| CN108382612B CN108382612B (en) | 2021-02-02 |
Family
ID=63075093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114218.8A Active CN108382612B (en) | 2018-02-05 | 2018-02-05 | Catching device for space rotation non-cooperative target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108382612B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552673A (en) * | 2018-11-29 | 2019-04-02 | 西北工业大学 | A kind of the space end break catching apparatus that can be reused and control method of active |
| CN112009729A (en) * | 2020-08-04 | 2020-12-01 | 北京航空航天大学 | Spherical outer envelope capturing method for space robot |
| CN113955160A (en) * | 2021-12-10 | 2022-01-21 | 北京科技大学 | Foldable capture device for deep space exploration and control method thereof |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
| CN103770955A (en) * | 2014-02-21 | 2014-05-07 | 上海交通大学 | Space floating object capturing device |
| CN203593177U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Petal type capturing mechanism |
| CN203593178U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Crimping semi-rigid net claw capturing mechanism |
| CA2867476C (en) * | 2012-03-19 | 2016-01-26 | Macdonald, Dettwiler And Associates Inc. | Spacecraft capture mechanism |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| WO2017031482A1 (en) * | 2015-08-20 | 2017-02-23 | Michael Fitzgerald | Modular space tether |
-
2018
- 2018-02-05 CN CN201810114218.8A patent/CN108382612B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2867476C (en) * | 2012-03-19 | 2016-01-26 | Macdonald, Dettwiler And Associates Inc. | Spacecraft capture mechanism |
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
| CN203593177U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Petal type capturing mechanism |
| CN203593178U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Crimping semi-rigid net claw capturing mechanism |
| CN103770955A (en) * | 2014-02-21 | 2014-05-07 | 上海交通大学 | Space floating object capturing device |
| WO2017031482A1 (en) * | 2015-08-20 | 2017-02-23 | Michael Fitzgerald | Modular space tether |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552673A (en) * | 2018-11-29 | 2019-04-02 | 西北工业大学 | A kind of the space end break catching apparatus that can be reused and control method of active |
| CN109552673B (en) * | 2018-11-29 | 2022-03-11 | 西北工业大学 | Active reusable space tail end capturing device and control method |
| CN112009729A (en) * | 2020-08-04 | 2020-12-01 | 北京航空航天大学 | Spherical outer envelope capturing method for space robot |
| CN112009729B (en) * | 2020-08-04 | 2021-09-21 | 北京航空航天大学 | Spherical outer envelope capturing method for space robot |
| CN113955160A (en) * | 2021-12-10 | 2022-01-21 | 北京科技大学 | Foldable capture device for deep space exploration and control method thereof |
| CN113955160B (en) * | 2021-12-10 | 2023-06-16 | 北京科技大学 | Foldable capturing device for deep space exploration and control method thereof |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
| CN117002755B (en) * | 2023-08-03 | 2024-05-03 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108382612B (en) | 2021-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108382612A (en) | A kind of break catching apparatus for Space Rotating noncooperative target | |
| CN108382614A (en) | One kind being directed to the uncertain space junk external envelope break catching apparatus of shape | |
| CN103573027B (en) | Prevent door handle device for vehicle and the vehicle of opening car door lock when side impact | |
| CN108382613B (en) | Light mechanical collision type space debris catching net claw | |
| CN108974289A (en) | A kind of underwater robot combined type Anti-collision mechanism | |
| CN207394285U (en) | A kind of cloud platform rotation position limiting structure and holder | |
| CN111322498A (en) | Screen turnover mechanism | |
| CN206553986U (en) | A kind of anti-collision stop rod | |
| CN203513019U (en) | Rotating stall protecting device | |
| JPH11173166A (en) | Gear transmission mechanism for vehicle and suction amount control device | |
| CN106352140A (en) | Executor of full-automatic fireproof smoke exhaust valve | |
| CN104669289A (en) | Space manipulator end executor with visual sensor | |
| CN106609500A (en) | Automatic anti-collision passage gate machine and control method thereof | |
| CN109435544A (en) | A kind of mechanical arm plotting unit | |
| CN213925971U (en) | Anti-collision quick door opening device | |
| CN210608813U (en) | Take damped upset motor assembly | |
| CN108098828A (en) | A kind of double freedom neck joint device with damping effect available for industrial robot | |
| CN207660868U (en) | Industrial big fan with power-off protection mechanism | |
| CN105235653B (en) | A kind of automatic car washing machine brush Anti-bumping protection mechanism | |
| CN205387678U (en) | Let bit -type anticollision banister | |
| CN209457659U (en) | A kind of opening and closing is gentle to brake accurately fast open gate machine core | |
| CN209409671U (en) | A kind of mechanical arm plotting unit | |
| CN207878334U (en) | A kind of novel pendulum-type gate mechanism | |
| CN206915589U (en) | A kind of electric guide plate mechanism | |
| CN203307749U (en) | Efficient, safe and low-noise wing gate device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230109 Address after: 310018 Room 1414, Floor 14, Building 1, No. 795, No. 18 Avenue, Baiyang Street, Qiantang New District, Hangzhou, Zhejiang Patentee after: Xinxin (Hangzhou) Technology Co.,Ltd. Address before: 518057 Room 401, 4th floor, block B, South District, Shenzhen hi tech Industrial Park, Guangdong Province Patentee before: RESEARCH & DEVELOPMENT INSTITUTE OF NORTHWESTERN POLYTECHNICAL University IN SHENZHEN Patentee before: Northwestern Polytechnical University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230519 Address after: Room 203-13, Building 4, Gangcheng Square, No. 20 North Ring Road, Taicang Port Economic and Technological Development Zone, Suzhou City, Jiangsu Province, 215434 Patentee after: Suzhou Sanyuan Aerospace Technology Co.,Ltd. Address before: 310018 Room 1414, Floor 14, Building 1, No. 795, No. 18 Avenue, Baiyang Street, Qiantang New District, Hangzhou, Zhejiang Patentee before: Xinxin (Hangzhou) Technology Co.,Ltd. |