CN109204892B

CN109204892B - Spring energy storage formula flies net binding off device

Info

Publication number: CN109204892B
Application number: CN201811232271.4A
Authority: CN
Inventors: 吴迪平; 华云皓
Original assignee: University of Science and Technology Beijing USTB
Current assignee: University of Science and Technology Beijing USTB
Priority date: 2018-10-22
Filing date: 2018-10-22
Publication date: 2020-04-24
Anticipated expiration: 2038-10-22
Also published as: CN109204892A

Abstract

The invention provides a spring energy storage type fly net closing device, and belongs to the technical field of aerospace. The device comprises a series-connection spring energy storage mechanism, a rope wheel collecting mechanism, a synchronous gear mechanism, a trigger locking mechanism, a shell, a control circuit board and the like, wherein the series-connection spring energy storage mechanism comprises a spring shaft, a spring and a middle wheel, the rope wheel collecting mechanism comprises a rope collecting outlet guide plate, a rope wheel and a core shaft, the synchronous gear mechanism comprises a bevel gear rack, a big bevel gear and a small bevel gear, and the trigger locking mechanism comprises a spring box, a clamping block, a clamping cover, a push-pull electromagnet and a reset spring. When the winding is finished, the electromagnet is not electrified, the clamping block limits the rotation of the rope wheel, the clockwork spring locking screw is loosened, and the manual winding is finished; the control circuit board is electrified to the electromagnet, the clamping block retracts, and the rope wheel rotates to take up the wire under the elastic force of the spring to realize triggering; the two rope wheels are synchronously reversed to realize the wire rewinding; and after the wire winding is finished, locking, resetting the clamping block and locking the rope wheel again.

Description

Spring energy storage formula flies net binding off device

Technical Field

The invention relates to the technical field of aerospace, in particular to a spring energy storage type fly net closing device which is used for fly net closing in a space non-cooperative target fly net capturing process.

Background

The space fly net capturing system is a novel on-orbit operating system for capturing a space non-cooperative target by launching a large-size flexible net, and comprises main functional components such as a fly net parent satellite, a fly net launching system, a closing mechanism and the like. The closing-in mechanism is generally arranged in the flying net emission quality block, and the closing-in mechanism starts to work after the flying net is emitted and forms a specific position relation with the captured target to finish closing in, so that the captured target is prevented from escaping. It can be seen that the closing mechanism is an important guarantee for the successful capture of the space fly net capturing system. The feasibility of the whole space fly net capturing system and the success rate of the capturing task are directly influenced by the quality of the design of the system.

So far, many researches are carried out at home and abroad on the space tether capturing system, and the problems in the aspects of the principle, feasibility, dynamics, control theory and the like are deeply researched. But few research results on the closing mechanism and related technologies are reported. The research on the capture system in China is not few, wherein the research on the closing technology mainly comprises the types of mechanical energy storage type and electromechanical drive type, and the like, and is reported in document 1 (Wangbo, Guojifeng, design of a space flying net self-adaptive closing mechanism adopting an ultrasonic motor [ J ]. aerospace science and newspaper, 2013,34(03):308 and 313). the ultrasonic motor is used as a driving source, and a self-adaptive double-drum mechanism is designed based on a differential gear train, so that the self-adaptive load change can be realized, the completion of a curling task is ensured, and meanwhile, the requirement on the precision of a capture platform is reduced. But in general, the technical maturity is not high.

In conclusion, the method has important practical significance for accelerating the research progress of advancing the closing technology. The invention is an improvement and innovation on the basis of the mechanical energy storage type closing-in technology.

Disclosure of Invention

The invention aims to provide a spring energy storage type flying net closing device, which can improve the success rate of a flying net space capturing task, thereby improving the reliability of a flying net (one of important means hopefully applied to cleaning space garbage such as abandoned satellites).

The device comprises a tandem type spring energy storage mechanism, a rope wheel collecting mechanism, a synchronous gear mechanism, a triggering locking mechanism, an upper end cover, a shell and a control circuit board, wherein the tandem type spring energy storage mechanism comprises a spring shaft, a spring and a middle wheel; two ends of the mandrel are respectively arranged in the corresponding shaft holes of the two spring shafts, and the bevel gear rack is arranged in the center of the device; other parts in the device are symmetrically distributed by taking the middle section of the shell as a reference, and the parts on each side of the left side and the right side comprise four clockwork springs, three middle wheels, a rope wheel and a big bevel gear; the rope pulley is sleeved on the mandrel, and the top surface of the outward extending shaft of the rope pulley is attached to the plane of the bevel gear rack; the three middle wheels on each side are sequentially sleeved on the mandrel, the outer extending shafts of the middle wheels point to the inner side and are sequentially attached to the adjacent rope wheels or the middle wheels from inside to outside; the big bevel gear is sleeved on the outward extending shaft of the rope pulley and is connected with the rope pulley through a screw; the two small bevel gears are arranged on the short arm of the bevel gear rack, are axially positioned with the two locknuts through the miniature thrust ball bearings, and are meshed with the large bevel gears in pairs; a spring box, a reset spring, a clamping block, a push-pull electromagnet and a clamping cover are sequentially arranged on the narrow side surface of the long arm of the bevel gear rack from inside to outside, and a control circuit board is arranged on the side surface opposite to the narrow side surface of the long arm of the bevel gear rack; two receive rope export deflector weld respectively in shell surface correspond pinhole department and receive rope export deflector curved surface rope way and the cooperation of shell surface rope way.

The largest diameter surface of the spring shaft is attached to the inner side planes of the shell and the upper end cover so as to avoid dropping out of the device.

The clockwork spring is respectively arranged in the rope wheel and the middle wheel, the winding direction is the same on the same side, and the left side and the right side are opposite.

The left and right spring springs driven by the rope pulley power source are connected in series to shorten the stroke of each spring and have the function of narrowing the fluctuation range of the spring force.

Two rope sheave axial series connection arrange, realize through synchro gear mechanism strict synchronization in the rotational speed, and the rotation direction is opposite to realize that the rope sheave receives mechanism inertia self-balancing, prevent spin and winding.

The control circuit board controls the action of the push-pull type electromagnet to release and re-limit the action of the rope wheel, so that the delayed starting of the closing device and the reverse rotation prevention after closing are realized.

The technical scheme of the invention has the following beneficial effects:

1. the elastic potential energy stored by the spring is used as a power source, so that the structure of the device is simplified, the weight is favorably reduced, and the cost is reduced;

2. two groups of clockwork springs on two sides of the device both adopt a multi-spring series structure, so that the stroke of each clockwork spring can be shortened, the design difficulty of the clockwork springs can be reduced, and the clockwork springs have the function of narrowing the fluctuation range of the spring force;

3. the two take-up rope wheels are axially arranged in series, so that the diameter of each rope wheel is increased, and the take-up capacity is effectively increased;

4. the two take-up rope wheels and the respective driving spring systems thereof have completely consistent quality characteristics, the strict synchronization on the rotating speed is realized through the synchronous gear mechanism, and the rotating directions are opposite, so that the inertia self-balance of the closing mechanism can be ensured in the take-up process, the self-rotation of the closing mechanism in the take-up process can be effectively prevented, and the winding in the take-up process is effectively avoided;

5. the action of the push-pull type electromagnet is controlled by the control circuit board, so that the action release and re-restriction of the rope wheel can be realized, and the delayed starting of the closing device and the reverse rotation prevention after closing are realized.

Drawings

Fig. 1 is a schematic view of a spring energy storage type fly net closing device of the invention;

FIG. 2 is a cross-sectional view of a spring-loaded fly net closing device of the present invention;

fig. 3 is a schematic structural diagram of a synchronizing gear mechanism in the spring energy storage type fly net closing device of the invention;

fig. 4 is a schematic diagram of a trigger locking mechanism in the spring energy storage type fly net closing device of the invention;

FIG. 5 is an enlarged view of portion A of FIG. 4;

fig. 6 is a schematic diagram of a series connection mode of spring springs in the spring energy storage type fly net closing device.

Wherein: 1-a spring shaft; 2-upper end cover; 3-a housing; 4-a clockwork spring; 5-an intermediate wheel; 6-rope-collecting outlet guide plate; 7-a rope pulley; 8-mandrel; 9-locking screw; 10-bevel gear rack; 11-big bevel gear; 12-a bevel pinion gear; 13-a spring case; 14-a fixture block; 15-clamping cover; 16-a push-pull electromagnet; 17-a return spring.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The invention provides a spring energy storage type fly net closing device.

As shown in fig. 1 and fig. 2, the device comprises a tandem spring energy storage mechanism, a rope wheel collecting mechanism, a synchronous gear mechanism, a trigger locking mechanism, an upper end cover 2, a shell 3 and a control circuit board, wherein the tandem spring energy storage mechanism comprises a spring shaft 1, a spring 4 and a middle wheel 5, the rope wheel collecting mechanism comprises a rope collecting outlet guide plate 6, a rope wheel 7 and a mandrel 8, as shown in fig. 3, the synchronous gear mechanism comprises a bevel gear frame 10, a big bevel gear 11 and a small bevel gear 12, as shown in fig. 4 and fig. 5, the trigger locking mechanism comprises a locking screw 9, a spring box 13, a clamping block 14, a clamping cover 15, a push-pull type electromagnet 16 and a reset spring 17, the shell 3 covers all parts except the rope collecting outlet guide plate 6 inside the device, the upper end cover 2 is installed on the shell 3 to finish sealing, the two spring shafts 1 are respectively installed in shaft holes of the shell 3 corresponding, fixed by a locking screw 9; two ends of the mandrel 8 are respectively arranged in the corresponding shaft holes of the two spring shafts 1, and the bevel gear rack 10 is arranged in the center of the device; other parts in the device are symmetrically distributed by taking the middle section of the shell 3 as a reference, and the parts on each side of the left side and the right side comprise four clockwork springs 4, three middle wheels 5, a rope wheel 7 and a large bevel gear 11; the rope pulley 7 is sleeved on the mandrel 8, and the top surface of an extended shaft of the rope pulley 7 is attached to the plane of the bevel gear frame 10; three middle wheels 5 on each side are sequentially sleeved on the mandrel 8, and the outward extending shafts of the middle wheels 5 point to the inner side and are sequentially attached to the adjacent rope wheels 7 or the middle wheels 5 from inside to outside; the big bevel gear 11 is sleeved on the outward extending shaft of the rope wheel 7 and is connected with the rope wheel 7 through a screw; two small bevel gears 12 are arranged on the short arm of a bevel gear frame 10 and are axially positioned with two locknuts through a miniature thrust ball bearing, and the small bevel gears 12 are meshed with the large bevel gears 11 pairwise; a spring box 13, a return spring 17, a clamping block 14, a push-pull electromagnet 16 and a clamping cover 15 are sequentially arranged on the narrow side surface of the long arm of the bevel gear frame 10 from inside to outside, and a control circuit board is arranged on the opposite side surface of the narrow side surface of the long arm of the bevel gear frame 10; two receive rope export deflector 6 and weld respectively in 3 outer surfaces of shell correspond pinhole department and receive 6 curved surface rope ways of rope export deflector and match with 3 outer surface rope ways of shell.

Wherein, the largest diameter surface of the spring shaft 1 is jointed with the inner side planes of the shell 3 and the upper end cover 2 so as to avoid dropping out the device.

The clockwork spring 4 is respectively arranged in the rope wheel 7 and the middle wheel 5, and the upper chord direction is the same on the same side, and the left side and the right side are opposite.

As shown in fig. 6, the spring springs 4 on the left and right sides are connected in series.

Two sheaves 7 are arranged axially in series.

In the specific design, the upper end cover 2 is arranged at the opening end of the

shell

3, 2 spring shafts 1 are respectively arranged in the shaft holes of the upper end cover 2 and the shell 3, the two ends of a mandrel 8 are arranged in the shaft holes of the two

spring shafts

1, 8 spring springs 4 are arranged in 6

intermediate wheels

5 and 2 rope wheels 7 according to the corresponding winding directions of the two sides, the 6 intermediate wheels 5 are symmetrically distributed along the mandrel 8, the two outermost intermediate wheels 5 are attached to the maximum diameter surface of the spring shafts 1, the 2 rope wheels 7 are positioned in the middle section of the device and are also symmetrically distributed along the mandrel 8, and meanwhile, the back surfaces of the rope wheels 7 are attached to the surfaces of the intermediate wheels 5 to form a series spring energy storage mechanism;

2 rope pulleys 7 are symmetrically distributed about a

mandrel

8, and 2 rope receiving outlet guide plates 6 are matched with the rope channel on the curved surface side of the shell 3 and are welded and connected to form a rope pulley receiving mechanism;

the bevel gear rack 10 is positioned in the center of the device, the surface of the bevel gear rack is attached to the top surface of the rope wheel 7, the large bevel gear 11 is connected with the rope wheel 7 through a countersunk screw, and the small bevel gears 12 are arranged on short rods extending outwards from the bevel gear rack 10 and meshed with the large bevel gears 11 in pairs to form a synchronous gear mechanism;

the clamping cover 15 is embedded into a groove on an extended long rod of the umbrella gear rack 10, the spring box 13 is installed at the tail end of the extended long rod of the umbrella gear rack 10, the large end of the push-pull electromagnet 16 is installed in the clamping cover 15, the small end of the push-pull electromagnet is installed in an inner hole of the clamping block 14, the reset spring 17 is installed at the bottom of the spring box 13 and sleeved on the elongated rod of the push-pull electromagnet 16, and meanwhile, the small end face of the clamping block 14 is contacted with the free end;

the housing 3 encloses all parts except the rope take-up exit guide 6, and the battery case and the control circuit board are mounted on the surface of the outwardly extending long rod of the bevel gear frame 10 opposite to the mounting position of the trigger lock mechanism.

The working principle of the device is as follows:

1. a winding process: the push-pull electromagnet 16 is not electrified, the return spring 17 is compressed, the fixture block 14 is in an extending state, the protrusions on the two sides of the fixture block 14 are in contact with the small protrusions on the surface of the rope wheel 7, the rope wheel is in a non-rotatable state, the clockwork spring locking screw 9 is loosened, the clockwork spring 4 is charged with energy by continuously rotating the clockwork spring shaft 1 through a special spanner, and the clockwork spring locking screw 9 is tightened after the winding is finished, so that the clockwork spring is prevented from being;

2. and (3) triggering: when the control circuit board senses the emission state, the push-pull type electromagnet 16 is electrified after a proper time delay, the push rod of the electromagnet retracts, the reset spring jacks the clamping block 14, the bulges on the two sides of the clamping block 14 are not contacted with the small bulges on the surface of the rope wheel 7 any more, and the rope wheel starts to rotate to take up the wire under the elastic force of the clockwork spring;

3. a wire take-up process: because the two wire take-up rope wheels have the same size parameters and are strictly synchronous in rotating speed through the synchronous gear mechanism, the wire take-up speeds of the two rope wheels are consistent, and because the two rope wheels and respective driving spring systems of the two rope wheels have completely consistent quality characteristics and opposite rotating directions, the inertia self-balance of the closing-up mechanism can be ensured in the wire take-up process, the self-rotation of the closing-up mechanism in the wire take-up process can be effectively prevented, and the winding in the wire take-up process can be effectively avoided;

4. locking after the wire rewinding is completed: after a proper delay time, the wire take-up process is finished, the control circuit board cuts off the power of the electromagnet, and the clamping block 14 returns to lock the rope wheel 7 to prevent the rope wheel from reversing.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a net binding off device is flown to spring energy storage formula which characterized in that: comprises a series-connection spring energy storage mechanism, a rope wheel collecting mechanism, a synchronous gear mechanism, a trigger locking mechanism, an upper end cover (2), a shell (3) and a control circuit board, wherein the series-connection spring energy storage mechanism comprises a spring shaft (1), a spring (4) and a middle wheel (5), the rope wheel collecting mechanism comprises a rope collecting outlet guide plate (6), a rope wheel (7) and a mandrel (8), the synchronous gear mechanism comprises a bevel gear frame (10), a big bevel gear (11) and a small bevel gear (12), the trigger locking mechanism comprises a locking screw (9), a spring box (13), a clamping block (14), a clamping cover (15), a push-pull electromagnet (16) and a reset spring (17), all parts except the rope collecting outlet guide plate (6) are coated inside the device by the shell (3), the upper end cover (2) is arranged at the opening side of the shell (3), the two spring shafts (1) are respectively arranged in shaft holes corresponding to the shell (3) and the upper end cover (2, is fixed by a locking screw (9); two ends of the mandrel (8) are respectively arranged in the corresponding shaft holes of the two spring shafts (1), and the bevel gear rack (10) is arranged in the center of the device; other parts in the device are symmetrically distributed by taking the middle section of the shell (3) as a reference, and the parts on each side of the left side and the right side comprise four clockwork springs (4), three middle wheels (5), a rope wheel (7) and a big bevel gear (11); the rope pulley (7) is sleeved on the mandrel (8), and the top surface of the outward extending shaft of the rope pulley (7) is attached to the plane of the bevel gear carrier (10); three middle wheels (5) on each side are sequentially sleeved on the mandrel (8), the outward extending shaft of each middle wheel (5) points to the inner side and is sequentially attached to the adjacent rope wheel (7) or the middle wheel (5) from inside to outside; the big bevel gear (11) is sleeved on the outward extending shaft of the rope wheel (7) and is connected with the rope wheel (7) through a screw; two small bevel gears (12) are arranged on the short arm of a bevel gear rack (10), and are axially positioned with two locknuts through a miniature thrust ball bearing, and the small bevel gears (12) are meshed with the large bevel gears (11) in pairs; a spring box (13), a reset spring (17), a clamping block (14), a push-pull electromagnet (16) and a clamping cover (15) are sequentially arranged on the narrow side surface of the long arm of the bevel gear frame (10) from inside to outside, and a control circuit board is arranged on the opposite side surface of the narrow side surface of the long arm of the bevel gear frame (10); two rope receiving outlet guide plates (6) are respectively welded at the corresponding pin holes on the outer surface of the shell (3), and the curved surface rope channels of the rope receiving outlet guide plates (6) are matched with the rope channels on the outer surface of the shell (3).

2. The spring-loaded fly net nosing device according to claim 1, wherein: the largest diameter surface of the spring shaft (1) is attached to the inner side planes of the shell (3) and the upper end cover (2) so as to avoid dropping out of the device.

3. The spring-loaded fly net nosing device according to claim 1, wherein: the clockwork spring (4) is respectively arranged in the rope wheel (7) and the middle wheel (5), the winding directions of the clockwork spring and the middle wheel are the same on the same side, and the left side and the right side are opposite.

4. The spring-loaded fly net nosing device according to claim 3, wherein: the left and right side spring (4) are used as the power source of the rope wheel (7) for driving, and the left and right side spring (4) are connected in series.

5. The spring-loaded fly net nosing device according to claim 1, wherein: two rope sheave (7) axial series connection arranges, realizes through synchro gear mechanism strict synchronization in the rotational speed, and rotation direction is opposite to realize that the rope sheave receives mechanism inertia self-balancing, prevent spin and winding.

6. The spring-loaded fly net nosing device according to claim 1, wherein: the control circuit board controls the action of the push-pull type electromagnet (16) to release and re-limit the action of the rope wheel (7), so that the delayed starting of the closing device and the reverse rotation prevention after closing are realized.