CN109606751A - A kind of high rail Satellite General cone bar capture mechanism - Google Patents
A kind of high rail Satellite General cone bar capture mechanism Download PDFInfo
- Publication number
- CN109606751A CN109606751A CN201811527056.7A CN201811527056A CN109606751A CN 109606751 A CN109606751 A CN 109606751A CN 201811527056 A CN201811527056 A CN 201811527056A CN 109606751 A CN109606751 A CN 109606751A
- Authority
- CN
- China
- Prior art keywords
- level
- sleeve
- swelling
- wall
- idler wheel
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 113
- 230000008961 swelling Effects 0.000 claims abstract description 67
- 238000013016 damping Methods 0.000 claims abstract description 14
- 206010042674 Swelling Diseases 0.000 claims description 66
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000000034 method Methods 0.000 claims description 11
- 241000270728 Alligator Species 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 229910001369 Brass Inorganic materials 0.000 claims description 2
- 229910000963 austenitic stainless steel Inorganic materials 0.000 claims description 2
- 239000010951 brass Substances 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000013461 design Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 238000003032 molecular docking Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003578 releasing effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000234643 Festuca arundinacea Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
Abstract
A kind of high rail Satellite General cone bar capture mechanism, including damping mechanism (001), shell guiding mechanism (002), flexible expansion mechanism (003), deceleration mechanism (004), support base (51)；Damping mechanism (001) is mounted on flexible expansion mechanism (003) front end；Flexible expansion mechanism (003), support base (51), deceleration mechanism (004) are mounted in shell guiding mechanism (002), flexible expansion mechanism (003) rear end is supported by support base (51), deceleration mechanism (004) is mounted on flexible expansion mechanism (003), provides the power along shell guiding mechanism (002) axial stretching for flexible expansion mechanism (003).The present invention is using two-way spiral groove driving design, and driving is simple, and movement is accurate and reliable；Bore that bar is flexible and swelling movement is reversed without motor, can high-speed cruising, to target fast Acquisition.
Description
Technical field
The invention belongs to spacecraft in-orbit services and maintenance technology field, are related to a kind of capture mechanism.
Background technique
Geostationary orbit (GEO) is the important Earth's orbit resource of the mankind, and in-orbit resource is limited by rail position, extremely tightly
It lacks.It is uncontrollable comprising 40% or more in the population of satellite of GEO band (GEO ± 200km) however as the rapid development of space mission
Or discarded satellite and its remains, these space objects period of passing away naturally is long, to the safe structure of the GEO satellite of normal operation
At threatening, also lead to GEO rail position resource serious waste.Another statistics shows in the in-orbit GEO satellite to break down, 50% with
On the source of failure lost in a certain function of service system, and occupy the payload and main platform body of 70% or more satellite cost
Function is intact.Therefore, it needs to develop a kind of servicing aircraft for carrying general capture mechanism, auxiliary is still trapped in GEO band
The completion of discarded satellite leave the right or normal track operation, be pushed into GEO rubbish track；Or fault satellites are implemented to rescue, quickly defend failure
Spaceborne lotus task ability is continued.
For in-orbit inert satellite, in terms of attitude characteristic, due to energy dissipations such as celestial body solar wing and propellant sloshings
Effect, in the case where angular momentum is certain, according to that can converge concept, satellite will finally rotate (usually east around the maximum principal axis of inertia
West to over the ground to), and the moment of face such as solar light pressure effect under, there is more small size nutating；In terms of interface features, at present
It is in-orbit and be not directed in the GEO satellite ground and receive in-orbit service and Maintenance Design, do not have the mating interface of cooperation.Therefore,
In conjunction with the rescue service to such satellite and the operational requirements that leave the right or normal track, need to design small-sized just suitable for the big tolerance of high rail satellite
Property arresting agency, increase the versatility arrested, reliability and safety to satellite in orbit.By being set to high the general of rail satellite
Back-up analysis, satellite north north direction install the solar battery array of expansion, are equipped with star interface butt joint ring in satellite-rocket docking face
With apogee engine, antenna is installed to ground in satellite.Wherein, apogee engine no longer makes after satellier injection work
With, be suitable for be selected as satellite arrest docking object.
Apogee engine is arrested based on cone lever type mechanisms, is particularly suitable for discarding around the high rail rotated to axis over the ground and defend
Star can make full use of the weak stroke speed between two aircraft, carry out isotropic guiding by engine inner conical surface and arrest,
Reduce the relative pose control precision of two aircraft.
Currently, external typical research approach include U.S. phoenix in the works mechanical arm+replaceable end effector scheme,
German DEOS and Europe SMART-OLEV bores rod-type arresting agency scheme.Cone rod-type arresting agency therein is defended mainly for GEO
The general apogee engine of star is arrested, which is composed in series by telescoping mechanism and cone linkage, and telescoping mechanism is realized
The axial stretching movement for boring linkage, bores linkage by coronal extension retaining mechanism, tip sensors in place and combined laser
Sensor composition, coronal extension retaining mechanism therein are also to be captured for engine trunnion.Regrettably, at the mechanism
In the outside of arresting agency, do not have Telescopic, during to satellite capture, it is possible to first hit the part body without
It is the external orientation structure for boring linkage, be easy to cause the damage arrested failure or even cause coronal extension retaining mechanism.
For the docking of arresting of satellite, the domestic Chinese Academy of Space Technology and Shanghai Academy of Aerospace Industry etc. focus mostly on for closing
Make the Space Docking Mechanism research of satellite or manned space flight.It is designed in docking mechanism seminar's early period that arrests for grinding satellite in-orbit
A kind of general arresting agency of weak shock and its pawl swelling device (201410783968.6 He of ZL suitable for high rail satellite
ZL201410785009.8), which is driven using linear motor, is based on pawl swelling device, and essential core drives parts
Axial arrangement, overall structure is oversized, and flexible and swelling process motor needs positive and negative rotation campaign, defines and arrests speed.
Summary of the invention
The object of the present invention is to provide a kind of high rail Satellite Generals to bore bar capture mechanism, is suitable for remote to general high rail satellite
The throat section of place engine stretch and arrests, and the device is using two-way spiral groove driving design, and simply, movement is quasi- for driving
It is really reliable；Bore that bar is flexible and swelling movement is reversed without motor, can high-speed cruising, to target fast Acquisition；Compact overall structure,
Positioning accuracy is high, is suitable as end executive device, this device is applied in high rail Satellite General arresting agency, it can be achieved that
The multiple of target satellite engine trunnion is reliably arrested.
Technical solution of the invention are as follows: a kind of high rail Satellite General cone bar capture mechanism includes damping mechanism, shell
Guiding mechanism, flexible expansion mechanism, deceleration mechanism, support base.
Being oriented to damping mechanism includes rocker arm, rocker arm mounting base, roller, sliding seat, linking arm, damper rod, backing plate, damper rod
Support base, guide cylinder.Wherein, rocker arm mounting base is installed in guide cylinder one end, and sliding seat is mounted on guide cylinder, along guiding drum outer wall
Sliding；The damper rod support base of annular is mounted on the ring flange of the guide cylinder other end by fastening screw；
Rocker arm is uniformly distributed around the central axis of guide cylinder, and one end and rocker arm mounting base are rotatablely connected, the other end and linking arm
One end is rotatablely connected, and the installation ball-and-socket of roller is provided on rocker arm, and roller is embedded in rocker arm installation ball-and-socket, forms roller rocker arms
The outer profile of structure, multiple roller rocker arms structures is tapered；The other end of linking arm and damping boom end rotation connection；Damper rod
The one end connecting with linking arm is fixed on the ring flange of sliding seat end, and the damper rod other end protrudes into damper rod mounting base,
It is slided along damper rod mounting base inner wall；Backing plate is mounted between damper rod support base, guide cylinder, for sealing.
The guide cylinder is cylindrical structure, and one end is arranged annular mounting base, has been uniformly distributed circumferentially in annular mounting base
Square neck bolt hole, be uniformly distributed circumferentially on the other end outer wall turning slot, at inner wall position corresponding with turning slot circumferentially
Idler wheel limiting slot is set, and idler wheel limiting slot is connected to turning slot；The axially disposed two swellings valve seat guide groove of inner wall, two rollings
Guide groove is taken turns, two swelling valve seat guide grooves are about the substantially symmetrical about its central axis of guide cylinder, and two idler wheel guide grooves are about guide cylinder
Substantially symmetrical about its central axis, the side side wall of idler wheel guide groove is step surface, and idler wheel limiting slot intersects with idler wheel guide groove.
Shell guiding mechanism includes shell, square neck bolt, fastening swivel nut.Guide cylinder one end and housing bore cooperation position, and lead to
Cross flange arrangement, square neck bolt is fixedly connected with the casing, square neck bolt end by fastening swivel nut compress.
Flexible expansion mechanism includes level-one sleeve, two-level sleeve, three-level interior bar, tension-compression sensor, connecting rod, swelling valve
Seat, cone bar, swelling valve, idler wheel, baffle, level-one set tooth, level-one cover alligator, swelling valve axis, torsional spring；
Level-one sleeve lining is provided with dextrorotation rectangular coil groove；It is provided in the outside wall surface of two-level sleeve one end and dextrorotation square
The dextrorotation rectangular coil bulge-structure of shape spiral groove cooperation, two-level sleeve are mounted in level-one sleeve, level-one sleeve and second level
Sleeve is connected by dextrorotation rectangular coil groove, dextrorotation rectangular coil bulge-structure；Left hand helix is set on two-level sleeve outer wall
Through slot, one end of three-level interior bar are arranged left-handed rectangular boss, and three-level interior bar one end passes through left-handed rectangular boss and two-level sleeve
Left hand helix through slot is fitted to inside two-level sleeve and end is connect with tension-compression sensor one end, and the other end is from two-level sleeve
It stretches out；It is provided with cable-through hole along central axis inside three-level interior bar, the other end of tension-compression sensor is connect with connecting rod one end；Connecting rod
It is mounted in two-level sleeve, the connecting rod other end is connect after stretching out from two-level sleeve end with cone bar；Swelling valve seat one end and two
Grade sleeve connection, the other end are connect with multiple swelling valves being evenly distributed；Each swelling valve is connected to by swelling valve axis, torsional spring
On swelling valve seat, inner wall is adjacent to cone bar；Swelling valve seat outer wall side is installed by idler wheel, outer wall other side setting sliding key；Baffle position
Between level-one sleeve and idler wheel, level-one sleeve is fixed with baffle, and baffle carries out range limit to two-level sleeve；Level-one set
Setting level-one covers alligator in the middle part of drum outer wall, and level-one covers tooth and is mounted on level-one sleeve by level-one set alligator；
Level-one sleeve ends are mounted in the center barrel structure of support base, and three-level interior bar is stretched out from support base centre bore.
Flexible expansion mechanism is mounted in shell, is equipped in the cone bar insertion guide cylinder of swelling valve, support base and shell
Inner wall is fixedly connected.Baffle limits at the step structure of guide cylinder inner wall；In telescopic process, idler wheel exists flexible expansion mechanism
Sliding in idler wheel guide groove when roller-coaster to guide cylinder end, rotates into idler wheel limiting slot；Sliding on swelling valve seat
Key slides in swelling valve seat guide groove.
Deceleration mechanism include motor mount, positioning seat, positioning end cap, turbine retaining ring, turbine, miniature deep groove ball bearing,
Transmission shaft, transmission gear, transmission shaft retaining ring, motor, worm screw, worm shaft, the first thrust ball bearing, the second thrust ball bearing, branch
Support set；
Motor is connected on motor mount by screw, and electric machine main shaft is mounted in screw shaft, is driven by electric machine main shaft
Dynamic worm shaft；Worm screw is mounted on worm shaft, and the first thrust ball bearing, the second thrust ball bearing are installed in both ends respectively；First pushes away
Power ball bearing resists motor cabinet supporting table, and motor cabinet supporting table is fixed on motor mount；Turbine is fixed on by transmission shaft
On motor mount, turbine and worm screw external toothing；Positioning seat constitutes driving cog circulation by three support sleeves and motor mount
Turn space, and is connected by three groups of screws, nut and motor mount；Transmission gear is mounted on transmission shaft, is located at motor and is pacified
It fills between seat and positioning seat, turbine passes through transmission shaft band nutating gear；Two deep groove ball bearings on transmission shaft, are installed respectively
On motor mount and positioning seat.Motor mount, the centre bore of positioning seat and level-one sleeve cooperate, and level-one covers tooth and transmission
Gear external toothing.
The advantages of the present invention over the prior art are that:
(1) a kind of high rail Satellite General of the invention bores bar capture mechanism, completes entire capture using a motor driven
Movement simplifies control system, improves system reliability.Arresting agency has self-locking property using the deceleration of turbine and worm mechanism,
Size can be adjusted according to flexible expansion mechanism after petal swelling, suitable for the engine trunnion of 14~22mm diameter, the scope of application
Greatly.
(2) present invention is by dextrorotation, left hand helix mechanism and position-limit mechanism, and cone bar is flexible and swelling movement is anti-without motor
To, using big screw pitch helicla flute drive, can high-speed cruising, realize to target Quick extension and capture.
(3) mechanism compact overall structure of the invention, is suitable for end executive device, is suitable for remote to general high rail satellite
The throat section of place engine stretch and arrests, and the device is using two-way spiral groove driving design, and simply, movement is quasi- for driving
It is really reliable；Bore that bar is flexible and swelling movement is reversed without motor, can high-speed cruising, to target fast Acquisition；Compact overall structure,
Positioning accuracy is high, is suitable as end executive device, this device is applied in high rail Satellite General arresting agency, it can be achieved that
The multiple of target satellite engine trunnion is reliably arrested.
Detailed description of the invention
Fig. 1 is that high rail Satellite General of the invention bores bar capture mechanism component installation diagram；
Fig. 2 is damping mechanism structure chart of the invention.
Fig. 3 is shell guiding mechanism structure chart of the invention.
Fig. 4 is guide cylinder structure chart of the invention.
Fig. 5 is flexible expansion mechanism structure chart of the invention.
Fig. 6 is deceleration mechanism structure chart of the invention.
Fig. 7 is flexible capture mechanism assembly structure chart of the invention.
Fig. 8 is clamping support figure of the invention.
Fig. 9 is that the flexible capture mechanism that reversible helicla flute of the invention drives moves transmittance process figure.
Figure 10 is that swelling valve of the invention struts locking action schematic diagram.
Figure 11 is that swelling valve of the invention withdraws unlocking motion schematic diagram.
Figure 12 is capture mechanism of the invention to positive apogee engine schematic diagram.
Figure 13 is that damper of the invention is collided to positive apogee engine side wall schematic diagram.
Figure 14 is that cone bar of the invention quickly protrudes into apogee engine throat schematic diagram.
Figure 15 is that cone bar of the invention quickly struts swelling valve capture apogee engine throat schematic diagram.
Figure 16 quickly stretches out releasing for cone bar of the invention and struts effect completion release schematic diagram to swelling valve.
Figure 17 is that cone bar of the invention quickly withdraws playback schematic diagram.
Figure 18 is that capture movement of the invention releases completion target satellite seperated schematic diagram.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed
Bright specific embodiment.
As shown in Figure 1, a kind of high rail Satellite General cone bar capture mechanism includes damping mechanism 001, shell guiding mechanism
002, stretch expansion mechanism 003, deceleration mechanism 004, support base 51.
As shown in Fig. 2, guiding damping mechanism 001 include rocker arm 1, rocker arm mounting base 2, roller 3, sliding seat 4, linking arm 5,
Damper rod 6, backing plate 7, damper rod support base 8, guide cylinder 9.Wherein, rocker arm mounting base 2 is installed in 9 one end of guide cylinder, and sliding seat 4 is pacified
On guide cylinder 9, slided along 9 outer wall of guide cylinder；The damper rod support base 8 of annular is mounted on guide cylinder by fastening screw 68
On the ring flange of 9 other ends；
Rocker arm 1 is uniformly distributed around the central axis of guide cylinder 9, and one end and rocker arm mounting base 2 are rotatablely connected, the other end with connect
5 one end of arm is rotatablely connected, and the installation ball-and-socket of roller 3 is provided on rocker arm 1, and roller 3 is embedded in rocker arm installation ball-and-socket, forms rolling
The outer profile of sub- rocker structure, multiple roller rocker arms structures is tapered；The other end of linking arm 5 and the rotation of 6 end of damper rod connect
It connects；One end that damper rod 6 is connect with linking arm 5 is fixed on the ring flange of 4 end of sliding seat, and 6 other end of damper rod protrudes into resistance
In Buddhist nun's bar mounting base 8, slided along 8 inner wall of damper rod mounting base；Backing plate 7 is mounted between damper rod support base 8, guide cylinder 9, is used
In sealing.Roller rocker arms structure has five groups.Roller 3 uses austenitic stainless steel material；Sliding seat 4 uses brass material.
As shown in figure 4, guide cylinder 9 is cylindrical structure, one end is arranged annular mounting base, in annular mounting base circumferentially uniformly
Square neck bolt hole is distributed with, turning slot 80, inner wall corresponding with turning slot 80 position have been uniformly distributed circumferentially on other end outer wall
The circumferentially arranged idler wheel limiting slot 85 in place is set, idler wheel limiting slot 85 is connected to turning slot 80；Axially disposed two swellings of inner wall
76, two idler wheel guide grooves 77 of valve seat guide groove, two swelling valve seat guide grooves 76 are about the substantially symmetrical about its central axis of guide cylinder 9, and two
About the substantially symmetrical about its central axis of guide cylinder 9, the side side wall of idler wheel guide groove 77 is step surface 84, idler wheel limit for idler wheel guide groove 77
Position slot 85 intersects with idler wheel guide groove 77.
As shown in figure 3, shell guiding mechanism 002 includes shell 10, square neck bolt 11, fastening swivel nut 12.9 one end of guide cylinder
Cooperate with 10 hole of shell and position, is fixedly connected by flange arrangement, square neck bolt 11 with shell 10,11 end of square neck bolt passes through
Swivel nut 12 is fastened to compress.
As shown in Figure 5, Figure 8, the expansion mechanism 003 that stretches includes level-one sleeve 13, two-level sleeve 14, three-level interior bar 15, draws
Pressure sensor 16, connecting rod 17, swelling valve seat 21, cone bar 22, swelling valve 23, idler wheel 20, baffle 25, level-one cover tooth 26, level-one
Cover alligator 27, swelling valve axis 31, torsional spring 32；
13 inner wall of level-one sleeve is provided with dextrorotation rectangular coil groove；It is provided in 14 one end outside wall surface of two-level sleeve and the right side
The dextrorotation rectangular coil bulge-structure of rectangular coil groove cooperation is revolved, two-level sleeve 14 is mounted in level-one sleeve 13, level-one set
Cylinder 13 is connect with two-level sleeve 14 by dextrorotation rectangular coil groove, dextrorotation rectangular coil bulge-structure；14 outer wall of two-level sleeve
Left-handed rectangular boss 87 is arranged in one end of upper setting left hand helix through slot 86, three-level interior bar 15, and 15 one end of three-level interior bar passes through a left side
The left hand helix through slot 86 of rotation rectangular boss 87 and two-level sleeve 14 is fitted to the inside of two-level sleeve 14 and end and tension and compression
The connection of 16 one end of sensor, the other end are stretched out from two-level sleeve 14；Cable-through hole, tension and compression are provided with along central axis inside three-level interior bar 15
The other end of sensor 16 is connect with 17 one end of connecting rod；Connecting rod 17 is mounted in two-level sleeve 14,17 other end of connecting rod
It is connect after being stretched out from 14 end of two-level sleeve with cone bar 22；21 one end of swelling valve seat is connect with two-level sleeve 14, the other end and more
A swelling valve 23 being evenly distributed connects；Three swelling valves 23 are connected to swelling valve seat 21 by swelling valve axis 31, torsional spring 19
On, inner wall is adjacent to cone bar 22；21 outer wall side of swelling valve seat is installed by idler wheel 20, outer wall other side setting sliding key 75；Baffle 25
Between level-one sleeve 13 and idler wheel 20, level-one sleeve 13 and baffle 25 are fixed, and baffle 25 carries out maximum to two-level sleeve 14
Stroke limit；Setting level-one covers alligator 27 in the middle part of 13 outer wall of level-one sleeve, and level-one covers tooth 26 and is mounted on by level-one set alligator 27
On level-one sleeve 13；13 end of level-one sleeve is mounted in the center barrel structure of support base 51, and three-level interior bar 15 is from support base 51
Centre bore stretches out.
Flexible expansion mechanism 003 is mounted in shell 10, and the cone bar 22 for being equipped with swelling valve 23 is inserted into guide cylinder 9, branch
Support seat 51 is fixedly connected with 10 inner wall of shell.Baffle 25 limits at the step structure of 9 inner wall of guide cylinder；Flexible expansion mechanism
001 in telescopic process, and idler wheel 20 slides in idler wheel guide groove 77, when idler wheel 20 slides into 9 end of guide cylinder, rotates into
In idler wheel limiting slot 85；Sliding key 75 on swelling valve seat 21 slides in swelling valve seat guide groove 77.
As shown in Figure 6, Figure 7, deceleration mechanism 004 includes motor mount 34, positioning seat 35, positioning end cap 36, turbine gear
Circle 37, turbine 38, miniature deep groove ball bearing 39, transmission shaft 40, transmission gear 41, transmission shaft retaining ring 42, motor 43, worm screw 44,
Worm shaft 45, the first thrust ball bearing 48, the second thrust ball bearing 49, support sleeve 50；
Motor 43 is connected on motor mount 34 by screw, and electric machine main shaft is mounted in screw shaft 45, passes through motor
Main shaft drives worm shaft 45；Worm screw 44 is mounted on worm shaft 45, and the first thrust ball bearing 48, the second thrust are installed in both ends respectively
Ball bearing 49；First thrust ball bearing 48 resists motor cabinet supporting table 78, and motor cabinet supporting table 78 is fixed on motor mount 34
On；Turbine 38 is fixed on motor mount 34 by transmission shaft 40, turbine 38 and 44 external toothing of worm screw；Positioning seat 35 passes through three
A support sleeve 50 constitutes 41 rotary space of transmission gear with motor mount 34, and passes through three groups of screws 46, nut 47 and motor
Mounting base 34 is connected；Transmission gear 41 is mounted on transmission shaft 40, between motor mount 34 and positioning seat 35, turbine 38
By transmission shaft 40 with nutating gear 41；Two deep groove ball bearings 39 on transmission shaft 40, are separately mounted to motor mount
34 with positioning seat 35 on.Motor mount 34, the centre bore of positioning seat 35 and level-one sleeve 13 cooperate, and level-one covers tooth 26 and transmission
41 external toothing of gear.
A kind of its acquisition procedure of flexible capture mechanism of the present invention can be realized to existing in-orbit high rail satellite engine
Carry out flexible arrest.As shown in Figure 1, for the citation form of internal structure of the present invention, that is, of the invention.
As shown in Figures 9 to 11, capture precondition be capture mechanism enter engine inner conical surface, when with target satellite in short-term
Between the contact process time in complete guiding and fast Acquisition movement.Guiding mechanism 002 is located at device front end, plays guide-localization and makees
With telescoping mechanism 003 is driven under support base 51 and the effect of 9 positioning support of guide cylinder by the driving gear 41 of deceleration mechanism 004
It is dynamic, 13 rotary motion of level-one sleeve is driven, level-one sleeve 13 drives two-level sleeve 14 to forward extend out by internal right hand helix slot,
Two-level sleeve 14 cannot be turned round due to idler wheel 20 by the effect of guide cylinder guide groove 77 in the process, realized and driven three-level bar 16 together
It forward extends out, after two-level sleeve 14 stretches out in place, the idler wheel 20 on two-level sleeve is under the effect of guide cylinder head turning slot 80
Constraint relief, two-level sleeve tail end dextrorotation boss 83 limit the locating piece 25 on plane and level-one sleeve and lock, I and II mechanism
It turns round together, due to that cannot be turned round by the effect of 51 inside square hole of support base, two-stage rotary passes through internal left-handed three-level interior bar 15
Helicla flute 86 drives the left-handed rectangular boss 87 on three-level bar to move backward, and struts petal, completes to apogee engine throat
Capture.
After completing capture task, motor 43 is inverted, and since guide cylinder plane of rotation 85 limits, two-level sleeve can only be turned round
It cannot move backward, level-one, second level are in synchronous regime, and second level rear portion reverse acting spiral slot driving three-level interior bar 15 travels forward,
Swelling valve 23 torsional spring 32 effect under release swelling state, when two-stage rotary to be oriented to groove location after due to guide groove side wall surface 84
Limit, second level cannot continue to turn round, and guide groove 77 makes second level be axially moved constraint release, and swelling valve 23 has collapsed at this time, and one
The helicla flute driving second level of grade sleeve 13 moves backward, until completing capture mechanism withdrawal movement.
As shown in figure 5, the flexible capture mechanism of reversible helicla flute driving using turbine and worm the basic principle is that slowed down
Mechanism drives flexible expansion mechanism 003.
As shown in figure 12, when being captured, capture mechanism is initially entered inside apogee engine；As shown in figure 13,
It is protruded into engine process in capture mechanism, the position and attitude of capture mechanism and engine throat is detected by sensor, when catching
When obtaining mechanism and engine making contact, damping mechanism 001 is buffered.As shown in figure 14, within the time of damper buffering course,
Driving mechanism fast driving makes to bore the quickly stretching of bar 22.
Its detailed process are as follows: motor 43 rotates counterclockwise, and driving worm and wormwheel rotation is passed torque by transmission gear 41
Level-one sleeve 13 is passed, level-one sleeve drives two-level sleeve 14 to travel forward by right hand helix protrusion.Entirely it was axially moved
The idler wheel 20 of Cheng Zhong, two-level sleeve are limited by guide cylinder guide groove 77, are not able to rotate.Level-one sleeve turns 13 dynamic, second level sets
Cylinder 14 moves forward.Swelling valve mounting base 21 is snapped together with two-level sleeve, swelling valve 23, three-level interior bar 15, bores bar
22 follow two-level sleeve to travel forward together.
As shown in figure 15, when secondary facility is stretched out in place, the right hand helix protrusion end face 83 of 14 tail portion of two-level sleeve
Locked with locating piece 25, two-level sleeve 14 cannot continue to move along；Idler wheel 20 has been in turning slot 80 at this time, second level set
14 slew constrained releasings of cylinder, motor 43 continue to rotate forward, and two-level sleeve 14 is synchronous with level-one sleeve under the drive of level-one sleeve 13
Rotation, under the action of left hand helix slot 86 on two-level sleeve inner cylinder, three-level interior bar 15 and the cone beginning of bar 22 move backward, strut
Swelling valve 23, level-one sleeve 13 and two-level sleeve 14 rotate together α angle, and three-level interior bar 15 moves backward, and swelling valve 23 is complete
It struts, is adjacent to engine throat inner wall.
As shown in figure 16, when needing to discharge satellite apogee engine, motor 43 is rotated backward, and driving worm and gear turns
Dynamic, identical as extending action principle, swelling valve 23 is returned to initial position, completes release movement.
As shown in figure 17, driving mechanism continues to invert, and secondary facility inverts in place, the left hand helix protrusion 87 on three-level bar
Two-level sleeve inner cylinder front end face is contacted, three-level interior bar 15 cannot continue to move along, its idler wheel 20 of secondary facility is oriented at this time
84 constraint of cylinder longitudinal slot side wall surface cannot continue to turn round.Level-one sleeve continues to reversely rotate, and drives two-level sleeve 14, three-level interior bar
15, cone bar 22 moves backward together, and two-level sleeve 14 moves backward, and completes capture mechanism withdrawal movement.
After completing release movement as shown in figure 18, target satellite is separated with capture mechanism.
Unspecified part of the present invention belongs to technology well known to those skilled in the art.
Claims (10)
1. a kind of high rail Satellite General bores bar capture mechanism, which is characterized in that including damping mechanism (001), shell guiding mechanism
(002), flexible expansion mechanism (003), deceleration mechanism (004), support base (51)；Damping mechanism (001) is mounted on flexible swelling
Mechanism (003) front end；Flexible expansion mechanism (003), support base (51), deceleration mechanism (004) are mounted on shell guiding mechanism
(002) in, expansion mechanism (003) rear end of stretching is supported by support base (51), and deceleration mechanism (004) is mounted on flexible swelling machine
On structure (003), the power along shell guiding mechanism (002) axial stretching is provided for flexible expansion mechanism (003).
2. a kind of high rail Satellite General according to claim 1 bores bar capture mechanism, which is characterized in that the guiding damping
Mechanism (001) includes rocker arm (1), rocker arm mounting base (2), roller (3), sliding seat (4), linking arm (5), damper rod (6), backing plate
(7), damper rod support base (8), guide cylinder (9)；Rocker arm mounting base (2) are installed in guide cylinder (9) one end, and sliding seat (4) is mounted on
On guide cylinder (9), slided along guide cylinder (9) outer wall；The damper rod support base (8) of annular is mounted on guiding by fastening screw 68
On the ring flange of cylinder (9) other end；
Rocker arm (1) is uniformly distributed around the central axis of guide cylinder (9), and one end and rocker arm mounting base (2) are rotatablely connected, the other end and company
The rotation connection of arm (5) one end is connect, the installation ball-and-socket of roller (3) is provided on rocker arm (1), roller (3) is embedded in rocker arm mounting ball
In nest, roller rocker arms structure is formed, the outer profile of multiple roller rocker arms structures is tapered；The other end of linking arm (5) and damping
The rotation connection of bar (6) end；One end that damper rod (6) is connect with linking arm (5) is fixed on the ring flange of sliding seat (4) end
On, damper rod (6) other end protrudes into damper rod mounting base (8), slides along damper rod mounting base (8) inner wall；Backing plate (7) installation
Between damper rod support base (8), guide cylinder (9), for sealing.
3. a kind of high rail Satellite General according to claim 2 bores bar capture mechanism, which is characterized in that the guide cylinder
It (9) is cylindrical structure, one end is arranged annular mounting base, has been uniformly distributed circumferentially square neck bolt hole in annular mounting base, another
Turning slot (80) has been uniformly distributed circumferentially on the outer wall of end, circumferentially arranged idler wheel at inner wall position corresponding with turning slot (80)
Limiting slot (85), idler wheel limiting slot (85) are connected to turning slot (80)；The axially disposed two swellings valve seat guide groove of inner wall
(76), two idler wheel guide grooves (77), two swelling valve seat guide grooves (76) are about the substantially symmetrical about its central axis of guide cylinder (9), and two
Idler wheel guide groove (77) is substantially symmetrical about its central axis about guide cylinder (9), and the side side wall of idler wheel guide groove (77) is step surface 84, rolling
Wheel limiting slot (85) intersects with idler wheel guide groove (77).
4. a kind of high rail Satellite General according to claim 2 or 3 bores bar capture mechanism, which is characterized in that the shell
Guiding mechanism (002) includes shell (10), square neck bolt (11), fastening swivel nut (12)；Guide cylinder (9) one end and shell (10) hole
Cooperation positioning, is fixedly connected by annular mounting base, square neck bolt (11) with shell (10), and square neck bolt (11) end passes through tight
Gu swivel nut (12) compresses.
5. a kind of high rail Satellite General according to claim 4 bores bar capture mechanism, which is characterized in that the flexible swelling
Mechanism (003) includes level-one sleeve (13), two-level sleeve (14), three-level interior bar (15), tension-compression sensor (16), connecting rod
(17), swelling valve seat (21), cone bar (22), swelling valve (23), idler wheel (20), baffle (25), level-one set tooth (26), level-one cover tooth
Key (27), swelling valve axis (31), torsional spring (32)；
Level-one sleeve (13) inner wall is provided with dextrorotation rectangular coil groove；It is provided in the outside wall surface of two-level sleeve (14) one end and the right side
The dextrorotation rectangular coil bulge-structure of rectangular coil groove cooperation is revolved, two-level sleeve (14) is mounted in level-one sleeve (13), and one
Grade sleeve (13) is connect with two-level sleeve (14) by dextrorotation rectangular coil groove, dextrorotation rectangular coil bulge-structure；Second level set
Left hand helix through slot (86) are set on cylinder (14) outer wall, left-handed rectangular boss (87), three-level is arranged in one end of three-level interior bar (15)
Interior bar (15) one end is fitted to second level by the left hand helix through slot 86 of left-handed rectangular boss (87) and two-level sleeve (14)
Sleeve (14) is internal and end is connect with tension-compression sensor (16) one end, and the other end is stretched out from two-level sleeve (14)；Three-level interior bar
(15) internal to be provided with cable-through hole along central axis, the other end of tension-compression sensor (16) is connect with connecting rod (17) one end；Connecting rod
(17) it is mounted in two-level sleeve (14), connecting rod (17) other end connects after stretching out from two-level sleeve (14) end with cone bar (22)
It connects；Swelling valve seat (21) one end is connect with two-level sleeve (14), and the other end is connect with multiple swelling valves (23) being evenly distributed；
Each swelling valve (23) is connected on swelling valve seat (21) by swelling valve axis (31), torsional spring (19), and inner wall is adjacent to cone bar (22)；It is swollen
Tight valve seat (21) outer wall side installation idler wheel (20), outer wall other side setting sliding key (75)；Baffle (25) is located at level-one sleeve
(13) between idler wheel (20), level-one sleeve (13) and baffle (25) are fixed, and baffle 25 carries out range to two-level sleeve 14
Limit；Setting level-one covers alligator (27) in the middle part of level-one sleeve (13) outer wall, and level-one covers tooth (26) and passes through level-one set alligator (27) peace
On level-one sleeve (13)；Level-one sleeve (13) end is mounted in the center barrel structure of support base (51), three-level interior bar
(15) it is stretched out from support base (51) centre bore.
6. a kind of high rail Satellite General according to claim 5 bores bar capture mechanism, which is characterized in that the flexible swelling
Mechanism (003) is mounted in shell (10), is equipped in cone bar (22) insertion guide cylinder (9) of swelling valve (23), support base
(51) it is fixedly connected with shell (10) inner wall.Baffle (25) limits at the step structure of guide cylinder (9) inner wall；Flexible swelling machine
For structure (001) in telescopic process, idler wheel (20) sliding in idler wheel guide groove (77), idler wheel (20) slides into guide cylinder (9) end
When portion, rotate into idler wheel limiting slot (85)；Sliding key (75) on swelling valve seat (21) is in swelling valve seat guide groove (77)
Interior sliding.
7. a kind of high rail Satellite General according to claim 6 bores bar capture mechanism, it is characterised in that: the swelling valve
(23) there are three pieces, be circumferentially uniformly distributed along cone bar (22), opened under the action of torsional spring (32).
8. a kind of high rail Satellite General according to claim 5 or 6 bores bar capture mechanism, which is characterized in that the deceleration
Mechanism (004) includes motor mount (34), positioning seat (35), positioning end cap (36), turbine retaining ring (37), turbine (38), depth
Ditch ball bearing (39), transmission shaft (40), transmission gear (41), transmission shaft retaining ring (42), motor (43), worm screw (44), worm shaft
(45), the first thrust ball bearing (48), the second thrust ball bearing (49), support sleeve (50)；
Motor (43) is connected on motor mount (34), and electric machine main shaft is mounted in screw shaft (45), is driven by electric machine main shaft
Dynamic worm shaft (45)；Worm screw (44) is mounted on worm shaft (45), and both ends are installed the first thrust ball bearing (48) respectively, second pushed away
Power ball bearing (49)；First thrust ball bearing (48) resists motor cabinet supporting table (78), and motor cabinet supporting table (78) is fixed on electricity
In machine mounting base (34)；Turbine (38) is fixed on motor mount (34) by transmission shaft (40), turbine (38) and worm screw
(44) external toothing；Positioning seat (35) constitutes transmission gear (41) revolution sky by three support sleeves (50) and motor mount (34)
Between, and be connected with motor mount (34)；Transmission gear (41) is mounted on transmission shaft (40), be located at motor mount (34) with
Between positioning seat (35), turbine (38) passes through transmission shaft (40) band nutating gear (41)；Two zanjons on transmission shaft (40)
Ball bearing (39) is separately mounted on motor mount (34) and positioning seat (35)；Motor mount (34), positioning seat (35)
Centre bore and level-one sleeve (13) cooperate, and level-one covers tooth (26) and transmission gear (41) external toothing.
9. a kind of high rail Satellite General according to claim 2 bores bar capture mechanism, which is characterized in that the roller rocker arms
Structure has five groups.
10. a kind of ball-type suitable for high rail Satellite General cone bar capture mechanism according to claim 2 is oriented to damping
Mechanism, which is characterized in that the roller (3) uses austenitic stainless steel material；Sliding seat (4) uses brass material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527056.7A CN109606751B (en) | 2018-12-13 | 2018-12-13 | Universal taper rod capturing mechanism for high-orbit satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527056.7A CN109606751B (en) | 2018-12-13 | 2018-12-13 | Universal taper rod capturing mechanism for high-orbit satellite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606751A true CN109606751A (en) | 2019-04-12 |
| CN109606751B CN109606751B (en) | 2020-09-18 |
Family
ID=66009229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811527056.7A Expired - Fee Related CN109606751B (en) | 2018-12-13 | 2018-12-13 | Universal taper rod capturing mechanism for high-orbit satellite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606751B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104228A (en) * | 2019-05-14 | 2019-08-09 | 西北工业大学 | A kind of drive lacking space break catching apparatus with adaptivity |
| CN113090110A (en) * | 2020-01-09 | 2021-07-09 | 河北奥润顺达窗业有限公司 | Telescopic handle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19848427A1 (en) * | 1998-10-21 | 2000-04-27 | Ohb Orbital Und Hydrotechnolog | Probe and drogue mechanism facilitating linkup between two spacecraft, submarine vehicles, or industrial robot and capture load |
| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN102294690A (en) * | 2011-05-12 | 2011-12-28 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN104494846A (en) * | 2014-12-16 | 2015-04-08 | 中国空间技术研究院 | Universal weak-impact capture mechanism applicable to high-orbit satellites |
| CN104590590A (en) * | 2014-12-16 | 2015-05-06 | 中国空间技术研究院 | Multi-segment-type guiding and damping device applicable to space conical rod mechanism |
| CN104614987A (en) * | 2014-12-19 | 2015-05-13 | 中国空间技术研究院 | Real-time control system and method for high orbit satellite cone lever capture mechanism |
-
2018
- 2018-12-13 CN CN201811527056.7A patent/CN109606751B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19848427A1 (en) * | 1998-10-21 | 2000-04-27 | Ohb Orbital Und Hydrotechnolog | Probe and drogue mechanism facilitating linkup between two spacecraft, submarine vehicles, or industrial robot and capture load |
| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN102294690A (en) * | 2011-05-12 | 2011-12-28 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN104494846A (en) * | 2014-12-16 | 2015-04-08 | 中国空间技术研究院 | Universal weak-impact capture mechanism applicable to high-orbit satellites |
| CN104590590A (en) * | 2014-12-16 | 2015-05-06 | 中国空间技术研究院 | Multi-segment-type guiding and damping device applicable to space conical rod mechanism |
| CN104614987A (en) * | 2014-12-19 | 2015-05-13 | 中国空间技术研究院 | Real-time control system and method for high orbit satellite cone lever capture mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104228A (en) * | 2019-05-14 | 2019-08-09 | 西北工业大学 | A kind of drive lacking space break catching apparatus with adaptivity |
| CN110104228B (en) * | 2019-05-14 | 2023-07-07 | 西北工业大学 | Under-actuated space capturing device with self-adaptability |
| CN113090110A (en) * | 2020-01-09 | 2021-07-09 | 河北奥润顺达窗业有限公司 | Telescopic handle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606751B (en) | 2020-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110228609A (en) | A kind of telescopic locking mechanism of lead screw driving | |
| CN109573114A (en) | The flexible expansion mechanism of cone bar based on the driving of reversible helicla flute | |
| CN104494846A (en) | Universal weak-impact capture mechanism applicable to high-orbit satellites | |
| CN108688793B (en) | Folding and unfolding mechanism for wings of barrel-type launching unmanned aerial vehicle | |
| CN109131946B (en) | Micro-nano satellite solar wing span unlocking mechanism | |
| CN109606751A (en) | A kind of high rail Satellite General cone bar capture mechanism | |
| CN101780841B (en) | Landing leg pressing, unfolding and locking device of lander | |
| US5092539A (en) | Jam resistant ball screw actuator | |
| CN103935531B (en) | A kind of two-dimensional vector regulating mechanism | |
| CN110040264B (en) | Despin and capture integrated device | |
| CN109018447B (en) | From having revolved separator | |
| CN105366077B (en) | A kind of locking releasing device docked suitable for satellites coupling ring | |
| CN109131956B (en) | Non-cooperative target satellite and rocket docking ring capturing mechanism and capturing method thereof | |
| US20210277973A1 (en) | Damping apparatus | |
| CN112357129A (en) | Inclined-pushing axial separation device for fairing | |
| CN110104228B (en) | Under-actuated space capturing device with self-adaptability | |
| CN101708779A (en) | Two-stage spiral repeatable folding and unfolding locking mechanism of solar wing | |
| CN112964138A (en) | Rotary folding tail wing of small-caliber rocket | |
| CN104819376A (en) | Injector | |
| CN201545193U (en) | Solar wing double-stage spiral repeated folding-deploying locking-unlocking mechanism | |
| CN109466807B (en) | Ball type guiding damping mechanism suitable for high-orbit satellite universal taper rod capturing mechanism | |
| CN113340159A (en) | Self-adjusting type rotating throwing fairing separating mechanism | |
| CN104590591B (en) | One is novel arrests and retaining mechanism in-orbit | |
| CN117087877A (en) | High-impact landing support and carrier rocket landing mechanism | |
| CN202115709U (en) | Space cam-spiral combined repeated folding unlocking mechanism |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200918 Termination date: 20201213 |