CN109606751B - Universal taper rod capturing mechanism for high-orbit satellite - Google Patents
Universal taper rod capturing mechanism for high-orbit satellite Download PDFInfo
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- CN109606751B CN109606751B CN201811527056.7A CN201811527056A CN109606751B CN 109606751 B CN109606751 B CN 109606751B CN 201811527056 A CN201811527056 A CN 201811527056A CN 109606751 B CN109606751 B CN 109606751B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 135
- 238000013016 damping Methods 0.000 claims abstract description 37
- 230000008093 supporting effect Effects 0.000 claims abstract description 28
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- 230000006835 compression Effects 0.000 claims description 8
- 241000446313 Lamella Species 0.000 claims description 4
- 239000000463 material Substances 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
- 238000007789 sealing Methods 0.000 claims description 2
- 230000002457 bidirectional effect Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
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- 238000003032 molecular docking Methods 0.000 description 4
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- 238000011160 research Methods 0.000 description 3
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- 241000282414 Homo sapiens Species 0.000 description 1
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- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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Abstract
A high orbit satellite universal taper rod capturing mechanism comprises a damping mechanism (001), a shell guide mechanism (002), a telescopic expansion mechanism (003), a speed reducing mechanism (004) and a supporting seat (51); the damping mechanism (001) is arranged at the front end of the telescopic expansion mechanism (003); the telescopic expansion mechanism (003), the supporting seat (51) and the speed reducing mechanism (004) are installed in the shell guide mechanism (002), the rear end of the telescopic expansion mechanism (003) is supported by the supporting seat (51), and the speed reducing mechanism (004) is installed on the telescopic expansion mechanism (003) to provide power which extends and retracts along the axial direction of the shell guide mechanism (002) for the telescopic expansion mechanism (003). The invention adopts a bidirectional spiral groove driving design, has simple driving and accurate and reliable action; the telescopic and expansion actions of the taper rod do not need to be reversed by a motor, and the taper rod can run at high speed and quickly capture a target.
Description
Technical Field
The invention belongs to the technical field of on-orbit service and maintenance of spacecrafts, and relates to a capturing mechanism.
Background
Geostationary orbit (GEO) is an important earth orbit resource for human beings, and the on-orbit resource is limited by an orbit position and is extremely short. However, with the rapid development of space missions, the total number of the satellites in the GEO zone (GEO ± 200km) contains more than 40% of uncontrollable or obsolete satellites and their debris, and these space objects have long natural fall periods, which threatens the safety of the GEO satellite in normal operation and also causes serious waste of GEO orbital resources. Statistics also show that in a GEO satellite with an in-orbit failure, more than 50% of failures result from a certain loss of function of the service system, while the payload and the platform body occupying more than 70% of the cost of the satellite are in good function. Therefore, it is urgently needed to develop a service aircraft carrying a general capture mechanism to assist the abandoned satellites still staying in the GEO zone to complete the off-orbit operation and push the abandoned satellites to the GEO refuse orbit; or the fault satellite is rescued, so that the load task capacity of the fault satellite can be rapidly continued.
Aiming at an on-orbit failure satellite, in the aspect of attitude characteristics, due to energy dissipation effects such as the shaking of a star solar wing and a propellant, under the condition of certain angular momentum, the satellite finally rotates around a main shaft with the maximum inertia (generally in the east-west direction and the ground direction) according to an energy convergence concept, and has small nutation under the action of external moments such as sunlight pressure and the like; in terms of interface characteristics, currently on-orbit and on-ground GEO satellites are not designed for on-orbit service and maintenance and do not have a cooperative docking interface. Therefore, in combination with the rescue service and the off-orbit operation requirements of the satellite, a large-tolerance light small-sized rigid capturing mechanism suitable for a high-orbit satellite needs to be designed, and the universality, the reliability and the safety of capturing the on-orbit satellite are improved. By analyzing general equipment of a high-orbit satellite, an expanded solar cell array is arranged in the direction of the north and south of the satellite, an inter-satellite interface butt-joint ring and a far-place engine are arranged on a satellite and arrow butt-joint surface, and an antenna is arranged on the ground of the satellite. The engine at the far place is not used after the satellite enters the orbit, and is suitable for being selected as a capturing butt joint object of the satellite.
Based on the cone rod type mechanism, the capturing device is especially suitable for high-orbit abandoned satellites rotating around the axis of the earth, can fully utilize the weak impact speed between two aircrafts, and carries out isotropic guidance and capturing through the inner conical surface of the engine, thereby reducing the relative pose control precision of the two aircrafts.
Typical research schemes in foreign countries today include the arm + interchangeable end effector scheme in the us phoenix project, the german DEOS and the european SMART-OLEV cone-rod capture mechanism scheme. The cone rod type capturing mechanism is mainly used for capturing a remote engine universal for GEO satellites and comprises a telescopic mechanism and a cone rod mechanism which are connected in series, the telescopic mechanism realizes axial telescopic motion of the cone rod mechanism, the cone rod mechanism comprises a crown-shaped expansion locking mechanism, a tip in-place sensor and a combined laser sensor, and the crown-shaped expansion locking mechanism is also used for capturing an engine throat. Unfortunately, the mechanism is located outside the capturing mechanism, does not have the telescopic function, and during the capturing process of the satellite, the mechanism may be firstly impacted on the part of the mechanism instead of the external guide structure of the taper rod mechanism, so that the capturing failure is easily caused, and the damage to the crown expansion locking mechanism is easily caused.
Aiming at capturing and docking of satellites, domestic China space technology research institute, Shanghai aerospace office and the like mostly concentrate on the research of space docking mechanisms for cooperative satellites or manned space flight. A weak impact universal capturing mechanism suitable for high-orbit satellites and pawl tensioning devices (ZL 201410783968.6 and ZL201410785009.8) of the capturing and docking mechanism of the on-orbit satellites are designed, the mechanism is driven by a linear motor, based on the pawl tensioning devices, main core driving component assemblies are axially arranged, the overall structure size is overlarge, and the motor needs to rotate in the positive and negative directions in the stretching and tensioning processes, so that the capturing speed is limited.
Disclosure of Invention
The invention aims to provide a high-orbit satellite universal taper rod capturing mechanism which is suitable for telescopic capturing of a throat pipe part of a universal high-orbit satellite remote engine, adopts a bidirectional spiral groove driving design, and is simple in driving and accurate and reliable in action; the telescopic and expansion actions of the taper rod do not need to be reversed by a motor, and the taper rod can run at high speed and quickly capture a target; the device is compact in overall structure and high in positioning accuracy, is suitable for being used as a terminal execution device, is applied to a general capturing mechanism of a high-orbit satellite, and can realize multiple reliable capturing of the engine throat of a target satellite.
The technical solution of the invention is as follows: a high-orbit satellite universal taper rod capturing mechanism comprises a damping mechanism, a shell guiding mechanism, a telescopic expansion mechanism, a speed reducing mechanism and a supporting seat.
The guide damping mechanism comprises a rocker arm, a rocker arm mounting seat, a roller, a sliding seat, a connecting arm, a damping rod, a base plate, a damping rod supporting seat and a guide cylinder. Wherein, one end of the guide cylinder is provided with a rocker arm mounting seat, and the sliding seat is arranged on the guide cylinder and slides along the outer wall of the guide cylinder; the annular damping rod supporting seat is arranged on the flange plate at the other end of the guide cylinder through a fastening screw;
the rocker arms are uniformly distributed around the central shaft of the guide cylinder, one end of each rocker arm is rotationally connected with the rocker arm mounting seat, the other end of each rocker arm is rotationally connected with one end of the connecting arm, a mounting ball socket of a roller is arranged on each rocker arm, the rollers are embedded in the mounting ball sockets of the rocker arms to form a roller rocker arm structure, and the outer contours of the roller rocker arm structures are conical; the other end of the connecting arm is rotatably connected with the end part of the damping rod; one end of the damping rod connected with the connecting arm is fixed on the flange plate at the end part of the sliding seat, and the other end of the damping rod extends into the damping rod mounting seat and slides along the inner wall of the damping rod mounting seat; the backing plate is installed between damping rod supporting seat, guide cylinder for sealed.
The guide cylinder is of a cylindrical structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes are uniformly distributed in the annular mounting seat along the circumferential direction, rotary grooves are uniformly distributed in the outer wall of the other end of the guide cylinder along the circumferential direction, roller limiting grooves are formed in the positions of the inner walls corresponding to the rotary grooves along the circumferential direction, and the roller limiting grooves are communicated with the rotary grooves; the inner wall sets up two tight lamella seat guide ways that expand, two gyro wheel guide ways along the axial, and two tight lamella seat guide ways that expand are symmetrical about the center pin of guide cylinder, and two gyro wheel guide ways are symmetrical about the center pin of guide cylinder, and one side lateral wall of gyro wheel guide way is the step face, and the gyro wheel spacing groove intersects with the gyro wheel guide way.
The shell guide mechanism comprises a shell, a square-neck bolt and a fastening threaded sleeve. One end of the guide cylinder is matched and positioned with the shell hole and is fixedly connected with the shell through a flange structure and a square neck bolt, and the end part of the square neck bolt is tightly pressed through a fastening threaded sleeve.
The telescopic expansion mechanism comprises a primary sleeve, a secondary sleeve, a tertiary inner rod, a tension and compression sensor, a connecting rod, an expansion flap seat, a taper rod, an expansion flap, a roller, a baffle, primary sleeve teeth, a primary sleeve tooth key, an expansion flap shaft and a torsion spring;
the inner wall of the primary sleeve is provided with a right-handed rectangular spiral groove; the outer wall surface of one end of the secondary sleeve is provided with a right-handed rectangular spiral protruding structure matched with the right-handed rectangular spiral groove, the secondary sleeve is arranged in the primary sleeve, and the primary sleeve and the secondary sleeve are connected through the right-handed rectangular spiral groove and the right-handed rectangular spiral protruding structure; a left-handed spiral through groove is formed in the outer wall of the secondary sleeve, a left-handed rectangular boss is arranged at one end of the tertiary inner rod, one end of the tertiary inner rod is installed in the secondary sleeve in a matched mode through the left-handed rectangular boss and the left-handed spiral through groove of the secondary sleeve, the end portion of the tertiary inner rod is connected with one end of the tension-compression sensor, and the other end of the tertiary inner rod extends out of the secondary sleeve; a wire passing hole is formed in the three-stage inner rod along the central shaft, and the other end of the tension and compression sensor is connected with one end of the connecting rod; the connecting rod is arranged in the secondary sleeve, and the other end of the connecting rod extends out of the end part of the secondary sleeve and then is connected with the conical rod; one end of the expansion valve seat is connected with the secondary sleeve, and the other end of the expansion valve seat is connected with a plurality of expansion valves which are uniformly distributed along the circumferential direction; each expansion flap is connected to the expansion flap seat through an expansion flap shaft and a torsion spring, and the inner wall of each expansion flap is attached to the corresponding conical rod; a roller is arranged on one side of the outer wall of the expansion valve seat, and a sliding key is arranged on the other side of the outer wall; the baffle is positioned between the primary sleeve and the roller, the primary sleeve is fixed with the baffle, and the baffle limits the maximum stroke of the secondary sleeve; a primary sleeve tooth key is arranged in the middle of the outer wall of the primary sleeve, and primary sleeve teeth are arranged on the primary sleeve through the primary sleeve tooth key;
the end part of the first-level sleeve is arranged in a central cylinder structure of the supporting seat, and the third-level inner rod extends out of a central hole of the supporting seat.
The telescopic expansion mechanism is arranged in the shell, the taper rod provided with the expansion valve is inserted into the guide cylinder, and the supporting seat is fixedly connected with the inner wall of the shell. The baffle is limited at the step structure of the inner wall of the guide cylinder; in the telescopic expansion mechanism, the roller slides in the roller guide groove in the telescopic process, and rotates into the roller limiting groove when sliding to the end part of the guide cylinder; the sliding key on the expansion valve seat slides in the guide groove of the expansion valve seat.
The speed reducing mechanism comprises a motor mounting seat, a positioning end cover, a turbine retainer ring, a turbine, a micro deep groove ball bearing, a transmission shaft, a transmission gear, a transmission shaft retainer ring, a motor, a worm shaft, a first thrust ball bearing, a second thrust ball bearing and a support sleeve;
the motor is fixedly connected to the motor mounting seat through a screw, the motor spindle is mounted in the screw shaft, and the worm shaft is driven through the motor spindle; the worm is arranged on the worm shaft, and a first thrust ball bearing and a second thrust ball bearing are respectively arranged at the two ends of the worm; the first thrust ball bearing props against the motor base supporting table, and the motor base supporting table is fixed on the motor mounting seat; the worm wheel is fixed on the motor mounting seat through a transmission shaft and is externally meshed with the worm; the positioning seat and the motor mounting seat form a transmission gear rotation space through three support sleeves and are fixedly connected with the motor mounting seat through three groups of screws and nuts; the transmission gear is arranged on the transmission shaft and positioned between the motor mounting seat and the positioning seat, and the turbine drives the transmission gear through the transmission shaft; two deep groove ball bearings on the transmission shaft are respectively installed on the motor installation seat and the positioning seat. The center holes of the motor mounting seat and the positioning seat are matched with the primary sleeve, and the primary sleeve gear is meshed with the transmission gear.
Compared with the prior art, the invention has the advantages that:
(1) the universal taper rod capturing mechanism for the high orbit satellite adopts one motor to drive to complete the whole capturing action, simplifies a control system and improves the reliability of the system. The catching mechanism adopts a worm gear mechanism to reduce speed and has self-locking performance, the size of the expanded petals can be adjusted according to the telescopic expansion mechanism, and the catching mechanism is suitable for an engine throat with the diameter of 14-22 mm and has a wide application range.
(2) According to the invention, through the right-handed and left-handed screw mechanisms and the limiting mechanism, the stretching and expanding actions of the conical rod do not need to be reversed by a motor, and the conical rod is driven by a spiral groove with a large pitch, so that the conical rod can run at a high speed, and the target can be rapidly stretched and captured.
(3) The mechanism has a compact integral structure, is suitable for being used as a tail end execution device and is suitable for carrying out telescopic capture on the throat pipe part of a universal high-orbit satellite remote engine, and the device adopts a bidirectional spiral groove driving design, so that the driving is simple, and the action is accurate and reliable; the telescopic and expansion actions of the taper rod do not need to be reversed by a motor, and the taper rod can run at high speed and quickly capture a target; the device is compact in overall structure and high in positioning accuracy, is suitable for being used as a terminal execution device, is applied to a general capturing mechanism of a high-orbit satellite, and can realize multiple reliable capturing of the engine throat of a target satellite.
Drawings
FIG. 1 is an installation view of a universal cone rod capturing mechanism assembly for high earth orbit satellites according to the present invention;
fig. 2 is a structural view of the damping mechanism of the present invention.
Fig. 3 is a structural view of a housing guide mechanism of the present invention.
Fig. 4 is a structural view of a guide cylinder of the present invention.
Fig. 5 is a structural view of the expansion and contraction mechanism of the present invention.
Fig. 6 is a structural view of the speed reducing mechanism of the present invention.
Fig. 7 is a view showing the construction of the telescopic catch mechanism assembly of the present invention.
FIG. 8 is a structural view of the support base of the present invention.
FIG. 9 is a diagram of the motion transfer process of the bi-directional spiral groove driven telescopic capture mechanism of the present invention.
Fig. 10 is a schematic view of the expanding petals expanding and locking action of the present invention.
FIG. 11 is a schematic view of the expansion flap retraction unlocking action of the present invention.
FIG. 12 is a schematic illustration of the capture mechanism of the present invention aligned with an off-site engine.
FIG. 13 is a schematic view of the damper impact alignment to the far site engine side wall of the present invention.
FIG. 14 is a schematic view of the rapid penetration of the inventive awl bar into the throat of a remote location engine.
FIG. 15 is a schematic view of the cone rod rapidly expanding expansion valve to capture the engine throat at a remote location according to the present invention.
Fig. 16 is a schematic view of the release of the expanding action of the expanding valve by the quick extension and release of the taper rod.
Fig. 17 is a schematic view of the present invention showing the quick retraction of the tapered rod.
Fig. 18 is a schematic diagram of the target satellite separation completion of the acquisition release according to the present invention.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
As shown in fig. 1, the high earth orbit satellite universal taper rod capturing mechanism includes a damping mechanism 001, a housing guiding mechanism 002, a telescopic expansion mechanism 003, a speed reducing mechanism 004, and a support seat 51.
As shown in fig. 2, the guide damper mechanism 001 includes a rocker arm 1, a rocker arm mounting base 2, a roller 3, a sliding base 4, a connecting arm 5, a damper rod 6, a pad 7, a damper rod support base 8, and a guide cylinder 9. Wherein, one end of the guide cylinder 9 is provided with the rocker arm mounting seat 2, and the sliding seat 4 is arranged on the guide cylinder 9 and slides along the outer wall of the guide cylinder 9; the annular damping rod supporting seat 8 is arranged on a flange plate at the other end of the guide cylinder 9 through a fastening screw 68;
the rocker arms 1 are uniformly distributed around the central shaft of the guide cylinder 9, one end of each rocker arm 1 is rotationally connected with the rocker arm mounting seat 2, the other end of each rocker arm is rotationally connected with one end of the connecting arm 5, mounting ball sockets of the rollers 3 are arranged on the rocker arms 1, the rollers 3 are embedded in the rocker arm mounting ball sockets to form roller rocker arm structures, and the outer outlines of the roller rocker arm structures are conical; the other end of the connecting arm 5 is rotatably connected with the end part of the damping rod 6; one end of the damping rod 6 connected with the connecting arm 5 is fixed on a flange plate at the end part of the sliding seat 4, and the other end of the damping rod 6 extends into the damping rod mounting seat 8 and slides along the inner wall of the damping rod mounting seat 8; the backing plate 7 is arranged between the damping rod supporting seat 8 and the guide cylinder 9 and used for sealing. The roller rocker arm structure has five groups. The roller 3 is made of austenitic stainless steel; the sliding seat 4 is made of brass material.
As shown in fig. 4, the guide cylinder 9 is a cylindrical structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes are uniformly distributed on the annular mounting seat along the circumferential direction, rotary grooves 80 are uniformly distributed on the outer wall of the other end of the guide cylinder along the circumferential direction, roller limiting grooves 85 are arranged at positions of the inner wall corresponding to the rotary grooves 80 along the circumferential direction, and the roller limiting grooves 85 are communicated with the rotary grooves 80; two expansion flap seat guide grooves 76 and two roller guide grooves 77 are axially arranged on the inner wall, the two expansion flap seat guide grooves 76 are symmetrical about the central axis of the guide cylinder 9, the two roller guide grooves 77 are symmetrical about the central axis of the guide cylinder 9, the side wall of one side of each roller guide groove 77 is a step surface 84, and a roller limiting groove 85 is intersected with the roller guide grooves 77.
As shown in fig. 3, the housing guide mechanism 002 includes a housing 10, a square neck bolt 11, and a fastening screw 12. One end of the guide cylinder 9 is matched and positioned with a hole of the shell 10, and is fixedly connected with the shell 10 through a flange structure and a square neck bolt 11, and the end part of the square neck bolt 11 is tightly pressed through a fastening threaded sleeve 12.
As shown in fig. 5 and 8, the telescopic expansion mechanism 003 includes a primary sleeve 13, a secondary sleeve 14, a tertiary inner rod 15, a tension and compression sensor 16, a connecting rod 17, an expansion flap seat 21, a taper rod 22, an expansion flap 23, a roller 20, a baffle 25, a primary sleeve tooth 26, a primary sleeve tooth key 27, an expansion flap shaft 31, and a torsion spring 32;
a right-handed rectangular spiral groove is formed in the inner wall of the primary sleeve 13; a right-handed rectangular spiral protrusion structure matched with the right-handed rectangular spiral groove is arranged on the outer wall surface of one end of the secondary sleeve 14, the secondary sleeve 14 is installed in the primary sleeve 13, and the primary sleeve 13 and the secondary sleeve 14 are connected through the right-handed rectangular spiral groove and the right-handed rectangular spiral protrusion structure; a left-handed spiral through groove 86 is formed in the outer wall of the secondary sleeve 14, a left-handed rectangular boss 87 is formed at one end of the tertiary inner rod 15, one end of the tertiary inner rod 15 is matched with the left-handed spiral through groove 86 of the secondary sleeve 14 through the left-handed rectangular boss 87 and is installed inside the secondary sleeve 14, the end of the tertiary inner rod is connected with one end of the tension and compression sensor 16, and the other end of the tertiary inner rod extends out of the secondary sleeve 14; a wire passing hole is formed in the three-stage inner rod 15 along the central shaft, and the other end of the tension and compression sensor 16 is connected with one end of a connecting rod 17; the connecting rod 17 is arranged in the secondary sleeve 14, and the other end of the connecting rod 17 extends out of the end part of the secondary sleeve 14 and then is connected with the taper rod 22; one end of the expansion valve seat 21 is connected with the secondary sleeve 14, and the other end is connected with a plurality of expansion valves 23 which are uniformly distributed along the circumferential direction; the three expansion petals 23 are connected to the expansion petal seat 21 through expansion petal shafts 31 and torsion springs 19, and the inner wall of the expansion petal seat is attached to the taper rod 22; one side of the outer wall of the expansion valve seat 21 is provided with a roller 20, and the other side of the outer wall is provided with a sliding key 75; the baffle 25 is positioned between the primary sleeve 13 and the roller 20, the primary sleeve 13 is fixed with the baffle 25, and the baffle 25 limits the maximum stroke of the secondary sleeve 14; a primary sleeve tooth key 27 is arranged in the middle of the outer wall of the primary sleeve 13, and the primary sleeve tooth 26 is arranged on the primary sleeve 13 through the primary sleeve tooth key 27; the end of the primary sleeve 13 is mounted in the central cylinder structure of the support base 51, and the tertiary inner rod 15 extends out of the central hole of the support base 51.
The telescopic expansion mechanism 003 is arranged in the shell 10, the taper rod 22 provided with the expansion valve 23 is inserted into the guide cylinder 9, and the supporting seat 51 is fixedly connected with the inner wall of the shell 10. The baffle 25 is limited at the step structure of the inner wall of the guide cylinder 9; in the telescopic expansion mechanism 001, the roller 20 slides in the roller guide groove 77 in the telescopic process, and the roller 20 rotates into the roller limiting groove 85 when sliding to the end part of the guide cylinder 9; the sliding key 75 on the expansion flap seat 21 slides in the expansion flap seat guide groove 77.
As shown in fig. 6 and 7, the speed reducing mechanism 004 includes a motor mounting seat 34, a positioning seat 35, a positioning end cover 36, a turbine retainer 37, a turbine 38, a micro deep groove ball bearing 39, a transmission shaft 40, a transmission gear 41, a transmission shaft retainer 42, a motor 43, a worm 44, a worm shaft 45, a first thrust ball bearing 48, a second thrust ball bearing 49, and a support sleeve 50;
the motor 43 is fixedly connected to the motor mounting seat 34 through a screw, a motor spindle is mounted in the screw shaft 45, and the worm shaft 45 is driven through the motor spindle; the worm 44 is arranged on the worm shaft 45, and a first thrust ball bearing 48 and a second thrust ball bearing 49 are respectively arranged at the two ends of the worm 44; the first thrust ball bearing 48 abuts against the motor base support platform 78, and the motor base support platform 78 is fixed on the motor mounting base 34; the worm wheel 38 is fixed on the motor mounting seat 34 through a transmission shaft 40, and the worm wheel 38 is externally meshed with the worm 44; the positioning seat 35 forms a rotation space of the transmission gear 41 with the motor mounting seat 34 through three support sleeves 50, and is fixedly connected with the motor mounting seat 34 through three groups of screws 46 and nuts 47; the transmission gear 41 is arranged on the transmission shaft 40 and is positioned between the motor mounting seat 34 and the positioning seat 35, and the turbine 38 drives the transmission gear 41 through the transmission shaft 40; two deep groove ball bearings 39 on the transmission shaft 40 are respectively installed on the motor installation seat 34 and the positioning seat 35. The central holes of the motor mounting seat 34 and the positioning seat 35 are matched with the primary sleeve 13, and the primary sleeve gear 26 is externally meshed with the transmission gear 41.
The telescopic capturing mechanism can realize telescopic capturing on the existing in-orbit high-orbit satellite engine in the capturing process. As shown in fig. 1, is the internal structure of the present invention, i.e., the basic form of the present invention.
As shown in fig. 9-11, the capture precondition is that the capture mechanism enters the inner conical surface of the engine, and the guiding and quick capturing actions are completed within a short contact process time with the target star. The guiding mechanism 002 is positioned at the front end of the mechanism and plays a role in guiding and positioning, the telescopic mechanism 003 is driven by the driving gear 41 of the speed reducing mechanism 004 under the positioning and supporting effects of the supporting seat 51 and the guiding cylinder 9 to drive the first-stage sleeve 13 to rotate, the first-stage sleeve 13 drives the second-stage sleeve 14 to extend forwards through the internal right-handed spiral groove, the second-stage sleeve 14 cannot rotate in the process due to the action of the guiding cylinder guide groove 77 to drive the third-stage rod 16 to extend forwards together, when the second-stage sleeve 14 extends to the right position, the roller 20 on the second-stage sleeve is released from the constraint under the action of the guiding cylinder head rotating groove 80, the limiting plane of the right-handed boss 83 at the tail end of the second-stage sleeve is locked with the positioning block 25 on the first-stage sleeve, the first-stage mechanism and the second-stage mechanism rotate together, the third-stage inner rod 15 cannot rotate due to the, the petals are spread, and the capture of the throat of the engine at a remote place is completed.
After the capturing task is completed, the motor 43 rotates reversely, the secondary sleeve can only rotate and cannot move backwards due to the limitation of the rotating plane 85 of the guide cylinder, the primary and the secondary are in a synchronous state, the reverse spiral groove at the rear part of the secondary drives the three-stage inner rod 15 to move forwards, the expansion flap 23 is in an expansion state relieved under the action of the torsion spring 32, after the secondary rotates to the position of the guide groove, the secondary cannot continue rotating due to the limitation of the side wall surface 84 of the guide groove, the guide groove 77 relieves the restriction of the secondary axial movement, the expansion flap 23 is folded at the moment, and the spiral groove of the primary sleeve 13 drives the secondary to move backwards until the capturing mechanism is completely retracted.
As shown in fig. 5, the basic principle of the bidirectional spiral groove driven telescopic capturing mechanism is to drive a telescopic tensioning mechanism 003 by using a worm gear and worm reduction mechanism.
When capturing, as shown in fig. 12, the capture mechanism first enters the interior of the offsite engine; as shown in fig. 13, the position and posture of the capturing mechanism and the engine throat are detected by a sensor during the time when the capturing mechanism is inserted into the engine, and the damping mechanism 001 damps when the capturing mechanism is brought into collision contact with the engine. As shown in fig. 14, during the time of the damper damping process, the driving mechanism is driven rapidly to extend the conical rod 22 rapidly.
The detailed process comprises the following steps: the motor 43 rotates anticlockwise to drive the worm and worm wheel to rotate, torque is transmitted to the primary sleeve 13 through the transmission gear 41, and the primary sleeve drives the secondary sleeve 14 to move forwards through the right-handed spiral protrusion. During the whole axial movement process, the roller 20 of the secondary sleeve is limited by the guide groove 77 of the guide cylinder and cannot rotate. The primary sleeve rotates 13 and the secondary sleeve 14 moves forward. The expansion valve mounting seat 21 is buckled with the secondary sleeve, and the expansion valve 23, the tertiary inner rod 15 and the conical rod 22 move forwards along with the secondary sleeve.
As shown in fig. 15, when the secondary mechanism extends to the right, the right-handed spiral protrusion end surface 83 at the tail of the secondary sleeve 14 is locked with the positioning block 25, and the secondary sleeve 14 cannot move forward; at the moment, the roller 20 is already positioned in the rotary groove 80, the rotary constraint of the second-stage sleeve 14 is released, the motor 43 continues to rotate forwards, the second-stage sleeve 14 is driven by the first-stage sleeve 13 to rotate synchronously with the first-stage sleeve, the third-stage inner rod 15 and the conical rod 22 start to move backwards under the action of the left-handed spiral groove 86 on the inner cylinder of the second-stage sleeve, the expansion flap 23 is unfolded, the first-stage sleeve 13 and the second-stage sleeve 14 rotate together by an angle alpha, the third-stage inner rod 15 moves backwards, and the expansion flap 23 is completely unfolded and clings to the inner wall.
As shown in fig. 16, when the satellite remote engine needs to be released, the motor 43 rotates reversely to drive the worm gear to rotate, and the expansion flap 23 returns to the initial position to complete the releasing action in the same principle as the extending action.
As shown in fig. 17, the driving mechanism rotates continuously, the secondary mechanism rotates reversely to the right, the left-handed spiral protrusion 87 on the tertiary rod contacts the front end face of the inner cylinder of the secondary sleeve, the tertiary inner rod 15 cannot move forward continuously, and the roller 20 of the secondary mechanism is restrained by the side wall surface 84 of the longitudinal groove of the guide cylinder and cannot rotate continuously. The first-stage sleeve continues to rotate reversely, the second-stage sleeve 14, the third-stage inner rod 15 and the taper rod 22 are driven to move backwards together, the second-stage sleeve 14 moves backwards, and the capture mechanism is retracted.
After the release action is completed as shown in fig. 18, the target satellite is separated from the acquisition mechanism.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (9)
1. A high orbit satellite universal taper rod capturing mechanism is characterized by comprising a damping mechanism (001), a shell guide mechanism (002), a telescopic expansion mechanism (003), a speed reducing mechanism (004) and a supporting seat (51); the damping mechanism (001) is arranged at the front end of the telescopic expansion mechanism (003); the telescopic expansion mechanism (003), the supporting seat (51) and the speed reducing mechanism (004) are arranged in the shell guide mechanism (002), the rear end of the telescopic expansion mechanism (003) is supported by the supporting seat (51), and the speed reducing mechanism (004) is arranged on the telescopic expansion mechanism (003) to provide power for the telescopic expansion mechanism (003) to expand and contract along the axial direction of the shell guide mechanism (002);
the damping mechanism (001) comprises a rocker arm (1), a rocker arm mounting seat (2), a roller (3), a sliding seat (4), a connecting arm (5), a damping rod (6), a base plate (7), a damping rod supporting seat (8) and a guide cylinder (9); one end of the guide cylinder (9) is provided with the rocker arm mounting seat (2), and the sliding seat (4) is arranged on the guide cylinder (9) and slides along the outer wall of the guide cylinder (9); an annular damping rod supporting seat (8) is arranged on a flange plate at the other end of the guide cylinder (9) through a fastening screw (68);
the rocker arms (1) are uniformly distributed around the central shaft of the guide cylinder (9), one end of each rocker arm is rotatably connected with the rocker arm mounting seat (2), the other end of each rocker arm is rotatably connected with one end of the connecting arm (5), mounting ball sockets of the rollers (3) are arranged on the rocker arms (1), the rollers (3) are embedded in the rocker arm mounting ball sockets to form roller rocker arm structures, and the outer contours of the roller rocker arm structures are conical; the other end of the connecting arm (5) is rotatably connected with the end part of the damping rod (6); one end of the damping rod (6) connected with the connecting arm (5) is fixed on a flange plate at the end part of the sliding seat (4), and the other end of the damping rod (6) extends into the damping rod mounting seat (8) and slides along the inner wall of the damping rod mounting seat (8); the base plate (7) is arranged between the damping rod supporting seat (8) and the guide cylinder (9) and used for sealing.
2. The high orbit satellite universal taper rod capturing mechanism according to claim 1, wherein the guide cylinder (9) is of a cylindrical structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes are uniformly distributed on the annular mounting seat along the circumferential direction, the outer wall of the other end of the guide cylinder is uniformly distributed with a rotary groove (80) along the circumferential direction, a roller limiting groove (85) is arranged at the position of the inner wall corresponding to the rotary groove (80) along the circumferential direction, and the roller limiting groove (85) is communicated with the rotary groove (80); the inner wall sets up two bloated tight lamella seat guide way (76), two gyro wheel guide way (77) along the axial, and two bloated tight lamella seat guide way (76) are symmetrical about the center pin of guide cylinder (9), and two gyro wheel guide way (77) are symmetrical about the center pin of guide cylinder (9), and one side lateral wall of gyro wheel guide way (77) is step face (84), and gyro wheel spacing groove (85) intersect with gyro wheel guide way (77).
3. The high earth orbit satellite universal taper rod capturing mechanism according to claim 1 or 2, wherein the housing guiding mechanism (002) comprises a housing (10), a square neck bolt (11), a fastening screw sleeve (12); one end of the guide cylinder (9) is matched and positioned with a hole of the shell (10) and is fixedly connected with the shell (10) through an annular mounting seat and a square neck bolt (11), and the end part of the square neck bolt (11) is tightly pressed through a fastening threaded sleeve (12).
4. The mechanism for capturing the universal taper rod of the high orbit satellite according to claim 3, wherein the telescopic expansion mechanism (003) comprises a primary sleeve (13), a secondary sleeve (14), a tertiary inner rod (15), a tension and compression sensor (16), a connecting rod (17), an expansion flap seat (21), a taper rod (22), an expansion flap (23), a roller (20), a baffle plate (25), a primary set of teeth (26), a primary set of tooth keys (27), an expansion flap shaft (31) and a torsion spring (32);
the inner wall of the primary sleeve (13) is provided with a right-handed rectangular spiral groove; a right-handed rectangular spiral protruding structure matched with the right-handed rectangular spiral groove is arranged on the outer wall surface of one end of the secondary sleeve (14), the secondary sleeve (14) is installed in the primary sleeve (13), and the primary sleeve (13) is connected with the secondary sleeve (14) through the right-handed rectangular spiral groove and the right-handed rectangular spiral protruding structure; a left-handed spiral through groove (86) is formed in the outer wall of the secondary sleeve (14), a left-handed rectangular boss (87) is arranged at one end of the tertiary inner rod (15), one end of the tertiary inner rod (15) is matched with the left-handed spiral through groove (86) of the secondary sleeve (14) through the left-handed rectangular boss (87) and is installed inside the secondary sleeve (14), the end part of the tertiary inner rod is connected with one end of the tension and compression sensor (16), and the other end of the tertiary inner rod extends out of the secondary sleeve (14); a wire passing hole is formed in the three-stage inner rod (15) along the central shaft, and the other end of the tension and compression sensor (16) is connected with one end of a connecting rod (17); the connecting rod (17) is arranged in the secondary sleeve (14), and the other end of the connecting rod (17) extends out of the end part of the secondary sleeve (14) and then is connected with the conical rod (22); one end of the expansion valve seat (21) is connected with the secondary sleeve (14), and the other end is connected with a plurality of expansion valves (23) which are uniformly distributed along the circumferential direction; each expansion flap (23) is connected to an expansion flap seat (21) through an expansion flap shaft (31) and a torsion spring (19), and the inner wall of each expansion flap is attached to a taper rod (22); one side of the outer wall of the expansion valve seat (21) is provided with a roller (20), and the other side of the outer wall is provided with a sliding key (75); the baffle (25) is positioned between the primary sleeve (13) and the roller (20), the primary sleeve (13) is fixed with the baffle (25), and the baffle (25) limits the maximum stroke of the secondary sleeve (14); a primary sleeve tooth key (27) is arranged in the middle of the outer wall of the primary sleeve (13), and the primary sleeve tooth (26) is installed on the primary sleeve (13) through the primary sleeve tooth key (27); the end part of the primary sleeve (13) is arranged in the central cylinder structure of the supporting seat (51), and the tertiary inner rod (15) extends out of the central hole of the supporting seat (51).
5. The high earth orbit satellite universal taper rod capturing mechanism according to claim 4, wherein the telescopic expansion mechanism (003) is installed in the housing (10), the taper rod (22) provided with the expansion flap (23) is inserted into the guide cylinder (9), and the supporting seat (51) is fixedly connected with the inner wall of the housing (10); the baffle (25) is limited at the step structure of the inner wall of the guide cylinder (9); in the telescopic process of the telescopic expansion mechanism (001), the roller (20) slides in the roller guide groove (77), and when the roller (20) slides to the end part of the guide cylinder (9), the roller rotates to enter the roller limiting groove (85); and a sliding key (75) on the expansion flap seat (21) slides in a guide groove (77) of the expansion flap seat.
6. The mechanism of claim 5, wherein: the expansion petals (23) are evenly distributed along the circumferential direction of the taper rod (22) and are opened under the action of the torsion spring (32).
7. The high-earth-orbit satellite universal taper rod capturing mechanism is characterized in that the speed reducing mechanism (004) comprises a motor mounting seat (34), a positioning seat (35), a positioning end cover (36), a turbine retainer ring (37), a turbine (38), a deep groove ball bearing (39), a transmission shaft (40), a transmission gear (41), a transmission shaft retainer ring (42), a motor (43), a worm (44), a worm shaft (45), a first thrust ball bearing (48), a second thrust ball bearing (49) and a support sleeve (50);
the motor (43) is fixedly connected to the motor mounting seat (34), the motor spindle is mounted in the screw shaft (45), and the worm shaft (45) is driven by the motor spindle; the worm (44) is arranged on the worm shaft (45), and a first thrust ball bearing (48) and a second thrust ball bearing (49) are respectively arranged at the two ends of the worm shaft; the first thrust ball bearing (48) props against the motor base supporting platform (78), and the motor base supporting platform (78) is fixed on the motor mounting base (34); the worm wheel (38) is fixed on the motor mounting seat (34) through a transmission shaft (40), and the worm wheel (38) is externally meshed with the worm (44); the positioning seat (35) and the motor mounting seat (34) form a rotation space of the transmission gear (41) through the three support sleeves (50) and are fixedly connected with the motor mounting seat (34); the transmission gear (41) is arranged on the transmission shaft (40) and is positioned between the motor mounting seat (34) and the positioning seat (35), and the turbine (38) drives the transmission gear (41) through the transmission shaft (40); two deep groove ball bearings (39) on the transmission shaft (40) are respectively arranged on the motor mounting seat (34) and the positioning seat (35); the central holes of the motor mounting seat (34) and the positioning seat (35) are matched with the primary sleeve (13), and the primary sleeve gear (26) is externally meshed with the transmission gear (41).
8. The high earth orbit satellite universal taper rod capture mechanism of claim 1, wherein said roller rocker arm structure has five groups.
9. The ball type guiding damping mechanism suitable for the high earth orbit satellite universal taper rod capturing mechanism is characterized in that the roller (3) is made of austenitic stainless steel material; the sliding seat (4) is made of 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 |
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| CN109606751A CN109606751A (en) | 2019-04-12 |
| CN109606751B true CN109606751B (en) | 2020-09-18 |
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| CN201811527056.7A Expired - Fee Related CN109606751B (en) | 2018-12-13 | 2018-12-13 | Universal taper rod capturing mechanism for high-orbit satellite |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Family Cites Families (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 |
| CN102294690B (en) * | 2011-05-12 | 2013-07-03 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN104494846B (en) * | 2014-12-16 | 2016-05-04 | 中国空间技术研究院 | A kind of general arresting agency of weak shock that is applicable to high rail satellite |
| CN104590590B (en) * | 2014-12-16 | 2016-06-01 | 中国空间技术研究院 | A kind of multi-clove type guiding damping system being applicable to space Zhui Gan mechanism |
| CN104614987B (en) * | 2014-12-19 | 2017-04-05 | 中国空间技术研究院 | A kind of real-time control system and method that rod-type arresting agency is bored for high rail satellite |
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