CN109677643B - Net flying claw device assembly - Google Patents
Net flying claw device assembly Download PDFInfo
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- CN109677643B CN109677643B CN201910106193.1A CN201910106193A CN109677643B CN 109677643 B CN109677643 B CN 109677643B CN 201910106193 A CN201910106193 A CN 201910106193A CN 109677643 B CN109677643 B CN 109677643B
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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 net flying claw device assembly comprises a catching net, wherein a mass block is arranged at the geometric center of the catching net, and is connected with a mooring rope which is used for being connected with a mooring platform on a spacecraft; a plurality of net claws are uniformly arranged on the periphery of the catching net. The catching principle of the invention is that inertia of the catching net and the net claw is utilized, after the net fly claw device assembly is launched out, the catching net is rapidly unfolded, after the catching net collides with a target, the net claw on the catching net carries out the looping movement, and the net claw can be entangled with a rope net to finish the catching of the target. Furthermore, the invention designs a closing-in structure by utilizing a cloth bag principle and a closing-in rope. The catching net has a net type control function, the effective catching distance and the effective catching time of the rope net are greatly increased, the distance between the catching airship and a target is increased, and the requirement on the track maneuvering capacity of the catching airship is reduced. The method can realize accurate, reliable and efficient on-orbit capture aiming at the non-cooperative target.
Description
Technical Field
The invention relates to the technical field of spacecraft catching devices, in particular to a net fly claw device assembly for non-cooperative target in-orbit catching.
Background
The capture and on-orbit service of the spacecraft are hot spots concerned in the current international space field, and how to safely, accurately and quickly capture a space target is a major challenge to the development of future space technology.
At present, the autonomous on-orbit capturing technology of the space robot is verified by flight test demonstration, however, the capturing objects in the flight tests are all cooperative targets, namely, a characteristic mark for measurement and a mechanical arm grasping or butting device are installed. The space debris can be classified as a non-cooperative target, the non-cooperative target has the motion characteristics of spinning, nutation, escape and the like, and the spatial relative position and motion information of the non-cooperative target are difficult to obtain real-time measurement feedback, so that the capturing difficulty is high. The on-orbit capture aiming at the non-cooperative target is still a key technical bottleneck which is not solved in the current aerospace engineering.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a net fly claw device assembly which can be used for capturing non-cooperative targets such as space debris of 0.1-10 m. In order to realize the capture of the translation target, the capture system is required to cover a larger space area in the working process, and the minimum side length of the capture net when the capture net is completely unfolded is at least 1.5 times of the size of the maximum capture target; in order to realize the capture of escaping non-cooperative targets, the capture net is required to be quickly formed, and the capture distance of the system in the direction of connecting the system with the targets is long; in order to realize the capture of the spinning non-cooperative target, the system and the captured target are required to be capable of quickly forming a unified body after collision, so that unexpected phenomena such as falling-off and the like are prevented, and meanwhile, subsequent control behaviors such as racemization and the like can be facilitated.
In order to realize the technical purpose of the invention, the following technical scheme is adopted:
a net flying claw device assembly comprises a catching net, wherein a mass block is arranged at the geometric center of the catching net and is connected with a mooring rope, and the mooring rope is used for being connected with a mooring platform on a spacecraft; a plurality of net claws are uniformly arranged on the periphery of the catching net. The catching principle of the invention is that inertia of the catching net and the net claw is utilized, after the net fly claw device assembly is launched out, the catching net is rapidly unfolded, after the catching net collides with a target, the net claw on the catching net carries out the looping movement, and the net claw can be entangled with a rope net (namely the net claw is hooked with the rope net) to finish the catching of the target.
As a preferred technical scheme of the invention, the catching net is a regular polygon or round rope net, the net claw is connected with the catching net through a traction rope, one end of the traction rope is connected with the catching net, and the other end of the traction rope is connected with the net claw. For the catching net in the regular polygon shape, a net claw is arranged at each corner position of the catching net in the regular polygon shape.
Further, the catching net of the invention can adopt a square rope net with a diamond net mesh, and the net mesh of the rope net of the catching net is not aligned with a side line but aligned with a diagonal line. The rope net topological structure can ensure that the distances from rope nodes on the four side lines to the central point of the rope net are equal after the rope net is folded into a bundle shape, and is favorable for folding, sealing and storing the rope net and orderly unfolding the rope net. The traction rope of the catching net is formed by extending out the diagonal line of the catching net, the four corners of the catching net are respectively and correspondingly provided with a net claw, and the net claws are respectively connected with the two ends of the two diagonal lines.
Further, in order to further ensure the rope net closing of the catching rope, the invention designs a closing structure with the following structure by using a cloth bag principle through the closing rope: the net claw comprises a wire winding box and a claw hook, and the claw hook is arranged on the wire winding box. The take-up box is provided with two wire outlet holes, a closing rope is arranged in the take-up box, two ends of the closing rope respectively penetrate through the two wire outlet holes, one end of the closing rope penetrates through one wire outlet hole and then serves as a closing shaft rope, and the closing shaft rope is used for being connected with a mooring platform on the spacecraft; the other end of the closing rope penetrates out of the other wire outlet hole and then is used as a closing sideline rope to be connected to the corner of the corresponding peripheral sideline of the adjacent net claw along the peripheral sideline of the catching net or connected to a traction rope connected with the adjacent net claw. In order to avoid the binding off sideline rope from winding, a guide ring for the binding off sideline rope to sequentially pass is uniformly arranged on the peripheral sideline of the catching net. And the outer side lines of the catching net are respectively provided with a closing edge cord of a net claw, the closing shaft cord of each net claw is tightened through external force, the closing edge cord on each outer side line is tightened, and each corner of the catching net is drawn close to the adjacent corner in a one-way mode to close the catching net. When the catching net finishes the catching of the target and starts to close up, the closing shaft ropes of the net claws are tightened up through external force to realize the tightening up of the closing ropes, so that the corners of the catching net are all drawn close to the adjacent corners in a one-way manner, further closing up is finished, and finally a stable rope-object complex is formed.
According to the invention, the bottom of the wire collecting box is provided with the launching rod, the launching rod is fixed at the center of the bottom cover of the wire collecting box, and the traction rope is connected to the launching rod; the two wire outlet holes are symmetrically distributed on two sides of the transmitting rod. The top of the wire collecting box is provided with a claw hook which is fixed at the center of the top cover of the wire collecting box; the claw colludes and includes well core rod and distributes a plurality of crotch on well core rod, and well core rod distributes from last to having the multilayer crotch down, and every layer of crotch is including four crotch that are the cross and distribute.
Further, the take-up box is a cylindrical box body; a closing rope conduction mechanism is arranged in the take-up box; the binding off rope conduction mechanism is for setting up a series of through wires holes on receiving line box top cap inner wall, and the binding off rope of receiving line box inside is that the zigzag is folding and passes this a series of through wires holes in proper order, and every through wires hole all is as a folding point of binding off the rope, is connected with the constant force area of tearing through the sutural mode between the binding off rope on every folding point both sides, when tightening up the binding off rope, the binding off rope of constant force area of tearing both sides is under the effect of external force, and the stitch that sews up between area and the binding off rope is torn in the constant force and is broken in succession, forms the reverse acting force that the direction is opposite with external force.
The rope net material adopted by the catching net is selected mainly by considering the space environment and task requirements. The spatial environment requires that the rope net material has the characteristics of high and low temperature resistance, strong radiation resistance, shear resistance, strong insulating property and the like. The catching net is formed by weaving ropes in a crossed manner. Since the force applied to each diagonal line of the catching net and each peripheral edge line of the catching net is large when the target is caught, it is necessary to perform a reinforcing and thickening process on each diagonal line of the catching net and each peripheral edge line of the catching net.
Compared with the prior art, the invention can produce the following technical effects:
the invention mainly comprises a catching net and a flying claw, the catching principle is that inertia of a rope net and the flying claw is utilized, so that the flying claw carries out looping movement after the catching net collides with a target, and claw hooks on the flying claw can be entangled with the rope net to finish the catching of the target. Furthermore, the invention utilizes the cloth bag principle, designs the closing structure through the closing rope, and can realize the closing of the peripheral side line of the catching net, thereby completing the further closing and finally forming a stable rope-object complex. The method can realize accurate, reliable and efficient on-orbit capture aiming at the non-cooperative target.
Because the design of the constant-force tearing belt enables the catching net of the invention to have a net type control function. Specifically, the catching net can rapidly rebound after being unfolded to the maximum, the reason for this is that after the catching net is pulled by the mass to be unfolded, the ropes in the net plane also have kinetic energy stretching outwards in the net plane, then due to the elasticity of the ropes, the ropes rebound, and if the residual kinetic energy is large, the catching net can rapidly rebound. The function of the constant-force tearing belt is to convert the kinetic energy in the plane of the rope net into the internal energy of the constant-force breaking belt, thereby weakening or even eliminating the rebound movement of the rope net. Therefore, the effective capture distance and the effective capture time of the rope net are greatly increased, so that the distance between the capture airship and the target is increased, and the requirement on the track maneuvering capability of the capture airship is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a catching net;
FIG. 3 is a schematic view of a web claw structure housed in a spacecraft launching device;
FIG. 4 is a schematic structural view of a closing rope in the take-up box;
fig. 5 is a schematic view of the operation of a constant force tear strip;
in the figure:
1. catching the net; 2. a net claw; 3. a mass block; 4. tying a rope; 5. a hauling rope; 6. a firing rod; 7. a wire rewinding box; 8. a claw hook; 9. a wire outlet hole; 10. a center pole; 11. hooking; 12. a closing rope; 13. closing shaft cords; 14. a closing edge cord; 15. a guide ring; 16. a fixed force tear strip; 17. a diagonal line; 18. a peripheral border line.
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a net fly claw assembly including a catching net 1 and a net claw 2. The catching net 1 is a regular polygon or round rope net. In this embodiment, as shown in fig. 1 and 2, the catching net 1 is a square rope net. The mass block 3 is arranged at the geometric center of the catching net 1, the mass block 3 is connected with the mooring rope 4, and the mooring rope 4 is used for being connected with a mooring platform on a spacecraft to realize the launching, traction and recovery of the catching net 1.
Two ends of two diagonal lines of the catching net 1 extend out to be used as a traction rope 5, and the free end of the traction rope 5 is connected with the net claw 2. The rope net material adopted by the catching net 1 is selected mainly by considering the space environment and task requirements. The spatial environment requires that the rope net material has the characteristics of high and low temperature resistance, strong radiation resistance, shear resistance, strong insulating property and the like. The catching net 1 is formed by weaving ropes in a crossed manner. Since the two diagonal lines of the capturing net 1 and the four peripheral edge lines of the capturing net 1 are subjected to a large force when capturing the target, it is necessary to perform a reinforcing and thickening process on the two diagonal lines of the capturing net and the four peripheral edge lines of the capturing net.
Referring to fig. 1, four corners of a catching net 1 are provided with net claws 2. The catching principle of the invention is that inertia of the catching net and the net claw is utilized, after the net fly claw device assembly is launched out, the catching net is rapidly unfolded, after the catching net collides with a target, the net claw on the catching net carries out the looping movement, and the net claw can be entangled with a rope net (namely the net claw is hooked with the rope net) to finish the catching of the target.
Referring to fig. 3, 4 and 5, in order to further ensure the rope net closing of the catching rope, the invention utilizes the cloth bag principle, and designs the closing structure with the following structure through the closing rope: the net claw 2 comprises a launching rod 6, a take-up box 7 and a claw hook 8. The take-up box 7 is a cylindrical box body. In this embodiment, the wire take-up box 7 is formed by assembling 4 1/4 box bodies, which is beneficial to the assembly and disassembly of components in the wire take-up box.
The bottom of the wire winding box 7 is connected with an emission rod 6, the emission rod 6 is fixed in the center of the bottom cover of the wire winding box 7, and the traction rope 5 is connected to the emission rod 6. Two wire outlet holes 9 are formed in the bottom cover of the wire collecting box 7, and the two wire outlet holes 9 are symmetrically distributed on two sides of the launching rod 6. The top of the wire winding box 7 is provided with a claw hook 8, and the claw hook 8 is fixed at the center of the top cover of the wire winding box 7. The claw colludes 8 and includes well core rod 10 and distributes a plurality of crotch 11 on well core rod 10, and well core rod 10 distributes from last to having multilayer crotch 11, and every layer of crotch 11 is including being four crotch 11 that the cross distributes. Referring to fig. 3, the launching rod 6 is accommodated in the launching device of the spacecraft before launching, is used for fixing the supporting net claw to form a certain angle with a launching longitudinal axis on the spacecraft when in preparation for launching, and is used for conducting energy to enable the catching net to have a certain initial speed and drawing the catching net to be rapidly unfolded during launching of the catching net.
A closing rope 12 is arranged in the take-up box 7, two ends of the closing rope 12 respectively penetrate out of the two wire outlets 9, one end of the closing rope 12 penetrates out of one wire outlet 9 to serve as a closing shaft rope 13, and the closing shaft rope 13 is used for being connected with a mooring platform on the spacecraft. The other end of the closing rope 12 penetrates out of the other wire outlet hole 9 and then is used as a closing side wire rope 14 to be connected to the corner of the corresponding peripheral side line of the adjacent net claw along the peripheral side line of the catching net or connected to a traction rope connected with the adjacent net claw. In order to avoid the winding of the closing-edge rope 14, guide rings 15 for the closing-edge ropes to sequentially pass through are uniformly arranged on the peripheral edge of the catching net. And the outer side lines of the catching net are respectively provided with a closing edge cord of a net claw, the closing shaft cord of each net claw is tightened through external force, the closing edge cord on each outer side line is tightened, and each corner of the catching net is drawn close to the adjacent corner in a one-way mode to close the catching net. When the catching net finishes the catching of the target and starts to close up, the closing shaft ropes of the net claws are tightened up through external force to realize the tightening up of the closing ropes, so that the corners of the catching net are all drawn close to the adjacent corners in a one-way manner, further closing up is finished, and finally a stable rope-object complex is formed.
Referring to fig. 4 and 5, a closing rope conduction mechanism is arranged inside the take-up box 7; closing up rope conduction mechanism is for setting up a series of through wires holes on receiving line box top cap inner wall, receive the inside closing up rope of line box 7 and be the zigzag folding and pass this a series of through wires holes in proper order, every through wires hole all is as a folding point of closing up the rope, be connected with constant force tear strip 16 through the mode of sewing up between the closing up rope on every folding point both sides, when tightening up the rope that closes up, the closing up rope of constant force tear strip 16 both sides is under the effect of external force, the stitch that sews up between constant force tear strip and the closing up rope breaks in succession, form the reverse effort that the direction is opposite with external force. The strength of the tearing belt with fixed force is much lower than that of ropes used by a closing rope and a catching net, and the tearing belt can be firstly broken under the stretching action of external force, for example, the tearing belt is sewn by thin (for example, the diameter is less than 0.2 mm) polyimide threads. Aiming at the problem that the effective working time and the working distance of the rope net are short due to the rebound movement of the rope net, the fixed-force tearing belt is designed on the closing rope in the take-up box, and when the closing rope is tightened, the closing rope in the take-up box is pulled out of the take-up box, and continuous unidirectional force which is opposite to the movement in direction and has a stable numerical value is provided for the movement of the closing rope due to the continuous fracture of the fixed-force tearing belt.
Fig. 5 is a straightening process of a single rope with a fixed tearing belt, wherein sewing stitches of the tearing belt are continuously broken under the action of two end forces of the rope to form a reverse acting force with the direction opposite to that of an external force and a stable numerical value.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a net flies claw device assembly, catches net including catching, its characterized in that: the geometric center of the catching net is provided with a mass block which is connected with a mooring rope, and the mooring rope is used for being connected with a mooring platform on the spacecraft; a plurality of net claws are uniformly arranged on the periphery of the catching net, the net claws are connected with the catching net through traction ropes, one end of each traction rope is connected to the catching net, and the other end of each traction rope is connected with the net claws; the net claw comprises a wire collecting box and a claw hook, and the claw hook is arranged on the wire collecting box; the take-up box is provided with two wire outlet holes, a closing rope is arranged in the take-up box, two ends of the closing rope respectively penetrate through the two wire outlet holes, one end of the closing rope penetrates through one wire outlet hole and then serves as a closing shaft rope, and the closing shaft rope is used for being connected with a mooring platform on the spacecraft; the other end of the closing rope penetrates out of the other wire outlet hole and then is used as a closing sideline rope to be connected to the corner of the corresponding peripheral sideline of the adjacent net claw along the peripheral sideline of the catching net or connected to a traction rope connected with the adjacent net claw; and the outer side lines of the catching net are respectively provided with a closing edge cord of a net claw, the closing shaft cord of each net claw is tightened through external force, the closing edge cord on each outer side line is tightened, and each corner of the catching net is drawn close to the adjacent corner in a one-way mode to close the catching net.
2. The web flyer device combination of claim 1, wherein: the catching net is a regular polygon or round rope net for catching.
3. The web flyer device combination of claim 1, wherein: the catching net is a regular polygon catching net, traction ropes are arranged at the corners of the catching net, and the net claws are connected with the traction ropes.
4. The web flyer device combination of claim 3, wherein: the catching net is a square rope net with a diamond mesh; the hauling cable is formed by extending the catching net diagonally.
5. The web flyer device combination of claim 1, wherein: and guide rings for the closing-in sidelines to sequentially pass through are uniformly arranged on the peripheral sidelines of the catching net.
6. The web flyer device combination of claim 1, wherein: the bottom of the wire collecting box is provided with a launching rod, the launching rod is fixed in the center of the bottom cover of the wire collecting box, and the traction rope is connected to the launching rod; the two wire outlet holes are symmetrically distributed on two sides of the transmitting rod.
7. The web flyer device combination of claim 6, wherein: the top of the wire collecting box is provided with a claw hook which is fixed at the center of the top cover of the wire collecting box; the claw colludes and includes well core rod and distributes a plurality of crotch on well core rod, and well core rod distributes from last to having the multilayer crotch down, and every layer of crotch is including four crotch that are the cross and distribute.
8. The web flyer device combination of claim 1, wherein: the take-up box is a cylindrical box body; a closing rope conduction mechanism is arranged in the take-up box.
9. The web flyer device combination of claim 8, wherein: the binding off rope conduction mechanism is for setting up a series of through wires holes on receiving line box top cap inner wall, and the binding off rope of receiving line box inside is that the zigzag is folding and passes this a series of through wires holes in proper order, and every through wires hole all is as a folding point of binding off the rope, is connected with the constant force area of tearing through the sutural mode between the binding off rope on every folding point both sides, when tightening up the binding off rope, the binding off rope of constant force area of tearing both sides is under the effect of external force, and the stitch that sews up between area and the binding off rope is torn in the constant force and is broken in succession, forms the reverse acting force that the direction is opposite with external force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106193.1A CN109677643B (en) | 2019-02-02 | 2019-02-02 | Net flying claw device assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106193.1A CN109677643B (en) | 2019-02-02 | 2019-02-02 | Net flying claw device assembly |
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| CN109677643A CN109677643A (en) | 2019-04-26 |
| CN109677643B true CN109677643B (en) | 2020-06-19 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182390B (en) * | 2019-05-05 | 2021-02-05 | 北京空间飞行器总体设计部 | Reusable space debris flexible catching cloth bag device and catching method |
| CN112061429B (en) * | 2020-09-07 | 2022-09-23 | 西北工业大学 | Large inflatable escape-proof space debris cleaning device and space debris release method |
| CN114291283A (en) * | 2021-03-18 | 2022-04-08 | 何韧 | Aircraft gripping type recovery method and device |
| CN114084383B (en) * | 2021-11-23 | 2023-12-08 | 中国科学院力学研究所 | Controllable space lasso device |
| CN114435634B (en) * | 2021-12-29 | 2023-05-23 | 中国人民解放军国防科技大学 | Combined separation type maneuvering flying net and space target capturing method |
| CN115779288B (en) * | 2022-11-18 | 2023-09-26 | 南京理工大学 | Independently motor rope net of can binding off suitable for space non-cooperative target is caught |
| CN115649493B (en) * | 2022-12-12 | 2023-03-17 | 中国人民解放军国防科技大学 | Intercepting rope net containing solid units and storage method thereof |
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| RU2610919C1 (en) * | 2015-10-08 | 2017-02-17 | Федеральное государственное унитарное предприятие "Российский Федеральный ядерный центр - Всероссийский научно-исследовательский институт экспериментальной физики" (ФГУП "РФЯЦ-ВНИИЭФ") | Spacecraft optical-mechanical unit assembling method |
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| CN103587730A (en) * | 2013-10-23 | 2014-02-19 | 北京空间飞行器总体设计部 | Two-stage launching and unfolding method of spatial flying net |
| RU2610919C1 (en) * | 2015-10-08 | 2017-02-17 | Федеральное государственное унитарное предприятие "Российский Федеральный ядерный центр - Всероссийский научно-исследовательский институт экспериментальной физики" (ФГУП "РФЯЦ-ВНИИЭФ") | Spacecraft optical-mechanical unit assembling method |
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