CN110254755A - Space debris removing device and method and space debris maintenance method - Google Patents
Space debris removing device and method and space debris maintenance method Download PDFInfo
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- CN110254755A CN110254755A CN201910603574.0A CN201910603574A CN110254755A CN 110254755 A CN110254755 A CN 110254755A CN 201910603574 A CN201910603574 A CN 201910603574A CN 110254755 A CN110254755 A CN 110254755A
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- space junk
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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
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention discloses a space debris clearing device, a space debris clearing method and a space debris maintenance method, wherein the device comprises the following steps: the device comprises a carrying mechanism, a telescopic mechanism, a synchronous turntable and a flexible catching mechanism; a carrying mechanism for maneuvering into synchronization with the target debris trajectory; one end of the telescopic mechanism is inserted into and limited in the carrying mechanism and can be arranged in a rotating way, and the other end of the telescopic mechanism is connected with the flexible catching mechanism; the synchronous turntable is rotatably arranged on one side surface of the carrying mechanism and is sleeved on the telescopic mechanism to drive the telescopic mechanism to rotate; the flexible catching mechanism is used for catching target fragments and is in flexible contact with the target fragments. The space debris clearing device, the space debris clearing method and the space debris maintenance method can drive the flexible catching mechanism and the target debris to synchronously rotate, and are convenient to catch the rotating space debris. The space debris of different appearances can be captured, and the collision is not easy to generate, the application range is wider, and the stability and the safety are higher.
Description
Technical field
The present invention relates to space technology field more particularly to a kind of space junk remove devices, method and space junk dimension
Maintaining method.
Background technique
Space junk is the product that the mankind carry out that space activity leaves, and range includes discarded artificial satellite, fuel tank
The fragment generated, final stage, discards during executing space mission of carrier rocket etc. are hit in explosion.Space junk pair
Spacecraft and the great potential threat of spacefarer's security presence, space junk cleaning have become urgently to be resolved important of space flight circle
Problem.
Each spacefaring nation such as the U.S., Japan and West Europe competitively new technology of development space defragmentation, China is
" space junk Removal Technology " is classified as major scientific and technological project.Space junk is generally non-cooperation object, in space microgravity ring
Transfer when capturing under border to it easily because of momentum causes compared with large disturbances.Furthermore it is captured if implementing rigidity, it may be because of
It collides and generates secondary fragment.Therefore it provides a kind of space junk remove device and method are (different outer to be suitable for a variety of fragments
Shape, material and different rotary state) cleaning requirement, there is most important theories and realistic meaning, application value is huge.
Summary of the invention
To solve above-mentioned the technical problems existing in the prior art, the present invention provides a kind of space junk remove device,
Method and space junk maintaining method.Specific technical solution is as follows:
In a first aspect, provide a kind of space junk remove device, described device includes: carrier mechanism, telescoping mechanism, same
Walk turntable and flexible arresting agency；The carrier mechanism, for motor-driven to synchronous with target debris track；The telescoping mechanism
One end is inserted into and is limited in the carrier mechanism, and rotatably setting, and the other end is connect with the flexible arresting agency；It is described
Synchronous turntable is rotatably arranged on the one side of the carrier mechanism, and the synchronous turntable is sleeved on the telescoping mechanism
On for driving the telescoping mechanism to rotate；The flexibility arresting agency is used for capture target fragment, and between target debris
For flexible contact.
In a kind of possible design, the flexibility arresting agency includes: substrate, flexible peduncle；The telescoping mechanism
The other end is connect with the one side of the substrate, and multiple flexible peduncles are connected on the another side of the substrate；It is described
Flexible peduncle is marmem material, and the flexibility peduncle arcuately stretches out after being arranged to heating, and the performance on compliant wrist
The extending direction of foot is directed toward the axis direction of the substrate, for wrapping up target debris.
In a kind of possible design, the flexibility arresting agency is capture brush, and the capture brush is used for and target debris
The one side of contact is provided with bristle.
In a kind of possible design, the carrier mechanism includes: for adjusting the carrier mechanism posture and track
Rail control module；For controlling the Star Service and number of the telescoping mechanism, the synchronous turntable and the flexible arresting agency movement
Tube module；Communication module between star for carrying out data transmit-receive；Power module for power supply.
In a kind of possible design, described device further includes video reconnaissance module, the video reconnaissance module with it is described
Star Service is connect with dataman module, described for obtaining the video information of target debris and being sent to the Star Service and dataman module
Star Service controls the telescoping mechanism, the synchronous turntable and the flexible arresting agency according to video information with dataman module and moves
Make.
In a kind of possible design, described device further includes the magnetic torquer for racemization.
Second aspect provides a kind of space junk remove device using any of the above-described and carries out space junk removing
Method, which comprises
Preparation stage: carrier mechanism is motor-driven to, telescoping mechanism movement, by flexible arresting agency synchronous with target debris track
It is moved to and arrests position；
Acquisition phase: if target debris rotates, start synchronous turntable, drive the flexibility to arrest by the telescoping mechanism
Mechanism and target debris rotate synchronously, and then start the flexible arresting agency, are captured；
Operational phase: the carrier mechanism is motor-driven to compared with low orbit or recycling platform；
The release stage: the flexibility arresting agency releases target debris.
In a kind of possible design, in the operational phase, revolved if target debris and the assembly of fragment remove device exist
Tarnsition velocity, starting magnetic torquer carry out racemization, make the attitude stabilization of assembly.
In a kind of possible design, in the preparation stage, carrier mechanism is motor-driven to after synchronous with target debris track, passes through
Rail control module carries out point blank rail control system, shortens the distance between the carrier mechanism and target debris.
The third aspect provides a kind of space junk remove device using any of the above-described and carries out space junk maintenance
Method, which comprises
Preparation stage: carrier mechanism is motor-driven to, telescoping mechanism movement, by flexible arresting agency synchronous with target debris track
It is moved to and arrests position；
Acquisition phase: if target debris rotates, start synchronous turntable, drive the flexibility to arrest by the telescoping mechanism
Mechanism and target debris rotate synchronously, and then start the flexible arresting agency, are captured；
Operational phase: the carrier mechanism executes in-orbit maintenance, part replacement, system adapter tube and/or reality to target debris
Test operation；
The release stage: the flexibility arresting agency releases target debris.
The major advantage of technical solution of the present invention is as follows:
Space junk remove device, method and space junk maintaining method of the invention, can complete to space junk
The operation such as removing and maintenance.By the way that synchronous turntable and rotatable telescoping mechanism is arranged, arresting agency can be driven broken with target
The synchronous rotation of piece, convenient for being captured to the space junk in rotation.By the way that flexible arresting agency is arranged, can be to difference outside
The space junk of shape (for example, with complicated overhanging mechanism) is captured, and is not likely to produce collision, secondary caused by avoiding because of collision
Raw fragment, the scope of application is wider, and stability and safety are higher.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes of the invention one
Point, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute improper limitations of the present invention.Attached
In figure:
Fig. 1 is the structural schematic diagram of space junk remove device provided by one embodiment of the present invention.
Description of symbols:
1- carrier mechanism, 2- telescoping mechanism, 3- synchronous turntable, 4- flexibility arresting agency, 41- substrate, 42- flexibility peduncle.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only of the invention
A part of the embodiment, instead of all the embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Below in conjunction with attached drawing, the technical solution of embodiment that the present invention will be described in detail offer.
In a first aspect, the embodiment of the invention provides a kind of space junk remove devices, and as shown in Fig. 1, the device packet
It includes: carrier mechanism 1, telescoping mechanism 2, synchronous turntable 3 and flexible arresting agency 4.Carrier mechanism 1, for motor-driven to broken with target
Piece track is synchronous.One end of telescoping mechanism 2 is inserted into and is limited in carrier mechanism 1, and rotatably setting, the other end are grabbed with flexibility
Catch the connection of mechanism 4.Synchronous turntable 3 is rotatably arranged on the one side of carrier mechanism 1, and synchronous turntable 3 be sleeved on it is flexible
For driving telescoping mechanism 2 to rotate synchronously in mechanism 2.Flexible arresting agency 4 be used for capture target fragment, and with target debris it
Between be flexible contact.
The working principle of space junk remove device provided in an embodiment of the present invention is illustrated below:
In use, including the preparation stage sequentially carried out, acquisition phase, operational phase and release stage.Detailed process is such as
Lower described, the preparation stage: carrier mechanism 1 is motor-driven extremely synchronous with target debris track, and telescoping mechanism 2 acts, and flexibility is arrested machine
Structure 4, which is moved to, arrests position.Acquisition phase: if target debris rotates, start synchronous turntable 3, flexibility is driven by telescoping mechanism 2
Arresting agency 4 and target debris rotate synchronously, and then start flexible arresting agency 4, are captured.Operational phase: carrier mechanism 1
It is motor-driven to compared with low orbit or recycling platform.The release stage: flexible 4 releases target debris of arresting agency.By upper
Process is stated, the removing of space junk can be completed.Alternatively, in the operational phase, can also by carrier mechanism 1 to target debris into
The operations such as the in-orbit maintenance of row, part replacement, system adapter tube and/or experiment, complete the maintenance of space junk.
As it can be seen that space junk remove device provided in an embodiment of the present invention, can complete the removing and dimension to space junk
The operation such as shield.By the way that synchronous turntable 3 and rotatable telescoping mechanism 2 is arranged, flexible arresting agency 4 and target debris can be driven
Synchronous rotation, convenient for being captured to the space junk in rotation.By the way that flexible arresting agency 4 is arranged, can be to difference outside
The space junk of shape (for example, with complicated overhanging mechanism) is captured, and is not likely to produce collision, secondary caused by avoiding because of collision
Raw fragment, the scope of application is wider, and stability and safety are higher.
In the embodiment of the present invention, telescoping mechanism 2 is mobile by its flexible flexible arresting agency 4 of drive, as an example,
Telescoping mechanism 2 can be set with the multi-stage expansion structure of formation step by step for multiple tubing element, be conveniently adjusted to different length.
Wherein, as an example, flexible arresting agency 4 may include: substrate 41, flexible peduncle 42.Telescoping mechanism 2
The other end is connect with the one side of substrate 41, and multiple flexibility peduncles 42 are connected on the another side of substrate 41.Flexible peduncle 42
For marmem material (Shape Memory Alloy, abbreviation SMA), flexible peduncle 42 is arranged to after heating arcuately
It stretches out, and the extending direction of flexible peduncle 42 is directed toward the axis direction of substrate 41, for wrapping up target debris.
So set, when heating, flexible 42 bending elongation of peduncle wraps up adsorbed target fragment, will not generate rigid touch
It hits, has flexible well.When need to discharge, flexible peduncle 42 is cooling to be resetted, and releases the covering to target debris.Flexible peduncle 42
Contact between target debris contacts for line, more can easily avoid complicated overhanging or the positions such as be not easy to contact, well
The capture of target debris suitable for complicated material and structure.
Further, the surface of flexible peduncle 42 can be coated with silicon rubber, further increase buffer capacity.Silicon rubber tool
Standby preferable high-temperature stability and ductility, can be adapted with flexible the flexible of peduncle 42.
Wherein, multiple flexible peduncles 42 can be uniformly distributed along the circumferential direction of substrate 41, so that target debris uniform force.It lifts
For example, substrate 41 can be square structure, and four flexible peduncles 42 are respectively distributed to four apexes of substrate 41.Alternatively,
Substrate 41 can be rectangular, round or other structures, and six flexible peduncles 42 circumferentially surround circle, adjacent two performance on compliant wrist
Angle between foot 42 is 60 degree.
As another example, flexible arresting agency 4 can brush one for contacting with target debris for capture brush, capture
Side is provided with bristle.Local face contact is carried out by capture brush and target debris, is easier to avoid the complexity on target debris surface
Overhanging structure.And hard contact is converted to by flexible contact by setting bristle.
Specifically, the quantity for capturing brush can be to be two or more, and when the quantity of capture brush is two, two captures are brushed
Interval is opposite；When the quantity of capture brush is multiple, multiple capture brushes are uniformly distributed circumferentially.So set, brushing capture
Effect is arrested in distribution uniform, raising.Capture brush can be hollow cyclic structure.It is set as hollow by the way that brush will be captured
Cyclic structure, on the one hand, for being commonly the space junk structure of spherical or almost spherical, the capture brush comparison of cyclic structure
Plate structure can have bigger contact area with space junk, and then keep fixed effect and racemization effect preferable.On the other hand,
The capture brush of ring mechanism can be suitable for the space junk of contour structures complexity, such as there is the sky of protrusion or antenna etc. on surface
Between fragment, protrusion or antenna etc. can pass through the hollow of cyclic structure, and the contact to capture brush with space junk does not cause larger
Interference.
It captures and is provided with the different bristle of at least two hardness on the inner wall of brush, the bristle of different hardness is alternately distributed.It is logical
It crosses the different bristle of setting hardness to be spaced apart, the buffering effect of softer bristle is fabulous, and harder bristle can apply bigger resistance
Power improves racemization efficiency, can have preferable racemization efficiency and generate biggish impact to space junk.
Optionally, in space junk remove device provided in an embodiment of the present invention, carrier mechanism 1 includes: for adjusting fortune
The rail control module of 1 posture of mounted mechanism and track is acted for controlling telescoping mechanism 2, synchronous turntable 3 and flexible arresting agency 4
Star Service and dataman module, communication module between the star for carrying out data transmit-receive, the power module for power supply.
Optionally, space junk remove device provided in an embodiment of the present invention further includes video reconnaissance module, and video is scouted
Module is connect with Star Service with dataman module, for obtaining the video information of target debris and being sent to Star Service and dataman module, star
Business controls telescoping mechanism 2, synchronous turntable 3 and flexible arresting agency 4 according to video information with dataman module and acts.It is detectd by video
Examine the video information that module obtains target debris, the available distance away from target debris, the structure of target debris and target
The parameters such as the rotation situation of fragment, and then telescoping mechanism 2, synchronous turntable 3 and flexible arresting agency 4 is instructed to act.
Optionally, space junk remove device provided in an embodiment of the present invention further includes the magnetic torquer for racemization.It catches
It obtains after mechanism firmly grasps target debris, the rotating torque of target debris may drive space junk remove device to turn with target debris
It is dynamic, start magnetic torquer, generates active force using earth magnetic field, eliminate the assembly of target debris and space junk remove device
Rotation.Wherein, carrier mechanism can be small satellite platform, magnetic torquer quality and small volume, it is good without consuming propellant
It is suitable for small satellite platform well.For example, broken for the diameter of Spherical Volume of 140rpm to quality 150kg, diameter 1.0m, rotation speed
Damping racemization can be achieved in piece, 10 hours of magnetic torquer work.
Second aspect, the embodiment of the invention provides a kind of space junk remove devices using any of the above-described to carry out sky
Between fragment remove method, this method comprises:
Preparation stage: carrier mechanism 1 is motor-driven extremely synchronous with target debris track, and telescoping mechanism 2 acts, and flexibility is arrested machine
Structure 4, which is moved to, arrests position.
Acquisition phase: if target debris rotates, start synchronous turntable 3, flexible arresting agency 4 is driven by telescoping mechanism 2
It is rotated synchronously with target debris, then starts flexible arresting agency 4, captured.
Operational phase: carrier mechanism 1 is motor-driven to compared with low orbit or recycling platform.
The release stage: flexible 4 releases target debris of arresting agency.
Space junk sweep-out method provided in an embodiment of the present invention, by the way that synchronous turntable 3 and rotatable telescopic machine is arranged
Structure 2 can drive flexible arresting agency 4 to synchronize rotation with target debris, convenient for catching to the space junk in rotation
It obtains.By the way that flexible arresting agency 4 is arranged, the space junk of different shapes (for example, with complicated overhanging mechanism) can be carried out
Capture, and it is not likely to produce collision, secondary fragment caused by avoiding because of collision, the scope of application is wider, and stability and safety are higher.
Optionally, this method further include: in the operational phase, revolved if target debris and the assembly of fragment remove device exist
Tarnsition velocity, starting magnetic torquer carry out racemization, make the attitude stabilization of assembly.
Optionally, this method further includes, and in the preparation stage, carrier mechanism 1 is motor-driven to after synchronous with target debris track, leads to
It crosses rail control module and carries out point blank rail control system, shorten the distance between carrier mechanism 1 and target debris, further decrease
Arrest difficulty.
The third aspect provides a kind of space junk remove device using any of the above-described and carries out space junk maintenance
Method, this method comprises:
Preparation stage: carrier mechanism 1 is motor-driven extremely synchronous with target debris track, and telescoping mechanism 2 acts, and flexibility is arrested machine
Structure 4, which is moved to, arrests position.
Acquisition phase: if target debris rotates, start synchronous turntable 3, flexible arresting agency 4 is driven by telescoping mechanism 2
It is rotated synchronously with target debris, then starts flexible arresting agency 4, captured.
Operational phase: carrier mechanism 1 executes in-orbit maintenance, part replacement, system adapter tube and/or experiment to target debris and grasps
Make.
The release stage: flexible 4 releases target debris of arresting agency.
Space junk maintaining method provided in an embodiment of the present invention, executes a variety of operations after capturing to target debris,
Experimental data is obtained convenient for the spacecraft etc. in using being safeguarded or being carried out experiment, meets different use demands.It is logical
The synchronous turntable 3 of setting and rotatable telescoping mechanism 2 are crossed, flexible arresting agency 4 can be driven to synchronize with target debris and turned
It is dynamic, convenient for being captured to the space junk in rotation.By the way that flexible arresting agency 4 is arranged, can to different shapes (for example,
With complicated overhanging mechanism) space junk captured, and be not likely to produce collision, avoid because of secondary fragment caused by colliding,
The scope of application is wider, and stability and safety are higher.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In addition, placement shape of "front", "rear", "left", "right", "upper", the "lower" herein to be indicated in attached drawing
State is reference.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of space junk remove device, which is characterized in that described device includes: carrier mechanism, telescoping mechanism, synchronous turntable
With flexible arresting agency；
The carrier mechanism, for motor-driven to synchronous with target debris track；
One end of the telescoping mechanism is inserted into and is limited in the carrier mechanism, and rotatably setting, the other end with it is described soft
Property arresting agency connection；
The synchronous turntable is rotatably arranged on the one side of the carrier mechanism, and the synchronous turntable be sleeved on it is described
For driving the telescoping mechanism to rotate on telescoping mechanism；
The flexibility arresting agency is used for capture target fragment, and is flexible contact between target debris.
2. space junk remove device according to claim 1, which is characterized in that the flexibility arresting agency includes: base
Plate, flexible peduncle；
The other end of the telescoping mechanism is connect with the one side of the substrate, and multiple flexible peduncles are connected to the substrate
Another side on；
The flexibility peduncle is marmem material, and the flexibility peduncle arcuately stretches out after being arranged to heating, and institute
The extending direction for stating flexible peduncle is directed toward the axis direction of the substrate, for wrapping up target debris.
3. space junk remove device according to claim 1, which is characterized in that the flexibility arresting agency is capture
Brush, one side of the capture brush for contacting with target debris are provided with bristle.
4. space junk remove device according to claim 1, which is characterized in that the carrier mechanism includes:
For adjusting the rail control module of the carrier mechanism posture and track；
For controlling the Star Service and dataman module of the telescoping mechanism, the synchronous turntable and the flexible arresting agency movement；
Communication module between star for carrying out data transmit-receive；
Power module for power supply.
5. space junk remove device according to claim 4, which is characterized in that described device further includes that video scouts mould
Block, the video reconnaissance module are connect with the Star Service with dataman module, for obtaining video information and the transmission of target debris
To the Star Service and dataman module, the Star Service and dataman module control the telescoping mechanism, described synchronous according to video information
Turntable and the flexible arresting agency movement.
6. space junk remove device according to claim 1, which is characterized in that described device further includes for racemization
Magnetic torquer.
7. a kind of method for carrying out space junk removing using space junk remove device described in any one of claims 1-6,
It is characterized in that, which comprises
Preparation stage: carrier mechanism is motor-driven to, telescoping mechanism movement synchronous with target debris track, and flexible arresting agency is mobile
To arresting position；
Acquisition phase: if target debris rotates, starting synchronous turntable, drives the flexible arresting agency by the telescoping mechanism
It is rotated synchronously with target debris, then starts the flexible arresting agency, captured；
Operational phase: the carrier mechanism is motor-driven to compared with low orbit or recycling platform；
The release stage: the flexibility arresting agency releases target debris.
8. space junk sweep-out method according to claim 7, which is characterized in that in the operational phase, if target debris with
There are angular velocity of rotations for the assembly of fragment remove device, start magnetic torquer and carry out racemization, make the attitude stabilization of assembly.
9. space junk sweep-out method according to claim 7, which is characterized in that in the preparation stage, carrier mechanism is motor-driven
To after synchronous with target debris track, point blank rail control system is carried out by rail control module, shorten the carrier mechanism with
The distance between target debris.
10. a kind of method for carrying out space junk maintenance using space junk remove device described in any one of claims 1-6,
It is characterized in that, which comprises
Preparation stage: carrier mechanism is motor-driven to, telescoping mechanism movement synchronous with target debris track, and flexible arresting agency is mobile
To arresting position；
Acquisition phase: if target debris rotates, starting synchronous turntable, drives the flexible arresting agency by the telescoping mechanism
It is rotated synchronously with target debris, then starts the flexible arresting agency, captured；
Operational phase: the carrier mechanism executes in-orbit maintenance, part replacement, system adapter tube and/or experiment to target debris and grasps
Make；
The release stage: the flexibility arresting agency releases target debris.
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| 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 |
| CN115320896A (en) * | 2022-09-21 | 2022-11-11 | 苏州三垣航天科技有限公司 | Spatial target volume catching mechanism and control method thereof and related equipment |
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