CN110667897A - Space bionic flexible capturing device and ground test system thereof - Google Patents

Abstract

The invention discloses a space bionic flexible capturing device and a ground test testing system thereof, wherein the space bionic flexible capturing device comprises a capturing component, a transmission component and a driving component; the capturing component comprises a central rigid body, a capturing net and a plurality of mass blocks, wherein the central rigid body is connected to the central position of the capturing net, and the mass blocks are arranged at the edge position of the capturing net at intervals; the transmission assembly comprises a transmission shaft, one end of the transmission shaft is in transmission connection with the driving assembly, and the central rigid body and the mass block are in adsorption connection with the other end of the transmission shaft, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, and the capture net is unfolded and released under the action of rotation centrifugal force. The central rigid body and the mass block are connected to the transmission shaft in an adsorption manner, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, the capture net is unfolded and released under the action of rotation centrifugal force, and the winding problem and the composition maintaining problem in the unfolding process of the net body are effectively solved.

Description

A space bionic flexible capture device and its ground test system

technical field

The invention relates to the field of aerospace technology, in particular to a space bionic flexible capture device and a ground test system thereof.

Background technique

The space flexible rope net capture technology is to deploy a large net made of high-strength and lightweight fiber material toward the space target through the rope net capture device platform. After collision with the target, the rope net wraps it, and the net is tightened by the closing mechanism. It is a new type of space on-orbit operation mode. This method can be applied to capture space targets of different shapes and sizes, and has the advantages of strong versatility, high fault tolerance and low energy consumption.

In recent years, researchers in the aerospace field of various countries have conducted in-depth and comprehensive research on the capture technology of flexible rope nets. At present, the foreign space flexible rope net structure has entered the stage of in-orbit verification. The Robotic Geostationary Orbit Restorer (ROGER) project proposed by the European Space Agency in 2001 envisages the use of rope nets to capture abandoned satellites in geostationary orbit. In 2012, the student test device Suaineadh, funded by ESA, was launched with a sounding rocket REXUS 12 to verify the feasibility of deploying space rope net technology using rotating parts, but it may be caused by the interruption of the communication system of the test device due to the rollover of the attitude of the detection rocket and the interruption of the communication system of the test device. Test failed. According to the news released by the US c4isrnet website on February 17, 2019, the EU debris removal satellite (Remove DEBRIS) deployed on the International Space Station successfully completed the "Harpoon" puncture demonstration test and captured space junk, proving the use of flexible ropes Feasibility of a net-captured space debris solution. The domestic research in the field of space flexible rope net structure started relatively late, and the relevant research work is still in the stage of engineering model and ground verification. The overall scheme design of the capture system, the dynamic modeling and characteristic analysis of the mass block traction projectile deployment method, and the relevant ground verification tests were carried out.

The structure of the traditional flexible net capture system is "flexible net + mass block + tether + net ejection device". Its working method is to eject the mass block through the ejection device. The mass block relies on inertial motion to pull the tether to drive the flexible net to unfold, and the net body After unfolding, control the rope net to tighten the net port through the closing device in the mass block to realize the wrapping of the target body, as shown in Figure 1. The traditional flexible net capture system has certain limitations and shortcomings: 1) the net body is prone to entanglement during the unfolding process; 2) it is difficult to maintain its spatial configuration after the net body is unfolded.

SUMMARY OF THE INVENTION

Aiming at the problems in the prior art that the net body is prone to entanglement during the unfolding process and it is difficult to maintain its spatial configuration after the net body is unfolded, the present invention provides a space bionic flexible capture device and a ground test system thereof. , which effectively solves the entanglement problem and the problem of composition retention during the unfolding of the mesh body.

In order to achieve the above object, the present invention provides a space bionic flexible capture device, comprising a capture component, a transmission component, and a drive component;

The capturing assembly comprises a central rigid body, a capturing net and a mass block, the central rigid body is connected at the central position of the capturing net, and the mass blocks are multiple in number and are arranged at the edge positions of the capturing net along the interval;

The transmission assembly includes a transmission shaft, one end of the transmission shaft is connected to the drive assembly for transmission, and the central rigid body and the mass block are adsorbed and connected to the other end of the transmission shaft, so that the central rigid body and the mass block fall off during the rotation of the transmission shaft. And make the capture net unfold and release under the action of rotating centrifugal force.

Further preferably, the capture net is a bionic flexible net;

The biomimetic flexible web comprises a plurality of radially distributed first capturing cables, and every two adjacent first capturing cables are connected by several spaced second capturing cables so that the biomimetic flexible web forms a spider web structure;

The inward end of each first capturing cable is connected to the central rigid body and forms a ring structure, the quantity of the mass blocks is corresponding to the first capturing cables, and the mass blocks are connected to the other end corresponding to the first capturing cables, so The first and second capturing cords are both made of flexible materials.

Further preferably, one end of the drive shaft corresponding to the capture net is provided with a tray, the central rigid body is adsorbed and connected to the end of the drive shaft, the mass block is adsorbed and connected in the tray, and the capture mesh is coiled around the tray.

Further preferably, the space bionic flexible capture device further includes a power assembly, the drive assembly is electrically connected to the power assembly, the transmission shaft is made of an electromagnet material, a conductive slip ring is rotatably connected to the transmission shaft, and the transmission The shaft is electrically connected with the power assembly through a conductive slip ring, and the mass block and the central rigid body are both magnetically adsorbed on the transmission shaft.

Further preferably, the space bionic flexible capture device also includes an adsorption component, and the adsorption component includes a plurality of electromagnets surrounding the transmission shaft, and each electromagnet is electrically connected to the power component.

Further preferably, the space bionic flexible capture device further includes a bracket assembly, the bracket assembly includes a mounting frame, a connecting cylinder and a storage bucket connected in sequence, the connecting cylinder is open at both ends, one end of the storage bucket is open, and the other end is provided with communication hole;

The drive assembly is arranged on the installation frame, the adsorption assembly is located in the storage bucket, one end of the transmission shaft is located on the installation frame and is connected to the drive assembly in a transmission, and the other end of the transmission shaft passes through the connection cylinder and the communication hole. The rear is located in the storage bucket near the opening of the storage bucket.

Further preferably, the transmission assembly also includes a bearing seat, a shaft circlip and a bearing arranged in the connecting cylinder, the bearing seat is fixedly connected to the connecting cylinder, and the bearing is sleeved on the connecting shaft and rotates with the bearing seat. When connected, the shaft is sleeved on the connecting shaft with a circlip and abuts against the bearing to prevent the bearing from moving axially.

In order to achieve the above object, the present invention also discloses a ground test system for a space bionic flexible capture device, including a test stand, a target platform, a camera device, a data acquisition device and the above-mentioned space bionic flexible capture device;

The target platform is provided below the test stand, and the space bionic flexible capture device is provided on the test stand and has one end of the capture assembly facing the target platform;

The space between the target platform and the space bionic flexible capture device is located in the shooting field of view of the camera device, and the data acquisition device is electrically connected to the camera device.

Further preferably, a light source is also included, and the space between the target platform and the space bionic flexible capture device is located on the light path of the light source.

Further preferably, the camera device is a high-speed camera.

The invention provides a space bionic flexible capture device and a ground test system thereof. By attaching the central rigid body and the mass block to the transmission shaft by adsorption, the central rigid body and the mass block fall off during the rotation of the transmission shaft and the capture net is rotated. It is unfolded and released under the action of centrifugal force, thereby effectively solving the entanglement problem and the problem of composition retention during the unfolding of the mesh body.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a space bionic flexible capture device in an embodiment of the present invention;

2 is a schematic structural diagram of a capture net in an embodiment of the present invention;

3 is a schematic diagram of a ground test system in an embodiment of the present invention;

FIG. 4 is an entity schematic diagram of a capture network in an embodiment of the present invention;

5 is a solid line drawing of a capture net in an embodiment of the present invention;

Fig. 6 is the schematic diagram of the test process of the rotational deployment of the capture net in the embodiment of the present invention;

Fig. 7 is the line drawing of the test process of the rotation and deployment of the capture net in the embodiment of the present invention;

8 is a schematic diagram of a capture net capture test scene in an embodiment of the present invention;

Fig. 9 is the line drawing of the capture test scene of the capture net in the embodiment of the present invention;

10 is a schematic diagram of a capture test process of a capture net in an embodiment of the present invention;

Figure 11 is a line drawing of the capture test process of the capture net in the embodiment of the present invention;

FIG. 12 is a schematic diagram of a capture test result of a capture net in an embodiment of the present invention;

FIG. 13 is a line drawing of the capture test results of the capture net in the embodiment of the present invention.

Reference number description: 1-motor base; 2-drive assembly; 3-transmission shaft; 5-power assembly; 601-bearing seat 601; 602-shaft circlip; 603-bearing; 702-center rigid body; 703-tray; 704-mass; 801-electromagnet; 901-light source; 902-test frame; 903-target platform; 904-camera device; 905-data acquisition device.

The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection, an electrical connection, a physical connection or a wireless communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction between the two elements. unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

As shown in FIG. 1 , a space bionic flexible capture device includes a capture component, a transmission component, a driving component 2 and a power component 5 . The capture assembly includes a central rigid body 702, a capture net 701 and a mass block 704. The central rigid body 702 is connected to the center of the capture net 701. The mass blocks 704 are multiple in number and arranged at the edge of the capture net 701 along the intervals. Both the block 704 and the central rigid body 702 are made of metal with magnetic adsorption capability.

Referring to FIG. 2 , in this embodiment, the capture net 701 is a bionic capture net 701 , which specifically includes a plurality of radially distributed first capture cables, and second capture cables at several intervals pass between every two adjacent first capture cables. Connected so that the bionic capture web 701 forms a spider web structure. Wherein, the first catching line 21 and the second catching line 22 are both made of PE fishing line. The inward end of each first capturing cable is connected to the central rigid body 702 and forms a ring-shaped structure. The number of mass blocks 704 corresponds to the first capturing cable. Both the capture cord and the second capture cord are made of flexible material.

Preferably, the central rigid body 702 is an octagonal plate-shaped structure, and the number of the first catching cables is eight, so that the catching net 701 forms an octagonal spider web structure, and the catching net 701 of the spider web structure can effectively improve the stability of the body structure and accelerate energy dissipation after capturing space debris.

The transmission assembly includes a transmission shaft 3, one end of the transmission shaft 3 is connected to the driving assembly 2 in a transmission manner, and the central rigid body 702 and the mass 704 are adsorbed and connected to the other end of the transmission shaft 3, so that the central rigid body 702 and the mass 704 rotate on the transmission shaft 3 During the process, it falls off and the capture net 701 is unfolded and released under the action of rotating centrifugal force. Among them, the central rigid body 702 and the mass block 704 are adsorbed on the transmission shaft 3 through magnetic adsorption or suction cup; 3. The conductive slip ring 604 is electrically connected with the power assembly 5, and the transmission assembly generates a magnetic force when the power assembly 5 provides power, and then the mass block 704 and the central rigid body 702 are attracted to the transmission shaft 3 by magnetic force.

Preferably, the end of the transmission shaft 3 corresponding to the capturing net 701 is provided with a tray 703 , the central rigid body 702 is attached to the end of the transmission shaft 3 by adsorption, the mass block 704 is attached to the tray 703 by adsorption, and the capturing mesh 701 is coiled in the tray 703 . The tray 703 is made of electromagnet 801 material. By adding a tray 703 to the end of the transmission shaft 3, it can not only store and store the capture net 701, but also can expand the area of the end of the transmission shaft 3. , so that the end of the transmission shaft 3 has a larger area for adsorbing the central rigid body 702 and the mass 704 , and further enables the capture net 701 to be neatly coiled on the end of the transmission shaft 3 to improve the subsequent rotation and deployment effect.

Preferably, the space bionic flexible capture device further includes an adsorption component, and the adsorption component includes a plurality of electromagnets 801 surrounding the middle of the transmission shaft 3 and corresponding to the mass blocks 704 one-to-one. Specifically, the electromagnets 801 and the corresponding mass blocks 704 are located in The straight line is parallel to the axis of the transmission shaft 3; each electromagnet 801 is electrically connected to the power assembly 5; the electromagnet 801 generates a magnetic force when the power assembly 5 provides power, and then generates an inward adsorption effect on the mass block 704, wherein the Inside refers to the direction from the transmission shaft 3 corresponding to one end of the capture net 701 to the other end, so that the mass 704 can be more firmly attached to the transmission shaft.

The space bionic flexible capture device further includes a bracket assembly, the bracket assembly includes a mounting frame, a connecting cylinder and a storage barrel that are connected in sequence, the connecting cylinder is open at both ends, one end of the storage barrel is open, and the other end is provided with a communication hole; the drive assembly 2 is arranged on the mounting frame Above, the adsorption assembly is located in the storage bucket, one end of the transmission shaft 3 is located on the mounting frame and is connected to the drive assembly 2, and the other end of the transmission shaft 3 passes through the connecting cylinder and the communication hole and is located in the storage bucket near the opening of the storage bucket. .

The transmission assembly also includes a bearing seat 601, a shaft retaining spring 602 and a bearing 603 arranged in the connecting cylinder. The bearing seat 601 is fixedly connected to the connecting cylinder, and the bearing 603 is sleeved on the connecting shaft and is connected to the bearing seat 601. A retaining spring 602 is sleeved on the connecting shaft and abuts against the bearing 603 to prevent the bearing 603 from moving axially.

In this embodiment, the mounting frame is cylindrical with a diameter of 100mm, and 6061 aluminum alloy material is selected as the motor base 1; the driving component 2 is a Leisure 57CM12X stepping motor, the motor holding torque is 1.2N·M, and the rated voltage is 2.4V, positioning torque 0.026N·M, weight 0.7kg; P20/15 DC sucker type electromagnet 801 is selected for electromagnet 801; 24V DC adapter is selected for power component 5; 6-way 5A type conductive slip ring is selected for conductive slip ring 604 604.

The working process of the space bionic flexible capture device in this embodiment is as follows: in the initial state, the capture net 701 is coiled in the tray 703, and the power assembly 5 is turned on so that the power assembly 5 provides power for the transmission shaft 3 and the electromagnet 801, so that the center The rigid body 702 is adsorbed on the end of the transmission shaft 3 and the mass block 704 is adsorbed in the tray 703 along the annular interval; when the space debris needs to be captured, the power assembly 5 provides power to the driving assembly 2 so that the team assembly starts to run, which in turn drives the transmission shaft 3 When the rotation speed of the transmission shaft 3 reaches a certain value, the power assembly 5 stops supplying power to the transmission shaft 3 and the electromagnet 801, so that the magnetic force of the transmission shaft 3 and the electromagnet 801 disappears, so that the central rigid body 702 and the mass 704 are removed from the transmission shaft. 3. The tray 703 falls off, and drives the capture net 701 to rotate, so that the capture net 701 is unfolded and released under the action of rotating centrifugal force, thereby effectively solving the problem of entanglement during the unfolding of the net body and the problem of maintaining the structure.

In order to verify the validity of the dynamic model of the capture web 701's rotational deployment and the dynamic model of the collision, a ground test study of the "cobweb" flexible capture device was carried out. As shown in FIG. 3 , this embodiment also discloses a ground test system for a space bionic flexible capture device, including a light source 901 , a test stand 902 , a target platform 903 , a camera device 904 , a data acquisition device 905 and the above-mentioned space bionic flexible A capture device, wherein the camera device is a high-speed camera, and the data acquisition device is a general-purpose computer. The target platform is set under the test frame, the space bionic flexible capture device is set on the test frame, and the end with the capture component faces the target platform; the space between the target platform and the space bionic flexible capture device is located in the shooting field of view of the camera device, The data acquisition device is electrically connected with the camera device. The space between the target platform and the space bionic flexible capture device is located on the light path of the light source.

The ground test system uses a small capture net 701. As shown in Figure 4-5, the capture net 701 adopts an octagonal structure, the diagonal diameter of the net body structure is 1000mm, the diameter of the rope segment is 0.3mm, and the net body is woven by polyethylene fiber material, and its material parameters are shown in the table 1. The mass 704 is a magnetic iron block, and the mass of a single magnetic mass 704 is 5g.

Table 1 Capture net 701 material parameters

First, the ground verification test of the capture net 701 net is carried out.

The shooting frequency of the high-speed camera used in this experiment is 400HZ, that is, the camera can obtain 400 frames of sequential images per second. The main purpose of this test is to verify the feasibility of the rotation and deployment of the capture net 701. At the beginning of the test, the drive shaft 3 is driven to rotate by the speed-regulating motor. The mass 704 is demagnetized and pulled to achieve a rotational deployment effect. From the dynamic process captured by the high-speed camera, it can be seen that the numerical simulation results are basically consistent with the actual rotational deployment effect, which fully verifies the accuracy of the rotational deployment dynamic model and the feasibility of the rotational deployment of the capture net 701. The dynamics of the rotational deployment ground test See Figures 6-7 for an illustration, which selects a typical state of the capture net 701 during deployment.

Secondly, the ground verification test of the capture effect of the capture net 701 was carried out.

The purpose of this test is to test the capture effect of the "cobweb" flexible capture device and to verify the collision dynamics model. Figure 8-9 shows the capture test scene of the capture web 701. Through the dynamic picture captured by the high-speed camera, select the typical mesh posture change moment during the collision between the capture net 701 and the target body for analysis, as shown in Figure 10-11. It can be seen from Figure 10-11 that in the process of the capture net 701 colliding with the target body and wrapping it, the shape change of the simulated net body based on the collision dynamics model is basically consistent with the shape change of the net body in the ground test. The middle capture net 701 has influences such as weaving errors, and the closing state of the net body after capturing the target is slightly different. The ground verification test results of the capture effect are shown in Figure 12-13. Overall, the results of this test can better verify the accuracy of the crash dynamics model.

The above descriptions are only the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, the equivalent structure transformation made by the contents of the description and drawings of the present invention, or the direct/indirect application Other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. A space bionic flexible capturing device is characterized by comprising a capturing component, a transmission component and a driving component;

the capturing assembly comprises a central rigid body, a capturing net and a plurality of mass blocks, wherein the central rigid body is connected to the central position of the capturing net, and the mass blocks are arranged at the edge position of the capturing net at intervals;

the transmission assembly comprises a transmission shaft, one end of the transmission shaft is in transmission connection with the driving assembly, and the central rigid body and the mass block are in adsorption connection with the other end of the transmission shaft, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, and the capture net is unfolded and released under the action of rotating centrifugal force.

2. The spatially biomimetic flexible capture device according to claim 1, wherein the capture net is a biomimetic flexible net;

the bionic flexible net comprises a plurality of first capturing cables distributed in a radial mode, and every two adjacent first capturing cables are connected through a plurality of second capturing cables at intervals so that the bionic flexible net forms a spider net structure;

the inward ends of the first capturing cables are connected to the central rigid body to form an annular structure, the number of the mass blocks corresponds to that of the first capturing cables, the mass blocks are connected to the other ends of the corresponding first capturing cables, and the first capturing cables and the second capturing cables are made of flexible materials.

3. The space bionic flexible capturing device of claim 1, wherein a tray is arranged on one end of the transmission shaft corresponding to the capturing net, the central rigid body is connected to the end of the transmission shaft in an absorption mode, the mass block is connected in the tray in an absorption mode, and the capturing net is coiled in the tray.

4. The space bionic flexible capturing device of claim 1, further comprising a power assembly, wherein the driving assembly is electrically connected with the power assembly, the transmission shaft is made of an electromagnet material, a conductive slip ring is rotatably connected to the transmission shaft, the transmission shaft is electrically connected with the power assembly through the conductive slip ring, and the mass block and the central rigid body are both attracted to the transmission shaft through magnetic force.

5. The space bionic flexible capturing device of claim 1, further comprising an adsorption component, wherein the adsorption component comprises a plurality of electromagnets surrounding the transmission shaft, and each electromagnet is electrically connected with the power component.

6. The space bionic flexible capturing device as claimed in claim 5, further comprising a bracket assembly, wherein the bracket assembly comprises a mounting frame, a connecting barrel and a containing barrel which are connected in sequence, the connecting barrel is open at two ends, one end of the containing barrel is open, and the other end of the containing barrel is provided with a communication hole;

drive assembly establishes on the mounting bracket, adsorption component is located the receiver, the one end of transmission shaft is located the mounting bracket and links to each other with the drive assembly transmission, the other end of transmission shaft passes and lies in the receiver behind connecting cylinder, the intercommunicating pore and is close to the receiver open-ended position.

7. The space bionic flexible capturing device as claimed in claim 6, wherein the transmission assembly further comprises a bearing seat, a shaft snap spring and a bearing which are arranged in the connecting cylinder, the bearing seat is fixedly connected to the connecting cylinder, the bearing is sleeved on the connecting shaft and is connected with the bearing seat in a rotating manner, and the shaft snap spring is sleeved on the connecting shaft and is attached to the bearing to prevent the bearing from axially moving.

8. A ground test system for a space bionic flexible capture device is characterized by comprising a test stand, a target platform, a camera device, a data acquisition device and the space bionic flexible capture device of any one of claims 1 to 7;

the space bionic flexible capturing device is arranged on the test stand, and one end of the space bionic flexible capturing device, which is provided with the capturing component, faces the target platform;

the space between the target platform and the space bionic flexible capturing device is located in a shooting field of the camera device, and the data acquisition device is electrically connected with the camera device.

9. The ground test system for the space bionic flexible capture device of claim 8, further comprising a light source, wherein the space between the target platform and the space bionic flexible capture device is located on the light path of the light source.

10. The ground test system for the space bionic flexible capture device according to claim 8, wherein the camera device is a high-speed camera.

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