CN111439398A - Controllable self-protection small rope system ejection release mechanism - Google Patents
Controllable self-protection small rope system ejection release mechanism Download PDFInfo
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- CN111439398A CN111439398A CN202010157253.5A CN202010157253A CN111439398A CN 111439398 A CN111439398 A CN 111439398A CN 202010157253 A CN202010157253 A CN 202010157253A CN 111439398 A CN111439398 A CN 111439398A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/648—Tethers
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- Aviation & Aerospace Engineering (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a controllable self-protection small-sized rope system ejection release mechanism which comprises a satellite simulator, an ejection separation module, a rope system cutting module, a tension control module, a spool base module and a base platform, and can effectively simulate the whole release process of a rope system satellite, including ejection separation, tension control, rope system cutting, state measurement and buffer vibration reduction; by adopting a unique ejection driving structure, the ejection part is smaller compared with the previous research, meanwhile, the reliability is obviously improved, and when special conditions occur, an electrothermal material cutter in the tether cutting module can cut the tether more quickly and effectively; the braking mode adopted in the tension control module can more effectively and smoothly control the tension of the tether; the bobbin base module can effectively carry out non-contact detection on the length and the speed of the tether, and can well play a role in buffering and damping at the tail end of the release.
Description
Technical Field
The invention belongs to the technical field of space tether satellite systems, and particularly relates to a controllable self-protection small tether ejection release mechanism.
Background
A rope system satellite as a novel space vehicle is widely concerned, wherein the most key problem is how to reliably release the satellite, and a complete and repeatedly-usable release mechanism is needed for ground physical simulation tests.
The release mechanism of previous researches has some defects, such as that the brake part designed by Menon and the like is easy to be blocked in the release process, the release mechanism designed by L orenzo and the like can generate instant impact in the ejection release process, the release mechanism designed by Wenhao and the like is simple and only can simulate the speed control release process, and the ejection part in the mechanism designed by Wangyo and the like has overlarge volume and is easy to influence the internal precision equipment when a butt cone touches a simulator for acceleration.
The release mechanisms are designed without the addition of a tether severing device and without tether length and rate sensing components, which are certainly an important part of tethered satellite release mechanisms. It is readily seen that tethered satellite release mechanisms also present a number of areas that need improvement.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a small-sized rope system satellite ejection release mechanism suitable for a microgravity physical simulation experiment platform in order to solve the problems in the background art, and the small-sized rope system satellite ejection release mechanism can effectively simulate the whole release process of a rope system satellite, including ejection separation, tension control, rope cutting, state measurement, buffering vibration reduction and the like.
The technical scheme is as follows: a controllable self-protection small-sized rope system ejection release mechanism comprises a satellite simulator, an ejection separation module, a rope system cutting module, a tension control module, a spool base module and a base platform;
the satellite simulator is provided with a guide cone, and the guide cone is connected with the ejection separation module; the guide cone comprises an electromagnet; the spool base module extends out of the tether and is connected with the satellite simulator;
the ejection separation module comprises a butt cone, damping rubber, a first fixing piece, a tooth-lacking gear, a first motor, a second fixing piece, a guide rod, a connecting piece, a straight rod, a driving spring, a straight rack, a sliding block, an adjustable baffle, a baffle and an iron block; the iron block is fixed at the center of the butt-joint cone; the butt cone is connected with the sliding block through a first fixing piece, and the straight rack is fixedly connected with the sliding block and moves along the direction of the straight rod; the straight rod is perpendicular to the partition plate; a driving spring is arranged between the straight rack and the partition plate; the straight rack is meshed with the gear with missing teeth; the gear with missing teeth is driven by a first motor arranged on the second fixing piece;
the tether cutting module comprises an angle sensor, a guide rotating piece, a first supporting plate, a driving tether, a guide wheel, a second motor, a fixing shaft, a cutter, an electric heating wire, an electric heating box and a guide shaft; the guide rotating piece is fixedly connected with an extending shaft of the angle sensor; the tether sequentially passes through the guide rotating piece through hole and the guide shaft central hole; the second motor is fixed on the first supporting plate and connected with the guide wheel; the guide wheel is connected with the cutter through a driving tether; the cutter is arranged above the tether and is arranged on the first supporting plate through the fixing shaft; the electric heating box is arranged below the tether, and the upper part of the electric heating box is connected with the electric heating wire and used for heating and fusing the tether in a downward pressing state; the height of the electric heating wire is lower than that of the central hole of the guide shaft;
the tension control module comprises a third motor, a second supporting plate, a braking cylinder, a pre-tightening wheel, a first guide hole, a second guide wheel and a third supporting plate; the third motor is fixed on the second supporting plate and controls the brake cylinder to rotate; the braking cylinder comprises two cylinders, and a gap is reserved between the two cylinders; the tether penetrates through the brake cylinder and is connected with a pre-tightening wheel fixed on the third support plate; the third supporting plate is also provided with a first guide hole and a second guide hole, and a tether penetrating through the braking cylinder sequentially penetrates through the first guide hole, the pre-tightening wheel and the second guide hole;
the bobbin base module comprises a light emitting module, a light receiving sensor, a ring, a supporting cylinder, a base fixing piece, a buffer spring, a damping block and a bobbin; the bobbin base module is fixedly arranged on the bottom plate, the cross section of the base fixing piece is in a convex shape, the bobbin is arranged at the top of the fixing piece, threads are arranged in the bobbin, the screw is positioned in the convex shape, and the damping block is sleeved outside the screw and is in contact with the top end face of the base fixing piece; a buffer spring is arranged between the damping block and the bottom surface of the screw; a light emitting module is fixed at the top end of the bobbin; a plurality of light emitters are uniformly distributed on the circumference of the light emitting module; the circular ring and the light emitting module are arranged on a uniform plane, and a plurality of light receiving sensors are distributed on the inner side of the circular ring at equal intervals;
the ejection separation module, the tether cutting module, the tension control module and the spool base module are all arranged on the base platform; the base platform comprises a baffle plate and a bottom plate which are vertically arranged in parallel; and a plurality of layers of platforms are arranged between the baffle plate and the bottom plate, and the base platform is further provided with a second platform which is provided with an industrial control computer.
Further, the tether is preferably a Dyneema tether.
Has the advantages that:
the invention has the following functions:
a tension control function: the rotation of the motor c can be used for controlling the braking cylinder, and the pulling force of the tether can be controlled by friction braking through changing the angle.
A state measurement function: the length and speed of the tether can be measured by the photometric module during the release process, the tether length and speed are updated each time the light receiving end sensor is triggered, and triggering 6 times means that the tether is released for one turn.
Buffering and damping functions: when the release of the tether is finished, the tether can generate a pulling force on the spool due to the inertia of the satellite simulator, and the fixed part of the spool is connected with the spring, so that the buffering effect can be effectively realized.
The invention adopts a unique ejection driving structure, so that an ejection part is smaller and smaller than the previous research, meanwhile, the reliability is obviously improved, and an acceleration process is not instant impact acceleration any more in the ejection separation process, so that the influence on precision equipment in a tethered satellite is reduced; when special conditions occur, the electric heating material cutter in the tether cutting module can cut the tether more quickly and effectively; the braking mode adopted in the tension control module can more effectively and smoothly control the tension of the tether; the bobbin base module can effectively carry out non-contact detection on the length and the speed of the tether, and can well play a role in buffering and damping at the tail end of the release.
Drawings
FIG. 1 is a general schematic view of the ejection release mechanism of the satellite simulator of the present invention;
FIG. 2 is a schematic diagram of an ejection separation module of the ejection release mechanism of the satellite simulator according to the invention;
FIG. 3 is a left side view of the ejection release mechanism ejection detachment module of the satellite simulator of the present invention;
FIG. 4 is a schematic view of the satellite simulator launch release mechanism tether severing module of the present invention;
FIG. 5 is a schematic view of an angle measurement guide rotating member of the ejection release mechanism of the satellite simulator according to the present invention;
FIG. 6 is a schematic diagram of a tension control module of the ejection release mechanism of the satellite simulator according to the present invention;
FIG. 7 is a first schematic view of the spool base module of the satellite simulator launch release mechanism of the present invention;
fig. 8 is a second schematic view of the spool base module of the satellite simulator ejector release mechanism of the present invention.
Description of the reference numerals
1-butt cone, 2-damping rubber, 3-first fixing piece, 4-toothless gear, 5-first motor, 6-second fixing piece, 7-guide rod, 8-connecting piece, 9-straight rod, 10-drive spring, 11-spur rack, 12-slide block, 13-adjustable baffle, 14-clapboard, 15-iron block, 16-angle sensor, 17-guide rotating piece, 18-first supporting plate, 19-drive rope, 20-guide wheel, 21-second motor, 22-fixed shaft, 23-cutter, 24-electric heating wire, 25-electric heating box, 26-third motor, 27-second supporting plate, 28-first supporting frame, 29-brake cylinder and 30-second supporting frame, 31-a pre-tightening wheel, 32-a guide hole, 33-a third support plate, 34-a light emitting module, 35-a light receiving sensor, 36-a circular ring, 37-a support cylinder, 38-a base fixing piece, 39-a screw, 40-a buffer spring, 41-a damping block, 42-a spool, 43-a guide shaft, 44-a tether, 45-a satellite simulator, 46-a guide cone, 47-a first equipment platform, 48-an industrial personal computer, 49-a second equipment platform and 50-a bottom plate.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in fig. 1, the present invention provides a controllable self-protecting small-sized rope system ejection release mechanism, which comprises a satellite simulator 45, an ejection separation module, a rope system cutting module, a tension control module, a bobbin base module and a base platform;
a guide cone 46 is arranged on the satellite simulator 45 and connected with the ejection separation module; the guide cone 46 comprises an electromagnet. The spool base module extends out of the tether 44 and connects to the satellite simulator 45. The tether 44 is preferably a Dyneema tether which is instantly fused when contacting with a heating wire and is more effective than a traditional shearing method in the ejection separation module as shown in FIGS. 2-3, and comprises a docking cone 1, a damping rubber 2, a first fixing member 3, a toothless gear 4, a first motor 5, a second fixing member 6, a guide rod 7, a connecting member 8, a straight rod 9, a driving spring 10, a spur rack 11, a sliding block 12, an adjustable baffle 13, a baffle 14 and an iron block 15. The iron block 15 is fixed in the center of the butt cone 1, the butt cone 1 is connected with the sliding block 12 through the first fixing piece 3, the spur rack 11 is connected with the first fixing piece 3, and the spur rack 11, the butt cone 1 and the first fixing piece 3 form a whole moving together. The slide block 12 is arranged on the guide rod 7, and the damping rubber 2 is connected with the adjustable baffle 13 and fixed on the guide rod 7 together. The second fixing member 6 is fixed on the partition 14 by a long screw, and the first motor 5 is mounted on the second fixing member 6, is provided with the toothless gear 4 and is meshed with the spur rack 11. The straight rod 9 is fixed to the partition 14 and passes through a hole in the spur rack 11. The driving spring 10 is sleeved on the straight rod 9, and the diameter of the driving spring is smaller than that of the hole in the straight rack 11 and cannot penetrate through the hole. The guide bar 7 is fixed to the partition 14 by a connecting member 8.
The tether cutting module is shown in fig. 4-5, and comprises an angle sensor 16, a guide rotating member 17, a first support plate 18, a driving tether 19, a guide wheel 20, a second motor 21, a fixed shaft 22, a cutter 23, a heating wire 24, an electric heating box 25 and a guide shaft 43; the guide rotating piece 17 is fixedly connected with an extending shaft of the angle sensor 16; the tether 44 sequentially passes through the guide rotating piece through hole and the guide shaft center hole; the second motor 21 is fixed on the first supporting plate and connected with the guide wheel 20; the guide wheel 20 is connected with the cutter 23 through a driving tether 19; the cutter 23 is arranged above the tether 44 and is mounted on the first support plate through the fixed shaft 22; the electric heating box 25 is arranged below the tether 44, and the upper part of the electric heating box is connected with the heating wire 24 for heating and fusing the tether 44 in a downward pressing state; the heating wire 24 is lower than the center hole of the guide shaft 43.
The tension control module is shown in fig. 6 and comprises a third motor 26, a second support plate 27, a first support frame 28, a brake cylinder 29, a first support frame 30, a pre-tightening wheel 31, a guide hole 32 and a third support plate 33; the third motor 26 is fixed to the second support plate 27, and the second support plate 27 is fixed to the first support frame 28. The brake cylinder 29 is mounted on the third motor 26, the guide hole 32 and the pre-tightening wheel 31 are fixed on the third support plate 33, and the third support plate 33 is fixed on the third support frame 30. The tether 44 passes through the guide hole 32 and the pretensioner wheel 31. The third motor 26 is fixed to the second support plate 27 and controls the rotation of the brake cylinder 29. The brake cylinder 29 comprises two cylinders with a gap left between them; the tether penetrates through the brake cylinder and is connected with a pre-tightening wheel fixed on the third support plate; the third supporting plate is also provided with a guide hole, and a tether penetrating through the braking cylinder sequentially penetrates through the first guide hole, the pre-tightening wheel and the second guide hole;
the bobbin base module is shown in fig. 7-8, and comprises a light emitting module 34, a light receiving sensor 35, a circular ring 36, a supporting cylinder 37, a base fixing member 38, a screw 39, a buffer spring 40, a damping block 41 and a bobbin 42; the bobbin base module is fixedly arranged on the bottom plate 50, the cross section of the base fixing piece is in a convex shape, the bobbin 42 is arranged at the top of the fixing piece, threads are arranged in the bobbin, the screw 39 is positioned in the convex shape, and the damping block 41 is sleeved outside the screw 39 and is in contact with the top end face of the base fixing piece 38; a buffer spring 40 is arranged between the damping block 41 and the bottom surface of the screw 39. The light emitting module 34 is also fixed to the top end of the bobbin 42. A plurality of light emitters are uniformly distributed on the circumference of the light emitting module 34; the circular ring 36 and the light emitting module 34 are arranged on the same plane, and 6 optical fiber receiving sensors 35 are distributed on the inner side of the circular ring 36 at equal intervals.
The ejection separation module, the tether cutting module, the tension control module and the spool base module are all arranged on the base platform; the base platform comprises a baffle plate and a bottom plate which are vertically arranged in parallel; a first platform and a second platform are arranged between the baffle and the bottom plate. The different modules are placed on the first platform; the second platform is provided with an industrial control computer.
Before release begins, the guide cone 46 in the satellite simulator 45 is attracted by electromagnetic force to the docking cone 1. The first motor 5 is started to drive the gear 4 with missing teeth to rotate anticlockwise, and the gear 4 with missing teeth is meshed with the spur rack 11 to drive the spur rack 11 to move backwards, so that the driving spring 10 is compressed. Due to the tooth missing part, when the tooth missing gear 4 is not meshed with the straight rack 11, the straight rack 11 only acts on the restoring force of the driving spring 10, the butt joint cone 1 part drives the sliding block 12 under the action of the restoring force of the spring, the sliding block 12 moves forwards in an accelerated manner under the guiding action of the guide rod, at the moment, the satellite simulator 45 sends a signal to cut off the power of the electromagnetic part of the satellite simulator, so that the electromagnetic force is not generated between the guide cone 46 and the butt joint cone 1, when the sliding block 12 slides forwards and touches the damping rubber 2, the sliding block 12 can instantly decelerate to zero due to the blocking action of the adjustable baffle 13, and the satellite simulator 45 can stably emit at the tail end speed.
In the normal release stage, the in-plane pitch angle of the satellite simulator 45 can be measured by the angular velocity sensor 16, the Dyneema tether 44 for connection passes through the hole on the guiding rotating piece 17 and can drive the guiding rotating piece to rotate, and the guiding rotating piece 17 is fixedly connected with the extending shaft of the angular velocity sensor 16, so that the in-plane pitch angle can be obtained only by measuring the rotation angle of the guiding rotating piece 17. The guide shaft 43 installed in the middle of the angle sensor 16 and the electric heating box 25 functions as a guide direction. The Dyneema tether 44 passes through the pre-tightening wheel 31, a certain initial tension can be provided, the tether is prevented from being loosened, the braking angle can be changed by rotating the braking cylinder 29 through the third motor 26, the friction force is changed, and therefore tension control in the Dyneema tether 44 is achieved, and the Dyneema tether is not prone to being stuck. The Dyneema tether 44 needs to pass through the guide hole 32 and the pretension wheel 31 in order. The light emitting end 34 of the spool 42 is required to maintain a continuous emitting state during the line outgoing process, and the light receiving sensor 35 is prevented from receiving light each time the Dyneema tether 44 passes over the light emitting end 34. The release length and rate of the Dyneema tether 44 can be calculated by the number of triggers, and 6 triggers means that the Dyneema tether 44 is released one turn. At the end of the release, the Dyneema tether 44 generates a momentary pulling force on the spool 42 due to the inertia of the satellite simulator, and the spring 40 and the damping block 41 can effectively play a role in buffering. If an abnormal condition occurs, a signal can be sent to the electric heating box 25, so that the heating wire 24 is instantly heated to a high temperature state, and meanwhile, the second motor 21 drives the guide wheel 20 to rotate, so as to drive the cutter 23 to rotate downwards, so that the Dyneema tether 44 is pressed onto the heating wire 24, and due to the fact that the melting point of the Dyneema tether 44 is low, under the action of the high temperature of the heating wire 24 and the cutter 23, the Dyneema tether 44 is instantly fused, and rope breaking with small resistance is achieved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. A controllable self-protection small-sized rope system ejection release mechanism is characterized by comprising a satellite simulator, an ejection separation module, a rope system cutting module, a tension control module, a spool base module and a base platform;
the satellite simulator is provided with a guide cone, and the guide cone is connected with the ejection separation module; the guide cone comprises an electromagnet; the spool base module extends out of the tether and is connected with the satellite simulator;
the ejection separation module comprises a butt cone, damping rubber, a first fixing piece, a tooth-lacking gear, a first motor, a second fixing piece, a guide rod, a connecting piece, a straight rod, a driving spring, a straight rack, a sliding block, an adjustable baffle, a baffle and an iron block; the iron block is fixed at the center of the butt-joint cone; the butt cone is connected with the sliding block through a first fixing piece, and the straight rack is fixedly connected with the sliding block and moves along the direction of the straight rod; the straight rod is perpendicular to the partition plate; a driving spring is arranged between the straight rack and the partition plate; the straight rack is meshed with the gear with missing teeth; the gear with missing teeth is driven by a first motor arranged on the second fixing piece;
the tether cutting module comprises an angle sensor, a guide rotating piece, a first supporting plate, a driving tether, a guide wheel, a second motor, a fixing shaft, a cutter, an electric heating wire, an electric heating box and a guide shaft; the guide rotating piece is fixedly connected with an extending shaft of the angle sensor; the tether sequentially passes through the guide rotating piece through hole and the guide shaft central hole; the second motor is fixed on the first supporting plate and connected with the guide wheel; the guide wheel is connected with the cutter through a driving tether; the cutter is arranged above the tether and is arranged on the first supporting plate through the fixing shaft; the electric heating box is arranged below the tether, and the upper part of the electric heating box is connected with the electric heating wire and used for heating and fusing the tether in a downward pressing state; the height of the electric heating wire is lower than that of the central hole of the guide shaft;
the tension control module comprises a third motor, a second supporting plate, a braking cylinder, a pre-tightening wheel, a first guide hole, a second guide wheel and a third supporting plate; the third motor is fixed on the second supporting plate and controls the brake cylinder to rotate; the braking cylinder comprises two cylinders, and a gap is reserved between the two cylinders; the tether penetrates through the brake cylinder and is connected with a pre-tightening wheel fixed on the third support plate; the third supporting plate is also provided with a first guide hole and a second guide hole, and a tether penetrating through the braking cylinder sequentially penetrates through the first guide hole, the pre-tightening wheel and the second guide hole;
the bobbin base module comprises a light emitting module, a light receiving sensor, a ring, a supporting cylinder, a base fixing piece, a buffer spring, a damping block and a bobbin; the bobbin base module is fixedly arranged on the bottom plate, the cross section of the base fixing piece is in a convex shape, the bobbin is arranged at the top of the fixing piece, threads are arranged in the bobbin, the screw is positioned in the convex shape, and the damping block is sleeved outside the screw and is in contact with the top end face of the base fixing piece; a buffer spring is arranged between the damping block and the bottom surface of the screw; a light emitting module is fixed at the top end of the bobbin; a plurality of light emitters are uniformly distributed on the circumference of the light emitting module; the circular ring and the light emitting module are arranged on a uniform plane, and a plurality of light receiving sensors are distributed on the inner side of the circular ring at equal intervals;
the ejection separation module, the tether cutting module, the tension control module and the spool base module are all arranged on the base platform; the base platform comprises a baffle plate and a bottom plate which are vertically arranged in parallel; and a plurality of layers of platforms are arranged between the baffle plate and the bottom plate.
2. The controlled self-protected compact tether ejection release mechanism of claim 1, wherein the base platform further comprises a second platform, and wherein the second platform comprises an industrial computer.
3. A controlled self-protected compact tether ejection release mechanism according to claim 1, wherein the tether is preferably a Dyneema tether.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010157253.5A CN111439398B (en) | 2020-03-09 | 2020-03-09 | Controllable self-protection small rope system ejection release mechanism |
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| CN202010157253.5A CN111439398B (en) | 2020-03-09 | 2020-03-09 | Controllable self-protection small rope system ejection release mechanism |
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| CN111439398A true CN111439398A (en) | 2020-07-24 |
| CN111439398B CN111439398B (en) | 2022-06-24 |
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| CN112429281A (en) * | 2020-11-05 | 2021-03-02 | 中国科学院力学研究所 | Structure folding and unfolding and movement device applied to space |
| CN113247314A (en) * | 2021-06-02 | 2021-08-13 | 北京理工大学 | Tether ejection mechanism suitable for passive release of space tether system |
| CN114132536A (en) * | 2021-12-14 | 2022-03-04 | 西北工业大学 | Rope-tied satellite rope drum rope winding device |
| CN114194420A (en) * | 2021-11-29 | 2022-03-18 | 西北工业大学 | Deep space exploration platform based on electromagnetic separation and rope restraint |
| CN115959308A (en) * | 2023-01-31 | 2023-04-14 | 北京理工大学 | Low-cost electrically-driven electrodynamic force rope releasing device and off-track experimental device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112429281A (en) * | 2020-11-05 | 2021-03-02 | 中国科学院力学研究所 | Structure folding and unfolding and movement device applied to space |
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| CN114194420A (en) * | 2021-11-29 | 2022-03-18 | 西北工业大学 | Deep space exploration platform based on electromagnetic separation and rope restraint |
| CN114132536A (en) * | 2021-12-14 | 2022-03-04 | 西北工业大学 | Rope-tied satellite rope drum rope winding device |
| CN114132536B (en) * | 2021-12-14 | 2023-04-25 | 西北工业大学 | Rope winding device for rope tube of tethered satellite |
| CN115959308A (en) * | 2023-01-31 | 2023-04-14 | 北京理工大学 | Low-cost electrically-driven electrodynamic force rope releasing device and off-track experimental device |
| CN115959308B (en) * | 2023-01-31 | 2024-03-22 | 北京理工大学 | Low-cost electrically-driven electrodynamic force rope release device and off-track experimental device |
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| CN111439398B (en) | 2022-06-24 |
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