CN112896562B - Space debris tether catcher based on inertia - Google Patents
Space debris tether catcher based on inertia Download PDFInfo
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- CN112896562B CN112896562B CN202110185756.8A CN202110185756A CN112896562B CN 112896562 B CN112896562 B CN 112896562B CN 202110185756 A CN202110185756 A CN 202110185756A CN 112896562 B CN112896562 B CN 112896562B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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Abstract
The invention relates to an inertia-based space debris tether catcher, belonging to the technical field of spacecraft service; the system comprises a measurement subsystem, an ejection subsystem, a tether retraction subsystem and a comprehensive electronic subsystem; the ejection subsystem comprises a top plate, a rotating baffle, a mass block, a spring and a magazine which are coaxially arranged in sequence, a driving gear is driven by a motor to drive the rotating baffle to rotate, and when a through hole of the rotating baffle is opposite to a groove of the magazine, the mass block is acted by restoring force of the spring to achieve the purpose of releasing the mass block; the motor drives the motor belt wheel in the tether releasing and releasing subsystem to drive the spool belt wheel and the spool to rotate so as to release and release the tether; the measurement subsystem comprises a monocular camera and a laser range finder and provides state information of a target and the measurement subsystem before capturing; the invention can eject the mass block with initial speed of 10m/s to capture the target beyond 10m from the target. The invention locks through the friction force between the tether and the fragments, and has stronger locking effect on the space fragments than the space fly net.
Description
Technical Field
The invention belongs to the technical field of spacecraft service, and particularly relates to a space debris tether catcher based on inertia.
Background
With the aerospace activities of human beings for over 70 years, space debris represented by satellite and rocket debris, dead space vehicles, failed space vehicles and satellite collision derivatives is increasing day by day. The space debris not only can occupy the orbit resources, but also threatens the on-orbit operation safety of other spacecrafts. The severity and urgency of the space debris problem has received extensive attention from countries and organizations, and many organizations are actively exploring feasible solutions and developing various traps for space debris capture.
Most space debris are non-cooperative targets, prior information is unknown, a universal mechanical interface is not arranged on the surface, in addition, the space debris are generally in a rotating state with an uncontrolled posture, and the capturing is difficult to complete by a rigid capturing means. In order to clean space debris of LEO and GEO orbits, beijing university of justice proposes a flying net ejection catcher (CN 102991731A) for catching a waste spacecraft, and a mass block tied with a flying net is ejected by an initiating explosive device, and the flying net is taken out by the mass block. After the flying network wraps the target, the network port is tightened through the residual kinetic energy of the mass block to realize target capture. This scheme has the advantage that the quality is light, small, is convenient for realize modular design, but above-mentioned scheme has obvious defect: 1) The initiating explosive device is adopted for ejection, so that the safety is low, and the repeated use is difficult. 2) The target capture is realized through the envelope, and when the target is large, a large-size flying net is needed, so that the weight of the capturer is increased. 3) Through the inertia tightening of the mass block, fragments are easy to fall off when the rail moves.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an inertia-based space debris tether catcher, which simplifies a catching device into two tethers tied with mass blocks by reducing warps of a flying net and eliminating wefts of the flying net. The mass block with the tether is ejected through the spring, the mass block moves to drive the tether to leave the capturer and fly according to a preset trajectory, and when the length of the tether reaches the limit or the tether is contacted with space debris, under the inertia of the mass block, the tether rotates around the tail end or the contact point of the tether to wind the space debris, so that the space debris is captured; meanwhile, the light weight of the catcher is realized, and the self weight of the catching structure is reduced.
The technical scheme of the invention is as follows: the utility model provides a space piece tether catcher based on inertia, installs in space operation platform which characterized in that: the system comprises a measurement subsystem, an ejection subsystem, a tether retraction subsystem and a comprehensive electronic subsystem;
the ejection subsystem comprises a top plate, a rotating baffle plate, a mass block, a spring and a magazine which are coaxially arranged in sequence; the magazine is of a cuboid structure provided with a central through hole, a plurality of grooves are uniformly distributed on the upper end surface of the magazine along the circumferential direction, the number of the grooves is even, and the grooves are columnar cavities for placing mass blocks; the inner circumferential surface of the central through hole is communicated with the side walls of the grooves respectively; the mass blocks are correspondingly arranged in the grooves of the magazine one by one, and two symmetrically arranged mass blocks in each group are connected through two ends of one end of a tether; the springs are coaxially arranged at the bottoms of the grooves respectively, and the ejection of the mass blocks is realized by compressing and releasing the springs; a first central hole is formed in the end face of the rotary baffle, two through holes are symmetrically formed in the end face of the rotary baffle relative to the first central hole and used as ejection channels of the mass block, and the side walls of the two through holes are communicated with the side wall of the first central hole and used as a tether channel; the rotary baffle is of a cylindrical structure, one end of the rotary baffle is rotationally connected with the top plate through a bearing, the other end of the rotary baffle is of a gear structure and is meshed with a driving gear and a driven gear which are symmetrically arranged on two sides of the rotary baffle, and the driving gear is driven by a motor; the plurality of the bullseye bearings are circumferentially arranged on the end face of one end of the rotary baffle gear structure through threads, the sliding ends of the plurality of the bullseye bearings are arranged in the annular groove of the end face of the magazine, the sliding friction between the rotary baffle and the magazine is converted into rolling friction, and the radial displacement of the magazine is limited; the top plate is fixed on the space operating platform, a plurality of through holes are uniformly distributed on the end surface of the top plate along the circumferential direction, the positions of the through holes correspond to the grooves of the magazine one by one and are used as ejection outlets of the mass blocks, and the side walls of the through holes are communicated with the side wall of the center hole of the top plate and are used as outlets of the tether;
the tether winding and unwinding subsystem comprises a spool support, a spool, a motor support, a motor belt wheel, a synchronous belt, a spool belt wheel, a one-way bearing, a shaft sleeve and a flange bearing; the spool is used for winding the other end of the tether, two ends of the spool are respectively installed on a spool support through flange bearings to realize rotary connection, and the spool support is installed on the space operation platform; the spool belt wheel is coaxially arranged at one end of the spool through a shaft sleeve and a one-way bearing; the motor is fixed on the space operation platform through a motor bracket, and the axial direction of the motor is parallel to the bobbin; the motor belt wheel is coaxially arranged on an output shaft of the motor; the motor belt wheel is connected with the spool belt wheel through a synchronous belt, the motor drives the motor belt wheel to sequentially drive the spool belt wheel and the spool to rotate, and therefore the rope can be wound and unwound;
the measurement subsystem comprises a monocular camera and a laser range finder, and provides state information of a target and the measurement subsystem for the ejection subsystem before capture; the laser range finder is fixed on the top plate through a laser range finder fixing seat, one end of the laser range finder fixing seat is fixed on the top plate, and the other end of the laser range finder fixing seat is arranged in parallel to the top plate and is positioned on the bottom surface of the magazine and used for limiting the axial displacement of the magazine; the monocular camera is fixed on the top plate through the positioning groove and the bolt;
the integrated electronic subsystem is used for data management, control, communication, data transmission, electric energy distribution and power supply management of the capturer.
The further technical scheme of the invention is as follows: the quantity of the grooves on the end face of the magazine is 6, and 3 groups of mass blocks are placed in the grooves.
The invention further adopts the technical scheme that: the top plate is of a flat plate structure, a circular groove is coaxially arranged on the lower end face of the top plate and the central hole, and the inner diameter of the circular groove is larger than the diameter of the outer peripheral face of the circumference where the through holes are located; the bearing between the top plate and the rotating baffle is a thin-wall bearing, the outer ring of the thin-wall bearing is arranged in the circular groove, and the inner ring of the thin-wall bearing is coaxially sleeved on the rotating baffle.
The further technical scheme of the invention is as follows: the motor output cross-section of the tether winding and unwinding subsystem is D-shaped and is used for being installed in a matched mode with a center hole of the motor belt wheel.
The invention further adopts the technical scheme that: the tether deploying and retracting subsystem further comprises a tether plate, the tether plate is located between the ejection subsystem and the tether deploying and retracting subsystem, and a through hole is formed in the tether plate and serves as a wire guide hole; one end of the tether penetrates through the wire guide hole to be connected with the mass block, and the wire bundling plate is used for limiting the moving position of the tether and preventing the tether from being unstable due to vibration.
The further technical scheme of the invention is as follows: the ejection initial speed of the mass block is 10m/s.
Advantageous effects
The invention has the beneficial effects that: in order to improve the defects of the existing device and overcome the defects of poor universality, limited size of a captured target, large volume of a capturer and the like, the invention provides an inertia-based space debris tether capturing scheme, uses a tether winding object as inspiration, and designs and develops a low-cost capturer aiming at a large high-speed target by utilizing a mechanism/structure integration technology. The catcher carries a plurality of sets of catching structures, so that a plurality of fragments can be cleared away in one task, and the fragment clearing cost is reduced. The flying net is captured by adopting a tether winding capture mode instead of a flying net, the fragment capture is not carried out in an envelope mode, and the fragment capture is insensitive to the axial size of the fragment, so that the universality is higher, the requirement on the size of a captured target is lower, and the space fragment with the size of 0.5m-2m can be captured. The space environment is a microgravity environment, and the ejected mass block does not obviously drop, so that the invention can realize the capture of the target at a lower ejection speed at a longer distance, improve the capture safety and reduce the design difficulty of the ejection structure. The invention can launch the mass block with initial speed of 10m/s beyond 10m from the target to capture the target. The invention locks through the friction force between the tether and the fragments, and has stronger locking effect on the space fragments than the space fly net.
Drawings
FIG. 1 is a conceptual diagram of the inertial-based space debris tether trap target capture of the present invention;
FIG. 2 is a schematic view of an inertia based space debris tether trap in accordance with the present invention;
FIG. 3 is an application of the inertia based space debris tether trap of the present invention to a platform;
FIG. 4 is a cross-sectional view of the inertia based space debris tether catcher ejector of the present invention;
FIG. 5 is a cross-sectional view of the inertia based space debris tether catcher tether take-up device of the present invention;
FIG. 6 is a simulation of debris capture by the inertia based space debris tether trap of the present invention;
FIG. 7 is an exploded view of an inertia based space debris tether trap ejection subsystem of the present invention;
FIG. 8 is an isometric view of the rotating baffle 9 in the inertia based space debris tether trap of the present invention;
FIG. 9 is a front view of the inertia based space debris tether catcher magazine 6 of the present invention;
description of the reference numerals: 1. the device comprises a capturer body 2, a mass block 3, a tether 4, a target 5 to be captured, a wiring board 6, a magazine 7, a laser range finder 8, a top board 9, a rotary baffle 10, a bull eye bearing 11, a monocular camera 12, a spool support 13, a spool 14, a motor support 15, a motor 16, a motor pulley 17, a synchronous belt 18, a spring 19, a spool pulley 20, a one-way bearing 21, a shaft sleeve 22, a flange bearing 23, a driving gear 24, a driven gear 25, a thin-wall bearing 26 and a laser range finder support.
Detailed Description
The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The following will further describe the specific implementation steps of the inertial-based space debris tether capture device of the present invention for capturing large high-speed targets with reference to the schematic diagrams of fig. 1 to 5.
FIG. 1 is a conceptual diagram of the inertial-based space debris tether trap target trap of the present invention. The capture process for the large high-speed target is as follows: in a first step, the trap 1 is maneuvered into place by rail, with the assistance of the monocular camera 11 and the laser rangefinder 7, using its own power. And secondly, calculating target related parameters according to the measured data, further adjusting to an optimal transmitting position, and keeping tracking the moving target. And thirdly, ejecting the mass block to capture the target. The motor drives the driving gear 24 to rotate, and the torque is transmitted to the rotating baffle 9 through a rotating pair formed by the driving gear and the rotating baffle 9, so that the rotating baffle 9 rotates around the axis of the catcher. Two through holes opposite to the magazine grooves are formed in the rotary baffle 9, when the rotary baffle rotates to be opposite to the two grooves in the magazine, axial restraint on the mass block 2 is invalid, and the mass block 2 is ejected out under the action of the spring 18. When the capturing task is executed, two mass blocks are combined into a group, and each mass block is connected with the platform through a tether. And after the mass block flies out, winding the mass block with the target to complete target capture. Fourthly, after the capture is finished, a tether retracting mechanism in the capture device is actuated to tighten the tether and limit the movement of the target. After the first capture is finished, the tether is cut through the tether cutting structure to prepare for the next operation.
Fig. 2 is a schematic view of an inertia-based spacial debris tether catcher of the present invention. The monocular camera 11 and the laser range finder 7 are mounted on the top plate 8. A thin-walled bearing 25 is embedded in the top plate 8. The rotating blind 9 is concentric with the thin-walled bearing 25 and is positioned by means of a contact surface. Between the rotating baffle 9 and the magazine 6 are mounted 6 bull's eye bearings 10. The line bundling plate 5 is arranged between the ejection mechanism and the tether retraction mechanism, and a tether led out from the spool 13 and connected with the mass block 2 needs to pass through the line bundling plate to limit the moving position of the tether and prevent the tether from being unstable due to large-range vibration. The torque of the motor 15 is transmitted to the spool pulley 19 through the timing belt 17. Wherein when reducing rotating barrier 9 rotation, the friction between quality piece 2 and the rotating barrier 9, this patent is installed bull's eye bearing 10 on rotating barrier 9 and magazine 6 contact surface, opens the slide that has the circular ring groove as bull's eye bearing 10 on the magazine simultaneously, turns into rolling friction with the sliding friction between quality piece and the rotating panel.
Fig. 3 illustrates the application of the inertia based spacial debris tether trap of the present invention to a platform. In this figure the tether catcher is mounted on a space operating platform and by hiding the roof 8 the internal structure is visible as shown. The driving gear 23 is engaged with the rotary blind via a gear pair, and the rotary blind 9 is engaged with the driven gear 24 via a gear pair at the same time. The thin-wall bearing 25 is embedded in the groove of the panel, and the rotary baffle 9 is axially positioned by the thin-wall bearing 25 through the positioning boss. The magazine 6 is fixed on the side wall of the catcher through a lug and a mounting plate, and the rigidity of the catcher is improved. Laser rangefinder 7 is connected to the platform by laser rangefinder support 26, and the laser light exits through the holes in top plate 8, and the reflected light is also received from the holes in top plate 8.
FIG. 4 is a cross-sectional view of the inertia based space debris tether trap ejector of the present invention. The part shows the installation condition of the mass block 2 and the spring 18 in the ejector by cutting the magazine 18 and the rotary baffle 9. A spring 18 is placed in the cylindrical hole of the magazine and the mass 2 presses on the spring 18. The spring 18 is normally held in compression. When the rotary baffle 9 rotates to a proper position, the passing of the rotary baffle 9 is overlapped with the cylindrical hole of the magazine 6, the spring is released, and the mass block is ejected.
Fig. 5 is a cross-sectional view of the inertia based space debris tether catcher tether take-up device of the present invention. As can be seen, the spool 13 is supported by the flange bearing 22, and friction between the spool 13 and the spool holder 12 is prevented. During the process of tensioning the tether, the torque of the timing belt is transmitted to the spool pulley 19, then to the one-way bearing 20, and finally to the spool 13. The unidirectional bearing has directionality, and is the same with ordinary bearing when clockwise rotation, but during anticlockwise rotation, the outer lane can block in the bearing to realize unidirectional rotation. In the ejection process of the mass block 2, the one-way bearing is equivalent to a common bearing, and the mass block 2 drives the spool 13 to rotate through the tether 3, but cannot transfer torque to the motor. When the tied rope is recovered, the one-way bearing is locked, and the torque transmission between the synchronous pulley and the spool is realized.
FIG. 6 is a simulation of debris capture by the inertia based space debris tether trap of the present invention. In order to simplify the simulation process, the tether and the mass blocks on two sides are assumed to be on the same horizontal line at the initial moment, wherein the mass of the mass block is 1kg, the length of the tether from the mass block to a tether connecting point is 6m, the initial speed of the mass block is 10m/s, and the target diameter is 1m. It can be seen from the simulation that the tether is wound one turn at 0.7 s. Under the mass inertia, the tether will continue to wind until the free tether length is less than the fragment circumference, at 1.1s, the winding is complete.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a space piece tether catcher based on inertia, installs in space operation platform which characterized in that: the system comprises an ejection subsystem, a tether releasing subsystem, a measurement subsystem and a comprehensive electronic subsystem;
the ejection subsystem comprises a top plate, a rotating baffle, a mass block, a spring and an ejection cabin which are coaxially arranged in sequence; the magazine is of a cuboid structure provided with a central through hole, a plurality of grooves are uniformly distributed on the upper end surface of the magazine along the circumferential direction, the number of the grooves is even, and the grooves are columnar cavities for placing mass blocks; the inner circumferential surface of the central through hole is communicated with the side walls of the grooves respectively; the mass blocks are correspondingly placed in the grooves of the magazine one by one, and two symmetrically arranged mass blocks in each group are connected through two ends of one end of a tether; the springs are coaxially arranged at the bottoms of the grooves respectively, and the ejection of the mass blocks is realized by compressing and releasing the springs; a first central hole is formed in the end face of the rotary baffle, two through holes are symmetrically formed relative to the first central hole and used as ejection channels of the mass block, and the side walls of the two through holes are communicated with the side wall of the first central hole and used as a tether channel; the rotary baffle is of a cylindrical structure, one end of the rotary baffle is rotationally connected with the top plate through a bearing, the other end of the rotary baffle is of a gear structure and is meshed with a driving gear and a driven gear which are symmetrically arranged on two sides of the rotary baffle, and the driving gear is driven by a motor; the plurality of bull eye bearings are circumferentially arranged on the end face of one end of the rotary baffle gear structure through threads, the sliding ends of the bull eye bearings are arranged in the annular groove of the end face of the magazine, sliding friction between the rotary baffle and the magazine is converted into rolling friction, and radial displacement of the magazine is limited; the top plate is fixed on the space operating platform, a plurality of through holes are uniformly distributed on the end surface of the top plate along the circumferential direction, the positions of the through holes correspond to the grooves of the magazine one by one and are used as ejection outlets of the mass block, and the side walls of the through holes are communicated with the side wall of the center hole of the top plate and are used as outlets of the tether;
the tether winding and unwinding subsystem comprises a spool support, a spool, a motor support, a motor belt wheel, a synchronous belt, a spool belt wheel, a one-way bearing, a shaft sleeve and a flange bearing; the spool is used for winding the other end of the tether, two ends of the spool are respectively installed on a spool support through flange bearings to realize rotary connection, and the spool support is installed on the space operation platform; the spool belt wheel is coaxially arranged at one end of the spool through a shaft sleeve and a one-way bearing; the motor is fixed on the space operation platform through a motor bracket, and the axial direction of the motor is parallel to the spool; the motor belt wheel is coaxially arranged on an output shaft of the motor; the motor belt wheel is connected with the spool belt wheel through a synchronous belt, the motor drives the motor belt wheel to sequentially drive the spool belt wheel and the spool to rotate, and then the rope is wound and unwound;
the measurement subsystem comprises a monocular camera and a laser range finder, and provides state information of a target and the ejection subsystem before capture; the laser range finder is fixed on the top plate through a laser range finder fixing seat, one end of the laser range finder fixing seat is fixed on the top plate, and the other end of the laser range finder fixing seat is parallel to the top plate, is positioned on the bottom surface of the magazine and is used for limiting the axial displacement of the magazine; the monocular camera is fixed on the top plate through the positioning groove and the bolt;
the integrated electronic subsystem is used for data management, control, communication, data transmission, electric energy distribution and power supply management of the capturer.
2. The inertia based space debris tether trap of claim 1, wherein: the quantity of recess is 6 on the terminal surface of magazine for place 3 groups of quality pieces.
3. The inertia based space debris tether trap of claim 1, wherein: the top plate is of a flat plate structure, the lower end face of the top plate and the central hole are coaxially provided with a circular groove, and the inner diameter of the circular groove is larger than the diameter of the outer peripheral face of the circumference where the through holes are located; the bearing between the top plate and the rotating baffle is a thin-wall bearing, the outer ring of the thin-wall bearing is arranged in the circular groove, and the inner ring of the thin-wall bearing is coaxially sleeved on the rotating baffle.
4. The inertia based space debris tether trap of claim 1, wherein: the motor output cross-section of the tether winding and unwinding subsystem is D-shaped and is used for being installed in a matched mode with a center hole of the motor belt wheel.
5. The inertia based space debris tether capture of claim 1, wherein: the tether retraction subsystem also comprises a line bunching board, the line bunching board is positioned between the ejection subsystem and the tether retraction subsystem, and a through hole is formed in the line bunching board and used as a wire guide hole; one end of the tether penetrates through the wire guide hole to be connected with the mass block, and the wire bunching plate is used for limiting the moving position of the tether and preventing the tether from being unstable due to vibration.
6. The inertia based space debris tether trap of claim 1, wherein: the ejection initial speed of the mass block is 10m/s.
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| CN113524160B (en) * | 2021-07-20 | 2022-03-08 | 哈尔滨工业大学 | Momentum self-adaptive isolation slow-release type space capturing device |
| CN114084383B (en) * | 2021-11-23 | 2023-12-08 | 中国科学院力学研究所 | Controllable space lasso device |
| CN116119042B (en) * | 2023-04-19 | 2023-07-07 | 中国科学院沈阳自动化研究所 | Flying net type space debris capturing device |
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| CN102991731A (en) * | 2012-12-17 | 2013-03-27 | 北京理工大学 | Flying mesh catapulting device for acquiring discarded spacecraft |
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
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| DE10342954B4 (en) * | 2003-09-17 | 2005-07-28 | Eads Space Transportation Gmbh | retrieval device |
| JP6490798B2 (en) * | 2014-05-02 | 2019-03-27 | マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド | Spacecraft capture mechanism |
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| CN102991731A (en) * | 2012-12-17 | 2013-03-27 | 北京理工大学 | Flying mesh catapulting device for acquiring discarded spacecraft |
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
| JP2014226974A (en) * | 2013-05-20 | 2014-12-08 | 川崎重工業株式会社 | Space debris removal device retainer using extension spring, and space debris removal device with the same |
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| CN109204892A (en) * | 2018-10-22 | 2019-01-15 | 北京科技大学 | A kind of spring energy-storage formula flying mesh closing device |
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