CN113978770A - Flexible electromagnetic butting mechanism in cable throwing type space - Google Patents
Flexible electromagnetic butting mechanism in cable throwing type space Download PDFInfo
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- CN113978770A CN113978770A CN202111126461.XA CN202111126461A CN113978770A CN 113978770 A CN113978770 A CN 113978770A CN 202111126461 A CN202111126461 A CN 202111126461A CN 113978770 A CN113978770 A CN 113978770A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 150
- 210000000078 claw Anatomy 0.000 claims abstract description 37
- 238000003032 molecular docking Methods 0.000 claims abstract description 37
- 210000001503 joint Anatomy 0.000 claims abstract description 33
- KAATUXNTWXVJKI-UHFFFAOYSA-N cypermethrin Chemical compound CC1(C)C(C=C(Cl)Cl)C1C(=O)OC(C#N)C1=CC=CC(OC=2C=CC=CC=2)=C1 KAATUXNTWXVJKI-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000001179 sorption measurement Methods 0.000 claims description 26
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000005266 casting Methods 0.000 claims description 2
- 238000005728 strengthening Methods 0.000 claims 1
- 230000036544 posture Effects 0.000 description 12
- 238000000926 separation method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
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- 108091092878 Microsatellite Proteins 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
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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
- B64G1/646—Docking or rendezvous systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Abstract
The invention provides a sling type space flexible electromagnetic docking mechanism which is divided into three parts, wherein an active mechanism and a control system are arranged on a tracking spacecraft, and a passive mechanism is arranged on a target spacecraft. The driving mechanism is internally provided with a cable throwing mechanism, an electromagnetic coil and a mechanical claw locking mechanism. The rope throwing mechanism throws out the guide ball so as to be captured by the driven mechanism and recovers the rope throwing to complete butt joint. The electromagnetic force generated by the electromagnetic coil is used as the power for launching the ripcord and the buffer force before the spacecraft contacts. The mechanical claw locking mechanism is used for limiting a guide ball during non-butting and locking two spacecrafts after butting. The control system comprises a laser ranging sensor, an attitude sensor, a magnetic torquer and a flywheel. The ranging sensor provides relative position information between the two spacecrafts to determine whether the active and passive spacecrafts meet the requirement of the docking distance. The attitude sensor is used for judging the relative attitude of the two spacecrafts and ensuring that the guide ball can be captured. The passive mechanism is provided with an electromagnetic coil to adsorb the guide ball.
Description
Technical Field
The invention relates to a spacecraft docking mechanism, in particular to a space electromagnetic docking mechanism capable of realizing locking/unlocking. The method is suitable for realizing the short-distance electromagnetic butt joint between the tracking spacecraft and the target spacecraft after the attitude adjustment.
Background
The traditional spacecraft docking is realized by adopting a thruster, has the defects of propellant consumption, plume pollution generation, combustion product waste heat interference optical measurement and the like, and has low docking efficiency. The space electromagnetic butt joint technology is a flexible butt joint technology, can avoid the defects, has better flexible butt joint control performance, and improves the on-orbit service life and the operation efficiency of the spacecraft.
In recent years, many space docking mechanisms have appeared, but a movable gripper mechanism of a locking mechanism has not been proposed. The locking mechanism can improve the locking capacity of the mechanism, is convenient to unlock, has higher degree of freedom, and avoids the condition that the butt joint part is loosened and translocated after the butt joint is finished. For example, a stay cable type electromagnetic docking FELD system proposed by the university of Pasdowa in Europe is divided into four stages of cable launching, soft docking, cable recovery and hard docking, and the final flexible docking of two spacecrafts cannot be realized. The existing related research does not pay much attention to the locking mechanism, the related butt joint locking mechanism is simple, the performance is insufficient, the space butt joint cannot be achieved, and particularly the space flexible electromagnetic butt joint cannot be achieved.
Disclosure of Invention
The technical problem solved by the invention is as follows: the flexible electromagnetic docking mechanism overcomes the defects of fuel consumption, plume pollution, heat emission, large impact force, no control of docking tail ends and the like in the existing mechanism docking technology, provides a design scheme of a sling type space flexible electromagnetic docking mechanism, and realizes flexible electromagnetic docking and separation of two spacecrafts through a contact type flexible docking system with contact, continuity, reversibility and synchronous control.
The technical scheme adopted by the invention is as follows: flexible electromagnetism docking mechanism in cable throwing type space includes: the device comprises an active mechanism base, a passive mechanism base, an active mechanism adsorption electromagnetic coil seat, a passive mechanism adsorption electromagnetic coil seat, a motor, a winch, a limiting pulley, a traction rope, a guide ball, a steering engine, a three-finger clamp type mechanical claw, a three-axis gyroscope, a three-axis accelerometer, a laser ranging sensor, a magnetic torquer and a flywheel;
the driving mechanism base is provided with a limiting groove, a limiting pulley and a traction rope hole;
one end of the driven mechanism base is provided with a mechanical claw sliding groove and a driven mechanism adsorption electromagnetic coil seat;
the driving mechanism adsorbs one end of the electromagnetic coil seat, the traction rope passes through the traction rope hole to be connected with the guide ball, the other end of the traction rope is the end where the guide ball is located, and the emission coil of the driving mechanism is spirally wound on the driving mechanism adsorption electromagnetic coil seat;
the winch is fixed in the winch support and used for winding the flexible traction rope, and the bearing is arranged in the center of the winch support and used for
The motor bracket is arranged on one side of the winch, one end of the motor bracket is connected with the winch bracket through a bearing, and the other end of the motor bracket is fixed with the motor;
one end of the guide ball is connected with the traction rope, and the groove arranged at one end of the driving mechanism adsorbing the electromagnetic coil holder can be installed in a matched mode to play a role in fixing and adsorbing the guide ball;
the steering engines are arranged on the upper side and the lower side outside the electromagnetic coil of the driving mechanism and used for controlling the movement of the three-finger clamp type mechanical claw;
the three-finger clamp type mechanical claw is fixed on the outer side of an electromagnetic coil seat adsorbed by a driving mechanism, the motion of the three-finger clamp type mechanical claw is controlled by a steering engine, the mechanical claw is divided into a front part and a rear part, the middle parts of the mechanical claw are fixedly connected by screws, a plurality of small hemispheres are uniformly arranged at the front end of the mechanical claw along the line direction, the number of the small hemispheres is the same as that of hemispherical grooves in a mechanical claw sliding groove, and the positions of the small hemispheres correspond to that of the hemispherical grooves in the mechanical claw sliding groove;
the passive mechanism adsorption electromagnetic coil seat is arranged at one end of the passive mechanism base, and a hemispherical groove matched with the guide ball is arranged at one side of the passive mechanism adsorption electromagnetic coil seat; when the three-finger clamp type mechanical claw releases the guide ball, the passive mechanism adsorbs the electromagnetic coil seat to capture the guide ball to complete the butt joint of the spacecraft;
the limiting pulley is fixed in the base of the driving mechanism and used for changing the stretching direction of the traction rope and keeping the traction rope on the axis of the mechanism;
the center of one side, close to the butt joint surface, of the base of the driving mechanism is provided with a traction rope hole, and a three-axis gyroscope and a three-axis accelerometer are installed on the base of the driving mechanism and used for measuring three-axis acceleration and three-axis angles and capturing attitude information of the spacecraft for a control system;
the magnetic torquer and the flywheel are arranged on the butt joint surface of the driving mechanism, and can generate electromagnetic torque to provide power for spacecraft attitude adjustment;
the laser ranging sensors are arranged on the upper side and the lower side of the front end face of the active docking mechanism and the upper side of the passive docking mechanism, and measure the relative positions and the distances of the two spacecrafts through laser to capture information for the control system;
one end of the traction rope is wound on the winch, and the other end of the traction rope is fixed on the guide ball; after the posture adjustment is finished, the motor controls the winch to release the traction rope and keeps the traction rope to be positioned on a central axis of the mechanism through the limiting pulley, the steering engine controls the three-finger clamp type mechanical claw to open for a certain angle, the active adsorption electromagnetic coil is electrified to generate an electromagnetic force repulsive to the emission coil of the active mechanism to release the guide ball, the guide ball is popped out of the active mechanism adsorption electromagnetic coil seat under the connection of the traction rope and is captured by the passive mechanism adsorption electromagnetic coil seat, and the guide butt joint is finished;
after the passive mechanism adsorbs the electromagnetic coil holder to capture the seeker, the motor controls the winch to recover the traction rope, the active mechanism emission coil is electrified to slowly generate electromagnetic force mutually attracted with the passive mechanism adsorption electromagnetic coil holder, so that the butt joint surfaces of the two spacecrafts are slowly approached and jointed, and flexible butt joint is completed;
the three-finger clamp type mechanical claw is controlled by the steering engine, and after the two spacecrafts are flexibly butted, the steering engine controls the three-finger clamp type mechanical claw to be lowered, so that the hemispherical protrusion at the front end of the mechanical claw is butted and locked with the groove at the sliding chute of the mechanical claw;
the invention can effectively overcome the problems of fuel consumption, plume pollution, heat emission, large impact force, no control on the butt joint tail end and the like of the butt joint mode of the traditional thruster, has the advantages of no fuel consumption, no butt joint impact, capability of effectively avoiding pollution of the plume on an optical element and the like, obviously reduces the complexity of a butt joint system, simultaneously can reduce the requirement on the attitude and orbit control precision of the spacecraft, is suitable for different attitudes of the elliptical orbit spacecraft to realize in-orbit connection, and can be applied to in-orbit reconstruction and in-orbit assembly of the microsatellite. The mechanism locking system is flexible, adopts the mechanical claw locking mechanism to increase the fault tolerance, and enables the mechanism to adapt to various butt joint conditions.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings shown below will be briefly introduced, and it is apparent that the drawings in the following description are only one preferred embodiment of the present invention.
Fig. 1 is a schematic view of the active mechanism during undocking.
Fig. 2 is a schematic diagram of the mechanism in preparation for the start phase of docking.
Fig. 3 is a schematic view of the mechanism after docking is complete and locking.
Fig. 4 is a mechanism composition diagram.
Fig. 5 is a docking flowchart.
In the figure, 1, a motor, 2, a motor frame, 3, a coupler, 4, a winch, 5, a winch support, 6, a rotating shaft, 7, a limiting pulley, 8, a driving mechanism base, 9, a steering engine and a flywheel, 10, a laser ranging sensor, 11, a three-finger clamp type mechanical claw, 12, a sling, 13, a driving mechanism adsorption electromagnetic coil seat, 14, a transmitting coil, 15, a guide ball, 16, a magnetic torquer, 17, a driven mechanism adsorption electromagnetic coil seat and 18, a driven mechanism base are arranged.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings: it should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
The invention relates to a flexible electromagnetic docking mechanism for a ripcord type space, which aims at carrying out space docking tasks on two spacecrafts, utilizes electromagnetic force/electromagnetic torque and rope tension as control force, realizes mutual approaching of the two spacecrafts through a motor, realizes adjustment of relative postures of the two spacecrafts through a posture control system, and realizes the whole docking process of guiding docking and locking by combining a mechanical structure. Similarly, the invention can realize the controllable electromagnetic separation of the postures of the two spacecrafts through the inverse process.
The docking mechanism is divided into an active mechanism and a passive mechanism, wherein the active docking mechanism is arranged on a tracking spacecraft, and the passive mechanism is arranged on a target spacecraft. The active mechanism includes: the device comprises a traction mechanism, a launching mechanism, a locking mechanism, a guide ball, a posture adjusting mechanism and a laser ranging sensor; the passive mechanism includes: the device comprises an adsorption electromagnetic coil seat, a passive mechanism electromagnetic coil, a mechanical claw sliding groove, a laser ranging sensor, a magnetic torquer, a flywheel and a base.
The drive mechanism traction mechanism includes: the device comprises a motor, a motor support, a winch, a limiting pulley, a base, a coupler, a bearing seat, a rotating shaft, a bearing, a shaft sleeve, a roller, a traction rope and a traction rope hole, and is used for recovering a guide ball and providing axial force for reducing the relative distance between two spacecrafts. The motor is arranged outside the motor support and is connected with the winch through a rotating shaft, and bearings are arranged among the winch shaft, the motor support and the winch support to reduce friction; the traction rope is wound on the winch and passes through the traction rope hole to be connected with the limiting pulley and the guide ball; when the winch works, the traction rope is recovered, and axial force for enabling the two spacecrafts to approach each other is provided.
The active mechanism launching mechanism comprises: the driving mechanism adsorbs the electromagnetic coil base, the shell and the driving mechanism transmitting coil, utilizes the electromagnetic ejection traction ball and provides electromagnetic force/electromagnetic torque to control the relative distance and the posture of the two spacecrafts. The transmitting coil is wound outside the adsorption electromagnetic coil seat, and the adsorption electromagnetic coil seat adsorbs the guide ball when the guide ball is not thrown. The outside of the electromagnetic coil seat of the driving mechanism is a cylindrical surface, the inside of the electromagnetic coil seat is processed into a song which can be attached to the guide ball, and the electromagnetic coil seat and a coil wound on the outer side of the electromagnetic coil seat are arranged in the transmitting tube. When the guide ball is thrown, the transmitting coil generates a magnetic field which is opposite to the magnetic field generated by the electromagnetic coil in the guide ball, and the guide ball is ejected; when the guide ball is separated, the transmitting coil generates electromagnetic force for attracting the guide ball, and the guide ball is recovered into the active mechanism.
The locking mechanism includes: the steering engine and the three-finger clamp type mechanical claw are used for locking and limiting the guiding head before casting and the driving mechanism and the driven mechanism after butt joint is completed, so that the mechanical connection of the two spacecrafts is realized. The steering wheel links to each other with three finger clamp jaw formula gripper, and the gripper is driven by the steering wheel, realizes opening and closing, can restrict the guide ball and with passive mechanism gripper spout locking when tightening up, can release the guide ball and with passive mechanism separation when opening.
The guide ball is used for generating electromagnetic force/electromagnetic torque action with the passive mechanism electromagnetic coil, so that the guide head is captured. The inside is provided with an electromagnetic coil, and the other part is made of nonmagnetic material which is not magnetic. The electromagnetic coil material in the guide ball is required to have larger coercive force and is difficult to be influenced by an external magnetic field. The guiding ball is adsorbed and locked with the electromagnetic coil seat adsorbed by the passive mechanism during butt joint, and is bounced off by the electromagnetic coil seat during separation.
The posture adjustment mechanism includes: the device comprises a magnetic torquer, a flywheel, a three-axis gyroscope and a three-axis accelerometer, and is used for measuring the three-axis acceleration and the three-axis attitude angle of the two spacecrafts and generating electromagnetic torque to provide power for attitude adjustment. The magnetic torquers and the flywheel are arranged at three opposite angles around the driving mechanism to provide power for spacecraft attitude adjustment; and the three-axis gyroscope and the three-axis accelerometer are arranged on the base of the driving mechanism, are positioned in the launching tube and are used for measuring three-axis acceleration and three-axis angles and providing attitude information for the controller.
The passive mechanism includes: the adsorption electromagnetic coil seat and the driven mechanism electromagnetic coil generate electromagnetic force which is mutually attracted with the seeker during butt joint, the adsorption electromagnetic coil seat and the driven mechanism electromagnetic coil are locked after being contacted, and the electromagnetic force which repels the seeker is generated during separation to realize separation; a series of grooves are formed in the mechanical claw sliding groove and matched with the protrusions on the mechanical claw, and the grooves are used for locking the three-finger clamp type mechanical claw; the laser ranging sensor, the magnetic torquer and the flywheel are used for adjusting the postures of the two spacecrafts by matching with the posture adjusting mechanism of the driving mechanism.
The preferred butt joint scheme of the invention is as follows: when two spacecrafts approach to a capture domain in orbit, an active mechanism adsorbs electromagnetic coils to work, balls are adsorbed in a launching slot, a three-finger clamp mechanical claw of the active mechanism is opened, according to sensing information such as relative positions, postures and accelerations of the two spacecrafts obtained by a laser ranging sensor, a three-axis gyroscope and a three-axis accelerometer, when the postures do not meet a butt joint condition, the postures of the spacecrafts are adjusted and tracked by generating torque with a flywheel through a magnetic torquer, and when the butt joint condition is met, the active mechanism is powered on through a launching coil and powered off through the adsorption electromagnetic coils to generate a magnetic field opposite to that generated by the electromagnetic coils of a guide ball, and the guide ball is ejected from an adsorption electromagnetic coil seat of the active mechanism. The electromagnetic coil of the passive mechanism is electrified to generate electromagnetic force for attracting the guide ball. The guiding ball flies to the passive mechanism under the action of electromagnetic force after being popped up, and is locked after being contacted with the electromagnetic coil seat adsorbed by the passive mechanism. After the guiding ball is captured by the passive mechanism, the traction rope is recovered by the operation of the winch under the drive of the motor, and traction force for enabling the two spacecrafts to approach each other is generated. After the two spacecrafts reach a certain relative speed and distance, the driving mechanism adsorbs the electromagnetic coil base and the transmitting coil, and the driven mechanism adsorbs the electromagnetic coil base and the electromagnetic coil to generate electromagnetic repulsion force, and the size of the electromagnetic repulsion force is larger than the traction force generated by the winch, so that the relative speed of the two spacecrafts is reduced. Finally, under the control of the controller, the relative speed of the two spacecrafts in butt joint is zero. After butt joint, the mechanical claw is folded under the action of the steering engine, and the mechanical claw is embedded into the mechanical claw sliding groove to be locked, so that butt joint of the two spacecrafts is realized.
The separation of the invention is preferably as follows: when the two spacecrafts need to be in a butt joint state, the three-finger clamp type mechanical claw is separated from the mechanical claw sliding groove under the driving of the steering engine, and the two spacecrafts are unlocked. The passive mechanism electromagnetic coil generates a magnetic field which is opposite to the magnetic field generated by the guide ball electromagnetic coil, the active mechanism electromagnetic coil generates a magnetic field which is the same as the magnetic field generated by the guide ball electromagnetic coil, the guide ball is separated from the passive mechanism adsorption electromagnetic base and is adsorbed on the active mechanism electromagnetic base, and the two spacecrafts are mechanically disconnected. Meanwhile, the directions of magnetic fields generated by the electromagnetic coil of the driving mechanism and the electromagnetic coil of the driven mechanism are opposite, the two spacecrafts are far away from each other due to electromagnetic repulsion, and the two spacecrafts are separated.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (8)
1. The utility model provides a flexible electromagnetism docking mechanism in cable throwing type space which characterized in that: comprises a control system, an active mechanism and a passive mechanism;
the active mechanism is arranged on the tracking spacecraft, and the passive mechanism is arranged on the target spacecraft;
an active mechanism comprising: the device comprises a motor assembly, a winch assembly, a base, a casting guide mechanism, a steering engine and a three-finger clamp type mechanical claw;
a motor assembly comprising: a motor bracket and a motor;
a hoist assembly comprising: a winch bracket and a winch;
a projectile guide mechanism comprising: the device comprises a limiting pulley, a traction rope, a guide ball, a transmitting coil and an adsorption electromagnetic coil seat;
the motor assembly and the winch assembly are installed in a matched mode and are arranged at the bottom of the base;
the ejection guide mechanism is arranged in the base cylinder;
a passive mechanism comprising: the electromagnetic coil adsorption device comprises an adsorption electromagnetic coil seat, a mechanical claw sliding groove and a base;
a control system, comprising: the system comprises a three-axis gyroscope, a three-axis accelerometer, a laser ranging sensor, a magnetic torquer and a flywheel;
the three-axis gyroscope and the three-axis accelerometer are arranged on the base floor of the active mechanism, are positioned in the cylindrical surface and are used for measuring three-axis acceleration and three-axis angles and providing attitude information for the computer;
the magnetic torquer and the flywheel are arranged on the upper edge of the cylinder of the base of the driving mechanism and are used for generating torque and providing power for attitude adjustment of the spacecraft;
and the transmitting mechanism and the receiving mechanism of the laser ranging sensor are respectively arranged on the edges of the butt joint surfaces of the driving mechanism and the driven mechanism and used for measuring the relative position information between the two spacecrafts.
2. The flexible electromagnetic docking mechanism in a ripcord space as claimed in claim 1, wherein the centers of the winch support and the motor support are both provided with annular holes, and the rotating shaft can be used for installing the winch and the motor in a matching way through the annular holes;
the motor is used for providing power for the winch.
3. The ripcord type space flexible electromagnetic docking mechanism as claimed in claim 1, wherein the center of the base of the driving mechanism is provided with an annular hole, and the limiting pulley is installed in the annular hole at the center of the base; the adsorption electromagnetic coil seat is arranged in the base cylinder, and the center of the adsorption electromagnetic coil seat is provided with a circular hole; the traction rope is encircled on the winch and is connected with a guide ball arranged in the middle of the base cylinder through a limiting pulley and an annular hole for adsorbing the center of the electromagnetic coil seat in sequence;
the limiting pulley is used for ensuring that the traction rope is positioned on a central axis of the mechanism;
the adsorption electromagnetic coil seat is used for fixing a guide ball before launching;
the traction rope is used for drawing the guide ball;
the guide ball is used for adsorbing the target spacecraft.
4. The ripcord type space flexible electromagnetic docking mechanism according to claim 3, wherein the transmitting coil is disposed on the inner wall of the cylinder of the base, surrounding the guiding ball;
the transmitting coil is used for providing power for the projection guide mechanism.
5. The ripcord type space flexible electromagnetic docking mechanism according to claim 3, wherein the guiding ball is provided with an electromagnetic coil, and the electromagnetic coil holder can be adsorbed by the passive mechanism after being released.
6. The ripcord-type space flexible electromagnetic docking mechanism according to claim 4, wherein the surface of the electromagnetic coil holder of the passive mechanism is hemispherical and fits with the guide ball.
7. The ripcord type space flexible electromagnetic docking mechanism according to claim 1, wherein the three steering engines are respectively connected with the three mechanical claws and uniformly distributed on the outer wall of the base cylinder;
the steering engine is used for controlling the mechanical claw to move;
the three-finger clamp type mechanical claw is used for limiting the position of the guide ball before projection and locking and limiting the position of the driving mechanism and the driven mechanism after butt joint is completed.
8. The ripcord type space flexible electromagnetic docking mechanism according to claim 7, wherein the end of the gripper has three small protrusions, and the gripper runner of the passive mechanism has three grooves corresponding thereto;
the protrusion and the groove are matched after the mechanical claw is folded, and the function of strengthening and fixing is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111126461.XA CN113978770B (en) | 2021-09-26 | 2021-09-26 | Rope throwing type space flexible electromagnetic butt joint mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111126461.XA CN113978770B (en) | 2021-09-26 | 2021-09-26 | Rope throwing type space flexible electromagnetic butt joint mechanism |
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| CN113978770A true CN113978770A (en) | 2022-01-28 |
| CN113978770B CN113978770B (en) | 2023-07-11 |
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| CN202111126461.XA Active CN113978770B (en) | 2021-09-26 | 2021-09-26 | Rope throwing type space flexible electromagnetic butt joint mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114408228A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
| CN114701673A (en) * | 2022-03-22 | 2022-07-05 | 中国人民解放军战略支援部队航天工程大学 | Deployable arm docking mechanism, design method thereof and spacecraft docking system |
| CN116022386A (en) * | 2023-03-31 | 2023-04-28 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408228A (en) * | 2022-02-15 | 2022-04-29 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
| CN114408228B (en) * | 2022-02-15 | 2024-02-27 | 长沙天仪空间科技研究院有限公司 | Spacecraft operation control system and method |
| CN114701673A (en) * | 2022-03-22 | 2022-07-05 | 中国人民解放军战略支援部队航天工程大学 | Deployable arm docking mechanism, design method thereof and spacecraft docking system |
| CN116022386A (en) * | 2023-03-31 | 2023-04-28 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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| CN113978770B (en) | 2023-07-11 |
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