CN114084383A - Controllable space lasso device - Google Patents
Controllable space lasso device Download PDFInfo
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- CN114084383A CN114084383A CN202111393596.2A CN202111393596A CN114084383A CN 114084383 A CN114084383 A CN 114084383A CN 202111393596 A CN202111393596 A CN 202111393596A CN 114084383 A CN114084383 A CN 114084383A
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- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000011084 recovery Methods 0.000 claims abstract description 49
- 230000000087 stabilizing effect Effects 0.000 claims description 28
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000010813 municipal solid waste Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 101000606504 Drosophila melanogaster Tyrosine-protein kinase-like otk Proteins 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the technical field of aerospace devices, and provides a controllable space lasso device which comprises a device body, wherein the device body comprises a transmitting mechanism for transmitting a coil, a radial adjusting mechanism for adjusting the diameter of the transmitted coil by matching with the transmitting mechanism, a swinging mechanism for adjusting the angle of the transmitting coil to enable the coil to approach a target, and a recovery mechanism for recovering and storing the coil by matching with the transmitting mechanism and the radial adjusting mechanism; by adopting the technical scheme, the emitting mechanism emits the coil, and the radial adjusting mechanism, the swinging mechanism and the recovery mechanism respectively control the diameter, approach to a target and recovery and storage of the emitted coil, so that the coil has controllability and can be practically applied to clearing space track garbage.
Description
Technical Field
The invention relates to the technical field of aerospace devices, in particular to a controllable space lasso device.
Background
In the process of expanding the activity space of human beings in space, various space wastes are generated, including fragments generated in launching and running of a carrier rocket, scrapped spacecraft and components thereof, surface cleaning objects and escaping objects of the spacecraft in running and the like. And the quantity of the space garbage is increased year by year, which causes potential negative effects on the normal operation of the spacecraft and the launching activity of the spacecraft, and is a major challenge facing the world. Various techniques have been developed in the prior art to attempt to remove orbital debris, such as manipulators, space bags, off-track sails, and the like. These techniques all suffer from large resource consumption and limited spatial reach.
The extension distance of the soft rope after storage and release has obvious advantages, but the controllability is poor, so that the soft rope is difficult to be applied to practice. How to effectively solve the technical problems is a problem to be solved by the technical personnel in the field at present.
Disclosure of Invention
In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides a controllable space lasso device.
Controllable space lasso device includes the device body, the device body includes:
a transmitter mechanism for transmitting the coil;
the radial adjusting mechanism is used for adjusting the diameter of the coil after transmission by matching with the transmitting mechanism;
the swinging mechanism is used for adjusting the angle of the transmitting coil to enable the coil to approach the target;
and the recovery mechanism is used for recovering and storing the coil by matching with the emission mechanism and the radial adjusting mechanism.
Further, the launching mechanism comprises:
a launcher;
the launching frame is provided with a first launching motor and a second launching motor respectively, an output shaft of the first launching motor is connected with a first launching roller, and an output shaft of the second launching motor is connected with a second launching roller.
Further, the radial adjusting mechanism comprises a radial adjusting frame connected with the launching frame, a sliding unit is arranged on the radial adjusting frame, and a sliding frame horizontally moves on the radial adjusting frame.
Further, the sliding unit comprises a threaded shaft, one end of the threaded shaft penetrates through the sliding frame and the radial adjusting frame respectively and then is connected with a sliding sleeve, and the other end of the threaded shaft is connected to an output shaft of the sliding motor through a coupler.
Furthermore, an acceleration stabilizing motor is arranged on the sliding frame, and an output shaft of the acceleration stabilizing motor far away from the ground side is connected with a stabilizing roller;
and a sliding block which is connected with the radial adjusting frame in a sliding manner is arranged on the sliding frame close to the side of the radial adjusting frame.
Furthermore, swing mechanism is including setting up the launching cradle outside and with the swing span that the launching cradle is connected, one side of swing span is provided with the gear end, the opposite side of swing span is provided with the stiff end.
Furthermore, the gear end comprises a sector gear which is connected with the swing frame and can swing, a swing motor is further arranged on the swing frame close to the radial adjusting mechanism side, a swing gear is arranged on an output shaft of the swing motor, and the swing gear is meshed with the sector gear.
Further, retrieve the mechanism including setting up the swing span outside and with the recovery frame that the swing span is connected, be connected with the motor mount on the recovery frame, be provided with in the motor mount and receive the line motor, install the recovery piece on receiving the output shaft of line motor, be provided with the recovery pulley that is used for retrieving the coil in the recovery piece, the output shaft that receives the line motor passes the recovery piece with it is connected to retrieve the pulley.
Furthermore, the recovery part comprises a receiving column connected with an output shaft of the take-up motor, a receiving frame is connected to the receiving column far away from the take-up motor, and the recovery pulley is located in the receiving frame.
Further, the axial direction of the output shaft of the acceleration stabilizing motor is the same as the axial direction of the output shaft of the first transmitting motor, and the axial direction of the output shaft of the first transmitting motor is the same as the axial direction of the output shaft of the second transmitting motor;
the axial direction of the output shaft of the acceleration stabilizing motor is perpendicular to the axial direction of the threaded shaft.
In the invention, the emitting mechanism emits the coil, and the radial adjusting mechanism, the swinging mechanism and the recovery mechanism respectively operate and control the diameter, the approach target and the recovery storage of the emitted coil, so that the coil has controllability and can be practically applied to clearing space track garbage.
Drawings
FIG. 1 is a schematic diagram of a schematic top view of a device body according to the present invention;
FIG. 2 is a schematic perspective view of the device body according to the present invention;
FIG. 3 is a schematic perspective view of the device body according to the present invention;
FIG. 4 is a partial exploded view of the device body provided by the present invention;
reference numerals are as follows:
1. a device body;
2. a launch mechanism; 21. a launcher; 22. a first launch roller; 23. a second launch roller; 24. a second transmitting motor; 25. a first transmitting motor;
3. a radial adjustment mechanism; 31. a radial adjusting bracket; 32. a slide motor; 33. a coupling; 34. a threaded shaft; 35. accelerating and stabilizing the motor; 36. a carriage; 37. a slider; 38. a sliding sleeve; 39. stabilizing the roller;
4. a swing mechanism; 41. a swing frame; 42. a gear end; 43. a sector gear; 44. a swing motor; 45. a swing gear;
5. a recovery mechanism; 51. a recycling rack; 52. receiving a frame; 53. recovering the pulley; 531. receiving columns; 54. a motor fixing frame; 55. a wire take-up motor.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The following examples are intended to illustrate the invention, but not to limit it. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "connected" and "coupled" are used broadly and may include, for example, a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In an embodiment provided by the present invention, as shown in fig. 1, a controllable space lasso device includes a device body 1, where the device body 1 includes:
a transmitter mechanism 2 for transmitting a coil;
the radial adjusting mechanism 3 is used for adjusting the diameter of the coil after transmission by matching with the transmitting mechanism 2;
the swinging mechanism 4 is used for adjusting the angle of the transmitting coil to enable the coil to approach a target;
and the recovery mechanism 5 is used for recovering and storing the coil in cooperation with the emission mechanism 2 and the radial adjusting mechanism 3.
In the embodiment, the emitting mechanism 2 emits a coil, and the radial adjusting mechanism 3, the swinging mechanism 4 and the recovery mechanism 5 respectively perform diameter adjustment, target approaching and recovery storage control on the emitted coil, so that the coil has controllability and can be practically applied to clearing space track garbage.
In another embodiment of the present invention, with reference to fig. 2 and 4, the launching mechanism 2 includes: a launcher 21;
the launcher 21 is provided with a first launching motor 25 and a second launching motor 24 respectively, an output shaft of the first launching motor 25 is connected with a first launching roller 22, and an output shaft of the second launching motor 24 is connected with a second launching roller 23.
In this embodiment, the first launching motor 25 drives the first launching roller 22 to rotate, the second launching motor 24 drives the second launching roller 23 to rotate, and the coil is thrown to the target direction through the rotation of the first launching roller 22 and the second launching roller 23, so as to form an annular lasso.
In another embodiment of the present invention, as shown in fig. 2, the radial adjusting mechanism 3 includes a radial adjusting bracket 31 connected to the launcher 21, a sliding unit is provided on the radial adjusting bracket 31, and a sliding bracket 36 horizontally moves on the radial adjusting bracket 31.
In the present embodiment, the sliding frame 36 is moved horizontally on the radial direction adjustment frame 31 by the operation of the sliding unit.
In another embodiment of the present invention, as shown in fig. 2, the sliding unit includes a threaded shaft 34, one end of the threaded shaft 34 passes through the sliding frame 36 and the radial adjusting frame 31, and is connected to a sliding sleeve 38, and the other end of the threaded shaft 34 is connected to an output shaft of the sliding motor 32 through a coupling 33.
In the present embodiment, the sliding motor 32 operates to rotate the coupling 33 and the threaded shaft 34, so that the sliding frame 36 moves horizontally on the radial adjusting frame 31 along with the rotation of the threaded shaft 34.
In another embodiment of the present invention, as shown in fig. 2, an acceleration stabilizing motor 35 is disposed on the carriage 36, and a stabilizing roller 39 is connected to an output shaft of the acceleration stabilizing motor 35 away from the ground;
the sliding frame 36 near the radial direction adjusting frame 31 is provided with a sliding block 37 slidably connected with the radial direction adjusting frame 31.
In this embodiment, the sliding block 37 slides on the radial adjusting frame 31, so that the sliding frame 36 horizontally moves on the radial adjusting frame 31, and at the same time, the operation of the accelerating and stabilizing motor 35 drives the stabilizing roller 39 to rotate, so that the stabilizing roller 39 radially moves. That is, the sliding motor 32 rotates the coupling 33 and the screw 34, so that the sliding frame 36 slides on the radial direction adjusting frame 31, thereby displacing the stabilizing roller 39.
The diameter of the coil on the first emission roller 22, the second emission roller 23 and the stabilizing roller 39 after emission is adjusted by the cooperation of the first emission roller 22, the second emission roller 23 and the stabilizing roller 39.
In another embodiment of the present invention, referring to fig. 2 and 3, the swing mechanism 4 includes a swing frame 41 disposed outside the launch frame 21 and connected to the launch frame 21, wherein one side of the swing frame 41 is provided with a gear end 42, and the other side of the swing frame 41 is provided with a fixed end.
In the present embodiment, the swing frame 41 swings through the operation of the gear end 42, so as to drive the launcher 21, the radial direction adjustment frame 31 and the sliding frame 36 to swing, thereby making the launcher 21 closer to the target direction and the target area, and further making the coil closer to the target direction and the target area.
In the present invention, as the target is not necessarily in the radial direction of the coil in practical situations, and therefore, the movement of the normal phase needs to be increased, in conjunction with fig. 2 and 3, the gear end 42 includes a sector gear 43 connected to the swing frame 41 and capable of swinging, the swing frame 41 near the radial adjusting mechanism 3 is further provided with a swing motor 44, the output shaft of the swing motor 44 is provided with a swing gear 45, and the swing gear 45 is meshed with the sector gear 43.
In this embodiment, the swing motor 44 drives the swing gear 45 on the output shaft to engage the swing gear 45 with the sector gear 43 and then rotate, so as to swing the gear end 42, further swing the swing frame 41, and finally make the coil have a swing capability in normal phase.
In another embodiment provided by the present invention, with reference to fig. 2 and 3, the recovery mechanism 5 includes a recovery frame 51 disposed outside the swing frame 41 and connected to the swing frame 41, the recovery frame 51 is connected to a motor fixing frame 54, a wire-rewinding motor 55 is disposed in the motor fixing frame 54, a recovery member is mounted on an output shaft of the wire-rewinding motor 55, a recovery pulley 53 for recovering a coil is disposed in the recovery member, and an output shaft of the wire-rewinding motor 55 passes through the recovery member and is connected to the recovery pulley 53.
In the present embodiment, the coil is recovered and stored by the coil loop formed by the recovery pulley 53, the first emission roller 22, the second emission roller 23 and the stabilizing roller 39.
The recovery pulley 53 on the output shaft is driven to rotate by the operation of the take-up motor 55.
In another embodiment of the present invention, as shown in fig. 3, the recycling member includes a receiving post 531 connected to an output shaft of the take-up motor 55, a receiving frame 52 is connected to the receiving post 531 away from the take-up motor 55, and the recycling pulley 53 is located in the receiving frame 52.
In the present embodiment, the recovery frame 52 is used to limit the recovery pulley 53 and to close the circuit inside the recovery frame 52. The loop-shaped coil can extend outward through the recovery pulley 53 to the tangent of the first and second launching rollers 22 and 23, and the recovery pulley 53, the first and second launching rollers 22 and 23 and the stabilizing roller 39 form a closed loop after being tangent to the stabilizing roller 39. When the first launching motor 25 and the second launching motor 24 rotate at the same rotating speed but in opposite directions, the ropes start to be thrown outwards, and after the ropes are cleaned of garbage, the ropes contacting with the recovery pulley 53 start to be recovered due to the fact that the ropes are closed loops.
In order to reduce the knotting and accumulation of the rope at the recovery pulley 53 caused by friction, the accelerating and stabilizing motor 35 drives the stabilizing roller 39 to rotate together, and finally the rope passes through the recovery pulley 53, the first launching roller 22, the second launching roller 23 and the stabilizing roller 39 to form a stable rope-shaped stable state in space.
When all the motors stop rotating after the coil is sleeved on the target, then the wire-rewinding motor 55 rotates, and simultaneously the first transmitting motor 25 and the second transmitting motor 24 reversely convert to the recovery state in the opposite directions at the same rotating speed, the coil is wound on the recovery pulley at the moment to recover the sleeved target.
To further illustrate the specific arrangement of the motors, the present invention provides a further embodiment, which combines fig. 2 and 4, wherein the axial direction of the output shaft of the acceleration stabilization motor 35 is the same as the axial direction of the output shaft of the first transmitting motor 25, and the axial direction of the output shaft of the first transmitting motor 25 is the same as the axial direction of the output shaft of the second transmitting motor 24;
the axial direction of the output shaft of the acceleration stabilizing motor 35 is perpendicular to the axial direction of the threaded shaft 34.
The invention is not only suitable for adjusting the annular thread rope, but also suitable for adjusting objects with other annular structures. Meanwhile, the invention is not only suitable for cleaning space rubbish, but also can be used for inertia attitude adjustment, object movement and the like.
The above description is not intended to limit the present invention, and it should be finally explained that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments. Those of ordinary skill in the art will understand that: it is to be understood that modifications may be made to the above-described arrangements in the embodiments or equivalents may be substituted for some of the features of the embodiments without departing from the spirit of the present invention.
Claims (10)
1. A controllable space lasso device, comprising a device body, characterized in that the device body comprises:
a transmitter mechanism for transmitting the coil;
the radial adjusting mechanism is used for adjusting the diameter of the coil after transmission by matching with the transmitting mechanism;
the swinging mechanism is used for adjusting the angle of the transmitting coil to enable the coil to approach the target;
and the recovery mechanism is used for recovering and storing the coil by matching with the emission mechanism and the radial adjusting mechanism.
2. A controllable space lasso device as in claim 1, wherein said launching mechanism comprises:
a launcher;
the launching frame is provided with a first launching motor and a second launching motor respectively, an output shaft of the first launching motor is connected with a first launching roller, and an output shaft of the second launching motor is connected with a second launching roller.
3. A controllable space lasso device according to claim 2, characterized in that said radial adjustment means comprise a radial adjustment frame connected to said launcher, on which radial adjustment frame a sliding unit is arranged, and a sliding frame moving horizontally on said radial adjustment frame.
4. A controllable space lasso device according to claim 3, wherein said sliding unit comprises a threaded shaft, one end of said threaded shaft passing through said sliding frame and said radial adjustment frame respectively being connected to a sliding sleeve, the other end of said threaded shaft being connected to an output shaft of a sliding motor through a coupling.
5. A controllable space lasso device according to claim 4, characterized in that,
an acceleration stabilizing motor is arranged on the sliding frame, and an output shaft of the acceleration stabilizing motor far away from the ground side is connected with a stabilizing roller;
and a sliding block which is connected with the radial adjusting frame in a sliding manner is arranged on the sliding frame close to the side of the radial adjusting frame.
6. A controllable space lasso device according to claim 5, wherein said swinging means comprises a swinging frame arranged outside and connected to said launch frame, said swinging frame being provided with a gear end on one side and a fixed end on the other side.
7. A controllable space lasso device according to claim 6, wherein said gear end comprises a sector gear connected to and oscillating with said oscillating frame, an oscillating motor is further provided on said oscillating frame near said radial adjustment mechanism side, an output shaft of said oscillating motor is provided with an oscillating gear, said oscillating gear is engaged with said sector gear.
8. A controllable space lasso device according to claim 6, wherein the recovery mechanism comprises a recovery frame arranged outside the swing frame and connected with the swing frame, a motor fixing frame is connected to the recovery frame, a take-up motor is arranged in the motor fixing frame, a recovery piece is mounted on an output shaft of the take-up motor, a recovery pulley for recovering the coil is arranged in the recovery piece, and an output shaft of the take-up motor passes through the recovery piece and is connected with the recovery pulley.
9. A controllable space lasso device according to claim 8, wherein said recovery member comprises a receiving post connected to the output shaft of said take-up motor, a receiving frame is connected to said receiving post remote from said take-up motor, and said recovery pulley is located within said receiving frame.
10. A controllable space lasso device according to claim 5, characterized in that,
the axial direction of the output shaft of the acceleration stabilizing motor is the same as the axial direction of the output shaft of the first transmitting motor, and the axial direction of the output shaft of the first transmitting motor is the same as the axial direction of the output shaft of the second transmitting motor;
and the axial direction of the output shaft of the acceleration stabilizing motor is vertical to the axial direction of the threaded shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111393596.2A CN114084383B (en) | 2021-11-23 | 2021-11-23 | Controllable space lasso device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111393596.2A CN114084383B (en) | 2021-11-23 | 2021-11-23 | Controllable space lasso device |
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| CN114084383A true CN114084383A (en) | 2022-02-25 |
| CN114084383B CN114084383B (en) | 2023-12-08 |
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| CN114084383B (en) | 2023-12-08 |
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