CN114084383B - Controllable space lasso device - Google Patents
Controllable space lasso device Download PDFInfo
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- CN114084383B CN114084383B CN202111393596.2A CN202111393596A CN114084383B CN 114084383 B CN114084383 B CN 114084383B CN 202111393596 A CN202111393596 A CN 202111393596A CN 114084383 B CN114084383 B CN 114084383B
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- frame
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- 238000011084 recovery Methods 0.000 claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000013459 approach Methods 0.000 claims abstract description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000010813 municipal solid waste Substances 0.000 abstract description 8
- 238000004804 winding Methods 0.000 description 10
- 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
- 238000004140 cleaning Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 101000606504 Drosophila melanogaster Tyrosine-protein kinase-like otk Proteins 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
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 coil after transmission in cooperation 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 recovering mechanism for recovering and storing the coil in cooperation with the transmitting mechanism and the radial adjusting mechanism; by adopting the technical scheme, the transmitting mechanism transmits the coil, and the radial adjusting mechanism, the swinging mechanism and the recovery mechanism respectively perform diameter, approaching target and recovery storage control on the transmitted coil, so that the coil has controllability and can be practically applied to removing space orbit 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 human self-activity space in space, various space garbage is generated, including fragments generated during the launching and running of a carrier rocket, scrapped spacecraft and components thereof, surface cleaning matters and escaping matters of the spacecraft in running and the like. And the number of the space garbage is increased year by year, so that potential negative effects are caused on normal operation of the spacecraft and launching activities of the spacecraft, and the space garbage is a great challenge worldwide. Currently, various techniques have been developed in the prior art to attempt to clean track debris, such as robots, space net bags, off-track sails, and the like. These techniques all face the problems of large resource consumption and limited space extension.
The extension distance of the soft rope after being stored and released has obvious advantages, but the soft rope is difficult to be applied to practice due to the poor controllability. How to effectively solve the technical problems is the problem to be solved by the technicians in the field at present.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, the present invention provides a controllable space lasso device.
A controllable space lasso device includes a device body comprising:
a transmitting mechanism for transmitting the coil;
the radial adjusting mechanism is used for adjusting the diameter of the coil after being transmitted in cooperation 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 in cooperation with the emission mechanism and the radial adjusting mechanism.
Further, the launching mechanism includes:
a transmitting frame;
the transmission frame is respectively provided with a first transmission motor and a second transmission motor, the output shaft of the first transmission motor is connected with a first transmission roller, and the output shaft of the second transmission motor is connected with a second transmission roller.
Further, the radial adjusting mechanism comprises a radial adjusting frame connected with the transmitting frame, and a sliding unit and a sliding frame horizontally moving on the radial adjusting frame are arranged 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 coupling.
Further, an acceleration stabilizing motor is arranged on the sliding frame, and a stabilizing roller is connected to an output shaft of the acceleration stabilizing motor far away from the ground side;
and a sliding block which is in sliding connection with the radial adjusting frame is arranged on the sliding frame close to the radial adjusting frame side.
Further, the swing mechanism comprises a swing frame which is arranged outside the transmitting frame and connected with the transmitting frame, one side of the swing frame is provided with a gear end, and the other side of the swing frame is provided with a fixed end.
Further, 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, the recovery mechanism comprises a recovery frame which is arranged outside the swing frame and connected with the swing frame, a motor fixing frame is connected to the recovery frame, a wire collecting motor is arranged in the motor fixing frame, a recovery piece is arranged on an output shaft of the wire collecting motor, a recovery pulley used for recovering coils is arranged in the recovery piece, and an output shaft of the wire collecting motor penetrates through the recovery piece and is connected with the recovery pulley.
Further, the recovery piece comprises a recovery piece column connected with an output shaft of the winding motor, a recovery piece frame is connected to the recovery piece column far away from the winding motor, and the recovery pulley is located in the recovery piece 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 transmitting mechanism transmits the coil, and the radial adjusting mechanism, the swinging mechanism and the recovery mechanism respectively perform diameter, approaching target and recovery storage control on the transmitted coil, so that the coil has controllability and can be practically applied to removing space orbit garbage.
Drawings
Fig. 1 is a schematic top view of a device body provided by the present invention;
fig. 2 is a schematic perspective view of a device body according to the present invention;
FIG. 3 is a schematic view of another perspective structure 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:
1. a device body;
2. a transmitting mechanism; 21. a transmitting frame; 22. a first emission roller; 23. a second launch roller; 24. a second emission motor; 25. a first emission motor;
3. a radial adjustment mechanism; 31. a radial adjusting frame; 32. a slide motor; 33. a coupling; 34. a threaded shaft; 35. accelerating a stabilizing motor; 36. a carriage; 37. a sliding block; 38. a sliding sleeve; 39. stabilizing the roller;
4. a swinging 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 recovery rack; 52. a receiving frame; 53. a recovery pulley; 531. a receiving column; 54. a motor fixing frame; 55. and (5) a wire winding motor.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be understood that the depicted embodiments are some, but not all, embodiments of the present invention. The following examples are only intended to illustrate the invention and are not intended to limit it. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the invention, fall within the scope of protection of the invention. The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.
It should be noted that in this document, relational terms such as "first" and "second" and the like are 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 "coupled," "connected," and the like are to be construed broadly and may be, for example, fixedly attached, detachably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly via an intermediary. 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 like elements in a process, method, article or apparatus that comprises the element.
In one embodiment, as shown in fig. 1, a controllable space lasso device includes a device body 1, where the device body 1 includes:
a transmitting mechanism 2 for transmitting the coil;
the radial adjusting mechanism 3 is used for adjusting the diameter of the coil after being transmitted in cooperation with the transmitting mechanism 2;
a swinging mechanism 4 for adjusting the angle of the transmitting coil so that the coil approaches the 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 transmitting mechanism 2 transmits the coil, and the radial adjusting mechanism 3, the swinging mechanism 4 and the recovery mechanism 5 respectively perform diameter adjustment, approaching to a target and recovery storage control on the transmitted coil, so that the coil has controllability and can be practically applied to removing space orbit garbage.
In a further embodiment of the present invention, with reference to fig. 2 and 4, the launching mechanism 2 comprises: a launching cradle 21;
the first transmitting motor 25 and the second transmitting motor 24 are respectively arranged on the transmitting frame 21, the first transmitting roller 22 is connected to the output shaft of the first transmitting motor 25, and the second transmitting roller 23 is connected to the output shaft of the second transmitting motor 24.
In this embodiment, the first emission motor 25 drives the first emission roller 22 to rotate, the second emission motor 24 drives the second emission roller 23 to rotate, and the coil is thrown to the target direction through the rotation of the first emission roller 22 and the second emission roller 23, so as to form an annular lasso.
In yet another embodiment of the present invention, as shown in fig. 2, the radial adjustment mechanism 3 includes a radial adjustment frame 31 connected to the transmission frame 21, a sliding unit provided on the radial adjustment frame 31, and a sliding frame 36 horizontally moving on the radial adjustment frame 31.
In the present embodiment, the sliding frame 36 is driven to horizontally move on the radial direction adjusting frame 31 by the operation of the sliding unit.
In yet 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 is connected to a sliding sleeve 38 after passing through a sliding frame 36 and a radial adjusting frame 31, respectively, 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 shaft coupling 33 and the screw shaft 34 are rotated by the operation of the slide motor 32, so that the slide frame 36 horizontally moves on the radial adjustment frame 31 with the rotation of the screw shaft 34.
In yet another embodiment of the present invention, as shown in fig. 2, an acceleration stabilizing motor 35 is disposed on a carriage 36, and a stabilizing roller 39 is connected to an output shaft of the acceleration stabilizing motor 35 on a side far away from the ground;
the slide block 37 slidably connected to the radial direction adjustment frame 31 is provided on the slide frame 36 on the side close to the radial direction adjustment frame 31.
In this embodiment, the sliding block 37 slides on the radial adjusting frame 31, so that the sliding frame 36 moves horizontally on the radial adjusting frame 31, and at the same time, the running of the accelerating stabilizing motor 35 drives the stabilizing roller 39 to rotate, so that the stabilizing roller 39 moves radially. That is, the slide motor 32 rotates the coupling 33 and the screw 34 to slide the carriage 36 on the radial direction adjusting frame 31, thereby displacing the stabilizing roller 39.
The diameters of the coils on the first emitting roller 22, the second emitting roller 23 and the stabilizing roller 39 after being emitted are adjusted by the cooperation of the first emitting roller 22, the second emitting roller 23 and the stabilizing roller 39.
In still another embodiment of the present invention, referring to fig. 2 and 3, the swing mechanism 4 includes a swing frame 41 disposed outside the launching frame 21 and connected to the launching frame 21, 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 swinging frame 41 swings by the operation of the gear end 42, thereby driving the cradle 21, the radial adjustment frame 31, and the carriage 36 to swing, thereby bringing the cradle 21 closer to the target direction and the target area, and further bringing the coil closer to the target direction and the target area.
Since the object is not necessarily located in the radial direction of the coil, and thus an additional phase movement is required, according to another embodiment of the present invention, referring to fig. 2 and 3, the gear end 42 includes a sector gear 43 connected to the swing frame 41 and capable of swinging, a swing motor 44 is further disposed on the swing frame 41 near the radial adjustment mechanism 3, a swing gear 45 is disposed on the output shaft of the swing motor 44, 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, so that the swing gear 45 is meshed with the sector gear 43 and then rotates, the gear end 42 swings, the swing frame 41 swings, and finally the coil has the capability of swinging in the normal phase.
In still another embodiment, referring 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, a motor fixing frame 54 is connected to the recovery frame 51, a wire winding motor 55 is disposed in the motor fixing frame 54, a recovery member is mounted on an output shaft of the wire winding motor 55, a recovery pulley 53 for recovering a coil is disposed in the recovery member, and an output shaft of the wire winding motor 55 is connected to the recovery pulley 53 through the recovery member.
In the present embodiment, the coil forms a coil loop through the recovery pulley 53, the first emitting roller 22, the second emitting roller 23, and the stabilizing roller 39, and the coil is recovered and stored.
The recovery pulley 53 on the output shaft is driven to rotate by the operation of the wire winding motor 55.
In another embodiment of the present invention, as shown in fig. 3, the recovery member includes a recovery member column 531 connected to an output shaft of the wire winding motor 55, a recovery member frame 52 is connected to the recovery member column 531 far away from the wire winding motor 55, and the recovery pulley 53 is located in the recovery member frame 52.
In this embodiment, the recovery frame 52 is used to limit the recovery pulley 53 and close the circuit in the recovery frame 52. The endless loop may extend outwardly through the recovery pulley 53 to the tangent of the first and second emitter rollers 22, 23 and form a closed loop with the recovery pulley 53, the first emitter roller 22, the second emitter roller 23, and the stabilizer roller 39 after being tangent to the stabilizer roller 39. When the first and second motors 25, 24 rotate at the same rotational speed but in opposite directions, the cord begins to be thrown outward, and after the cord clears the trash, the cord in contact with the recovery pulley 53 begins to be recovered because the cord is a closed loop.
In order to reduce the knotting and accumulation of the ropes at the recovery pulley 53 caused by friction, the acceleration stabilizing motor 35 drives the stabilizing roller 39 to rotate together, and finally the ropes pass through the recovery pulley 53, the first emitting roller 22, the second emitting roller 23 and the stabilizing roller 39 to form a stable lasso-shaped state in space.
When all the motors are stopped after the coil is wound around the target, the winding motor 55 rotates thereafter, and the first and second motors 25 and 24 are reversed in the opposite directions at the same rotation speed to be in a recovery state, and the coil is wound around the recovery pulley to recover the wound target.
To further illustrate the specific arrangement of the motors, a further embodiment of the present invention is provided, with reference to fig. 2 and 4, in which 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 transmission motor 25, and the axial direction of the output shaft of the first transmission motor 25 is the same as the axial direction of the output shaft of the second transmission motor 24;
the axial direction of the output shaft of the acceleration stabilization 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 garbage, but also can be used for adjusting inertial attitude, moving objects and the like.
The above description is not meant to limit the invention, and finally it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the present invention has been described in detail with reference to the foregoing embodiments. Those of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features of the technical scheme can be replaced equivalently, and the modification or replacement can be made on the basis of not deviating from the spirit of the invention, which falls within the scope of the invention as claimed.
Claims (5)
1. A controllable space lasso device comprising a device body, the device body comprising:
a transmitting mechanism for transmitting the coil;
the radial adjusting mechanism is used for adjusting the diameter of the coil after being transmitted in cooperation 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;
the recovery mechanism is used for recovering and storing the coil in cooperation with the emission mechanism and the radial adjusting mechanism;
the launching mechanism includes:
a transmitting frame;
the transmission frame is respectively provided with a first transmission motor and a second transmission motor, the output shaft of the first transmission motor is connected with a first transmission roller, and the output shaft of the second transmission motor is connected with a second transmission roller;
the radial adjusting mechanism comprises a radial adjusting frame connected with the transmitting frame, a sliding unit and a sliding frame horizontally moving on the radial adjusting frame are arranged on the radial adjusting frame;
an accelerating and stabilizing motor is arranged on the sliding frame, and a stabilizing roller is connected to an output shaft of the accelerating and stabilizing motor far away from the ground side;
a sliding block which is in sliding connection with the radial adjusting frame is arranged on the sliding frame close to the radial adjusting frame side;
the swing mechanism comprises a swing frame which is arranged outside the transmitting frame and connected with the transmitting frame, one side of the swing frame is provided with a gear end, and the other side of the swing frame is provided with a fixed end;
the recovery mechanism comprises a recovery frame which is arranged outside the swing frame and connected with the swing frame, a motor fixing frame is connected to the recovery frame, a wire collecting motor is arranged in the motor fixing frame, a recovery piece is arranged on an output shaft of the wire collecting motor, a recovery pulley used for recovering a coil is arranged in the recovery piece, and an output shaft of the wire collecting motor penetrates through the recovery piece and is connected with the recovery pulley.
2. A controllable space lasso device according to claim 1, wherein the sliding unit includes a threaded shaft, one end of which is connected with a sliding sleeve after passing through the sliding frame and the radial adjusting frame, respectively, and the other end of which is connected to an output shaft of a sliding motor through a coupling.
3. A controllable space lasso device according to claim 2, wherein the gear end includes a sector gear connected to the swing frame and capable of swinging, a swing motor is further provided on the swing frame near the radial adjustment mechanism side, a swing gear is provided on an output shaft of the swing motor, and the swing gear is meshed with the sector gear.
4. A controllable space lasso device according to claim 3, wherein the recovery member includes a recovery member post connected to the output shaft of the take-up motor, a recovery member frame is connected to the recovery member post on the side remote from the take-up motor, and the recovery pulley is located in the recovery member frame.
5. A controllable space lasso device as claimed in claim 2, wherein,
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111393596.2A CN114084383B (en) | 2021-11-23 | 2021-11-23 | Controllable space lasso device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111393596.2A CN114084383B (en) | 2021-11-23 | 2021-11-23 | Controllable space lasso device |
Publications (2)
| Publication Number | Publication Date |
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| CN114084383A CN114084383A (en) | 2022-02-25 |
| CN114084383B true CN114084383B (en) | 2023-12-08 |
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| CN202111393596.2A Active CN114084383B (en) | 2021-11-23 | 2021-11-23 | Controllable space lasso device |
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| CN114084383A (en) | 2022-02-25 |
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