CN114229048A - Space cargo locking device based on flexible rope and locking method thereof - Google Patents
Space cargo locking device based on flexible rope and locking method thereof Download PDFInfo
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- CN114229048A CN114229048A CN202111517828.0A CN202111517828A CN114229048A CN 114229048 A CN114229048 A CN 114229048A CN 202111517828 A CN202111517828 A CN 202111517828A CN 114229048 A CN114229048 A CN 114229048A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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Abstract
The invention provides a space cargo locking device based on a flexible rope and a locking method thereof, belonging to the field of manned space flight. The space cargo locking device based on the flexible rope and the locking method thereof are provided, and the space cargo locking device comprises a cargo hold, a soft shell, a Z-axis-winding locking system, an X-axis-winding locking system and a rope guide panel; the soft shell is installed in the cargo hold, the cargo is arranged in the soft shell, the rope guide panel is installed on the soft shell, the rope penetrates through the rope guide panel, the locking of the Z-axis rope is controlled around the Z-axis locking system, and the locking of the X-axis rope is controlled around the X-axis locking system. The invention has the characteristics of self-adaptability, reliable constraint, light weight, large bearing capacity, reusability and the like, and meets the requirement of application in manned aerospace technology.
Description
Technical Field
The invention belongs to the technical field of manned space flight, and particularly relates to a space cargo locking device based on a flexible rope and a locking method thereof.
Background
Space cargo generally comprises materials required by life of astronauts, space station backup equipment, space science loads for experiments and the like. With the continuous progress of manned space technology, the mode of transporting all cargos to the space at one time is difficult to meet the diversified space exploration task requirements. In order to ensure that space cargo can be transported many times with or without human operation, it is necessary to lock and fix the space cargo in the cargo hold in advance, and then transfer the space cargo between the cargo holds or to and from the earth with a cargo ship.
Because the space cargos are various in types and forms and are not provided with uniform interfaces, the technical key for realizing the safe transfer of the space cargos is to make an in-cabin locking device which has strong adaptability, reliable constraint, easy control and reusability.
Disclosure of Invention
In view of the above, the invention provides a space cargo locking device based on a flexible rope and a locking method thereof, aiming at solving the problem that a uniform interface is not installed on space cargo due to various types and forms of the space cargo, and the space cargo locking device has the characteristics of self-adaptability, reliable constraint, light weight, large bearing capacity, reusability and the like, and meets the requirements of application in manned space technology.
In order to achieve the purpose, the invention adopts the following technical scheme: a space cargo locking device based on flexible ropes comprises a cargo hold, a soft shell, a Z-axis-around locking system, an X-axis-around locking system and a rope guide panel; the soft shell is installed in the cargo hold, the cargo is arranged in the soft shell, the rope guide panel is installed on the soft shell, the rope penetrates through the rope guide panel, the locking around the Z axial direction rope is controlled by the Z axial direction locking system, and the locking around the X axial direction rope is controlled by the X axial direction locking system.
Furthermore, the cargo hold comprises a bottom, a bulkhead and a top cover, wherein the bottom, the bulkhead and the top cover enclose a rectangular space.
Furthermore, the top cover is kept open during the loading of the goods, and the restraint along the Z direction needs to be provided by an auxiliary mechanism after the loading.
Furthermore, the soft shell has the same shape as the cargo hold but a smaller size than the cargo hold, and is open at the top end to facilitate cargo access.
Further, the rope guide panel is provided with a guide hole.
Furthermore, the winding Z-axis locking system comprises a winding Z-axis rope, an X-axis rope approach, a winding drum group I, a driving motor I and a differential I, wherein the winding drum group I consists of a winding drum I and a winding drum II, the winding Z-axis rope is arranged between a cargo compartment and a soft shell, the X-axis rope approach is installed on a bulkhead on one side of the bottom of the compartment, the winding Z-axis rope passes through the X-axis rope approach, two ends of the winding drum I and the winding drum II in the winding drum group I are wound on the winding drum I and the winding drum II respectively, an input shaft A of the differential I is connected with an output shaft of the driving motor I, and the winding drum I and the winding drum II in the winding drum group I are connected with two output shafts B or C of the differential I respectively to realize differential motion.
Furthermore, the winding X axial locking system comprises a winding X axial rope, a Y-direction rope guide way, a winding drum group II, a driving motor II, a differential mechanism III and a stop block, wherein the winding drum group II is composed of a winding drum III and a winding drum IV, the winding X axial rope is arranged between a cargo hold and a soft shell, the stop block is arranged on two sides of an opening at the top of the soft shell, the Y-direction rope guide way is respectively arranged at the bottom of the cabin, the winding X axial rope passes through the Y-direction rope guide way, two ends of the winding drum III and the winding drum IV in the winding drum group II are respectively wound on the winding drum III and the winding drum IV, an input shaft A of the differential mechanism II is connected with an output shaft of the driving motor II, the winding drum III and the winding drum IV in the winding drum group II are respectively connected with two output shafts B or C on the differential mechanism II, and differential motion is realized.
Further, the X-direction rope guide, the Y-direction rope guide and the guide hole are used for guiding the winding direction of the rope.
Furthermore, springs are arranged between two of the same rope on two sides of the soft shell around the Z-axis rope and the two sides of the soft shell around the X-axis rope.
A locking method of a space cargo locking device based on a flexible rope specifically comprises the following steps:
(1) and a locking process around the Z axis: the rope is wound around the Z-axis in a regular and directional mode through the X-axis rope guide way and the guide holes in the rope guide panel, the two ends of the rope are connected with a winding drum I and a winding drum II in the winding drum group I respectively, a driving motor I is electrified, the two ends of the rope in the Z-axis direction are wound and wound through the rotation of the winding drum I and the winding drum II respectively, the soft shell begins to deform, and the driving motor I is locked until the rope is tightly attached to goods in the soft shell;
in the process, when the driving motor I starts to work, two output shafts of the differential mechanism I rotate simultaneously to drive the winding drum I and the winding drum II to rotate simultaneously; the differential I ensures that when one end of the rope winding the Z-axis is finished, the other end of the rope can be wound continuously, so that the locking is more stable and reliable;
(2) and an X-axis locking process:
in the initial state, the rope winds around the X axis and bypasses the stop blocks on two sides of the opening of the soft shell, so that the phenomenon that the goods and the manipulator enter and exit are influenced due to the winding of the rope is avoided; then the mechanical arm loosens the goods and moves the goods out of the cargo hold, the top cover is closed, the driving motor II is electrified, and the rope around the X axis is tensioned through the rotation of the winding drum III and the winding drum IV; the stop dog falls off under the action of the tensioning force of the ropes around the X axis, and the distance between the two ropes is gradually reduced until the goods are locked; in the process, the principle of the differential II for realizing the differential rolling motion is the same as that of the differential I.
Compared with the prior art, the space cargo locking device based on the flexible rope and the locking method thereof have the following advantages:
1. the flexible rope has high adaptability to space cargos with unknown contour shapes and sizes.
2. The locking device of the invention has light weight, large bearing capacity, repeated use and easy maintenance.
3. The spring of the invention can realize the adjustment of the distance between two ropes so as to adapt to the irregular shape of the surface of space cargo.
4. The invention can realize the locking function only by two motors, and the control is more convenient.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a space cargo placing space in a space cargo locking device based on flexible ropes according to the present invention;
FIG. 2 is a schematic view of the cargo hold and soft shell of a flexible rope based space cargo locking arrangement of the present invention;
FIG. 3 is a schematic view of the locking process around the Z-axis in a flexible rope based space cargo locking device according to the present invention;
FIG. 4 is a schematic view of the initial state of the flexible rope based space cargo locking device of the present invention locked around the X-axis;
FIG. 5 is a schematic view of the end of the locking around the X-axis in a flexible rope based space cargo locking device of the present invention;
FIG. 6 is a schematic view of the fully locked position of the cargo in the space cargo locking device based on flexible ropes according to the present invention;
FIG. 7 is a schematic structural diagram of a differential I in the space cargo locking device based on flexible ropes according to the invention;
FIG. 8 is a schematic structural diagram of a differential II in the space cargo locking device based on flexible ropes.
Description of reference numerals: 1-cargo hold, 101-bilge, 102-bulkhead, 103-roof, 2-soft housing, 3-Z-around axial locking system, 301-Z-around axial rope, 302-X directional rope approach, 303-reel group I, 3031-reel I, 3032-reel II, 304-drive motor I, 305-differential I, 4-X-around axial locking system, 401-X-around axial rope, 402-Y directional rope approach, 403-reel group II, 4031-reel III, 4032-reel IV, 404-drive motor II, 405-differential II, 406-stop, 5-rope guide panel, 501-pilot hole, 6-spring, 7-cargo, a-differential I or input shaft of differential II, B, c-output shaft of differential I or differential II.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
First embodiment, the present embodiment is described with reference to fig. 1-7, a flexible rope based space freight locking device comprising a freight compartment 1, a soft shell 2, a Z-around axial locking system 3, an X-around axial locking system 4, a rope guide panel 5 and a spring 6; a soft shell 2 is mounted in the cargo hold 1, the cargo 7 is placed in the soft shell 2, a rope guide panel 5 is mounted on the soft shell 2, the rope passes through the rope guide panel 5, the locking around the Z-axis rope 301 is controlled around the Z-axis locking system 3, and the locking around the X-axis rope 401 is controlled around the X-axis locking system 4.
The cargo hold 1 includes a bottom 101, a bulkhead 102, and a roof 103. The cargo hold 1 is a rectangular parallelepiped space, open structure, with the roof 103 kept open during the loading of the cargo 7, and needs to be restrained in the Z-direction by an auxiliary mechanism or structure after loading.
The soft shell 2 has the same shape as the cargo hold 1, but has a slightly smaller size, and is open at the top end (the surface corresponding to the cargo hold top cover 103) to facilitate the entry of cargo 7; a rope guide panel 5 is attached to the soft housing 2, and a guide hole 501 is provided in the rope guide panel 5.
The Z-axis-surrounding locking system 3 comprises a Z-axis-surrounding rope 301, an X-direction rope approach 302, a reel group I303, a driving motor I304 and a differential I305, the X-axis-surrounding locking system 4 comprises an X-axis-surrounding rope 401, a Y-direction rope approach 402, a reel group II403, a driving motor II404, a differential III405 and a stop block 406, the Z-axis-surrounding rope 301 and the X-axis-surrounding rope 401 are positioned between the cargo hold 1 and the soft shell 2, and the stop block 406 is arranged on two sides of a top opening of the soft shell 2.
The X-direction rope approach 302 and the Y-direction rope approach 402 are respectively installed on the bilge 101 and the bulkhead 102 on one side, and the rope 301 wound around the Z-axis direction and the rope 401 wound around the X-direction rope approach 302 and the Y-direction rope approach 402 pass through the X-direction rope approach 302 and the Y-direction rope approach 402 respectively and are respectively wound on the reel group I303 and the reel group II 403. The X-direction rope guide 302, the Y-direction rope guide 402 and the guide hole 501 are used for guiding the direction in which the rope is wound.
The spring 6 is arranged between two ropes of the same rope at two sides of the soft shell 2 which are wound by the Z-axis rope 301 and the X-axis rope 401, and the spring 6 can enable the two ropes to adapt to irregular shapes such as edges, bulges and the like which are possibly met in the tightening process, so that self-adaptation is realized.
The winding drum group I303 comprises a winding drum I3031 and a winding drum II3032, the winding drum group II403 comprises a winding drum III4031 and a winding drum IV4032, the differential I305 and the differential II405 are common gear differentials, an input shaft A of the differential I305 and the differential II405 are respectively connected with output shafts of a driving motor I304 and a driving motor II404, two winding drums in the winding drum group I303 and the winding drum group II403 are respectively connected with two output shafts B, C on the differential I305 and the differential II405, and differential motion can be realized.
In the present invention, the cargo 7 is put into the soft housing 2 by the robot in advance, and then the in-cabin locking scheme is started. The invention adopts a rope bundling mode, utilizes the adaptability of the rope to the structure size to restrain the unidirectional freedom degree, adopts cross bundling to ensure multidirectional restraint, and finally utilizes self-locking restraint on the final position of the rope to keep the pretightening force.
The invention relates to a locking method of a space cargo locking scheme based on a flexible rope, which specifically comprises the following steps:
1. the locking process is around the Z axis. The present process is explained with reference to fig. 3.
The rope 301 is wound regularly and directionally around the Z-axis direction through the X-direction rope guide 302 and the guide hole 501 of the rope guide panel 5, and both ends thereof are connected to the reel I3031 and the reel II3032 in the reel group I303, respectively. The driving motor I304 is energized, the two ends of the Z-axis rope 301 are respectively wound by the rotation of the winding drum I3031 and the winding drum II3032, the soft shell 2 starts to deform, and after the soft shell is tightly attached to the goods 7 in the soft shell, the driving motor I304 is locked, so that the goods 7 are locked. If the cargo 7 is tall (i.e., larger dimension in the Z-direction), multiple ropes can be stacked in the Z-direction to make the restraint more reliable.
In the process, when the driving motor I304 starts to work, two output shafts of the differential I305 rotate simultaneously, and the winding drum I3031 and the winding drum II3032 are driven to rotate simultaneously. However, due to factors such as friction force applied to the winding process of the winding Z-axis rope 301, winding movements at two ends of the winding Z-axis rope may be asynchronous, and the differential I305 ensures that when winding at one end of the winding Z-axis rope 301 is finished, the other end of the winding Z-axis rope can be wound continuously, so that locking is more stable and reliable.
2. Locking process around X axis. The process is explained with reference to fig. 4-5.
In the initial state, the rope 401 bypasses the stoppers 406 on both sides of the opening of the soft housing 2 around the X axis, and the entry and exit of the load 7 and the robot are prevented from being affected by the winding of the rope. The robot then releases the load 7 and moves out of the hold 1, the cover 103 is closed, the drive motor II404 is energized, and the cable 401 is pulled tight around the X axis by the rotation of the reels III4031 and IV4032 in the reel group II 403. The stop 406 is disengaged by the tensioning of the cable 401 about the X axis, and the distance between the two cables is gradually reduced until the load 7 is locked. In this process, the principle of differential II405 achieving differential rolling motion is the same as differential I305.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. A space cargo locking device based on flexible rope which is characterized in that: comprises a cargo hold (1), a soft shell (2), a locking system (3) around a Z axis, a locking system (4) around an X axis and a rope guide panel (5); soft casing (2) are installed in cargo hold (1), and goods (7) are settled in soft casing (2), install rope guide panel (5) on soft casing (2), the rope passes rope guide panel (5), winds the locking of Z axial locking system (3) control around Z axial rope (301), winds the locking of X axial locking system (4) control around X axial rope (401).
2. A flexible-tether-based space cargo locking device as defined in claim 1, wherein: the cargo hold (1) comprises a bottom (101), a bulkhead (102) and a top cover (103), wherein the bottom (101), the bulkhead (102) and the top cover (103) enclose a rectangular space.
3. A flexible-tether-based space cargo locking device as defined in claim 2, wherein: the top cover (103) is kept in an open state when the goods (7) are put in, and the restraint along the Z direction needs to be provided by an auxiliary mechanism after the goods are put in.
4. A flexible-tether-based space cargo locking device as defined in claim 1, wherein: the soft shell (2) is the same as the cargo hold (1) in shape, but is smaller than the cargo hold (1) in size, and is open at the top end to facilitate entry of cargo (7).
5. A flexible-tether-based space cargo locking device as defined in claim 1, wherein: the rope guide panel (5) is provided with a guide hole (501).
6. A flexible-tether-based space cargo locking device as defined in claim 1, wherein: the Z-axis-winding locking system (3) comprises a Z-axis-winding rope (301), an X-direction rope guide way (302), a winding drum group I (303), a driving motor I (304) and a differential I (305), wherein the winding drum group I (303) consists of a winding drum I (3031) and a winding drum II (3032), the Z-axis-winding rope (301) is arranged between the cargo hold (1) and the soft shell (2), the X-direction rope guide way (302) is installed on the bulkhead (102) on one side of the cabin bottom (101), the Z-axis-winding rope (301) passes through the X-direction rope guide way (302), two ends of the Z-axis-winding rope guide way are respectively wound on the winding drum I (3031) and the winding drum II (3032) in the winding drum group I (303), an input shaft A of the differential I (305) is connected with an output shaft of the driving motor I (304), the winding drum I (3031) and the winding drum II (3032) in the winding drum group I (303) are respectively connected with two output shafts B or C of the differential I (305), differential motion is achieved.
7. A flexible-tether-based space cargo locking device as defined in claim 1, wherein: the X-winding axial locking system (4) comprises an X-winding axial rope (401), a Y-direction rope approach (402), a reel group II (403), a driving motor II (404), a differential II (405) and a stop block (406), the reel group II (403) consists of a reel III (4031) and a reel IV (4032), the X-winding axial rope (401) is positioned between the cargo hold (1) and the soft shell (2), the stop block (406) is arranged on two sides of the top opening of the soft shell (2), the Y-direction rope approach (402) is respectively arranged on the bottom of the cargo hold (101), the X-winding axial rope (401) passes through the Y-direction rope approach (402), two ends of the Y-direction rope approach (402) are respectively wound on the reel III (4031) and the reel IV (4032) in the reel group II (403), an input shaft A of the differential II (405) is connected with an output shaft of the driving motor II (404), the reel III (4031) and the reel IV (4032) in the reel group II (403) are respectively connected with two output shafts B or C on the differential II (405), differential motion is achieved.
8. A flexible line-based space cargo locking device as claimed in claim 1 or 6 or 7 wherein: the X-direction rope guide way (302), the Y-direction rope guide way (402) and the guide hole (501) are used for guiding the winding direction of the rope.
9. A flexible line-based space cargo locking device as claimed in claim 1 or 6 or 7 wherein: and springs (6) are arranged between two lines of the same rope on two sides of the soft shell (2) wound by the Z-axis rope (301) and the X-axis rope (401).
10. A locking method using a flexible rope based space freight locking device according to any of claims 1-9, characterized in that: the method specifically comprises the following steps:
(1) and a locking process around the Z axis: regularly and directionally winding a rope (301) around a Z axis through an X-direction rope guide way (302) and a guide hole (501) on a rope guide panel (5), connecting two ends of the rope with a winding drum I (3031) and a winding drum II (3032) in a winding drum group I (303) respectively, electrifying a driving motor I (304), winding two ends of the Z-axis rope (301) through rotation of the winding drum I (3031) and the winding drum II (3032), and enabling a soft shell (2) to start deforming until the soft shell is tightly attached to goods (7) in the soft shell, wherein the driving motor I (304) is locked, so that the goods (7) are locked;
in the process, when the driving motor I (304) starts to work, two output shafts of the differential I (305) rotate simultaneously to drive the winding drum I (3031) and the winding drum II (3032) to rotate simultaneously; the differential I (305) ensures that when the winding of one end of the winding Z-axis rope (301) is finished, the other end can be wound continuously, so that the locking is more stable and reliable;
(2) and an X-axis locking process:
in the initial state, a rope (401) winds around the X axis to bypass the stop blocks (406) on two sides of the opening of the soft shell (2), so that the influence on the in-and-out of the goods (7) and the manipulator due to the winding of the rope is avoided; then the manipulator loosens the goods (7) and moves the goods to the outside of the cargo hold (1), the top cover (103) is closed, the driving motor II (404) is electrified, and the rope (401) around the X axial direction is tightened through the rotation of the reel III (4031) and the reel IV (4032); the stop block (406) falls off under the action of the tension force of the rope (401) around the X axis, and the distance between the two ropes is gradually reduced until the goods (7) are locked; in this process, the principle of differential rolling motion of differential II (405) is the same as differential I (305).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111517828.0A CN114229048B (en) | 2021-12-13 | 2021-12-13 | Space cargo locking device based on flexible rope and locking method thereof |
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| CN202111517828.0A CN114229048B (en) | 2021-12-13 | 2021-12-13 | Space cargo locking device based on flexible rope and locking method thereof |
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| CN114229048A true CN114229048A (en) | 2022-03-25 |
| CN114229048B CN114229048B (en) | 2023-04-28 |
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| CN114229048B (en) | 2023-04-28 |
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