CN114229048B - 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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- CN114229048B CN114229048B CN202111517828.0A CN202111517828A CN114229048B CN 114229048 B CN114229048 B CN 114229048B CN 202111517828 A CN202111517828 A CN 202111517828A CN 114229048 B CN114229048 B CN 114229048B
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Abstract
The invention provides a space cargo locking device based on flexible ropes and a locking method thereof, and belongs to the field of manned aerospace. 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-around locking system, an X-axis-around locking system and a rope guide panel; the soft shell is arranged in the cargo cabin, the cargo is arranged in the soft shell, the soft shell is provided with a rope guide panel, the rope penetrates through the rope guide panel, the locking of the Z-axis rope is controlled by the Z-axis locking system, and the locking of the X-axis rope is controlled by 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 requirements of application in manned aerospace technology.
Description
Technical Field
The invention belongs to the technical field of manned aerospace, and particularly relates to a space cargo locking device based on flexible ropes and a locking method thereof.
Background
Space cargo generally comprises materials required by the life of astronauts, space station backup equipment, space science loads for experiments and the like. With the continuous progress of manned aerospace technology, the way of delivering all cargo to space at once has been difficult to meet the diverse space exploration mission requirements. In order to ensure that space cargo can be transported multiple times with or without human handling, it is necessary to lock, secure it in the cargo holds in advance and then transfer it between the cargo holds or to travel to the earth with the cargo ship.
Because space cargoes are various in variety and different in form, a unified interface is not installed on the space cargoes, and the establishment of the cabin locking device which is strong in self-adaptability, reliable in constraint, easy to control and reusable is a technical key for realizing the safe transportation of the space cargoes.
Disclosure of Invention
In view of the above, the invention provides a space cargo locking device and a locking method thereof based on flexible ropes, which are used for solving the problem that uniform interfaces are not installed on space cargoes due to various types and forms of the space cargoes, and the space cargo locking device and the locking method thereof have the characteristics of self-adaptability, reliable constraint, light weight, large bearing, reusability and the like, and meet the application requirements of manned aerospace technology.
In order to achieve the above purpose, the present 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 arranged in the cargo cabin, the cargo is arranged in the soft shell, the soft shell is provided with a rope guide panel, the rope penetrates through the rope guide panel, the locking of the rope around the Z axis is controlled by the locking system around the Z axis, and the locking of the rope around the X axis is controlled by the locking system around the X axis.
Further, the cargo compartment includes a bilge, a bulkhead, and a roof, which enclose a rectangular parallelepiped space.
Further, the top cover is kept open when the goods are put into, and the constraint in the Z direction needs to be provided by an auxiliary mechanism after the goods are put into.
Further, the soft shell has the same shape as the cargo compartment, but smaller size than the cargo compartment, and is open at the top end, facilitating entry of cargo.
Further, the rope guide panel is provided with a guide hole.
Still further, around Z axial locking system includes around Z axial rope, X to the rope guide, reel group I, driving motor I and differential mechanism I, reel group I comprises reel I and reel II, around Z axial rope be in between cargo hold and the soft casing, X to the rope guide install on the bulkhead of bilge one side, around Z axial rope pass through X to the rope guide, on reel I and reel II in reel group I are wound respectively at its both ends, differential mechanism I's input shaft A links to each other with driving motor I's output shaft, reel I and reel II in reel group I link to each other with differential mechanism I's two output shafts B or C respectively, realize differential motion.
Further, the X-axis-around locking system comprises an X-axis-around rope, Y-axis-around rope guide ways, a reel group II, a driving motor II, a differential mechanism III and a stop block, wherein the reel group II consists of a reel III and a reel IV, the X-axis-around rope is positioned 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-axis-around rope guide ways are respectively arranged at the bilge, the X-axis-around rope passes through the Y-axis-around rope guide ways, two ends of the Y-axis-around rope guide ways are respectively wound on the reel III and the reel IV in the reel group II, an input shaft A of the differential mechanism II is connected with an output shaft of the driving motor II, and the reel III and the reel IV in the reel group II are respectively connected with two output shafts B or C on the differential mechanism II, so that 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.
Further, springs are arranged between two sides of the soft shell around the Z-axis rope and the X-axis rope.
A locking method of a space cargo locking device based on flexible ropes specifically comprises the following steps:
(1) Locking process around Z axis: the Z-axis rope is wound around the Z-axis rope guide way and the guide holes on the rope guide panel in a regular and directional manner, the two ends of the Z-axis rope are respectively connected with a winding drum I and a winding drum II in the winding drum group I, the driving motor I is electrified, the two ends of the Z-axis rope are respectively wound through the rotation of the winding drum I and the winding drum II, the soft shell starts to deform until the soft shell is tightly attached to the goods inside, and then the driving motor I is locked, so that the goods are locked;
in the process, when the driving motor I starts to work, two output shafts of the differential mechanism I simultaneously rotate to drive the winding drum I and the winding drum II to simultaneously rotate; the differential mechanism I ensures that when one end of the rope wound around the Z axis is wound, the other end can be wound continuously, so that the locking is more stable and reliable;
(2) Locking process around X axis:
in the initial state, the ropes around the X-axis bypass the stop blocks on two sides of the opening of the soft shell, so that the influence on the entry and exit of goods and mechanical arms due to the winding of the ropes is avoided; then the mechanical arm loosens the goods and moves outside the goods cabin, 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 block 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 differential mechanism II realizes the differential rolling motion in the same principle as that of the differential mechanism 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 of the invention has higher adaptability to space goods with unknown outline shape and size.
2. The locking device has light weight, large bearing capacity, reusability and easy maintenance.
3. The spring can realize the adjustment of the distance between the two ropes so as to adapt to the irregular shape of the surface of space goods.
4. The invention can realize the locking function by only two motors, and is more convenient to control.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of space cargo placement space in a flexible rope-based space cargo locking device according to the present invention;
FIG. 2 is a schematic view of a cargo compartment and a flexible housing of a flexible rope-based space cargo locking device according to the present invention;
FIG. 3 is a schematic view of a locking process about the Z axis in a flexible rope-based space cargo locking device according to the present invention;
FIG. 4 is a schematic view of an initial locking state about the X-axis in a flexible rope-based space cargo locking device according to the present invention;
FIG. 5 is a schematic view of the end of locking about the X-axis in a flexible rope based space cargo locking device according to the present invention;
FIG. 6 is a schematic diagram of a cargo fully locked state in a flexible rope based space cargo locking device according to the present invention;
FIG. 7 is a schematic diagram of the differential mechanism I in a flexible rope-based space cargo locking device according to the present invention;
fig. 8 is a schematic structural view of a differential II in a space cargo locking device based on flexible ropes according to the present invention.
Reference numerals illustrate: 1-cargo hold, 101-bilge, 102-bulkhead, 103-top cover, 2-soft shell, 3-Z-around axial locking system, 301-Z-around axial rope, 302-X-direction rope guide, 303-drum set I, 3031-drum I, 3032-drum II, 304-drive motor I, 305-differential I, 4-X-around axial locking system, 401-X-around axial rope, 402-Y-direction rope guide, 403-drum set II, 4031-drum III, 4032-drum IV, 404-drive motor II, 405-differential II, 406-stop, 5-rope guide panel, 501-guide hole, 6-spring, 7-cargo, input shaft of a-differential I or differential II, B, C-differential I or output shaft of differential II.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, in the case of no conflict, embodiments of the present invention and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.
1. 1-7, a space cargo locking device based on flexible ropes comprises a cargo hold 1, a soft shell 2, a Z-axis around locking system 3, an X-axis around locking system 4, a rope guide panel 5 and a spring 6; the soft housing 2 is installed in the cargo hold 1, the cargo 7 is arranged in the soft housing 2, the soft housing 2 is provided with a rope guide panel 5, the rope passes through the rope guide panel 5, the locking of the rope 301 around the Z axis is controlled around the Z axis locking system 3, and the locking of the rope 401 around the X axis is controlled around the X axis locking system 4.
The cargo tank 1 includes a bilge 101, a bulkhead 102, and a roof 103. The cargo compartment 1 is a rectangular parallelepiped space, open structure, and the top cover 103 thereof is kept open when the cargo 7 is put in, and after loading, it is necessary to provide restraint in the Z direction by means of an auxiliary mechanism or structure.
The soft shell 2 has the same shape as the cargo hold 1, but is slightly smaller in size, and is open at the top end (the face corresponding to the cargo hold top cover 103) to facilitate entry of the cargo 7; the flexible casing 2 is provided with a rope guide panel 5, and the rope guide panel 5 is provided with a guide hole 501.
The Z-axis-around locking system 3 comprises a Z-axis-around rope 301, an X-axis-around rope guide 302, a winding drum group I303, a driving motor I304 and a differential I305, the X-axis-around locking system 4 comprises an X-axis-around rope 401, a Y-axis-around rope guide 402, a winding drum group II403, a driving motor II404, a differential III405 and a stop 406, the Z-axis-around rope 301 and the X-axis-around rope 401 are positioned between the cargo compartment 1 and the soft housing 2, and the stop 406 is mounted on both sides of the top opening of the soft housing 2.
The springs 6 are arranged between the two ropes around the two sides of the soft shell 2 around the Z-axis rope 301 and the X-axis rope 401, and the springs 6 can adapt to irregular shapes such as edges, bulges and the like which can be encountered in the tightening process of the two ropes, so that self-adaptation is realized.
The spool group I303 comprises a spool I3031 and a spool II3032, the spool group II403 comprises a spool III4031 and a spool IV4032, the differential I305 and the differential II405 are common gear differential, an input shaft A of the spool group I303 is respectively connected with an output shaft of a driving motor I304 and an output shaft of a driving motor II404, and two spools in the spool group I303 and the spool group II403 are respectively connected with two output shafts B, C on the differential I305 and the differential II405, so that 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 ropes to the structural dimension to restrict unidirectional freedom, adopts cross bundling to ensure multidirectional restriction, and finally utilizes self-locking restriction to the final position of the ropes to maintain pretightening force.
The invention relates to a locking method of a space cargo locking scheme based on a flexible rope, which comprises the following steps:
1. the process is locked around the Z axis. The present process is described with reference to fig. 3.
The rope 301 is regularly and directionally wound around the Z-axis through the X-direction rope guide 302 and the guide hole 501 in the rope guide panel 5, and both ends thereof are connected to the spool I3031 and the spool II3032 in the spool group I303, respectively. The driving motor I304 is energized, and the two ends of the Z-axis rope 301 are wound by the rotation of the drum I3031 and the drum II3032, respectively, and the soft housing 2 starts to deform until the inside cargo 7 is tightly fitted, and then the driving motor I304 is locked, thereby locking the cargo 7. If the load 7 is high (i.e. the Z dimension is large), multiple ropes can be superimposed in the Z direction, making the constraint more reliable.
In this process, when the drive motor I304 starts to operate, the two output shafts of the differential I305 simultaneously rotate, driving the spool I3031 and the spool II3032 to simultaneously rotate. However, due to the friction force and other factors of the winding process of the rope 301 around the Z axis, the winding movements of the two ends of the rope 301 may be asynchronous, and the differential mechanism I305 ensures that when the winding of one end of the rope 301 around the Z axis is finished, the other end can also continue to wind, so that the locking is more stable and reliable.
2. The process is locked around the X-axis. The present process is described with reference to fig. 4-5.
In the starting state, the rope 401 winds around the stop blocks 406 on two sides of the opening of the soft shell 2, so that the goods 7 and the mechanical arm are prevented from being influenced by the winding of the rope. The robot then releases the cargo 7 and moves out of the hold 1, the top cover 103 closes, the drive motor II404 is energized, and the cable 401 is pulled around the X-axis by the rotation of the reels III4031 and IV4032 in the reel group II 403. The stop 406 falls off due to the tightening force applied by the ropes 401 around the X-axis, the distance between the ropes gradually decreasing until the load 7 is locked. In this process, differential II405 achieves differential windup motion in the same manner as differential I305.
The embodiments of the invention disclosed above are intended only to help illustrate 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 understand and utilize the invention.
Claims (8)
1. A space cargo locking device based on flexible rope, its characterized in that: comprises a cargo hold (1), a soft shell (2), a Z-axis-around locking system (3), an X-axis-around locking system (4) and a rope guide panel (5); the soft shell (2) is arranged in the cargo hold (1), the cargo (7) is arranged in the soft shell (2), the soft shell (2) is provided with a rope guide panel (5), the rope passes through the rope guide panel (5), the locking of the rope (301) around the Z axial direction is controlled by the locking system (3) around the Z axial direction, and the locking of the rope (401) around the X axial direction is controlled by the locking system (4) around the X axial direction;
the Z-axis-around locking system (3) comprises a Z-axis-around rope (301), an X-axis rope guide (302), a reel group I (303), a driving motor I (304) and a differential mechanism I (305), wherein the reel group I (303) consists of a reel I (3031) and a reel II (3032), the Z-axis-around rope (301) is positioned between a cargo hold (1) and a soft shell (2), the X-axis-around rope guide (302) is arranged on a bulkhead (102) at one side of a bilge (101), the Z-axis-around rope (301) passes through the X-axis rope guide (302), two ends of the Z-axis-around rope guide are respectively wound on a reel I (3031) and a reel II (3032) in the reel group I (303), an input shaft A of the differential mechanism I (305) is connected with an output shaft of the driving motor I (304), and the reel I (3031) and the reel II (3032) in the reel group I (303) are respectively connected with two output shafts B or C of the differential mechanism I (305) to realize differential motion;
the X-axis-around locking system (4) comprises an X-axis-around rope (401), Y-axis-around rope guide ways (402), a winding drum group II (403), a driving motor II (404), a differential mechanism II (405) and a stop block (406), wherein the winding drum group II (403) consists of a winding drum III (4031) and a winding drum IV (4032), the X-axis-around rope (401) is positioned between a cargo hold (1) and a soft shell (2), the stop block (406) is arranged on two sides of the top opening of the soft shell (2), the Y-axis-around rope guide ways (402) are respectively arranged at the bilge (101), the X-axis-around rope (401) passes through the Y-axis-around rope guide ways (402), two ends of the Y-axis-around rope guide ways are respectively wound on a winding drum III (4031) and a winding drum IV (4032) in the winding drum group II (403), an input shaft A of the differential mechanism II (405) is connected with an output shaft of the driving motor II (404), and the winding drum III (4031) and the winding drum IV (4032) in the winding drum group II (403) are respectively connected with two output shafts B or C on the differential mechanism II (405) to realize differential motion.
2. A flexible rope based space cargo locking device as claimed in claim 1 wherein: the cargo compartment (1) comprises a bilge (101), a bulkhead (102) and a top cover (103), wherein the bilge (101), the bulkhead (102) and the top cover (103) enclose a cuboid space.
3. A flexible rope based space cargo locking device as claimed in claim 2 wherein: the top cover (103) is kept open when the goods (7) are put into the container, and the container is required to be restrained in the Z direction by an auxiliary mechanism after being put into the container.
4. A flexible rope based space cargo locking device as claimed in claim 1 wherein: the soft shell (2) has the same shape as the cargo hold (1), but has a smaller size than the cargo hold (1), and is open at the top end, so that the cargo (7) can enter conveniently.
5. A flexible rope based space cargo locking device according to claim 2 or 3, wherein: the rope guide panel (5) is provided with a guide hole (501).
6. A flexible rope based space cargo locking device as claimed in claim 5 wherein: the X-direction rope guide (302), the Y-direction rope guide (402) and the guide hole (501) are used for guiding the winding direction of the rope.
7. A flexible rope based space cargo locking device as claimed in claim 1 wherein: a spring (6) is arranged between two sides of the soft shell (2) around the Z-axis rope (301) and the X-axis rope (401).
8. A locking method using the flexible rope-based space cargo locking device of claim 6, characterized by: the method specifically comprises the following steps:
(1) Locking process around Z axis: the Z-axis rope (301) is wound in a regular and directional manner through the X-direction rope guide channel (302) and the guide hole (501) on the rope guide panel (5), two ends of the Z-axis rope are respectively connected with the winding drum I (3031) and the winding drum II (3032) in the winding drum group I (303), the driving motor I (304) is electrified, the two ends of the Z-axis rope (301) are respectively wound through the rotation of the winding drum I (3031) and the winding drum II (3032), the soft shell (2) starts to deform until the soft shell is tightly attached to the inner goods (7), and then 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, the two output shafts of the differential mechanism I (305) rotate simultaneously to drive the winding drum I (3031) and the winding drum II (3032) to rotate simultaneously; the differential mechanism I (305) ensures that when one end of the rope (301) around the Z axis is wound, the other end can be wound continuously, so that the locking is more stable and reliable;
(2) Locking process around X axis:
in the initial state, the rope (401) winds around the stop blocks (406) on two sides of the opening of the soft shell (2) around the X-axis, so that the influence on the entry and exit of the goods (7) and the mechanical arm caused by the winding of the rope is avoided; then the mechanical arm releases the goods (7) and moves outside the goods cabin (1), the top cover (103) is closed, the driving motor II (404) is electrified, and the rope (401) around the X-axis is tensioned through the rotation of the winding drum III (4031) and the winding drum IV (4032); the stop block (406) falls off under the action of the tensioning force of the ropes (401) around the X-axis, and the distance between the two ropes is gradually reduced until the goods (7) are locked; in this process, differential II (405) achieves differential windup motion in the same manner 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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| CN114229048B true CN114229048B (en) | 2023-04-28 |
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| GB190513591A (en) * | 1905-07-01 | 1905-09-14 | Siemens Brothers & Co Ltd | Improved Method of and Apparatus for Effecting Rope Haulage for Ferry Boats and the like. |
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| CN110745723A (en) * | 2018-10-16 | 2020-02-04 | 珠海达理宇航科技有限公司 | Diameter changing device, space cable rotating system and application method thereof |
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| JPH0635794Y2 (en) * | 1988-01-29 | 1994-09-21 | いすゞ自動車株式会社 | Truck luggage fixing device |
| US4917215A (en) * | 1988-08-23 | 1990-04-17 | Grumman Aerospace Corporation | Space station transport system for extravehicular activity |
| RU2053942C1 (en) * | 1993-02-11 | 1996-02-10 | Ракетно-космическая корпорация "Энергия" им.С.П.Королева | Device for restraining spaceman on space vehicle casing |
| JP2001048100A (en) * | 1999-08-10 | 2001-02-20 | Ishikawajima Harima Heavy Ind Co Ltd | Sample receiving/delivering device for spacecraft |
| RU2624891C1 (en) * | 2016-02-25 | 2017-07-07 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" имени С.П. Королева" | Cosmonaut fixation system for mobile transportation along space object external surface and method for its operation |
| JP6675225B2 (en) * | 2016-02-26 | 2020-04-01 | 山九株式会社 | Hoisting device |
| CN109941891B (en) * | 2019-04-25 | 2020-06-26 | 河南恒达机电设备有限公司 | Novel hoisting equipment with weighing sensing device and weighing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190513591A (en) * | 1905-07-01 | 1905-09-14 | Siemens Brothers & Co Ltd | Improved Method of and Apparatus for Effecting Rope Haulage for Ferry Boats and the like. |
| CN108724160A (en) * | 2017-04-21 | 2018-11-02 | 中国科学院宁波材料技术与工程研究所 | A kind of wire drive improving control accuracy |
| CN110745723A (en) * | 2018-10-16 | 2020-02-04 | 珠海达理宇航科技有限公司 | Diameter changing device, space cable rotating system and application method thereof |
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