CN209351628U - Spatial electromagnetic docking facilities - Google Patents
Spatial electromagnetic docking facilities Download PDFInfo
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- CN209351628U CN209351628U CN201822259295.0U CN201822259295U CN209351628U CN 209351628 U CN209351628 U CN 209351628U CN 201822259295 U CN201822259295 U CN 201822259295U CN 209351628 U CN209351628 U CN 209351628U
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Abstract
The utility model relates to a kind of spatial electromagnetic docking facilities, including tracking aircraft, target aircraft and capture mechanism, it tracks aircraft and target aircraft includes gas cylinder, pedestal, bottom plate, main electromagnet, auxiliary selenoid body and air floating platform, pedestal is mounted on air floating platform, the side of pedestal is equipped with gas cylinder, the other side is equipped with bottom plate, is equipped with main electromagnet on bottom plate, multiple auxiliary selenoid bodies being mounted on bottom plate are evenly equipped with around main electromagnet；Capture mechanism is installed on tracking aircraft, capture mechanism includes motor, lead screw, screw, drive rod and capture pawl, motor is installed on the base, output shaft is connected with the lead screw of rotational installation on the base, screw is threaded on lead screw, screw is circumferentially uniformly connected with multiple drive rods, and capture pawl is hinged on each drive rod, and capture pawl is articulated on pedestal.The utility model structure is simple, reliable, easy to operate, can be more effectively carried out space articulation.
Description
Technical field
The utility model belongs to space-orbit filling field, specifically a kind of spatial electromagnetic docking facilities.
Background technique
Spacecraft Rendezvous and docking technique have important purposes in terms of space science research and military aerospace.China
The manned astro-engineering carries out three-step strategy, and spacefarer is sent into space in the first stage and is smoothly returned, second stage
In spacefarer go out cabin walking just complete, the phase III will finally build up the space station of oneself.The Xiang Guanjian of phase III
Technology is exactly " intersection of spacecraft, docking technique ".How to realize that autonomous, accurate, safe and efficient intersection, docking are always
The important research content of space industry scientific research personnel.Spacecraft Rendezvous, docking are applied in space station construction, manned space flight, moonfall
In the space operations such as interplanetary travel, it is mainly reflected in the in-orbit assembling of Large Spacecraft, in-orbit service, spacefarer's rotation, space
Rescue etc..Currently, research is still mostly Theoretical Proof and ground demonstration Qualify Phase.With higher performance ferromagnetic material and lead
The research of the application of wire material, this field will be more and more perfect, and increasingly space engineering is practical.
Utility model content
In order to meet the requirement of space intersection, docking, the purpose of this utility model is to provide a kind of docking of spatial electromagnetic
Device.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes tracking aircraft, target aircraft and capture mechanism, wherein tracking aircraft and target fly
Row device includes gas cylinder, pedestal, bottom plate, main electromagnet, auxiliary selenoid body and air floating platform, and the pedestal is mounted on air floating platform
On, the side of the pedestal is equipped with gas cylinder, and the other side is equipped with bottom plate, main electromagnet is equipped on the bottom plate, in main electromagnet
Around be evenly equipped with multiple auxiliary selenoid bodies being mounted on bottom plate；Capture mechanism is installed on the tracking aircraft, this is caught
Obtaining mechanism includes motor, lead screw, screw, drive rod and capture pawl, and the motor is installed on the base, output shaft and rotational installation
Lead screw on the base is connected, and screw is threaded on the lead screw, and the screw is circumferentially uniformly connected with multiple drive rods,
Capture pawl is hinged on each drive rod, the capture pawl is articulated on pedestal；
Wherein: the main electromagnet includes main electromagnet iron core and the main electromagnetic coil being separately mounted on bottom plate, the master
Electromagnetic coil is wrapped in the outside of main electromagnet iron core；The main electromagnet iron core is hollow iron core；
The auxiliary selenoid body includes the auxiliary selenoid body iron core and auxiliary electromagnetic coil being separately mounted on bottom plate, this is auxiliary
Electromagnetic coil is helped to be wrapped in the outside of auxiliary selenoid body iron core；The auxiliary selenoid body iron core is solid core；
The carry-on main electromagnet of tracking is equipped with guide rod, sets on the main electromagnet on the target aircraft
There is guide ring, which is inserted into guide ring in tracking aircraft and target aircraft docking operation, plays guiding role.
The advantages of the utility model and good effect are as follows:
The utility model structure is simple, reliable, easy to operate, is docked by electromagnetism, establishes novel space articulation dress
It sets, space articulation can be more effectively carried out, assembling in-orbit to Large Spacecraft, in-orbit service, spacefarer's rotation, space rescue
Etc. in-orbit services field have larger application prospect, so that the manned astro-engineering in China is stepped out an important step forward.
Detailed description of the invention
Fig. 1 is the schematic perspective view that the utility model tracks aircraft；
Fig. 2 is the schematic perspective view of the utility model target aircraft；
Fig. 3 is the schematic perspective view of the utility model capture mechanism；
Fig. 4 is the schematic diagram of electric current setting direction in the utility model electromagnet iron core；
Fig. 5 is two craft port current diagrams when the utility model generates repulsion；
Wherein: 1 is gas cylinder, and 2 be capture mechanism, and 201 be motor, and 202 be lead screw, and 203 be screw, and 204 be drive rod,
205 be capture pawl, and 206 be pin shaft, and 3 be main electromagnet iron core, and 4 be air floating platform, and 5 be tracking aircraft, and 6 be target flight
Device, 7 be auxiliary electromagnet iron core, and 8 be pedestal, and 9 be guide rod, and 10 be bottom plate, and 11 be main electromagnetic coil, and 12 be auxiliary electromagnetic wire
Circle, 13 be guide ring.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Embodiment one
As shown in Fig. 1~5, the present embodiment includes tracking aircraft 5, target aircraft 6 and capture mechanism 2, wherein tracking
Aircraft 5 and target aircraft 6 include gas cylinder 1, pedestal 8, bottom plate 10, main electromagnet, auxiliary selenoid body and air floating platform 4,
Pedestal 8 is mounted on air floating platform 4, and the side of the pedestal 8 is equipped with multiple gas cylinders 1, and the other side is equipped with bottom plate 10, on bottom plate 10
Main electromagnet is installed, multiple auxiliary selenoid bodies being mounted on bottom plate 10 are evenly equipped with around main electromagnet.The present embodiment
1 quantity of gas cylinder on tracking aircraft 5, target aircraft 6 is identical, and the quantity of auxiliary selenoid body is also identical (on each aircraft
It is respectively arranged four auxiliary selenoid bodies).
Main electromagnet includes main electromagnet iron core 3 and the main electromagnetic coil 11 being separately mounted on bottom plate 10, the main electromagnetism
Coil 11 is wrapped in the outside of main electromagnet iron core 3.Auxiliary selenoid body includes the auxiliary selenoid body being separately mounted on bottom plate 10
Iron core 7 and auxiliary electromagnetic coil 12, the auxiliary electromagnetic coil 12 are wrapped in the outside of auxiliary selenoid body iron core 7.The present embodiment
Main electromagnet iron core 3 is hollow iron core, and auxiliary selenoid body iron core 7 is solid core, and bottom plate 10 is hollow bottom plate.The present embodiment
Main electromagnetic coil 11 and auxiliary electromagnetic coil 12 are coiled into cylindrical annular coil by copper conductor, for generating docking electromagnetic force；?
The docking stage realizes the control close to speed by the electric current changed in coil.
It tracks the main electromagnet on aircraft 5 and is equipped with guide rod 9, the main electromagnet on target aircraft 6, which is equipped with, leads
To ring 13, which is inserted into guide ring 13 in tracking aircraft 5 and 6 docking operation of target aircraft, plays guiding and makees
With.
Tracking aircraft 5 on capture mechanism 2 is installed, the capture mechanism 2 include motor 201, lead screw 202, screw 203,
Drive rod 204 and capture pawl 205, motor 201 are mounted on pedestal 8, output shaft and the lead screw 202 being rotatably installed on pedestal 8
It is connected, screw 203 is threaded on the lead screw 202, screw 203 is circumferentially uniformly connected with multiple drive rods 204, Mei Gechuan
It is hinged with capture pawl 205 in lever 204, is equipped with pin shaft 206 on each capture pawl 205, base is articulated with by the pin shaft 206
On seat 8.One end of each capture pawl 205 and drive rod 204 are hinged, the other end be it is hook-shaped, be used for capture target aircraft 6.
The air floating platform 4 of the utility model is the prior art, including air bearing simulation star and air floating table, is removed on air bearing simulation star
There are also high pressure gas cylinder and pressure regulation systems outside electromagnetic system, it is ensured that the gas sprayed from air floating platform 4 is uniform and stable.
The working principle of the present embodiment are as follows:
Gas source, which is provided, by respective gas cylinder 1 on tracking aircraft 5, target aircraft 6 sprays gas to required direction, into
And adjust tracking aircraft 5, the position of target aircraft 6 and pose.When tracking aircraft 5, target aircraft 6 pass through respective gas
After bottle 1 preliminary flight to setting position and pose, aircraft 5 is tracked, respective main electromagnetic coil 11 and auxiliary on target aircraft 6
It helps electromagnetic coil 12 to be separately energized, makes to track the main electromagnet iron core 3 on aircraft 5, the magnetic force that auxiliary selenoid body iron core 7 generates
The magnetic force generated with main electromagnet iron core 3, the auxiliary selenoid body iron core 7 on target aircraft 6 attracts each other.In tracking aircraft
The main electromagnet iron core 3 on main electromagnet iron core 3, auxiliary selenoid body iron core 7 and target aircraft 6, auxiliary selenoid body iron on 5
After core 7 attracts docking respectively, the motor 201 tracked on aircraft 6 works, the spiral formed by lead screw 202 and screw 203
Pair, drives each inwardly rotation of capture pawl 205, and capture target aircraft 6 completes electromagnetism docking.When release, the reversed work of motor 201
Make, drive each capture pawl 205 to be turned out by lead screw 202 and screw 203, realizes the release of target aircraft 6.
Embodiment two
It is docked to preferably complete tracking aircraft 5 with the spatial electromagnetic of target aircraft 6, the air bearing of the present embodiment is flat
The air film that platform 4 is formed between air-bearing and bearing block by compressed air floats simulation stage body, to realize approximate nothing
The relative motion condition of friction, with the mechanical ring of analog satellite suffered disturbance torque very little under the microgravity condition of outer space
Border.The main electromagnetic coil 11 and auxiliary electromagnetic coil 12 of the present embodiment are in design scheme, in addition to requiring that higher electricity can be generated
Magnetic force is having the control ability that may be implemented in foreign study when the cooperation of independent posture control system, is being intended to require scheme by not
Adjustment with the electric current of part generates electromagnetic torque, thus can also be independently in the case where the cooperation of no independent posture control system
Realize the docking between spacecraft.
Sufficiently large electromagnetic force needed for main electromagnetic coil 11 and auxiliary electromagnetic coil 12 can generate docking, analyzes foreign countries
Electromagnetic force application form and electromagnetic system structure in correlative study propose the total of electromagnetism craft port according to its deficiency and set
Meter requires and overall plan, and a variety of concrete schemes are devised under the guidance of magnetic circuit principle.
It is docked based on the considerations of towards Spacecraft Rendezvous, by design, calculating and the comparison of a large amount of different electromagnet configurations,
A kind of reasonable electromagnets of comparison have finally been determined.
It closes magnetic loop theory and detailed analysis has been done compared with to the simulation result of various configurations, obtain following important knot
By: ability of its generation electromagnetic force of the craft port of independent main electromagnetic coil 11 and 12 array of auxiliary electromagnetic coil composition is very
It is small；Each main electromagnetic coil 11 and auxiliary electromagnetic coil 12 are connected in physical structure level by ferromagnetic material, and
Main electromagnetic coil 11 and auxiliary electromagnetic coil 12 are united in magnetic circuit level by the way that electric current is rationally arranged, electromagnetism can be made
Power is about increased to original 20 times.
In the present embodiment, gas is sprayed to all directions to the direction of motion and fortune of control device entirety by gas cylinder 1
Dynamic model formula, and then adjust position and the pose of tracking aircraft 5 and target aircraft 6.Track the capture mechanism 2 on aircraft 5
Capture pawl 205 is driven by motor 201, realizes the capture and release of target aircraft 6, it is ensured that tracking aircraft 5 and target fly
The docking of row device 6 is reliable and stable with release.
Firstly, design generates power and the electromagnet of torque needs to analyze magnetic field, the shape, that is, magnetic line of force in magnetic field
Trend is the external expressive form of electromagnet performance, analyzes the Distribution of Magnetic Field between electromagnetism craft port and be unable to do without exact numerical calculating
Support, FInite Element is a kind of comparatively ideal solution throughway.
(1) point out that the design of electromagnetism craft port should follow magnetic circuit principle, reasonable magnetic circuit can increase the intensity in magnetic field
With the sphere of action of electromagnetic force.
(2) design of electromagnet will be calculated based on the numerical value in magnetic field under various configuration, electromagnetic force, be analyzed compared with.
Then, electromagnetic mechanism Theoretical Design and the analysis of space-oriented docking are carried out, specific as follows:
(1) Technique in Rendezvous and Docking is related to the relative position control and gesture stability of two spacecrafts, 12 freedom degrees, towards
The electromagnetic system of space articulation, structure determine the generation ability of Electromagnetic Control power and Electromagnetic Control torque.Design electromagnetic system
System should comprehensively consider electromagnetic force range, mass of system, power and certain docking actual requirements；
(2) there are two types of modes for electromagnetism docking, and one is mass center controls when docking electromagnetic force offer, and gesture stability is by it
He provides independently of the posture control system (such as fly wheel system) of electromagnetic system；Mass center control and posture when another mode is docking
Control is provided by electromagnetic system.It conforms to the principle of simplicity to reduce risk and following to numerous research method, the electromagnetic system in the design
Research takes into account second of mode based on the first mode is met first.
(3) craft port is designed
Inter-satellite realize short distance spacecrafts rendezvous required for power (or going back moment) completely by be mounted on tracking star and
Electromagnetism mating interface in target satellite provides, and interface wants that the electromagnetic force of docking required particular size and direction can be provided.Root
Application background and engineering status according to the study, initial characterization research, roughly propose craft port claimed below:
1. port full-size is limited in 20 × 20 × 4 (cm) for geometric dimension；
2. sufficiently large power can be generated in the range of 0~1m, between two craft ports to control for mass center；
3. various channel spaces such as reserved fuel make up, cables；
4. structure optimization keeps power maximum that is, under the limitation that overall quality and solar energy sailboard can be provided limited electric energy；
5. docking structure has certain redundancy and reliability；
6. only rely on this craft port, can generate sufficiently large torque for gesture stability (be not required consider requirement,
Preferably accomplish).
(4) preliminary scenario
For increasing magnetic field, pure conductor structure is not used.Active force between two-port by be wound on cylindrical plunger or
Line current on annular core generates.Though single such ribbon core spiral rings can produce gravitation and repulsion to control mass center
Movement, but comprehensively consider structure optimization, quality, torque etc. and require, solenoid (ring) array with iron core, but multiple electricity are used then
How streamline circle, which is arranged, further to study.
Finally, electromagnetic docking mechanism conceptual design.
Design carries out under some identical constraint conditions.Limit the maximum radius 100mm of interface, it is first assumed that connection
Road radius is 60mm, and the solenoidal radius of surrounding distribution is 15mm, and the radius of the inside iron core is 9mm.The material of iron core is
ASTM 1008, the material of coil are copper, and electric current number of ampere turns is temporarily set as 1000, assume two-port apart when calculating electromagnetic force
50mm.In simulations, the convenience of efficiency and operation when comprehensively considering redundancy (being set as 1), the attitude control of model, solenoid
Number is chosen to be six, and is uniformly distributed circumferentially.
Total scheme: the electromagnetic mechanism handle in terms of spacecraft space relative motion Electromagnetic Control, in foreign study project
Consider that emphasis is only placed in the generation of electromagnetic force, electromagnetic force combines the relative position of independent posture control system control spacecraft, institute
Simple, the generally solenoidal array of the loop coil of major diameter or simple ribbon core that generates system authority with electromagnetic force.
In electromagnetic system design scheme in the design, in addition to requiring that higher electromagnetic force can be generated, there is independent posture control system to match
The control ability in foreign study may be implemented when conjunction, the adjustment for being intended to the electric current for requiring scheme by different piece generates electricity
Magnetic torque, to can also independently realize the docking between spacecraft in the case where the cooperation of no independent posture control system.This is just
It is required that electromagnetic system is preferably provided with attitude control ability while with rail control ability, it can be envisaged that in electromagnetic system independent action
Under, electromagnetic force keeps spacecraft gradually close when remote, move to electromagnetic torque after closer distance make spacecraft close to while
Posture is aligned gradually.So simple single loop coil is infeasible, it should be made of multiple coils.And in order to enhance electricity
Magnetic force also needs the core material of reasonable geometric structure.
Claims (6)
1. a kind of spatial electromagnetic docking facilities, it is characterised in that: including tracking aircraft (5), target aircraft (6) and catching machine
Structure (2), wherein tracking aircraft (5) and target aircraft (6) include gas cylinder (1), pedestal (8), bottom plate (10), main electromagnetism
Body, auxiliary selenoid body and air floating platform (4), the pedestal (8) are mounted on air floating platform (4), the side installation of the pedestal (8)
Have gas cylinder (1), the other side is equipped with bottom plate (10), is equipped with main electromagnet on the bottom plate (10), around main electromagnet
It is furnished with multiple auxiliary selenoid bodies being mounted on bottom plate (10)；Capture mechanism (2) are installed on the tracking aircraft (5), it should
Capture mechanism (2) includes motor (201), lead screw (202), screw (203), drive rod (204) and capture pawl (205), the electricity
Machine (201) is mounted on pedestal (8), and output shaft is connected with the lead screw (202) being rotatably installed on pedestal (8), the lead screw (202)
On be threaded with screw (203), the screw (203) is circumferentially uniformly connected with multiple drive rods (204), each drive rod
(204) capture pawl (205) is hinged on, the capture pawl (205) is articulated on pedestal (8).
2. spatial electromagnetic docking facilities according to claim 1, it is characterised in that: the main electromagnet includes installing respectively
Main electromagnet iron core (3) and main electromagnetic coil (11) on bottom plate (10), the main electromagnetic coil (11) are wrapped in main electromagnet
The outside of iron core (3).
3. spatial electromagnetic docking facilities according to claim 2, it is characterised in that: the main electromagnet iron core (3) is sky
Heart iron core.
4. spatial electromagnetic docking facilities according to claim 1, it is characterised in that: the auxiliary selenoid body includes pacifying respectively
Auxiliary selenoid body iron core (7) and auxiliary electromagnetic coil (12) on bottom plate (10), the auxiliary electromagnetic coil (12) are wrapped in
The outside of auxiliary selenoid body iron core (7).
5. spatial electromagnetic docking facilities according to claim 4, it is characterised in that: the auxiliary selenoid body iron core (7) is
Solid core.
6. spatial electromagnetic docking facilities according to claim 1, it is characterised in that: the master on tracking aircraft (5)
Electromagnet is equipped with guide rod (9), and the main electromagnet on the target aircraft (6) is equipped with guide ring (13), the guide rod
(9) it is inserted into guide ring (13) in tracking aircraft (5) and target aircraft (6) docking operation, plays guiding role.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259295.0U CN209351628U (en) | 2018-12-30 | 2018-12-30 | Spatial electromagnetic docking facilities |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822259295.0U CN209351628U (en) | 2018-12-30 | 2018-12-30 | Spatial electromagnetic docking facilities |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515765A (en) * | 2018-12-30 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of spatial electromagnetic docking facilities |
| CN115610707A (en) * | 2022-12-19 | 2023-01-17 | 哈尔滨工业大学 | On-orbit docking method and docking system for spacecraft |
-
2018
- 2018-12-30 CN CN201822259295.0U patent/CN209351628U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515765A (en) * | 2018-12-30 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of spatial electromagnetic docking facilities |
| CN115610707A (en) * | 2022-12-19 | 2023-01-17 | 哈尔滨工业大学 | On-orbit docking method and docking system for spacecraft |
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