CN114084383B - Controllable space lasso device - Google Patents

Abstract

The invention relates to the technical field of aerospace devices and provides a controllable space lasso device, which includes a device body. The device body includes a launch mechanism for a launch coil, and a diameter for cooperating with the launch mechanism to adjust the diameter of the coil after launch. A directional adjustment mechanism, a swing mechanism used to adjust the angle of the transmitting coil so that the coil is close to the target, and a recovery mechanism used to cooperate with the transmitting mechanism and the radial adjustment mechanism to recover and store the coil; using this technical solution, the transmitting mechanism launches the coil , the radial adjustment mechanism, the swing mechanism, and the recovery mechanism respectively control the diameter and proximity of the launched coil to the target and recovery and storage, making the coil controllable and can be practically used to clear space orbital debris.

Description

A controllable space lasso device

Technical field

The invention relates to the technical field of aerospace devices, and in particular to a controllable space lasso device.

Background technique

In the process of expanding human activity space in space, various space debris are generated, including debris generated during launch and operation of launch vehicles, scrapped spacecraft and their components, surface clearance and fugitives from operating spacecraft, etc. . Moreover, the amount of these space junks is increasing year by year, causing potential negative effects on normal operation of spacecraft and spacecraft launch activities, and is a major challenge facing the world. Currently, various technologies have been developed in the existing technology to try to remove orbital debris, such as manipulators, space nets, deorbiting sails, etc. These technologies all face the problems of high resource consumption and limited spatial extension distance.

The soft rope has obvious advantages in terms of the extended distance after storage and release, but due to its poor controllability, it is difficult to apply in practice. How to effectively solve the above technical problems is currently a problem that those skilled in the art need to solve.

Contents of the 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.

The controllable space lasso device includes a device body, which includes:

A transmitting mechanism for transmitting coils;

a radial adjustment mechanism, used to cooperate with the launch mechanism to adjust the diameter of the coil after launch;

The swing mechanism is used to adjust the angle of the transmitting coil so that the coil is close to the target;

A recovery mechanism is used to cooperate with the launch mechanism and the radial adjustment mechanism to recover and store the coil.

Further, the launching mechanism includes:

Launcher;

The launcher is provided with a first transmitting motor and a second transmitting motor respectively. The output shaft of the first transmitting motor is connected to a first transmitting drum, and the output shaft of the second transmitting motor is connected to a second transmitting roller. roller.

Further, the radial adjustment mechanism includes a radial adjustment frame connected to the launch frame, a sliding unit is provided on the radial adjustment frame, and a sliding frame moves horizontally on the radial adjustment frame.

Further, the sliding unit includes a threaded shaft. One end of the threaded shaft passes through the sliding frame and the radial adjustment frame and is connected to a sliding sleeve. The other end of the threaded shaft is connected to the sliding frame through a coupling. The output shaft of the sliding motor.

Further, an acceleration and stabilization motor is provided on the sliding frame, and a stabilizing roller is connected to the output shaft of the acceleration and stabilization motor on the side away from the ground;

A sliding block slidingly connected to the radial adjustment frame is provided on the sliding frame close to the radial adjustment frame.

Further, the swing mechanism includes a swing frame arranged outside the launch frame and connected to the launch 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 gear end. end.

Further, the gear end includes a sector gear connected to the swing frame and capable of swinging. A swing motor is also provided on the swing frame close to the side of the radial adjustment mechanism. The output shaft of the swing motor A swing gear is provided on the swing gear, and the swing gear meshes with the sector gear.

Further, the recovery mechanism includes a recovery frame arranged outside the swing frame and connected to the swing frame, a motor fixing frame is connected to the recovery frame, and a wire take-up motor is provided in the motor fixing frame, A recovery piece is installed on the output shaft of the take-up motor, and a recovery pulley for recovering the coil is provided in the recovery piece. The output shaft of the take-up motor passes through the recovery piece and is connected to the recovery pulley.

Further, the recovery piece includes a collection column connected to the output shaft of the take-up motor, a collection frame is connected to the collection column on the side away from the take-up motor, and the recovery pulley is located at the in the above inbox.

Further, the axial direction of the output shaft of the acceleration and stabilization 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 output shaft of the second transmitting motor. The axial direction of the shafts is the same;

The axial direction of the output shaft of the acceleration and stabilization motor is perpendicular to the axial direction of the threaded shaft.

In the present invention, the launching mechanism launches the coil, and the radial adjustment mechanism, swing mechanism, and recovery mechanism respectively control the diameter, proximity to the target, and recovery and storage of the launched coil, so that the coil is controllable and can be practically used for cleaning. Space orbital junk.

Description of the drawings

Figure 1 is a schematic top view of the structure of the device body provided by the present invention;

Figure 2 is a schematic three-dimensional structural diagram of the device body provided by the present invention;

Figure 3 is another three-dimensional structural schematic diagram of the device body provided by the present invention;

Figure 4 is a partial exploded view of the device body provided by the present invention;

Reference signs:

1. Device body;

2. Launching mechanism; 21. Launching stand; 22. First launching roller; 23. Second launching roller; 24. Second transmitting motor; 25. First transmitting motor;

3. Radial adjustment mechanism; 31. Radial adjustment frame; 32. Sliding motor; 33. Coupling; 34. Threaded shaft; 35. Acceleration and stabilization motor; 36. Sliding frame; 37. Sliding block; 38. Sliding sleeve ;39. Stabilizing roller;

4. Swing mechanism; 41. Swing frame; 42. Gear end; 43. Sector gear; 44. Swing motor; 45. Swing gear;

5. Recycling mechanism; 51. Recycling rack; 52. Receiving frame; 53. Recycling pulley; 531. Receiving column; 54. Motor holder; 55. Take-up motor.

Detailed ways

In order to understand the above-mentioned objects, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are some, but not all, of the embodiments of the present invention. The following examples are only used to explain the present invention, but not to limit the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of the present invention. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art.

It should be noted that in this article, relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. The terms "connection" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a direct connection. It can be indirectly connected through an intermediary. The terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus including a list of elements includes not only those elements but also others not expressly listed elements, or elements inherent to such process, method, article or equipment. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

An embodiment provided by the present invention, as shown in Figure 1, is a controllable space lasso device, including a device body 1, and the device body 1 includes:

Transmitting mechanism 2, used for transmitting coil;

Radial adjustment mechanism 3 is used to cooperate with the launch mechanism 2 to adjust the diameter of the coil after launch;

Swing mechanism 4, used to adjust the angle of the transmitting coil so that the coil is close to the target;

The recovery mechanism 5 is used to cooperate with the launch mechanism 2 and the radial adjustment mechanism 3 to recover and store the coil.

In this embodiment, the transmitting mechanism 2 emits a coil, and the radial adjustment mechanism 3, the swing mechanism 4, and the recovery mechanism 5 respectively adjust the diameter of the emitted coil, approach the target, and control the recovery and storage, so that the coil is controllable. And can be practically used to remove orbital debris in space.

In yet another embodiment provided by the present invention, with reference to Figures 2 and 4, the launching mechanism 2 includes: a launching frame 21;

The launcher 21 is provided with a first transmitter motor 25 and a second transmitter motor 24 respectively. The output shaft of the first transmitter motor 25 is connected with a first launch roller 22 , and the output shaft of the second transmitter motor 24 is connected with a second launcher. Roller 23.

In this embodiment, the first transmitting motor 25 drives the first transmitting drum 22 to rotate, the second transmitting motor 24 drives the second transmitting drum 23 to rotate, and the coil moves in the target direction through the rotation of the first transmitting drum 22 and the second transmitting drum 23 Perform a throw to create a circular lasso.

In another embodiment of the present invention, as shown in Figure 2, the radial adjustment mechanism 3 includes a radial adjustment frame 31 connected to the launcher 21. The radial adjustment frame 31 is provided with a sliding unit, and a radial adjustment frame 31 is provided with a sliding unit. The sliding frame 36 moves the frame 31 horizontally.

In this embodiment, through the operation of the sliding unit, the sliding frame 36 is driven to move horizontally on the radial adjustment frame 31 .

Another embodiment provided by the present invention, as shown in Figure 2, the sliding unit includes a threaded shaft 34. One end of the threaded shaft 34 passes through the sliding frame 36 and the radial adjustment frame 31 respectively and is connected to a sliding sleeve 38. The other end is connected to the output shaft of the sliding motor 32 through a coupling 33.

In this embodiment, the operation of the sliding motor 32 drives the coupling 33 and the threaded shaft 34 to rotate, so that the sliding frame 36 moves horizontally on the radial adjustment frame 31 along with the rotation of the threaded shaft 34 .

In another embodiment provided by the present invention, as shown in Figure 2, an acceleration and stabilization motor 35 is provided on the sliding frame 36, and a stabilizing roller 39 is connected to the output shaft of the acceleration and stabilization motor 35 on the side away from the ground;

The sliding frame 36 close to the radial adjusting frame 31 is provided with a sliding block 37 that is slidingly connected to the radial adjusting frame 31 .

In this embodiment, the sliding block 37 slides on the radial adjustment frame 31, so that the sliding frame 36 moves horizontally on the radial adjustment frame 31. At the same time, the operation of the acceleration and stabilization motor 35 drives the stabilization roller 39 to rotate. , so that the stabilizing roller 39 realizes radial movement. That is to say, the sliding motor 32 drives the coupling 33 and the screw 34 to rotate, so that the sliding frame 36 slides on the radial adjustment frame 31, so that the stabilizing roller 39 realizes displacement.

The cooperation of the first launching roller 22 , the second launching roller 23 , and the stabilizing roller 39 adjusts the diameter of the coil located on the first launching roller 22 , the second launching roller 23 , and the stabilizing roller 39 after being launched.

In yet another embodiment provided by the present invention, with reference to Figures 2 and 3, the swing mechanism 4 includes a swing frame 41 arranged outside the launch frame 21 and connected to the launch frame 21. A gear end 42 is provided on one side of the swing frame 41. The other side of the swing frame 41 is provided with a fixed end.

In this embodiment, the swing frame 41 swings through the operation of the gear end 42, thereby driving the launch frame 21, the radial adjustment frame 31 and the sliding frame 36 to swing, so that the launch frame 21 is closer to the target direction and target area, further bringing the coil closer to the target direction and target area.

Since in actual situations, the target is not necessarily in the radial direction of the coil, it is necessary to increase the movement of the normal phase. In another embodiment provided by the present invention, with reference to Figures 2 and 3, the gear end 42 includes a gear end 42 connected to the swing frame 41 and The swinging sector gear 43 is also provided with a swing motor 44 on the swing frame 41 close to the radial adjustment mechanism 3 side. The swing gear 45 is disposed on the output shaft of the swing motor 44, and the swing gear 45 meshes with the sector gear 43.

In this embodiment, the swing motor 44 drives the swing gear 45 on the output shaft, causing the swing gear 45 to mesh with the sector gear 43 and then rotate, so that the gear end 42 swings, and then the swing frame 41 swings, and finally the coil is The Dharma has the ability to swing.

In another embodiment provided by the present invention, with reference to Figures 2 and 3, the recovery mechanism 5 includes a recovery frame 51 arranged outside the swing frame 41 and connected to the swing frame 41. The recovery frame 51 is connected to a motor fixing frame 54. The motor A take-up motor 55 is provided in the fixed frame 54. A recovery piece is installed on the output shaft of the take-up motor 55. A recovery pulley 53 for recovering the coil is provided in the recovery piece. The output shaft of the take-up motor 55 passes through the recovery piece and the recovery piece. Pulleys 53 are connected.

In this embodiment, the coil forms a coil loop through the recovery pulley 53, the first launching roller 22, the second launching roller 23, and the stabilizing roller 39, and the coil is recovered and stored.

Through the operation of the take-up motor 55, the recovery pulley 53 on the output shaft is driven to rotate.

In yet another embodiment provided by the present invention, as shown in Figure 3, the recycling piece includes a collection post 531 connected to the output shaft of the take-up motor 55, and a collection post 531 on the side away from the take-up motor 55 is connected with a collection post. Frame 52, the recovery pulley 53 is located in the receiving frame 52.

In this embodiment, the recovery frame 52 is used to limit the recovery pulley 53 and seal the circuit in the recovery frame 52 . The annular coil can be extended outward through the recovery pulley 53 to the tangent line of the first launching roller 22 and the second launching roller 23. At the same time, after being tangent to the stabilizing roller 39, the recovery pulley 53, the first launching roller 22, and the second The launching roller 23 and the stabilizing roller 39 form a closed loop. When the first transmitting motor 25 and the second transmitting motor 24 rotate at the same speed but in opposite directions, the cord begins to be ejected outward. After the cord is cleaned of garbage, since the cord is a closed loop, the cord contacting the recovery pulley 53 Start recycling.

In order to reduce the knotting and accumulation of the rope at the recovery pulley 53 due to friction, the acceleration and stabilization motor 35 drives the stabilization roller 39 to rotate together. Finally, the rope passes through the recovery pulley 53, the first launching roller 22, the second launching roller 23, and the stabilizing roller. 39 forms a stable lasso-like stable state in space.

When the coil wraps around the target, all the motors stop rotating. After that, the take-up motor 55 rotates. At the same time, the first transmitting motor 25 and the second transmitting motor 24 reverse at the same speed and in opposite directions to enter the recovery state. At this time, the coil will be wound around Retrieval of the lasso target on the recovery pulley.

In order to further explain the specific settings of each motor, another embodiment provided by the present invention is combined with Figures 2 and 4. The axial direction of the output shaft of the acceleration and stabilization motor 35 is the same as the axial direction of the output shaft of the first transmitter motor 25. The axial direction of the output shaft of the first transmitting motor 25 is the same as the axial direction of the output shaft of the second transmitting motor 24;

The axial direction of the output shaft of the acceleration and stabilizing motor 35 is perpendicular to the axial direction of the threaded shaft 34 .

The invention is not only suitable for adjusting annular wire ropes, but is also suitable for adjusting objects with other annular structures. At the same time, the invention is not only suitable for cleaning up space debris, but can also be used for inertial attitude adjustment, object movement, etc.

The above is not a limitation of the present invention. Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments. Those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features without departing from the spirit of the present invention. , all belong to the scope of protection claimed by the present invention.

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.