技术领域Technical field
本发明涉及太空垃圾捕获技术领域，尤其涉及一种高适用性的太空目标捕获装置。The invention relates to the technical field of space junk capture, and in particular to a highly adaptable space target capture device.
背景技术Background technique
随着世界上各国航天事业的发展，太空中出现了大量的失控、翻滚、废弃等非合作目标，这类目标占用了有限的轨道空间，而在残余角动量和空间摄动力矩的作用下，非合作目标航天器多呈现出自旋翻滚的状态，甚至在抓捕时仍存在抵抗的行为。目前，各国实际在轨运行以及在研型号的航天器，并没有专门设计用于接受在轨服务的抓捕手柄和测量标识器(发光标识器或角反射镜)，即是非合作的，因此基于合作目标的在轨捕获技术无法用于非合作目标。With the development of the aerospace industry in various countries around the world, a large number of non-cooperative targets such as runaway, tumbling, and abandonment have appeared in space. Such targets occupy limited orbital space. Under the action of residual angular momentum and space perturbation moment, Non-cooperative target spacecraft often appear in a spinning and rolling state, and even resist when captured. At present, the spacecraft actually operating in orbit and under development in various countries do not have capture handles and measurement markers (luminous markers or corner reflectors) specially designed to receive on-orbit services, that is, they are non-cooperative, so based on On-orbit capture technology for cooperative targets cannot be used for non-cooperative targets.
对于非合作目标的对接/抓捕，传统方法的控制性能要求和研制成本较高，需要控制整个航天器的运动与目标同步，且在目标具有抵抗力矩条件下极易导致控制发散或抓捕失败。而尚在设计研究、可有效抓取非合作目标的机械臂对非合作目标自旋状态以及外形和质量的适应性考虑不足，更多关注于其在空间中的平移运动。例如德国的DEOS(DeutscheOrbital Servicing Mission)任务，以国际空间站机器人组件为基础，机械臂末端安装抓取装置，通过手爪闭合抓住目标手柄实现抓捕，其中手爪上安装照明系统和一台相机，用于辅助地面观察目标状态。该机构抓捕时首先远距离追踪目标，待服务航天器与目标航天器相距300～5000m时服务航天器逐渐靠近目标航天器，两者相距几米完成近距离交会，最后通过机械臂带着抓取装置靠近对接手柄，抓取装置手爪闭合锁紧，完成抓捕；待组合体稳定后，服务航天器带动目标航天器进行离轨。采用该机构进行抓捕时，由于需要通过闭合手爪锁紧目标手柄实现抓捕，适用性低，难以适应多种类目标和不同运动形式目标的抓捕；而且该机构仅使用单一机械臂进行抓捕固定，稳定性低，面对较大型非合作目标易抓捕不牢；该机构抓捕完成后需要等待组合体稳定，再由服务航天器带动目标航天器进行离轨，抓捕效率低，花费时间长。For the docking/capture of non-cooperative targets, traditional methods have high control performance requirements and high development costs. They need to control the movement of the entire spacecraft in synchronization with the target, and it is easy to cause control divergence or capture failure when the target has a resistive torque. . However, the robotic arm that is still under design research and can effectively grasp non-cooperative targets does not take into account the adaptability of the spin state, shape and mass of the non-cooperative targets, and focuses more on its translational motion in space. For example, Germany's DEOS (Deutsche Orbital Servicing Mission) mission is based on the International Space Station robot components. A grasping device is installed at the end of the robotic arm, and the capture is achieved by closing the claw to grasp the target handle. A lighting system and a camera are installed on the claw. , used to assist ground observation of target status. When capturing, the agency first tracks the target from a long distance. When the service spacecraft and the target spacecraft are 300 to 5000 meters apart, the service spacecraft gradually approaches the target spacecraft. The two complete a close rendezvous a few meters apart, and finally the robot arm carries it to grab it. The device is close to the docking handle, and the claws of the grabbing device are closed and locked to complete the capture; after the assembly is stabilized, the service spacecraft drives the target spacecraft to deorbit. When this mechanism is used to capture, since it needs to close the claws to lock the target handle to achieve capture, the applicability is low and it is difficult to adapt to the capture of multiple types of targets and targets with different movement forms; and this mechanism only uses a single robotic arm for capture. The capture is fixed and has low stability. It is easy to capture large non-cooperative targets. After the capture is completed, the agency needs to wait for the assembly to stabilize, and then the service spacecraft drives the target spacecraft to deorbit. The capture efficiency is low. It takes a long time.
再如欧洲SMART-OLEV(Smart Orbital Life Extension Vehicle)计划，该计划所设计的捕获装置相当于一个太空拖船，其伸缩臂为纺锤状机构，采用刚性金属制成，抓取装置安装在机械臂前端，通过伸缩臂末端的抓捕工具实现目标卫星远地点发动机喷管的抓捕，抓捕工具由1个锁紧机构、1个位于末端的传感器、2个感应传感器和2个激光传感器组成。该机构抓捕时首先在伸缩臂驱动下插入卫星发动机喷管内，其末端锁紧机构插入喷管的喉部，进而扩展机构张开，最后锁紧喷管喉部，最终完成抓捕，传感器用来感知与目标喷管的碰撞和感知锁紧机构是否达到锁紧位置。采用该机构捕获目标卫星时可作用的距离为0.7m，作用距离短，不能广泛的适用于通信卫星以外的目标；其次，该机构需要将末端锁紧机构伸入发动机喷管的喉部完成锁紧，因此对尾喷管的形状大小要求较高，如若面临发动机尾喷管喉部尺寸小于末端机构或发动机尾喷管尺寸过大机构扩展后无法锁死的情况则无法进行抓捕，捕获方式单一且稳定性不足。Another example is the European SMART-OLEV (Smart Orbital Life Extension Vehicle) program. The capture device designed in this program is equivalent to a space tug. Its telescopic arm is a spindle-shaped mechanism made of rigid metal, and the grabbing device is installed on the front end of the robotic arm. , the capture tool at the end of the telescopic arm is used to capture the engine nozzle at the apogee of the target satellite. The capture tool consists of a locking mechanism, a sensor at the end, 2 induction sensors and 2 laser sensors. When capturing, the mechanism is first inserted into the satellite engine nozzle driven by the telescopic arm, and its end locking mechanism is inserted into the throat of the nozzle, and then the expansion mechanism is opened, and finally the throat of the nozzle is locked, and the capture is finally completed. The sensor is used To sense the collision with the target nozzle and to sense whether the locking mechanism reaches the locking position. When this mechanism is used to capture target satellites, the effective distance is 0.7m, which is short and cannot be widely applied to targets other than communication satellites. Secondly, this mechanism needs to extend the end locking mechanism into the throat of the engine nozzle to complete the locking. Tight, so the requirements for the shape and size of the tail nozzle are relatively high. If the throat size of the engine tail nozzle is smaller than the terminal mechanism or the size of the engine tail nozzle is too large and the mechanism cannot be locked after expansion, the capture method cannot be carried out. Single and insufficiently stable.
2018年欧洲发射卫星，测试太空垃圾清理回收的可能性，即RemoveDEBRIS任务，该次任务中使用“太空鱼叉”将较大的太空垃圾击碎，击碎的垃圾通过垃圾收集网和脱轨装置进入大气层自行焚毁。“太空鱼叉”上设有倒钩，经过平台推动后穿透目标，倒钩打开防止鱼叉脱落，鱼叉的尾部通过系绳与平台相连，将大块的目标拖曳控制。利用“太空鱼叉”装置清除目标物会不可避免地对目标造成损坏并产生新的碎片，而且，并不能对目标进行消旋，在拖曳控制时会较难控制目标物的姿态。In 2018, Europe launched a satellite to test the possibility of cleaning up and recycling space debris, the RemoveDEBRIS mission. In this mission, a "space harpoon" was used to crush larger space debris. The crushed debris entered through the garbage collection net and deorbiting device. The atmosphere incinerates itself. The "space harpoon" is equipped with barbs, which penetrate the target after being pushed by the platform. The barbs open to prevent the harpoon from falling off. The tail of the harpoon is connected to the platform through a tether to drag and control large targets. Using the "space harpoon" device to clear the target will inevitably cause damage to the target and produce new debris. Moreover, the target cannot be despinned, and it will be difficult to control the attitude of the target during towing control.
欧洲航天局(European Space Agency,ESA)的e.Deorbit计划中采用的器械臂、触须、网捕、离子束引导等方法更加关注于捕获是否成功，在捕获过程的稳定与高效方面仍有所不足；MDA抓捕机构、ADRexp项目以及Restore-L抓捕机构以锁紧对接环的方式对接固定，OHB抓捕机构直接抓取目标，但都是在抓捕完成之后再控制目标航天器的稳定，这一过程均不够高效快捷。Methods such as instrument arms, tentacles, net capture, and ion beam guidance used in the European Space Agency's (ESA) e.Deorbit program focus more on the success of capture, and there are still shortcomings in the stability and efficiency of the capture process. ;The MDA capture mechanism, the ADRexp project and the Restore-L capture mechanism are docked and fixed by locking the docking ring. The OHB capture mechanism directly captures the target, but controls the stability of the target spacecraft after the capture is completed. This process is not efficient and fast enough.
发明内容Contents of the invention
本发明提供了一种高适用性的太空目标捕获装置，解决现有抓捕装置适用性差的问题。The invention provides a highly applicable space target capturing device, which solves the problem of poor applicability of existing capturing devices.
一种高适用性的太空目标捕获装置，包括：卫星基础平台、用于抓取捕获目标外表面的外壁锁紧机构以及对捕获目标上的喷管进行固定的喷管外轮廓锁紧机构与喷管喷喉锁紧机构；A highly adaptable space target acquisition device, including: a satellite basic platform, an outer wall locking mechanism for grabbing the outer surface of the acquisition target, and a nozzle outer contour locking mechanism and a nozzle for fixing the nozzle on the acquisition target. Pipe nozzle locking mechanism;
外壁锁紧机构包括第一伸缩杆、伸缩旋转机械臂，多根伸缩旋转机械臂连接在第一伸缩杆上；The outer wall locking mechanism includes a first telescopic rod and a telescopic rotating mechanical arm, and multiple telescopic rotating mechanical arms are connected to the first telescopic rod;
喷管外轮廓锁紧机构包括第二伸缩杆与卡爪，卡爪活动连接在第二伸缩杆上；The nozzle outer contour locking mechanism includes a second telescopic rod and a claw, and the claw is movably connected to the second telescopic rod;
喷管喷喉锁紧机构包括第三伸缩杆与喷喉锁紧件，喷喉锁紧件设置在第三伸缩杆的端部，喷喉锁紧件与喷管相适配；The nozzle throat locking mechanism includes a third telescopic rod and a nozzle locking piece. The nozzle locking piece is set at the end of the third telescopic rod. The nozzle locking piece is adapted to the nozzle;
第一伸缩杆、第二伸缩杆与第三伸缩杆由外至内依次同轴设置，第二伸缩杆嵌套在第一伸缩杆内，第三伸缩杆嵌套在第二伸缩杆内。The first telescopic rod, the second telescopic rod and the third telescopic rod are arranged coaxially from the outside to the inside. The second telescopic rod is nested in the first telescopic rod, and the third telescopic rod is nested in the second telescopic rod.
进一步地，上述伸缩旋转机械臂包括可伸缩旋转的水平段与铰接在水平段上的竖直段，竖直段的端部设有机械爪。Further, the above-mentioned telescopic rotating mechanical arm includes a telescopic and rotating horizontal section and a vertical section hinged on the horizontal section, and a mechanical claw is provided at the end of the vertical section.
进一步地，上述卡爪呈多曲弧形结构，其一端转动连接在第二伸缩杆的外侧壁上，另一端与喷管外壁相接，多个卡爪通过收缩支架连接。Further, the above-mentioned claws have a multi-curved arc structure, one end of which is rotatably connected to the outer wall of the second telescopic rod, the other end is connected to the outer wall of the nozzle, and the plurality of claws are connected through a shrinking bracket.
进一步地，上述收缩支架为环状结构，套设在第三伸缩杆的外壁且与卡爪通过电动收缩杆相连接。Furthermore, the above-mentioned shrinking bracket is an annular structure, which is sleeved on the outer wall of the third telescopic rod and connected with the claw through the electric shrinking rod.
进一步地，上述喷喉锁紧件内部设有拉杆，喷喉锁紧件的顶端固定有膨胀头，膨胀头与拉杆连接且通过拉杆控制膨胀大小。Further, a pull rod is provided inside the above-mentioned nozzle locking piece, and an expansion head is fixed on the top of the nozzle locking piece. The expansion head is connected to the pull rod and the expansion size is controlled through the pull rod.
进一步地，上述卫星基础平台的外壁上设有多组姿态调整发动机。Further, multiple sets of attitude adjustment engines are provided on the outer wall of the above-mentioned satellite basic platform.
进一步地，上述卫星基础平台通过力矩电机与第一伸缩杆连接。Further, the above-mentioned satellite base platform is connected to the first telescopic rod through a torque motor.
本发明具有以下有益效果：The invention has the following beneficial effects:
(1)本发明装置设置了三种相互配合的锁紧机构，可用于捕获不同体积、不同形态的太空漂浮目标；对于有尾喷管的目标物，可通过喷管外轮廓锁紧机构或/和喷管喷喉锁紧机构固定目标物，对于体积较大的目标物，可调整伸缩旋转机械臂并通过机械爪固定住目标物，在完成目标物的捕获后再进行消旋，降低了捕获的难度，减少了对目标物的破坏。(1) The device of the present invention is equipped with three locking mechanisms that cooperate with each other, and can be used to capture space floating targets of different volumes and shapes; for targets with tail nozzles, the nozzle outer contour locking mechanism or/ and the nozzle throat locking mechanism to fix the target. For larger targets, the telescopic rotating mechanical arm can be adjusted and the target can be fixed through the mechanical claw. After the target is captured, the target is raced, which reduces the capture time. The difficulty reduces the damage to the target object.
(2)本发明装置采用多级锁紧机构协同配合，相较于单一的锁紧抓捕方式，抓捕过程的稳定性高，可以抓捕大体积、大质量的目标物，适用范围广。(2) The device of the present invention uses a multi-stage locking mechanism to cooperate. Compared with a single locking and capturing method, the capturing process is more stable, can capture large-volume and large-mass targets, and has a wide range of applications.
(3)使用本发明的装置捕获太空目标物速度快、捕获效率高。(3) Using the device of the present invention to capture space targets is fast and the capture efficiency is high.
附图说明Description of the drawings
图1为本发明装置的立体结构示意图；Figure 1 is a schematic three-dimensional structural diagram of the device of the present invention;
图2为本发明中喷管外轮廓锁紧机构的结构示意图；Figure 2 is a schematic structural diagram of the outer contour locking mechanism of the nozzle in the present invention;
图3为本发明中喷管外轮廓锁紧机构锁紧喷管的示意图；Figure 3 is a schematic diagram of the nozzle outer contour locking mechanism locking the nozzle in the present invention;
图4为本发明中喷喉锁紧件的结构示意图；Figure 4 is a schematic structural diagram of the nozzle locking member in the present invention;
图5为本发明中喷管喷喉锁紧机构锁紧喷管的示意图；Figure 5 is a schematic diagram of the nozzle nozzle throat locking mechanism locking the nozzle in the present invention;
图6为本发明中外壁锁紧机构的结构示意图；Figure 6 is a schematic structural diagram of the outer wall locking mechanism in the present invention;
图7为运用本发明装置捕获目标卫星后的示意图；Figure 7 is a schematic diagram after using the device of the present invention to capture the target satellite;
图8为本发明中外壁锁紧机构锁紧目标卫星的局部放大图。Figure 8 is a partial enlarged view of the outer wall locking mechanism locking the target satellite in the present invention.
图中：10-卫星基础平台；101-姿态调整发动机；102-力矩电机；20-外壁锁紧机构；201-第一伸缩杆；202-伸缩旋转机械臂；2021-水平段；2022-竖直段；203-机械爪；30-喷管外轮廓锁紧机构；301-第二伸缩杆；302-卡爪；303-收缩支架；40-喷管喷喉锁紧机构；401-第三伸缩杆；402-喷喉锁紧件；50-捕获目标；501-喷管。In the picture: 10-Satellite basic platform; 101-Attitude adjustment engine; 102-Torque motor; 20-Outer wall locking mechanism; 201-First telescopic rod; 202-Telescopic rotating mechanical arm; 2021-Horizontal section; 2022-Vertical Section; 203-mechanical claw; 30-nozzle outer contour locking mechanism; 301-second telescopic rod; 302-claw; 303-shrinking bracket; 40-nozzle throat locking mechanism; 401-third telescopic rod ; 402-nozzle locking piece; 50-capture target; 501-nozzle.
具体实施方式Detailed ways
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below with reference to the accompanying drawings. The examples cited are only used to explain the present invention and are not intended to limit the scope of the present invention.
参考图1、图7与图8，本发明提供了一种高适用性的太空目标捕获装置，包括：卫星基础平台10、用于抓取捕获目标50外表面的外壁锁紧机构20以及对捕获目标50上的喷管501进行固定的喷管外轮廓锁紧机构30与喷管喷喉锁紧机构40；Referring to Figures 1, 7 and 8, the present invention provides a highly adaptable space target capture device, including: a satellite base platform 10, an outer wall locking mechanism 20 for grabbing the outer surface of the capture target 50, and a capture target 50. The nozzle outer contour locking mechanism 30 and the nozzle throat locking mechanism 40 fix the nozzle 501 on the target 50;
其中，卫星基础平台10用于为整体装置提供动力，同时跟踪待捕获的捕获目标50并采集相关参数，完成参数的统计和与地面实现信息的传输。Among them, the satellite basic platform 10 is used to provide power for the overall device, while tracking the capture target 50 to be captured and collecting relevant parameters, completing parameter statistics and transmitting information with the ground.
卫星基础平台10的外形为八棱柱结构，侧面外壁上均匀设置有多组姿态调整发动机101，用于调整捕获装置的在轨运行姿态，为下一步锁紧捕获目标50做好准备。The shape of the satellite basic platform 10 is an octagonal prism structure, and multiple sets of attitude adjustment engines 101 are evenly arranged on the side outer walls, which are used to adjust the on-orbit operating attitude of the capture device and prepare for the next step of locking and capturing the target 50 .
外壁锁紧机构20、喷管外轮廓锁紧机构30与喷管喷喉锁紧机构40均设置卫星基础平台10的底面上。The outer wall locking mechanism 20 , the nozzle outer contour locking mechanism 30 and the nozzle throat locking mechanism 40 are all disposed on the bottom surface of the satellite base platform 10 .
外壁锁紧机构20包括第一伸缩杆201、伸缩旋转机械臂202，四根伸缩旋转机械臂202等间距地连接在第一伸缩杆201的外侧壁上。The outer wall locking mechanism 20 includes a first telescopic rod 201 and a telescopic rotating mechanical arm 202. Four telescopic rotating mechanical arms 202 are connected to the outer wall of the first telescopic rod 201 at equal intervals.
参考图6，伸缩旋转机械臂202包括可伸缩旋转的水平段2021与铰接在水平段2021上的竖直段2022；其中，水平段2021一般为两节伸缩杆通过轴承旋转相连接，轴承连接外设有保护轴套，连接在一起的水平段2021一端与第一伸缩杆201相连接，另一端与竖直段2022铰接，竖直段2022可在水平段2021的端部旋转；竖直段2022可根据需要设置多节伸缩杆，相邻各节伸缩杆之间通过轴承转动连接，竖直段2022的顶部设有机械爪203，通过机械爪203可对捕获目标50的姿态调整发动机、太阳能帆板与卫星连接处等可抓取位点进行抓取与锁定。由于伸缩旋转机械臂202的水平段2021可在垂直于第一伸缩杆201的方向伸缩旋转，竖直段2022可在平行于第一伸缩杆201的方向伸缩旋转，外壁锁紧机构20可以对不同体积、不同外形轮廓的捕获目标50进行锁紧。Referring to Figure 6, the telescopic rotating mechanical arm 202 includes a telescopic and rotating horizontal section 2021 and a vertical section 2022 hinged on the horizontal section 2021; wherein the horizontal section 2021 is generally a two-section telescopic rod connected by rotation through a bearing, and the bearing is connected to the outside. A protective sleeve is provided. One end of the connected horizontal section 2021 is connected to the first telescopic rod 201, and the other end is hinged to the vertical section 2022. The vertical section 2022 can rotate at the end of the horizontal section 2021; the vertical section 2022 Multiple sections of telescopic rods can be provided as needed. Adjacent sections of the telescopic rods are connected through bearing rotation. The top of the vertical section 2022 is provided with a mechanical claw 203. The mechanical claw 203 can adjust the attitude of the captured target 50. The engine and solar sail can be adjusted. Grab and lock at graspable locations such as the connection between the board and the satellite. Since the horizontal section 2021 of the telescopic rotating mechanical arm 202 can telescope and rotate in a direction perpendicular to the first telescopic rod 201, and the vertical section 2022 can telescope and rotate in a direction parallel to the first telescopic rod 201, the outer wall locking mechanism 20 can adjust different Capture targets 50 with different volumes and contours are locked.
参考图2与图3，喷管外轮廓锁紧机构30包括第二伸缩杆301与卡爪302，四个相同的卡爪302转动连接在第二伸缩杆301的外壁面上。第二伸缩杆301的外壁面上设有铰座，卡爪302的一端与铰座铰接，卡爪302呈多曲弧形结构，用于抓捕捕获目标50上的喷管501，四个卡爪302的内侧设有收缩支架303并通过收缩支架303连接。Referring to Figures 2 and 3, the nozzle outer contour locking mechanism 30 includes a second telescopic rod 301 and claws 302. Four identical claws 302 are rotationally connected to the outer wall of the second telescopic rod 301. The outer wall of the second telescopic rod 301 is provided with a hinge seat. One end of the claw 302 is hinged with the hinge seat. The claw 302 has a multi-curved arc structure and is used to capture the nozzle 501 on the target 50. The four claws are The inner side of the claw 302 is provided with a shrinking bracket 303 and is connected through the shrinking bracket 303 .
收缩支架303为环状结构，套设在第三伸缩杆401的外壁且与卡爪302通过电动收缩杆相连接，当需要卡爪302抓取和锁紧喷管501时，电动收缩杆先伸长使卡爪302间的间距增大，便于喷管501进入卡爪302的多曲弧形内侧，待喷管501进入卡爪302内侧的合适位置后，电动收缩杆开始收缩，使卡爪302夹紧在喷管501的外壁上。电动收缩杆与卫星基础平台10电信连接，电动收缩杆的动力由卫星基础平台10提供，电动收缩杆的动作由卫星基础平台10所控制。The shrink bracket 303 is an annular structure, which is sleeved on the outer wall of the third telescopic rod 401 and is connected to the claw 302 through the electric shrink rod. When the claw 302 needs to grab and lock the nozzle 501, the electric shrink rod extends first. The longer the distance between the claws 302 is, the easier it is for the nozzle 501 to enter the multi-curved inside of the claws 302. After the nozzle 501 enters the appropriate position inside the claws 302, the electric contraction rod begins to shrink, causing the claws 302 to Clamped on the outer wall of the nozzle 501. The electric retractable rod is connected to the satellite basic platform 10 by telecommunications. The power of the electric retractable rod is provided by the satellite basic platform 10, and the movement of the electric retractable rod is controlled by the satellite basic platform 10.
参考图4与图5，喷管喷喉锁紧机构40包括第三伸缩杆401与喷喉锁紧件402，喷喉锁紧件402设置在第三伸缩杆401的端部，喷喉锁紧件402与喷管501相适配，用于插入喷管501的内部并配合喷管外轮廓锁紧机构30锁紧捕获目标50。Referring to Figures 4 and 5, the nozzle nozzle locking mechanism 40 includes a third telescopic rod 401 and a nozzle locking part 402. The nozzle locking part 402 is provided at the end of the third telescopic rod 401, and the nozzle locking The piece 402 is adapted to the nozzle 501 and is used to be inserted into the interior of the nozzle 501 and cooperate with the outer contour locking mechanism 30 of the nozzle to lock the capture target 50 .
喷喉锁紧件402与喷管501的内壁形状相匹配，既要保证喷喉锁紧件402可以顺利插入喷管501，同时也要确保可以锁紧喷管501。喷喉锁紧件402的内部设有拉杆，喷喉锁紧件402的顶端固定有膨胀头，膨胀头与拉杆连接且通过拉杆控制其膨胀大小。膨胀头为耐高温橡胶材质，呈椭球状，内部中空，其长轴所在轴线与第三伸缩杆401的轴向相同，当拉杆拉动时膨胀头长轴方向收缩，短轴方向扩张，使膨胀头卡在喷管501的内部。拉杆与卫星基础平台10电信连接，拉杆的动力由卫星基础平台10提供，拉杆的拉伸由卫星基础平台10控制。The nozzle locking piece 402 matches the shape of the inner wall of the nozzle 501, which not only ensures that the nozzle locking piece 402 can be inserted into the nozzle 501 smoothly, but also ensures that the nozzle 501 can be locked. A pull rod is provided inside the nozzle locking member 402, and an expansion head is fixed on the top of the nozzle locking member 402. The expansion head is connected to the pull rod and its expansion size is controlled by the pull rod. The expansion head is made of high-temperature resistant rubber material and is ellipsoid-shaped with a hollow interior. Its long axis is in the same axis as the third telescopic rod 401. When the pull rod is pulled, the expansion head contracts in the long axis direction and expands in the short axis direction, causing the expansion head to stuck inside the nozzle 501. The pull rod is connected to the satellite basic platform 10 by telecommunications. The power of the pull rod is provided by the satellite basic platform 10 , and the stretching of the pull rod is controlled by the satellite basic platform 10 .
喷管501一般呈喇叭形，小端开口连接在捕获目标50上，大端开口朝向外侧，其内部的结构也是呈弧形，开口的两端内径较大，中部的内径较小。The nozzle 501 is generally in the shape of a trumpet, with the small end opening connected to the capture target 50 and the large end opening facing the outside. Its internal structure is also arc-shaped, with larger inner diameters at both ends of the opening and smaller inner diameter in the middle.
本实施例中的捕获目标50一般是卫星，为非合作目标物，也简称为目标物。The capture target 50 in this embodiment is generally a satellite, which is a non-cooperative target, also referred to as a target for short.
第一伸缩杆201、第二伸缩杆301与第三伸缩杆401由外至内依次同轴共线设置，第二伸缩杆301嵌套在第一伸缩杆201内，第三伸缩杆401嵌套在第二伸缩杆301内；各个伸缩杆的动作之间相互独立，以适应抓取不同捕获目标50时锁紧机构之间的协同配合。The first telescopic rod 201, the second telescopic rod 301 and the third telescopic rod 401 are arranged coaxially and collinearly from the outside to the inside. The second telescopic rod 301 is nested in the first telescopic rod 201, and the third telescopic rod 401 is nested in the first telescopic rod 201. In the second telescopic rod 301, the actions of each telescopic rod are independent of each other to adapt to the cooperative cooperation between the locking mechanisms when grabbing different capture targets 50.
卫星基础平台10的底面安装有力矩电机102，力矩电机102的输出轴与第一伸缩杆201连接，通过力矩电机102可带动外壁锁紧机构20旋转，实现对捕获目标50的消旋工作。A torque motor 102 is installed on the bottom surface of the satellite base platform 10 . The output shaft of the torque motor 102 is connected to the first telescopic rod 201 . The torque motor 102 can drive the outer wall locking mechanism 20 to rotate, thereby realizing the derotation of the captured target 50 .
值得一提的是，多级锁紧机构可同时对体积、质量较大的捕获目标50起到锁紧作用，具有更加良好的锁紧效果，大大提高了消旋阶段的稳定性。It is worth mentioning that the multi-stage locking mechanism can simultaneously lock the capture target 50 with larger volume and mass, has a better locking effect, and greatly improves the stability of the racemization stage.
运用本发明捕获装置的抓捕过程如下：The capture process using the capture device of the present invention is as follows:
(1)靠近并到达预备抓捕位置：当卫星基础平台10的雷达检测到捕获目标50后，卫星基础平台10靠近捕获目标50，并依靠姿态调整发动机101到达预备抓捕位置，该位置为与捕获目标50旋转轴共线且靠近捕获目标50的喷管501一侧的位置。(1) Approach and reach the preparatory capture position: When the radar of the satellite base platform 10 detects the capture target 50, the satellite base platform 10 approaches the capture target 50 and relies on the attitude adjustment engine 101 to reach the preparatory capture position. This position is The rotation axes of the capture target 50 are collinear and close to a position on one side of the nozzle 501 of the capture target 50 .
(2)对捕获目标50的运行参数和外形参数初步判断：当卫星基础平台10运动到预备抓捕位置时，卫星基础平台10通过视觉、雷达等测量方式，得到捕获目标50自旋角速度的大小与方向，并对捕获目标50的体积和质量进行初步的判断，一般有三种情况：(2) Preliminary judgment on the operating parameters and appearance parameters of the captured target 50: When the satellite basic platform 10 moves to the preparatory capture position, the satellite basic platform 10 obtains the spin angular velocity of the captured target 50 through visual, radar and other measurement methods. and direction, and make a preliminary judgment on the volume and mass of the captured target 50. There are generally three situations:
情况一：捕获目标50的质量、体积较小，喷管501未内嵌；Situation 1: The mass and volume of the captured target 50 are small, and the nozzle 501 is not embedded;
情况二：捕获目标50的质量、体积较小，喷管501内嵌；Scenario 2: The mass and volume of the captured target 50 are small, and the nozzle 501 is embedded;
情况三：捕获目标50的体积较大。Scenario 3: The captured target 50 is larger in size.
(3)旋转伸缩旋转机械臂202获得角速度：在得到捕获目标50的自旋角速度后，卫星基础平台10通过力矩电机102为锁紧机构提供轴向转动力矩，使锁紧机构获得与捕获目标50相同的角速度。(3) Rotate the telescopic rotating manipulator 202 to obtain the angular velocity: After obtaining the spin angular velocity of the captured target 50, the satellite base platform 10 provides the locking mechanism with axial rotational torque through the torque motor 102, so that the locking mechanism obtains and captures the target 50. same angular velocity.
(4)锁紧机构伸长、接触捕获目标50并锁紧：在情况一中，当捕获目标50质量、体积较小，且喷管501未内嵌时，即喷管501暴露在卫星整体外时，第二伸缩杆301伸长，卡爪302对捕获目标50的喷管501进行整体抓取并施加压力实现锁紧。(4) The locking mechanism extends, contacts and locks the capture target 50: In case 1, when the mass and volume of the capture target 50 are small, and the nozzle 501 is not embedded, that is, the nozzle 501 is exposed outside the entire satellite. When the second telescopic rod 301 is extended, the claw 302 grabs the nozzle 501 of the capture target 50 as a whole and applies pressure to lock it.
在情况二中，当捕获目标50质量、体积较小，且喷管501内嵌，即喷管501未暴露在卫星整体外时，第二伸缩杆301伸长，且嵌套于第二伸缩杆301内的第三伸缩杆401伸出，使喷喉锁紧件402伸入到喷管501内部，喷喉锁紧件402在经过喷管501的喷喉后，通过拉杆使膨胀头膨胀，喷喉锁紧件402卡紧在喷管501内；同时，回缩第一伸缩杆201，喷喉内的喷喉锁紧件402对捕获目标50有指向卫星基础平台10的支持力，而第二伸缩杆301上的卡爪302对捕获目标50有背离卫星基础平台10的支持力，两个反方向的支持力对捕获目标50起到了锁紧效果。In case two, when the mass and volume of the capture target 50 are small, and the nozzle 501 is embedded, that is, when the nozzle 501 is not exposed outside the entire satellite, the second telescopic rod 301 is extended and nested in the second telescopic rod The third telescopic rod 401 in 301 extends, so that the nozzle locking member 402 extends into the inside of the nozzle 501. After passing through the nozzle throat of the nozzle 501, the nozzle locking member 402 expands the expansion head through the pull rod, and the nozzle locking member 402 expands the expansion head through the pull rod. The throat locking piece 402 is clamped in the nozzle 501; at the same time, when the first telescopic rod 201 is retracted, the nozzle locking piece 402 in the nozzle has a supporting force for the capture target 50 to point to the satellite base platform 10, and the second The claws 302 on the telescopic rod 301 have a supporting force on the captured target 50 away from the satellite base platform 10, and the two supporting forces in opposite directions have a locking effect on the captured target 50.
在情况三中，当捕获目标50体积较大时，先根据喷管501是否内嵌，分别对应情况一或情况二的锁紧方案；同时由于捕获目标50体积较大，在使用情况一与情况二锁紧方案的基础上，第一伸缩杆201伸长，伸缩旋转机械臂202伸长和旋转，使机械爪203抓取在捕获目标50的外壁上，实现锁紧，抓取位点一般为捕获目标50表面的姿态发动机或者卫星与太阳帆板连接处。In case three, when the captured target 50 is large in size, the locking scheme corresponding to case one or case two is first determined according to whether the nozzle 501 is embedded or not. At the same time, because the captured target 50 is large in volume, the locking scheme in case one and case two are used. Based on the second locking scheme, the first telescopic rod 201 is extended, and the telescopic rotating mechanical arm 202 is extended and rotated, so that the mechanical claw 203 is grasped on the outer wall of the capture target 50 to achieve locking. The grasping position is generally Capture the attitude engine on the surface of the target 50 or the connection between the satellite and the solar panel.
(5)通过力矩电机102进行消旋：锁紧机构与捕获目标50连成一个组合体，卫星基础平台10通过旋转轴为力矩电机102提供反方向的消旋力矩，使组合体的旋转角速度逐步减小至零，完成消旋。(5) De-rotation through the torque motor 102: the locking mechanism and the capture target 50 are connected into an assembly, and the satellite base platform 10 provides the torque motor 102 with a counter-rotation torque in the opposite direction through the rotation axis, so that the rotation angular speed of the assembly gradually increases. Decrease to zero and complete racemization.
(6)抓捕成功：在完成消旋后，通过伸缩杆对捕获目标50进行回收，结束抓捕任务。(6) Successful capture: After the race is completed, the capture target 50 is recovered through the telescopic rod, ending the capture mission.
本发明装置在获取捕获目标50的运动状态数据后，只调整锁紧机构姿态以及末端旋转角速度再进行下一步抓捕消旋，大大降低了技术难度，减少了对捕获目标50的破坏，使抓捕过程更稳定，适用范围也更广。After acquiring the motion status data of the captured target 50, the device of the present invention only adjusts the posture of the locking mechanism and the terminal rotation angular speed before proceeding to the next step of capturing and desynchronizing, which greatly reduces the technical difficulty, reduces the damage to the captured target 50, and makes the capture easier. The catching process is more stable and the scope of application is wider.
以上所述仅为本发明的较优实施例，这些实施例不代表本发明的所有可能形式，本发明的保护范围并不局限于这样的特别陈述和实施例。根据本发明公开的这些技术启示做出各种不脱离本发明实质的其它各种变形与改进，这些变形与改进仍然在本发明的保护范围内。The above descriptions are only preferred embodiments of the present invention. These embodiments do not represent all possible forms of the present invention, and the protection scope of the present invention is not limited to such specific statements and embodiments. Various other modifications and improvements can be made based on the technical inspiration disclosed in the present invention without departing from the essence of the present invention, and these modifications and improvements are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310505527.9ACN116812178A (en) | 2023-05-06 | 2023-05-06 | Space target capturing device with high applicability |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310505527.9ACN116812178A (en) | 2023-05-06 | 2023-05-06 | Space target capturing device with high applicability |
| Publication Number | Publication Date |
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| CN116812178Atrue CN116812178A (en) | 2023-09-29 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202310505527.9APendingCN116812178A (en) | 2023-05-06 | 2023-05-06 | Space target capturing device with high applicability |
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