Flexible capturing device for small satellites

Abstract

The invention discloses a small satellite flexible capturing device, and relates to a capturing device. The invention aims to solve the problem that the existing high-orbit large-scale satellite platform cannot meet the space and bearing requirements required by installation. The device comprises a butt joint cone part and a flexible capturing part, the butt joint cone part is installed on the outer surface of a passive satellite shell, and the flexible capturing part is installed on the outer surface of an active satellite shell. The invention belongs to the technical field of aerospace.

Description

Technical Field

[0001] The invention relates to a capture device and belongs to the technical field of aerospace. Background Art

[0002] Space on-orbit service technology is one of the important criteria for measuring a country's space level. Countries around the world have launched thousands of spacecraft with different purposes, such as satellites, space stations and various probes. During the period of these spacecraft's operation in orbit, they have initially realized the development and utilization of space and improved people's quality of life in all aspects. my country is the third country to possess the important core technology of space rendezvous and docking. Space rendezvous and docking technology has played an irreplaceable role in maintaining my country's space station operations, assembling large satellite platforms in high orbit, providing on-orbit services for spacecraft, and completing manned space flight.

[0003] There are two main types of large-scale space rendezvous and docking mechanisms: heterogeneous isomorphic docking mechanisms and rod-cone docking mechanisms. The heterogeneous isomorphic peripheral type was initially developed by experts from the United States and the Soviet Union and was used in the docking mission between the US Apollo and the Soviet Union's Soyuz. In 1967, the rod-cone docking mechanism developed by the Soviet Union was successfully used in the docking of manned spacecraft and space station module cabins with the space station.

[0004] In order to achieve real-time, three-dimensional and precise observation of typical disastrous weather systems, it is necessary to improve the perspective observation level of the earth's atmosphere, water and other multi-spheres, and develop various types of large-payload high-orbit collaborative observation technologies. However, the current large-scale high-orbit satellite platforms cannot meet the space and load requirements for installation. Therefore, it is an inevitable choice to modularly design the entire satellite and assemble and construct it in orbit to build the system at low cost. However, the traditional rod-cone and heterogeneous isomorphic docking mechanisms will inevitably be affected by the impact effect of docking collision during the docking process due to their large mass. This makes it difficult for traditional docking mechanisms to meet the current mission requirements of lightweight docking mechanisms and low impact during the docking process in the field of on-orbit services.

[0005] Therefore, in the assembly of large high-orbit satellite platforms, designing a new type of satellite repeatable capture and docking mechanism with large capture domain, low impact, small structural size and lightweight is of great significance to meet the urgent needs of the development of space missions. Summary of the invention

[0006] The present invention aims to solve the problem that the existing high-orbit large satellite platform cannot meet the space and load requirements required for installation, and further proposes a small satellite flexible capture device.

[0007] The technical solution adopted by the present invention to solve the above problems is: the present invention comprises a docking cone part and a flexible capture part, the docking cone part is installed on the outer surface of the passive satellite shell, and the flexible capture part is installed on the outer surface of the active satellite shell.

[0008] Further, the butt-jointed cone part includes a screw rod, an iron plate, a rigid butt-jointed cone and a tower-shaped spring;

[0009] One end of the screw rod is fixedly connected to the outer surface of the passive satellite shell, the iron plate is fixed to the top of the rigid docking cone, and the tower-shaped spring is fixedly connected to the bottom of the rigid docking cone.

[0010] Furthermore, the tower-shaped spring is made of non-magnetic material, and the outer surface of the tower-shaped spring is covered with flexible material.

[0011] Further, the flexible capture portion includes an electromagnet, a first steel wire rope, a flexible spring rod, a cone seat assembly, a slider, a second steel wire rope and a rope winding assembly;

[0012] A slide groove is provided on the outer surface of the active satellite shell, and a slider is arranged in the slide groove, and the slider can slide along the inner wall of the slide groove in the slide groove. The cone seat assembly is installed on the outer surface of the active satellite shell, and the inner end of the flexible spring rod is inserted into the cone seat assembly. The electromagnet is connected to the outer end of the flexible spring rod, one end of the first steel wire rope is connected to the electromagnet, and the other end of the first steel wire rope passes through the interior of the flexible spring rod and is connected to one side of the slider. The other side of the slider is connected to the rope winding assembly through the second steel wire rope, and the rope winding assembly is fixed to the middle of the outer surface of the active satellite shell.

[0013] Further, the cone seat assembly includes a sleeve, a sleeve spring and a cone seat;

[0014] The cone seat is fixed on the outer surface of the active satellite shell, the sleeve spring is inserted into the cone seat from outside to inside, the sleeve is inserted into the sleeve spring, and the flexible spring rod is inserted into the sleeve.

[0015] Further, the rope winding assembly includes a drum, a bevel gear, and a rope winding motor;

[0016] The rope winding motor is fixed in the middle of the outer surface of the active satellite shell, the bevel gear is coaxially fixedly sleeved on the motor shaft of the rope winding motor, the bevel gear is meshed with the gear on the drum shaft of the drum, and the other end of the second wire rope is fixedly connected to the drum.

[0017] Further, the flexible capture portion also includes a tension spring and a third steel wire rope;

[0018] One end of the third steel wire rope is fixedly connected to the drum, the other end of the third steel wire rope is connected to one end of the tension spring, and the other end of the tension spring is connected to the other end of the second steel wire rope.

[0019] Further, the flexible capture portion also includes a compression spring;

[0020] The compression spring is installed in the slide groove, and the compression spring is located between the slider and the rope winding assembly.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention is a small satellite flexible capture mechanism, which can reliably capture a small satellite to facilitate subsequent rigid locking, keep the satellite stable and not be affected by external disturbances;

[0023] 2. The present invention adopts a rope-driven electromagnetic flexible capture mechanism, which has the characteristics of flexible posture adjustment, variable rigidity, and small impact force compared with the traditional rigid capture mechanism, and is more in line with the needs of on-orbit service and assembly of spacecraft;

[0024] 3. The present invention makes full use of the radial space inside the active satellite by changing the direction of the slide slot, so that the axial space inside the active satellite is reduced, the space utilization rate is improved, and the manufacturing and transportation costs are saved;

[0025] 4. The present invention provides a tension spring on the steel wire rope, which can ensure the synchronization of locking, compensate for the deformation of the rope system, and ensure the synchronization of pulling back the four flexible rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the flexible capture device;

[0027] Figure 2 It is the schematic diagram of the docking cone;

[0028] Figure 3 is a top view of the flexible capture portion;

[0029] Figure 4 It is a front view of the present invention;

[0030] Figure 5 is an axonometric view of the present invention;

[0031] Figures 1 to 4 Among them, 1-electromagnet, 2-first steel wire rope, 3-flexible spring rod, 4-sleeve, 5-sleeve spring, 6-cone seat, 7-slide groove, 8-slider, 9-second steel wire rope, 10-compression spring, 11-reel, 12-bevel gear, 13-rope winding motor, 14-screw, 15-iron plate, 16-rigid docking cone, 17-tower spring, 18-tension spring, 19-active satellite shell, 20-third steel wire rope, 21-passive satellite shell, 22-docking cone part, 23-flexible capture part. DETAILED DESCRIPTION

[0032] Specific implementation method 1: Figures 1 to 5 As shown, a small satellite flexible capture device includes a docking cone part 22 and a flexible capture part 23. The docking cone part 22 is installed on the outer surface of the passive satellite shell 21, and the flexible capture part 23 is installed on the outer surface of the active satellite shell 19.

[0033] Specific implementation method 2: Figures 1 to 5 As shown, based on the first embodiment, the butt cone part 22 includes a screw rod 14, an iron plate 15, a rigid butt cone 16 and a tower spring 17;

[0034] One end of the screw rod 14 is fixedly connected to the outer surface of the passive satellite housing 21 , the iron plate 15 is fixed to the top of the rigid docking cone 16 , and the tower-shaped spring 17 is fixedly connected to the bottom of the rigid docking cone 16 .

[0035] The conical spring 17 is made of non-magnetic material to avoid being adsorbed by the electromagnet 1, and is wrapped with a layer of flexible material with a small friction coefficient to prevent the electromagnet 1 from entering the gap of the conical spring 17 and getting stuck.

[0036] Specific implementation method three: Figures 1 to 5 As shown, on the basis of the first specific embodiment, the flexible capture part 23 includes an electromagnet 1, a first steel wire rope 2, a flexible spring rod 3, a cone seat assembly, a slider 8, a second steel wire rope 9 and a rope winding assembly;

[0037] The outer surface of the active satellite shell 19 is provided with a slide groove 7, and the slider 8 is arranged in the slide groove 7, and the slider 8 can slide in the slide groove 7 along the inner wall of the slide groove 7, the cone seat assembly is installed on the outer surface of the active satellite shell 19, the inner end of the flexible spring rod 3 is inserted on the cone seat assembly, the electromagnet 1 is connected to the outer end of the flexible spring rod 3, one end of the first steel wire rope 2 is linked to the electromagnet 1, and the other end of the first steel wire rope 2 passes through the interior of the flexible spring rod 3 and is connected to one side of the slider 8, and the other side of the slider 8 is connected to the rope winding assembly through the second steel wire rope 9, and the rope winding assembly is fixed to the middle of the outer surface of the active satellite shell 19.

[0038] Among them, the cone seat assembly includes a sleeve 4, a sleeve spring 5 and a cone seat 6; the cone seat 6 is fixed on the outer surface of the active satellite shell 19, the sleeve spring 5 is inserted into the cone seat 6 from the outside to the inside, the sleeve 4 is inserted into the sleeve spring 5, and the flexible spring rod 3 is inserted into the sleeve 4.

[0039] Among them, the rope winding assembly includes a drum 11, a bevel gear 12, and a rope winding motor 13; the rope winding motor 13 is fixed to the middle part of the outer surface of the active satellite shell 19, and the bevel gear 12 is coaxially fixed on the motor shaft of the rope winding motor 13. The bevel gear 12 is meshed with the gear on the drum shaft of the drum 11, and the other end of the second wire rope 9 is fixedly connected to the drum 11.

[0040] Among them, the flexible capture part 23 also includes a tension spring 18 and a third steel wire rope 20; one end of the third steel wire rope 20 is fixedly connected to the drum 11, the other end of the third steel wire rope 20 is connected to one end of the tension spring 18, and the other end of the tension spring 18 is connected to the other end of the second steel wire rope 9.

[0041] The capture part 23 further includes a compression spring 10; the compression spring 10 is installed in the slide groove 7, and the compression spring 10 is located between the slider 8 and the rope winding assembly.

[0042] Working process

[0043] In the initial capture stage, due to the error of the robotic arm, accurate docking cannot be achieved. The robotic arm operates the small satellite to move into the capture area of ​​the mechanism; as the docking cone moves downward, the tower spring 17 contacts the electromagnet 1, and the flexible spring rod 3 bends along the cone surface; the electromagnet 1 moves along the cone surface of the tower spring 17, gradually approaches and adsorbs the iron plate 15, thereby completing the initial capture; then, the rope winding motor 13 is started, driving the reel 11 to rotate, pulling back the second steel wire rope 9, so that the slider 8 drives the flexible spring rod 3 into the sleeve 4, further pulling the small satellite closer. Since the pulling back action of the four flexible spring rods is controlled by the rope winding motor 13, and the third steel wire rope 20 is connected to the second steel wire rope 9 by the tension spring 18, the displacement of all spring rods is consistent, ensuring that each electromagnet reaches the sleeve 4 at the same time, and continues to pull down a certain distance, compressing the sleeve spring for preliminary centering 5, and preparing for the subsequent rigid locking; finally, the cone seat 6 contacts the rigid docking cone 16 to achieve fixation during rigid locking.

[0044] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A small satellite flexible capture device, characterized in that: It comprises a docking cone part (22) and a flexible capture part (23), wherein the docking cone part (22) is installed on the outer surface of a passive satellite shell (21), and the flexible capture part (23) is installed on the outer surface of an active satellite shell (19).

2. A small satellite flexible capture device according to claim 1, characterized in that: The butt-jointed cone part (22) comprises a screw rod (14), an iron plate (15), a rigid butt-jointed cone (16) and a tower-shaped spring (17); One end of the screw rod (14) is fixedly connected to the outer surface of the passive satellite housing (21), the iron plate (15) is fixed to the top of the rigid docking cone (16), and the tower-shaped spring (17) is fixedly connected to the bottom of the rigid docking cone (16).

3. A small satellite flexible capture device according to claim 2, characterized in that: The conical spring (17) is made of non-magnetic material, and the outer surface of the conical spring (17) is covered with flexible material.

4. A small satellite flexible capture device according to claim 1, characterized in that: The flexible capture part (23) comprises an electromagnet (1), a first steel wire rope (2), a flexible spring rod (3), a cone seat assembly, a slider (8), a second steel wire rope (9) and a rope winding assembly; The outer surface of the active satellite shell (19) is provided with a slide groove (7), and the slider (8) is arranged in the slide groove (7), and the slider (8) can slide in the slide groove (7) along the inner wall of the slide groove (7), the cone seat assembly is installed on the outer surface of the active satellite shell (19), the inner end of the flexible spring rod (3) is inserted into the cone seat assembly, the electromagnet (1) is connected to the outer end of the flexible spring rod (3), one end of the first steel wire rope (2) is linked to the electromagnet (1), the other end of the first steel wire rope (2) passes through the inside of the flexible spring rod (3) and is connected to one side of the slider (8), the other side of the slider (8) is connected to the rope winding assembly through the second steel wire rope (9), and the rope winding assembly is fixed to the middle of the outer surface of the active satellite shell (19).

5. A small satellite flexible capture device according to claim 4, characterized in that: The cone seat assembly comprises a sleeve (4), a sleeve spring (5) and a cone seat (6); The cone seat (6) is fixed on the outer surface of the active satellite housing (19), the sleeve spring (5) is inserted into the cone seat (6) from the outside to the inside, the sleeve (4) is inserted into the sleeve spring (5), and the flexible spring rod (3) is inserted into the sleeve (4).

6. A small satellite flexible capture device according to claim 4, characterized in that: The rope winding assembly comprises a drum (11), a bevel gear (12), and a rope winding motor (13); The rope winding motor (13) is fixed to the middle part of the outer surface of the active satellite housing (19), the bevel gear (12) is coaxially fixedly sleeved on the motor shaft of the rope winding motor (13), the bevel gear (12) is meshed with the gear on the drum shaft of the drum (11), and the other end of the second steel wire rope (9) is fixedly connected to the drum (11).

7. A small satellite flexible capture device according to claim 6, characterized in that: The flexible capture portion (23) further comprises a tension spring (18) and a third steel wire rope (20); One end of the third steel wire rope (20) is fixedly connected to the drum (11), the other end of the third steel wire rope (20) is connected to one end of the tension spring (18), and the other end of the tension spring (18) is connected to the other end of the second steel wire rope (9).

8. A small satellite flexible capture device according to claim 4, characterized in that: The flexible capture portion (23) further comprises a compression spring (10); The compression spring (10) is installed in the slide groove (7), and the compression spring (10) is located between the slider (8) and the rope winding assembly.

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