A pendulum rod type space debris capturing mechanism

Abstract

A swing rod type space debris capturing mechanism belongs to a space capturing device. In order to solve the problem that the existing capturing device adopts a rope net type structure, multiple capturing of space debris in different positions can cause the captured space debris to fly out again, and the stability is poor. The arm rod is used for connecting a folding capturing frame and a deorbit device. The folding capturing frame comprises a back plate, a bent rib, a door frame, a swing rod type door curtain structure, a locking release mechanism and a capturing basket locking mechanism. The back plate and the door frame are oppositely arranged and connected through the bent rib. A net bag is arranged on the folding capturing frame and enclosed with the folding capturing frame to form a capturing cage with an entrance. The swing rod type door curtain structure is installed in the door frame and blocks the entrance of the capturing cage. The locking release mechanism is used for connecting and fixing the folding capturing frame with a satellite body. The capturing basket locking mechanism is used for ensuring that the folding capturing frame is in a gathering state. The present application is mainly used for capturing space debris.

Description

A pendulum-type space debris capture mechanism Technical Field

[0001] This invention pertains to space capture devices, and more particularly relates to a pendulum-type space debris capture and removal device. This device can capture and remove space debris, clearing space debris from space orbits and facilitating space missions. Background Technology

[0002] As humanity's exploration of space accelerates, the complexity and diversity of space missions are constantly increasing, leading to a rise in the number of spacecraft launched into space. This results in a growing amount of space debris generated by spacecraft in orbit due to malfunctions, fuel depletion, or collisions. In recent years, the amount of space debris has grown exponentially. This debris occupies valuable orbital resources for extended periods, threatening not only the safety of other operational spacecraft in orbit but also posing significant challenges to future space missions.

[0003] Major spacefaring nations around the world have gradually recognized the dangers of space debris and believe that actively removing space debris is the most direct and effective method. Foreign space agencies such as NASA and ESA began researching space debris removal technology as early as the 1980s, proposing many removal technology concepts, including robotic arm capture, laser ablation, flying nets, electrically powered cables, drag-increasing devices, and attachable deorbiting devices.

[0004] Chinese patent CN106335657B discloses a "six-traction device space debris net capture system," which employs a single-stage launch and mass block synchronous launch method and a concentric circle rope net folding and storage method. It includes: a launch subsystem consisting of a launcher, a net compartment, a buffer device, and a tether tension control device; and a flying net subsystem consisting of a rope net and mass blocks. The launcher, when approaching a predetermined distance from the target, pushes the mass blocks at a preset launch angle, causing the rope net to be pulled out of the net compartment and fully unfolded, thus capturing the target upon reaching the target position. The mass blocks are used to pull the rope net out, unfold it, and tighten the net opening to complete target capture. The number of mass blocks is at least three, and six mass blocks are optimized through analysis. The tether tension control device is connected to the flying net subsystem and to the target via the rope net to pull the captured target off the track. The rope net is encapsulated within the net compartment using a concentric circle encapsulation method, forming sufficient coverage space to completely surround the target. Although this patent can capture space debris and reduce the overall size of the device, it adopts a completely rope-net structure. For multiple captures of space debris from different locations, the captured space debris may fly out again, resulting in poor stability in space debris capture. Summary of the Invention

[0005] To solve the above-mentioned technical problems, this invention proposes a pendulum-type space debris capture mechanism. This device captures space debris while preventing it from escaping through the design of a pendulum-type curtain structure.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A swing arm space debris capture mechanism includes a boom, a folding capture frame, and a net.

[0008] The boom is used to connect the folding capture frame and the derailment device. One end of the boom is hinged to the derailment device, and the other end of the boom is hinged to the folding capture frame.

[0009] The foldable capture frame includes a back plate, bent ribs, a door frame, a swing-rod curtain structure, a locking and releasing mechanism, and a capture basket locking mechanism. The back plate and the door frame are arranged opposite to each other and are connected by bent ribs. The foldable capture frame can be unfolded and folded by straightening and bending the bent ribs.

[0010] The net is set on the foldable capture frame and together with the foldable capture frame to form a capture chamber with an entrance. The swing-arm curtain structure is a curtain structure with passive start and automatic closing functions. The swing-arm curtain structure is installed inside the door frame and blocks the entrance of the capture chamber. Space debris enters the capture chamber by impacting the swing-arm curtain structure and is blocked inside the capture chamber by the swing-arm curtain structure.

[0011] One end of the locking and releasing mechanism is installed on the folding capture frame, and the other end is installed on the satellite body. The locking and releasing mechanism is used to connect and fix the folding capture frame to the satellite body, while ensuring that the folding capture frame is in a folded state. The capture basket locking mechanism is installed on the back plate and the door frame. The capture basket locking mechanism is used to ensure that the folding capture frame is in a folded state.

[0012] Preferably, the swing rod door curtain structure includes two sets of swing rod mechanisms and two sets of swing rod fixing mechanisms; the two sets of swing rod mechanisms are arranged opposite each other at the top and bottom of the door frame and seal the door frame; the two sets of swing rod fixing mechanisms are installed in the middle of the door frame, with each set of swing rod fixing mechanisms corresponding to one set of swing rod mechanisms.

[0013] Preferably, each set of swing arm mechanisms includes a first rotating shaft, a repulsive coil group, an attractive coil group, and several swing arms arranged side by side. The first rotating shaft is fixedly installed on the door frame, and the swing arms are sleeved on the first rotating shaft and rotate around the central axis of the first rotating shaft. The repulsive coil group and the attractive coil group are respectively arranged on both sides of the door frame and vertically, wherein the repulsive coil group is horizontally installed on the door frame and located on the inner side of the door frame, and the attractive coil group is vertically installed on the door frame and located on the outer side of the door frame. Each swing arm is equipped with a repulsive permanent magnet and an attractive permanent magnet at one end near the first rotating shaft, wherein the repulsive permanent magnet is located on the inner side of the swing arm, and the attractive permanent magnet is located on the outer side of the swing arm.

[0014] Preferably, each set of swing arm fixing mechanisms includes two pyrotechnic devices and a non-metallic rope. The two pyrotechnic devices are respectively installed on the opposite outer walls of the door frame, and a first threading hole is opened at the position of the door frame corresponding to the pyrotechnic device. A second threading hole is opened on the swing arm. The non-metallic rope passes through the second threading hole on the swing arm and the first threading hole on the door frame, and is fixedly connected to the pyrotechnic devices at both ends.

[0015] Preferably, the bent rib is formed by connecting several carbon fiber rods in sequence, and a connecting hinge is provided between two adjacent carbon fiber rods; the carbon fiber rod at the first end is hinged to the back plate through a connecting hinge, and the carbon fiber rod at the last end is hinged to the door frame through a connecting hinge, wherein the connecting hinge has an automatic locking and positioning function.

[0016] Preferably, the connecting hinge includes a first hinge seat, a second hinge seat, a second rotating shaft, a torsion spring, a locking pin, a spring, and a locking sleeve; the second hinge seat is inserted into the first hinge seat and rotatably connected via the second rotating shaft; one side inner wall of the first hinge seat has a sequentially penetrating arc-shaped groove and a locking hole; one side wall of the second hinge seat has an insertion hole, which is opposite to the arc-shaped groove on the inner side wall of the first hinge seat; the locking sleeve is installed in the second hinge seat, and the mounting cavity in the locking sleeve communicates with the insertion hole on the second hinge seat; the locking pin and the spring are axially and sequentially installed in the mounting cavity of the locking sleeve, one end of the locking pin extends out of the locking sleeve and passes through the insertion hole on the second hinge seat to slide and connect with the arc-shaped groove on the first hinge seat, and the other end of the locking pin is connected to the spring, which is in a compressed state; the torsion spring is sleeved on the second rotating shaft, and the two ends of the torsion spring are respectively connected to the inner walls on both sides of the first hinge seat, and the middle end of the torsion spring is connected to the locking sleeve.

[0017] Preferably, the locking and releasing mechanism includes a first expansion joint, a first bushing, and a connecting base arranged coaxially; the first bushing is disposed between the back panel and the door frame, and the connecting base is installed on the satellite body; the first expansion joint passes through the first bushing and the connecting base and is fixedly installed on the back panel and the door frame.

[0018] Preferably, the capture basket locking mechanism includes a second expansion joint, a second bushing, and a fixing plate arranged coaxially; the second bushing is disposed between the back plate and the door frame, and the fixing plate is installed on the door frame; the second expansion joint passes through the second bushing and the fixing plate and is fixedly installed on the back plate.

[0019] Preferably, the boom is connected to the off-rail device via a connecting hinge; the boom is connected to the folding capture frame via a connecting hinge and a locking mechanism.

[0020] Preferably, the structure of the locking mechanism is the same as that of the capture basket locking mechanism;

[0021] The second bushing in the locking mechanism is disposed between the two side walls of the second hinge seat, the fixing plate is installed on one of the side walls of the first hinge seat, and the second expansion joint passes through the second bushing and the fixing plate and is fixedly installed on the other side wall of the first hinge seat.

[0022] The beneficial effects of this invention compared to the prior art are:

[0023] 1. This application ensures that the foldable capture frame remains stably folded before capture by employing a locking and releasing mechanism and a capture basket locking mechanism, thus reducing transport space. Simultaneously, upon arrival at the destination, a series of unlocking mechanisms—the locking and releasing mechanism, the capture basket locking mechanism, and the swing arm fixing mechanism—ensures the foldable capture frame unfolds orderly to a stable capture state. The foldable capture frame with a net can capture debris of varying sizes multiple times. After completing the capture task, it derails via a derailment device mounted on the arm and enters the graveyard track. This device features low cost, high capture efficiency, and effective reduction in fuel consumption.

[0024] 2. The locking release mechanism, capture basket locking mechanism and locking mechanism of this application all use expansion joints for unlocking, and the unlocking function can be realized by energizing, which is convenient and quick.

[0025] 3. In the lever mechanism of this application, the cooperation between the repulsive coil group and the repulsive permanent magnet, and the cooperation between the attractive coil group and the attractive permanent magnet, can prevent the escape of space debris while achieving the capture of space debris.

[0026] 4. In this application, the boom and the off-rail device, the boom and the folding capture frame, and the carbon fiber rod of the bent rib are all connected by connecting hinges. When no external force is applied, the connecting hinges can automatically reset due to the design of the torsion spring. Due to the design of the locking pin, spring and locking hole, the connecting hinges can automatically achieve the locking function after they reset. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0028] Figure 1 is a schematic diagram of the foldable capture frame in the folded state.

[0029] Figure 2 is a schematic diagram of the folded capture frame in the folded state.

[0030] Figure 3 is a schematic diagram of the structure after the capture device enters orbit and the foldable capture frame separates from the satellite body.

[0031] Figure 4 is a schematic diagram of the unfolding process of the foldable capture frame.

[0032] Figure 5 shows a schematic diagram of the fully unfolded foldable capture frame.

[0033] Figure 6 is a schematic diagram of the state of the foldable capture frame capturing space debris.

[0034] Figure 7 is a schematic diagram of the foldable capture frame filled with space debris.

[0035] Figure 8 is a schematic diagram of the state when the foldable capture frame is fully released.

[0036] Figure 9 is a magnified view of part B in Figure 2.

[0037] Figure 10 is a magnified view of part A in Figure 1.

[0038] Figure 11 is a schematic diagram of the boom structure.

[0039] Figure 12 is a schematic diagram of the connecting hinge.

[0040] Figure 13 is a schematic diagram of the connection between the boom and the folding capture frame.

[0041] Figure 14 is a schematic diagram of the rocker arm mechanism.

[0042] Figure 15 is a magnified view of a portion of point C in Figure 14.

[0043] Figure 16 is a schematic diagram of the bent rib structure.

[0044] Explanation of reference numerals in the attached drawings: 1-Arm; 2-Net bag; 3-Off-track device; 4-Back plate; 5-Bent rib; 5-1-Carbon fiber rod; 6-Door frame; 6-1-First threading hole; 7-Swing rod type door curtain structure; 7-1-First pivot; 7-2-Repulsion coil assembly; 7-2-1-Repulsion coil bracket; 7-2-2-Repulsion coil; 7-3-Attraction coil assembly; 7-3-1-Attraction coil bracket; 7-3-2-Attraction coil; 7-4-Swing rod; 7-4-1-Second threading hole; 7-5-Repulsion permanent magnet; 7-6-Attraction permanent magnet 7-7-Pyrotechnics; 7-8-Non-metallic rope; 8-Locking and releasing mechanism; 8-1-First expansion joint; 8-2-First bushing; 8-3-Connecting base; 9-Capture basket locking mechanism; 9-1-Second expansion joint; 9-2-Second bushing; 10-Space debris; 11-Connecting hinge; 11-1-First hinge seat; 11-1-1-Arc-shaped groove; 11-1-2-Locking hole; 11-2-Second hinge seat; 11-3-Second rotating shaft; 11-4-Torsion spring; 11-5-Locking sleeve; 12-Locking mechanism. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0046] Referring to Figures 1 to 16, this application embodiment provides a swing arm type space debris capture mechanism, which includes an arm 1, a foldable capture frame and a net 2;

[0047] The arm 1 is used to connect the foldable capture frame and the off-track device 3. One end of the arm 1 is hinged to the off-track device 3, and the other end of the arm 1 is hinged to the foldable capture frame.

[0048] The foldable capture frame includes a back plate 4, a bent rib 5, a door frame 6, a swing rod curtain structure 7, a locking and releasing mechanism 8, and a capture basket locking mechanism 9. The back plate 4 and the door frame 6 are arranged opposite to each other and are connected by the bent rib 5. The foldable capture frame can be unfolded and folded by straightening and bending the bent rib 5.

[0049] The net 2 is set on the foldable capture frame and together with the foldable capture frame to form a capture chamber with an entrance. The swing-arm curtain structure 7 is a curtain structure with passive start and automatic closing functions. The swing-arm curtain structure 7 is installed inside the door frame 6 and blocks the entrance of the capture chamber. The space debris 10 enters the capture chamber by impacting the swing-arm curtain structure 7 and is blocked inside the capture chamber by the swing-arm curtain structure 7.

[0050] One end of the locking and releasing mechanism 8 is installed on the folding capture frame, and the other end of the locking and releasing mechanism 8 is installed on the satellite body. It is used to connect and fix the folding capture frame to the satellite body, and at the same time ensure that the folding capture frame is in a folded state. The capture basket locking mechanism 9 is installed on the back plate 4 and the door frame 6. The capture basket locking mechanism 9 is used to ensure that the folding capture frame is in a folded state, and is used to fix the swing rod in the swing rod curtain structure 7.

[0051] It should be noted that the deorbit device 3 and the foldable capture frame are installed side by side on the satellite body. The foldable capture frame is connected to the satellite body through a locking and releasing mechanism 8. The swing-rod curtain structure 7 on the foldable capture frame faces the satellite body. The arm 1 is parallel to the upper surface of the deorbit device 3 and the foldable capture frame.

[0052] In this embodiment, in order to reduce the overall weight of the foldable capture frame, the back plate 4 is hollow, and the bent ribs 5 are also hollow. In this embodiment, a lightweight and flexible net bag 2 is used to enclose the captured space debris 10 to ensure that it will not escape from the side of the foldable capture frame.

[0053] In this embodiment, the bending ribs 5 have the function of automatically straightening and locking under the action of no external force, so as to realize the automatic unfolding function of the folding capture frame. Multiple bending ribs 5 are provided, which can be determined according to the shape of the back plate 4 and the door frame 6. When the back plate 4 and the door frame 6 are square or rectangular, four bending ribs 5 are preferably provided and installed at the four apex corners of the back plate 4 and the door frame 6, forming a cubic or cuboid capture chamber. When the back plate 4 and the door frame 6 are circular or elliptical, six bending ribs 5 are preferably provided and arranged along the circumference of the back plate 4 or the door frame 6, forming a cylindrical or elliptical cylindrical capture chamber. The specific shape of the folding capture frame can be determined as needed.

[0054] In this embodiment, the foldable capture frame is in a folded state under the passive constraint of the locking release mechanism 8 and the capture basket locking mechanism 9. When the locking release mechanism 8 and the capture basket locking mechanism 9 are unlocked, the foldable capture frame automatically unfolds to form a capture basket under the action of the bending ribs 5. At the same time, the net bag 2 on it also unfolds and forms a pocket shape under the action of the back plate 4 and the door frame 6. The locking release mechanism 8 is 4 to 6 in number, depending on the shape of the foldable capture frame.

[0055] In this embodiment, the net bag 2 can be placed outside the foldable capture frame or inside the foldable capture frame, preferably inside the foldable capture frame.

[0056] Referring to Figure 1, the swing rod type door curtain structure 7 includes two sets of swing rod mechanisms and two sets of swing rod fixing mechanisms; the two sets of swing rod mechanisms are arranged opposite each other at the top and bottom of the door frame 6, and seal the door frame 6; the two sets of swing rod fixing mechanisms are installed at the middle position of the door frame 6, and each set of swing rod fixing mechanisms corresponds to one set of swing rod mechanisms.

[0057] Referring to Figures 14 and 15, each set of swing arm mechanisms includes a first rotating shaft 7-1, a repulsive coil group 7-2, an attractive coil group 7-3, and several swing arms 7-4 arranged side by side. The first rotating shaft 7-1 is fixedly installed on the door frame 6, and the swing arms 7-4 are sleeved on the first rotating shaft 7-1 and rotate around the central axis of the first rotating shaft 7-1. The repulsive coil group 7-2 and the attractive coil group 7-3 are respectively arranged on both sides of the door frame 6 and vertically. The repulsive coil group 7-2 is horizontally installed on the door frame 6 and is located on the inner side of the door frame 6, and the attractive coil group 7-3 is vertically installed on the door frame 6 and is located on the outer side of the door frame 6. Each swing arm 7-4 has a repulsive permanent magnet 7-5 and an attractive permanent magnet 7-6 installed at one end near the first rotating shaft 7-1. The repulsive permanent magnet 7-5 is located on the inner side of the swing arm 7-4, and the attractive permanent magnet 7-6 is located on the outer side of the swing arm 7-4.

[0058] Furthermore, the repulsive coil group 7-2 is composed of several repulsive coil supports 7-2-1 and repulsive coils 7-2-2 installed in the repulsive coil supports 7-2-1, with each repulsive coil 7-2-2 corresponding to a swing rod 7-4; similarly, the attractive coil group 7-3 is composed of several attractive coil supports 7-3-1 and attractive coils 7-3-2 installed in the attractive coil supports 7-3-1, with each attractive coil 7-3-2 corresponding to a swing rod 7-4.

[0059] In this embodiment, the repulsive coil group 7-2 and the attractive coil group 7-3 do not have any attractive or repulsive force when the power is off, and the swing arm 7-4 is in a free state. When the repulsive coil group 7-2 and the attractive coil group 7-3 are energized, the repulsive coil 7-2-2 generates a repulsive force with the repulsive permanent magnet 7-5, and the attractive coil 7-3-2 generates an attractive force with the attractive permanent magnet 7-6. The side of the attractive coil group 7-3 facing the swing arm 7-4 is in contact with the outer wall of the swing arm 7-4, ensuring that the swing arm 7-4 is always in a vertical state when no external force is applied. When the swing arm 7-4 is impacted by external space debris 10, it swings towards the capture chamber. When the space debris 10 completely enters the capture chamber, it no longer exerts an impact force on the swing arm 7-4, and the swing arm 7-4 swings back and returns to its original position under the repulsive force on the inside and the attractive force on the outside.

[0060] Referring to Figure 9, each set of swing arm fixing mechanisms includes two pyrotechnic devices 7-7 and a non-metallic rope 7-8. The two pyrotechnic devices 7-7 are respectively installed on the opposite outer side walls of the door frame 6, and a first threading hole 6-1 is opened at the position corresponding to the pyrotechnic device 7-7 on the door frame 6. A second threading hole 7-4-1 is opened on the swing arm 7-4. The non-metallic rope 7-8 passes through the second threading hole 7-4-1 on the swing arm 7-4 and the first threading hole 6-1 on the door frame 6, and is fixedly connected to the pyrotechnic devices 7-7 at both ends.

[0061] In this embodiment, the non-metallic rope 7-8 is used to fix the swing arm 7-4 in the swing arm mechanism to prevent the swing arm 7-4 from swinging randomly when the swing arm mechanism is not powered on.

[0062] In this embodiment, before the folding capture frame is put into operation, the hot knife in the pyrotechnic 7-7 is heated by electricity. The hot knife melts the non-metallic rope 7-8, and the non-metallic rope 7-8 releases the constraint on the swing arm 7-4, ensuring that the space debris 10 can smoothly enter the folding capture frame.

[0063] Referring to Figure 16, the bent rib 5 is composed of several carbon fiber rods 5-1 connected in sequence, and a connecting hinge 11 is provided between two adjacent carbon fiber rods 5-1; the carbon fiber rod 5-1 at the first end is hinged to the back plate 4 through a connecting hinge 11, and the carbon fiber rod 5-1 at the end is hinged to the door frame 6 through a connecting hinge 11.

[0064] In this embodiment, the connecting hinge 11 has an automatic locking and positioning function. When the bent rib 5 changes from a bent state to a straight state, the connecting hinge 11 is locked and does not move. At this time, the bent rib 5 is always in a straight state, ensuring the stability of the foldable capture frame after it is unfolded.

[0065] Referring to Figure 12, the connecting hinge 11 includes a first hinge seat 11-1, a second hinge seat 11-2, a second rotating shaft 11-3, a torsion spring 11-4, a locking pin, a spring, and a locking sleeve 11-5. The second hinge seat 11-2 is inserted into the first hinge seat 11-1 and rotatably connected via the second rotating shaft 11-3. One inner wall of the first hinge seat 11-1 has a sequentially penetrating arc-shaped groove 11-1-1 and a locking hole 11-1-2. One side wall of the second hinge seat 11-2 has an insertion hole, which is opposite to the arc-shaped groove 11-1-1 on the inner wall of the first hinge seat 11-1. The locking sleeve 11-5 is installed on the second hinge seat 11-2. Inside the connector 11-2, the mounting cavity of the locking sleeve 11-5 communicates with the insertion hole on the second hinge 11-2; the locking pin and the spring are axially installed in the mounting cavity of the locking sleeve 11-5 in sequence, one end of the locking pin extends out of the locking sleeve 11-5 and passes through the insertion hole on the second hinge 11-2 to slide and connect with the arc-shaped sliding groove 11-1-1 on the first hinge 11-1, and the other end of the locking pin is connected to the spring, which is in a compressed state; the torsion spring 11-4 is sleeved on the second rotating shaft 11-3, and the legs at both ends of the torsion spring 11-4 are respectively connected to the inner walls on both sides of the first hinge 11-1, and the middle leg of the torsion spring 11-4 is connected to the locking sleeve 11-5.

[0066] In this embodiment, when the connecting hinge 11 is in a bent state under the action of external force, there is a certain angle between the first hinge seat 11-1 and the second hinge seat 11-2. The torsion spring 11-4 has torque. When the connecting hinge 11 is no longer subjected to external force, since the locking sleeve 11-5 is fixedly connected to the second hinge seat 11-2, the first hinge seat 11-1 and the second hinge seat 11-2 rotate under the action of the torsion spring 11-4. The bent rib 5 gradually straightens from the folded state. At the same time, the locking pin slides in the arc-shaped groove 11-1-1 of the first hinge seat 11-1. When the bent rib 5 is in the straightened state, the locking pin is inserted into the locking hole 11-1-2 on the first hinge seat 11-1 under the push of the spring. At this time, the first hinge seat 11-1 and the second hinge seat 11-2 no longer rotate under the constraint of the locking pin.

[0067] Referring to Figure 10, the locking and releasing mechanism 8 includes a first expansion joint 8-1, a first bushing 8-2, and a connecting base 8-3 arranged coaxially; the first bushing 8-2 is disposed between the back plate 4 and the door frame 6, and the connecting base 8-3 is installed on the satellite body; the first expansion joint 8-1 passes through the first bushing 8-2 and the connecting base 8-3 and is fixedly installed on the back plate 4 and the door frame 6.

[0068] In this embodiment, the top end of the first bushing 8-2 is fixedly connected to the back plate 4, and the bottom end of the first bushing 8-2 is not connected to the door frame 6. The function of the first bushing 8-2 is to ensure a fixed distance between the back plate 4 and the door frame 6.

[0069] In this embodiment, when the expansion breaker 8-1 is energized, the break point inside the expansion breaker 8-1 used to connect the connecting base 8-3 breaks. At this time, the foldable capture frame is disconnected from the connecting base 8-3, and then disconnected from the satellite body. The foldable capture frame moves away from the satellite body under the action of the arm 1.

[0070] Referring to Figure 9, the capture basket locking mechanism 9 includes a second expansion joint 9-1, a second bushing 9-2, and a fixing plate arranged coaxially; the second bushing 9-2 is disposed between the back plate 4 and the door frame 6, and the fixing plate is installed on the door frame 6; the second expansion joint 9-1 passes through the second bushing 9-2 and the fixing plate and is fixedly installed on the back plate 4.

[0071] In this embodiment, the top end of the second bushing 9-2 is fixedly connected to the back plate 4, and the bottom end of the second bushing 9-2 is not connected to the door frame 6. The function of the second bushing 9-2 is to ensure a fixed distance between the back plate 4 and the door frame 6.

[0072] In this embodiment, when the second expansion joint 9-1 is energized, the break point inside the second expansion joint 9-1 breaks, the back plate 4 separates from the door frame 6, and the foldable capture frame unfolds under the action of the bending rib 5.

[0073] Referring to Figure 11, the boom 1 and the off-rail device 3 are connected by a connecting hinge 11.

[0074] When the locking release mechanism 8 is unlocked, the folding capture frame is disconnected from the satellite body. At this time, the connecting hinge 11 between the arm 1 and the deorbit device 3 is no longer constrained by external forces. The arm 1 rotates around the connecting hinge 11 between the arm 1 and the deorbit device 3 until the arm 1 is perpendicular to the upper surface of the deorbit device 3. At this time, the arm 1 and the deorbit device 3 are locked together by the connecting hinge 11 to ensure the stability of the position of the folding capture frame.

[0075] Referring to Figure 1, the arm 1 is connected to the folding capture frame via a connecting hinge 11 and a locking mechanism 12. The locking mechanism 12 is installed on the first hinge seat 11-1 and the second hinge seat 11-2 of the connecting hinge 11. The structure of the locking mechanism 12 is the same as that of the capture basket locking mechanism 9, and it is used to lock the first hinge seat 11-1 and the second hinge seat 11-2.

[0076] In the locking mechanism 12, the second locking part of the second expansion joint is installed on one side wall of the first hinge seat 11-1, the fixing plate is installed on the other side wall of the first hinge seat 11-1, the second bushing is disposed between the two side walls of the second hinge seat 11-2, one end of the second spindle in the second expansion joint is connected to the second locking part, the other end of the second spindle passes through the second bushing and is fixed on the fixing plate, and the break point of the second spindle is located in the second bushing.

[0077] In this embodiment, when the folding capture frame is filled with space debris 10, the second expansion joint in the locking mechanism 12 is energized, the second spindle breaks, the first hinge seat 11-1 and the second hinge seat 11-2 are no longer constrained by the second spindle, and flip under the torque of the torsion spring 11-4 until the locking pin is inserted into the locking hole 11-1-2 on the first hinge seat 11-1 under the push of the spring. At this time, the first hinge seat 11-1 and the second hinge seat 11-2 no longer rotate under the constraint of the locking pin, and the folding capture frame rotates 90° relative to the arm 1.

[0078] The following further explains the working process of the present invention to further demonstrate its working principle and advantages:

[0079] Capture device transportation phase:

[0080] The aforementioned pendulum-type space debris capture device is folded during launch to reduce the space occupied by the payload.

[0081] Preparation phase:

[0082] S1, when the space debris capture device reaches its destination, the first expansion joint 8-1 in the locking release mechanism 8 is energized, the break point in the first expansion joint 8-1 breaks, and the folding capture frame separates from the connecting base 8-3; the folding capture frame moves away from the satellite body and rotates 90° under the action of the connecting hinge 11 between the arm 1 and the deorbiting device 3.

[0083] S2, the second expansion joint 9-1 in the capture basket locking mechanism 9 is energized, the break point in the second expansion joint 9-1 expands and breaks, the back plate 4 and the door frame 6 are no longer constrained by the capture basket locking mechanism 9, and gradually separate under the action of the bending rib 5. At this time, the bending rib 5 gradually straightens and finally locks under the action of the connecting hinge 11; at this time, the folding capture frame is fully unfolded.

[0084] S3, the hot knife of the pyrotechnic component 7-7 in the swing arm fixing mechanism cuts the non-metallic rope 7-8, and the swing arm 7-4 is no longer restricted.

[0085] S4, the repulsive coil and the attractive coil in the rocker arm mechanism are energized.

[0086] Capture phase:

[0087] S1, the satellite body drives the space debris capture device to move toward the space debris 10. The space debris 10 hits the swing arm 7-4 and enters the capture chamber. The swing arm 7-4 is reset under the action of the repulsive coil group 7-2 and the repulsive permanent magnet 7-5, as well as the attraction coil group 7-3 and the attraction permanent magnet 7-6, to prevent the captured space debris 10 from escaping.

[0088] S2, when the folding capture frame is filled with space debris 10, the locking mechanism 12 between the arm 1 and the folding capture frame is unlocked, that is, the expansion joint is energized, the break point inside the expansion joint breaks, the first hinge seat 11-1 and the second hinge seat 11-2 are no longer constrained by the spindle, and flip under the action of the torsion spring. At this time, the folding capture frame rotates 90 degrees around the connecting hinge 11 between the arm 1 and the folding capture frame and locks, thus completing the capture of space debris.

[0089] This application ensures that the foldable capture frame remains stably folded before capture by employing a locking and releasing mechanism and a capture basket locking mechanism, thus reducing transport space. Simultaneously, upon arrival at the destination, a series of unlocking mechanisms—the locking and releasing mechanism, the capture basket locking mechanism, and the swing arm fixing mechanism—ensures the foldable capture frame unfolds orderly to a stable capture state. The foldable capture frame, equipped with a net, can capture debris of varying sizes multiple times. After completing the capture mission, it derails via a derailment device mounted on the boom and enters the graveyard track. This device features low cost, high capture efficiency, and effective reduction in fuel consumption.

[0090] The locking release mechanism, capture basket locking mechanism, and locking mechanism of this application all use an expansion joint for unlocking, and the unlocking function can be achieved by energizing, which is convenient and quick.

[0091] In the lever mechanism of this application, the cooperation between the repulsive coil group and the repulsive permanent magnet, and the cooperation between the attractive coil group and the attractive permanent magnet, can achieve the capture of space debris while preventing the escape of space debris.

[0092] In this application, the boom and the off-rail device, the boom and the folding capture frame, and the carbon fiber rod of the bent rib are all connected by connecting hinges. When no external force is applied, the connecting hinges can automatically reset due to the design of the torsion spring. Due to the design of the locking pin, spring and locking hole, the connecting hinges can automatically achieve the locking function after resetting.

[0093] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A pendulum-type space debris capture mechanism, characterized in that: The system includes an arm (1), a folding capture frame, and a net (2). The arm (1) is used to connect the folding capture frame and the derailment device (3). One end of the arm (1) is hinged to the derailment device (3), and the other end of the arm (1) is hinged to the folding capture frame. The folding capture frame includes a back plate (4), a bent rib (5), a door frame (6), a swing-rod curtain structure (7), a locking and releasing mechanism (8), and a capture basket locking mechanism (9). The back plate (4) and the door frame (6) are arranged opposite to each other and are connected by the bent rib (5). The folding capture frame can be unfolded and gathered by the straightening and bending of the bent rib (5). The net (2) is set on the folding capture frame and forms a capture chamber with an entrance. The swing-rod curtain structure (7) is a curtain structure with passive start and automatic closing functions. The swing-rod curtain structure (7) is installed in the door frame (6) and holds the capture chamber in place. On the entrance blockade, space debris (10) enters the capture chamber through impact with the swing-arm curtain structure (7) and is blocked inside the capture chamber by the swing-arm curtain structure (7); one end of the locking and releasing mechanism (8) is installed on the folding capture frame, and the other end of the locking and releasing mechanism (8) is installed on the satellite body. The locking and releasing mechanism (8) is used to connect and fix the folding capture frame to the satellite body, while ensuring that the folding capture frame is in a gathered state; the capture basket locking mechanism (9) is installed on the back plate (4) and the door frame (6). The capture basket locking mechanism (9) is used to ensure that the folding capture frame is in a gathered state; the swing-arm curtain structure (7) includes two sets of swing arm mechanisms and two sets of swing arm fixing mechanisms; the two sets of swing arm mechanisms are arranged opposite each other at the top and bottom of the door frame (6) and block the door frame (6); the two sets of swing arm fixing mechanisms are installed in the middle of the door frame (6), and each set of swing arm fixing mechanisms corresponds to one set of swing arm mechanisms.

2. The pendulum-type space debris capture mechanism according to claim 1, characterized in that: Each set of rocker arm mechanisms includes a first rotating shaft (7-1), a repulsive coil group (7-2), an attractive coil group (7-3), and several rocker arms (7-4) arranged side by side. The first rotating shaft (7-1) is fixedly installed on the door frame (6), and the rocker arms (7-4) are sleeved on the first rotating shaft (7-1) and rotate around the central axis of the first rotating shaft (7-1). The repulsive coil group (7-2) and the attractive coil group (7-3) are respectively arranged on both sides of the door frame (6) and vertically. Group (7-2) is horizontally installed on the door frame (6) and located inside the door frame (6). The suction coil group (7-3) is vertically installed on the door frame (6) and located outside the door frame (6). Each swing rod (7-4) has a repulsive permanent magnet (7-5) and a suction permanent magnet (7-6) installed at one end near the first rotating shaft (7-1). The repulsive permanent magnet (7-5) is located inside the swing rod (7-4), and the suction permanent magnet (7-6) is located outside the swing rod (7-4).

3. The pendulum-type space debris capture mechanism according to claim 2, characterized in that: Each set of swing arm fixing mechanism includes two pyrotechnic devices (7-7) and a non-metallic rope (7-8). The two pyrotechnic devices (7-7) are respectively installed on the opposite outer side walls of the door frame (6), and a first threading hole (6-1) is opened at the position corresponding to the pyrotechnic device (7-7) on the door frame (6). A second threading hole (7-4-1) is opened on the swing arm (7-4). The non-metallic rope (7-8) passes through the second threading hole (7-4-1) on the swing arm (7-4) and the first threading hole (6-1) on the door frame (6), and is fixedly connected to the pyrotechnic devices (7-7) at both ends.

4. The pendulum-type space debris capture mechanism according to claim 1, characterized in that: The bent rib (5) is formed by connecting several carbon fiber rods (5-1) in sequence. A connecting hinge (11) is provided between two adjacent carbon fiber rods (5-1). The carbon fiber rod (5-1) at the first end is hinged to the back plate (4) through a connecting hinge (11), and the carbon fiber rod (5-1) at the end is hinged to the door frame (6) through a connecting hinge (11). The connecting hinge (11) has an automatic locking and positioning function.

5. A pendulum-type space debris capture mechanism according to claim 4, characterized in that: The connecting hinge (11) includes a first hinge seat (11-1), a second hinge seat (11-2), a second rotating shaft (11-3), a torsion spring (11-4), a locking pin, a spring, and a locking sleeve (11-5); the second hinge seat (11-2) is inserted into the first hinge seat (11-1) and rotatably connected by the second rotating shaft (11-3); one side inner wall of the first hinge seat (11-1) has a sequentially penetrating arc-shaped groove (11-1-1) and a locking hole (11-1-2); one side side wall of the second hinge seat (11-2) has an insertion hole, which is opposite to the arc-shaped groove (11-1-1) on the inner side wall of the first hinge seat (11-1); the locking sleeve (11-5) is installed on the second hinge seat (11-2). Inside the seat (11-2), the mounting cavity inside the locking sleeve (11-5) communicates with the insertion hole on the second hinge seat (11-2); the locking pin and the spring are axially installed in the mounting cavity of the locking sleeve (11-5) in sequence, one end of the locking pin extends out of the locking sleeve (11-5) and passes through the insertion hole on the second hinge seat (11-2) to slide and connect with the arc-shaped slide groove (11-1-1) on the first hinge seat (11-1), the other end of the locking pin is connected to the spring, and the spring is in a compressed state; the torsion spring (11-4) is sleeved on the second rotating shaft (11-3), the legs at both ends of the torsion spring (11-4) are respectively connected to the inner walls on both sides of the first hinge seat (11-1), and the middle leg of the torsion spring (11-4) is connected to the locking sleeve (11-5).

6. A pendulum-type space debris capture mechanism according to claim 5, characterized in that: The locking and releasing mechanism (8) includes a first expansion joint (8-1), a first bushing (8-2), and a connecting base (8-3) arranged coaxially; the first bushing (8-2) is disposed between the back plate (4) and the door frame (6), and the connecting base (8-3) is installed on the satellite body; the first expansion joint (8-1) passes through the first bushing (8-2) and is fixedly connected to the connecting base (8-3).

7. A pendulum-type space debris capture mechanism according to claim 6, characterized in that: The capture basket locking mechanism (9) includes a second expansion joint (9-1), a second bushing (9-2), and a fixing plate arranged coaxially; the second bushing (9-2) is arranged between the back plate (4) and the door frame (6), and the fixing plate is installed on the door frame (6); the second expansion joint (9-1) passes through the second bushing (9-2) and the fixing plate and is fixedly installed on the back plate (4).

8. A pendulum-type space debris capture mechanism according to claim 7, characterized in that: The boom (1) is connected to the off-rail device (3) via a connecting hinge (11); the boom (1) is connected to the folding capture frame via a connecting hinge (11) and a locking mechanism (12).

9. A pendulum-type space debris capture mechanism according to claim 8, characterized in that: The structure of the locking mechanism (12) is the same as that of the capture basket locking mechanism (9); the second bushing in the locking mechanism (12) is located between the two side walls of the second hinge seat (11-2), the fixing plate is installed on one side wall of the first hinge seat (11-1), and the second expansion joint passes through the second bushing and the fixing plate and is fixedly installed on the other side wall of the first hinge seat (11-1).

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