A tethered satellite release device based on momentum collision

Abstract

A kind of tethered satellite release device based on momentum collision belongs to tethered satellite system and spacecraft orbit maneuvering technical field.The present application solves the problems of low release success rate of traditional tethered satellite system release device, low accuracy of rope length and tension measurement, and inability to change initial release speed and angle.The tether release measurement unit is used to realize tether release and release length measurement, the sub-satellite release firing unit includes release speed adjustment module and sub-satellite release module, which is used to adjust the release speed of sub-satellite, and release sub-satellite by using momentum collision, the steering adjustment unit is used to drive the above two units to rotate horizontally to adjust the release direction, and the tension measurement unit is used to measure the tension of tether.The tether release measurement unit, the sub-satellite release firing unit and the steering adjustment unit are installed on the mother satellite, and the tension measurement unit is installed on the sub-satellite.The device can directly measure the release length of tether and the tension of tether, and can be applied to the repeatable and adjustable release of tethered satellite device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of tethered satellite system and spacecraft orbit maneuvering, and particularly relates to a tethered satellite release device based on momentum collision. BACKGROUND

[0002] The tethered satellite system is an advanced space multi-body satellite structure, which can realize large-scale, cross-orbit space maneuvering tasks by means of long and soft space tether, and the orbit maneuvering process is continuous, without the need for repeated orbit transfer, and is expected to become an important implementation mode in the fields of spacecraft rendezvous and docking, on-orbit service, space debris removal and other orbit maneuvering applications. For the tethered satellite system, reliable release is the premise and basis for realizing its orbit maneuvering tasks.

[0003] The conventional tethered satellite system release device often uses a fuse limit to provide initial kinetic energy by releasing mechanical energy storage, and the measurement of the length of the space tether during the release control process is replaced by the stroke of the code disc of the winding drum servo motor, and the measurement of the tension of the tether is calculated based on the tension measurement result on the tension wheel.

[0004] Through the analysis of the existing tethered satellite release device, the following problems are found:

[0005] 1) The fuse device has the risk of failure, and the release success rate is low due to the influence of the environment, and cannot guarantee the success rate of the launch release.

[0006] 2) The size of the energy stored in the mechanical energy storage device is fixed, and the initial speed of the satellite launch release cannot be changed, and the angle of the satellite launch release cannot be changed, so different task requirements cannot be met.

[0007] 3) The measurement accuracy of the length of the rope is affected by the thickness of the length of the rope wound on the winding drum, introducing an uncertain measurement error.

[0008] 4) The tether tension needs to be converted by the tension wheel pressure, so the tether tension is not a direct measurement, which is easy to introduce external interference and reduce the measurement accuracy. SUMMARY

[0009] The purpose of the present application is to solve the problems of low release success rate, low measurement accuracy of the length and tension of the rope, and inability to change the initial release speed and angle of the conventional tethered satellite system release device, and a tethered satellite release device based on momentum collision is proposed.

[0010] The technical solution adopted by the present application to solve the above technical problems is:

[0011] A kind of tethered satellite release device based on momentum collision, the device includes tether release measuring unit, substar release firing unit, steering adjustment unit and tension measuring unit;Wherein:

[0012] Tether release measuring unit, substar release firing unit and steering adjustment unit are installed on the mother star, and tension measuring unit is installed on the substar, and tether release measuring unit is connected with tension measuring unit by tether;

[0013] The tether release measuring unit is used to release the tether, and the tether release measuring unit includes an upper mounting plate, a servo motor fixing seat, a first synchronous pulley, a synchronous belt, a winding drum fixing seat, a second synchronous pulley, a winding drum and a servo motor;

[0014] The servo motor fixing seat and the winding drum fixing seat are fixed on the upper mounting plate, and the servo motor is fixed on the servo motor fixing seat, and the winding drum is fixed on the winding drum fixing seat;

[0015] The motor shaft of the servo motor is fixedly connected with the first synchronous pulley, and the rotating shaft of the winding drum is fixedly connected with the second synchronous pulley;

[0016] The synchronous belt is engaged with the first synchronous pulley and the second synchronous pulley through the gear teeth;

[0017] The substar release firing unit includes a release speed adjustment module and a substar release module, the substar release module is used to release the substar, and the release speed adjustment module is used to adjust the speed of the substar release;

[0018] The release speed adjustment module includes a left support frame, a lower mounting plate, a right support frame, a stepper motor, a release motor support, and a lead screw;

[0019] The upper mounting plate and the lower mounting plate are arranged in parallel, and the left support frame and the right support frame are arranged at both ends of the parallel structure respectively;

[0020] The stepper motor is fixed on the left support frame, and the release motor support is arranged between the upper mounting plate and the lower mounting plate, the release motor support is provided with a threaded hole in the horizontal direction, the rotating shaft of the stepper motor is connected with the release motor support through the threaded hole, and the release motor support is driven to move linearly in the left-right direction through the rotation of the lead screw;

[0021] The substar release module includes a release motor, a hammer, a compression spring, an eccentric wheel, a special-shaped bolt, a limit locking block and a spring guide shaft;

[0022] The special-shaped bolt includes a blocking cylinder, a tensioning cylinder and an eccentric wheel follower block which are fixed together;

[0023] The release motor is fixedly arranged on the release motor support, a rotating shaft of the release motor is connected with the eccentric wheel, the special-shaped bolt is connected with the slide groove of the release motor support through the blocking cylindrical sleeve, and the tensioning cylinder is connected with the release motor support through the spring to make the eccentric wheel and the eccentric wheel follower block adhere to each other.

[0024] The rotation of the release motor drives the rotation of the eccentric wheel, and the rotation of the eccentric wheel drives the horizontal movement of the eccentric wheel follower block in the front-rear direction.

[0025] The limiting locking block and the spring guide shaft are arranged between the upper mounting plate and the lower mounting plate, the impact hammer is horizontally arranged through the right support frame, one end of the impact hammer is fixedly connected with the limiting locking block, and one end of the horizontally arranged spring guide shaft is fixedly connected with the left support frame.

[0026] After the compression spring is sleeved on the spring guide shaft, one end of the compression spring is connected with the limiting locking block, and the other end of the compression spring is connected with the left support frame.

[0027] The upper surface of the lower mounting plate is provided with a waist hole, and the lower edge of the limiting locking block horizontally slides in the waist hole.

[0028] The steering adjusting unit is used for driving the whole horizontal rotation of the tether release measurement unit and the sub-star release firing unit, and the steering adjusting unit is connected with the right support frame through threads.

[0029] The tension measurement unit is used for measuring the tension on the tether, and the tension measurement unit comprises an impact plate, a pressure sensor, a damping spring, a fixed sliding block, a guide rail, a tether, and an optical axis.

[0030] One end of the pressure sensor is connected with the vertically arranged impact plate, the other end of the pressure sensor is fixedly connected with one end of the horizontally arranged optical axis, and the other end of the optical axis passes through the horizontal through hole of the fixed sliding block.

[0031] The damping spring is sleeved on the optical axis, and the fixed sliding block is sleeved on the guide rail and slides horizontally along the guide rail.

[0032] The tether is connected with the fixed sliding block, and the fixed sliding block is connected with the tether release measurement unit through the tether.

[0033] Further, the number of the winding drum fixing seats is two.

[0034] Further, the diameters of the first synchronous belt pulley and the second synchronous belt pulley are the same.

[0035] Further, the tether release measurement unit is further used for measuring the release length of the tether, and the tether release measurement unit further comprises a roller fixing seat, an upper roller, a lower roller, an encoder, and an adjusting bolt.

[0036] The upper roller fixing seat is arranged on the upper mounting plate, the lower roller is fixed on the roller fixing seat through a bearing, and the rotating shaft of the lower roller is connected with the rotating shaft of the encoder through a special-shaped clamping groove.

[0037] A U-shaped groove is reserved on the roller fixing seat, and the rotating shaft of the upper roller is clamped on the reserved U-shaped groove.

[0038] An adjusting bolt is arranged above the reserved U-shaped groove, the adjusting bolt is used for adjusting the distance between the upper roller and the lower roller, and the tether on the winding drum passes through the gap between the upper roller and the lower roller.

[0039] Further, the release speed adjusting module further comprises a light rod, one end of the light rod is connected to the left support frame and the other end of the light rod is connected to the right support frame after the light rod passes through the horizontally arranged hole groove on the release motor support.

[0040] Further, the release speed adjusting module further comprises a first photoelectric switch, a first light shield, a second photoelectric switch and a second light shield, the first light shield and the second light shield are fixedly arranged on the release motor support, the first photoelectric switch is fixedly arranged on the left support frame, and the second photoelectric switch is fixedly arranged on the right support frame.

[0041] Further, the device further comprises a release photoelectric sensor and a third light shield, the third light shield is fixedly connected with the eccentric wheel follower, the horizontally arranged release photoelectric sensor is connected to the release motor support, and the release photoelectric sensor cooperates with the third light shield to control the release motor to stop rotating.

[0042] Further, the number of the roller fixing seats is two.

[0043] The beneficial effects of the present application are as follows:

[0044] The present application provides a tethered satellite release device based on momentum collision, which can release a sub-satellite in a tethered satellite system and release a tether for pulling the sub-satellite, so as to accurately control the position of the sub-satellite and realize the function of sub-satellite orbit maneuvering.

[0045] 1. The tethered satellite release device based on momentum collision can be reused and has high reliability. Firstly, the present application uses a space tether to release a sub-satellite for large-range and cross-orbit space maneuvering, and the "collection and return" of the tether makes the sub-satellite and related tasks reusable and the process controllable. Secondly, the present application uses an energy storage variable impact device to realize momentum collision and provide initial kinetic energy for the release of the sub-satellite. Compared with the traditional method of melting release, the overall failure rate of the device is lower, the adjustability is higher, and the release success rate is improved. Moreover, the device can be reused by compressing the energy storage spring again, which can greatly reduce the cost of orbit maneuvering.

[0046] 2、The tethered satellite release device based on momentum collision can freely adjust the speed and angle of the sub-satellite release. According to the requirements of the orbit maneuvering task, the spring compression amount can be changed by the stepping motor to adjust the momentum of the impact hammer collision, so as to provide different initial kinetic energy for the sub-satellite and change the release speed. The steering adjustment module can adjust the release angle, so that the sub-satellite release is no longer affected by the installation position and angle, and the flexibility and applicability of the system are improved.

[0047] 3、The length measurement accuracy of the tether of the device is not affected by the winding method and state. The traditional method of measuring the release rope length by using the rotation angle of the winding drum is easily affected by the state and thickness of the tether wound on the winding drum, so that the measurement result has high uncertainty. The measurement system is moved outward, the rotation angle of the lower roller is read, and the length measurement result is calculated, which is constant, accurate, and less affected by the state of the tether.

[0048] 4、The length measurement accuracy of the tether of the device is not affected by the winding method and state. Unlike the traditional method of calculating and estimating the tether tension by using the pressure on the tension wheel, the present application directly obtains the tension on the tether by using a pressure sensor, which has a simpler structure, is less affected by environmental interference, and has more accurate measurement results. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a front view of the mother star installation part;

[0050] Figure 2 is a top view of the mother star installation part;

[0051] Figure 3 is a top view of the sub-satellite installation part;

[0052] Figure 4 is a structure schematic diagram of a tethered satellite release device based on momentum collision in operation;

[0053] In the figure, a) is a schematic diagram of the mother star installation part, and b) is a schematic diagram of the sub-satellite installation part;

[0054] Figure 5 is a 45° top view of the sub-satellite release firing unit;

[0055] Figure 6 is a perspective view of the cam transmission mechanism;

[0056] Figure 7 is a perspective view of the special-shaped bolt;

[0057] Figure 8 is a perspective view of the limiting locking device;

[0058] Figure 9 is an orbit maneuvering flowchart of the tethered sub-satellite release process. DETAILED DESCRIPTION

[0059] DETAILED DESCRIPTION Figure 1 , Figure 5 and Figure 8 This embodiment describes a momentum collision-based tethered satellite release device, which comprises a tether release measuring unit, a sub-satellite release firing unit, a steering adjustment unit 28 and a tension measuring unit; wherein:

[0060] The tether release measuring unit, the sub-satellite release firing unit and the steering adjustment unit 28 are installed on the mother satellite, the tension measuring unit is installed on the sub-satellite, and the tether release measuring unit is connected with the tension measuring unit through the tether 39;

[0061] The tether release measuring unit is used to release the tether, and the tether release measuring unit comprises an upper mounting plate 2, a servo motor fixing seat 4, a first synchronous pulley 5, a synchronous belt 6, a winding drum fixing seat 7, a second synchronous pulley 8, a winding drum 9 and a servo motor 31;

[0062] The servo motor fixing seat 4 and the winding drum fixing seat 7 are fixed on the upper mounting plate 2, and the servo motor 31 is fixed on the servo motor fixing seat 4, and the winding drum 9 is fixed on the winding drum fixing seat 7;

[0063] The motor shaft of the servo motor 31 is fixedly connected with the first synchronous pulley 5, and the rotating shaft of the winding drum 9 is fixedly connected with the second synchronous pulley 8;

[0064] The synchronous belt 6 is engaged with the first synchronous pulley 5 and the second synchronous pulley 8 through the teeth;

[0065] The sub-satellite release firing unit comprises a release speed adjustment module and a sub-satellite release module, the sub-satellite release module is used to release the sub-satellite, and the release speed adjustment module is used to adjust the release speed of the sub-satellite;

[0066] The release speed adjustment module comprises a left support frame 14, a lower mounting plate 26, a right support frame 27, a stepping motor 1, a release motor support 20 and a lead screw 23;

[0067] The upper mounting plate 2 is arranged in parallel with the lower mounting plate 26, and the left support frame 14 and the right support frame 27 are arranged at both ends of the parallel structure respectively;

[0068] The stepping motor 1 is fixed on the left support frame 14, and the release motor support 20 is arranged between the upper mounting plate 2 and the lower mounting plate 26, the release motor support 20 is provided with a threaded hole in the horizontal direction, and the rotating shaft of the stepping motor 1, i.e. the lead screw 23, is connected with the release motor support 20 through the threaded hole, and the rotation of the lead screw 23 drives the release motor support 20 to move linearly in the left-right direction, i.e. the X-axis direction;

[0069] The sub-star release module comprises a release motor 3, a hammer 13, a compression spring 16, an eccentric wheel 17, a special-shaped bolt 18, a limiting locking block 24 and a spring guide shaft 40;

[0070] The special-shaped bolt 18 comprises a blocking cylinder 181, a tensioning cylinder 182 and an eccentric wheel follower 183 which are fixed together;

[0071] The release motor 3 is fixedly arranged on a release motor support 20, a rotating shaft of the release motor 3 is connected with the eccentric wheel 17, the special-shaped bolt 18 is sleeved on a sliding groove of the release motor support 20 through the blocking cylinder 181, the tensioning cylinder 182 is connected with the release motor support 20 through a spring to make the eccentric wheel 17 adhere to the eccentric wheel follower 183;

[0072] The rotation of the release motor 3 drives the rotation of the eccentric wheel 17, and the rotation of the eccentric wheel 17 drives the horizontal movement of the eccentric wheel follower 183 in the front-back direction, that is, drives the front-back movement of the special-shaped bolt 18 in the Y-axis direction;

[0073] The limiting locking block 24 and the spring guide shaft 40 are arranged between the upper mounting plate 2 and the lower mounting plate 26, the hammer 13 passes through the right support frame 27 horizontally, the hammer 13 is fixedly connected with one end of the limiting locking block 24, and one end of the horizontally arranged spring guide shaft 40 is fixed on the left support frame 14;

[0074] After the compression spring 16 is sleeved on the spring guide shaft 40, one end of the compression spring 16 is connected to the limiting locking block 24, and the other end of the compression spring 16 is connected to the left support frame 14;

[0075] The upper surface of the lower mounting plate 26 is provided with a waist hole, and the lower edge of the limiting locking block 24 slides horizontally in the waist hole;

[0076] The turning adjusting unit 28 is used for driving the whole horizontal rotation of the tether release measuring unit and the sub-star release firing unit, and the turning adjusting unit 28 is connected with the right support frame 27 through threads;

[0077] The tension measuring unit is used for measuring the tension on the tether, and the tension measuring unit comprises a hammer plate 34, a pressure sensor 35, a damping spring 36, a fixed sliding block 37, a guide rail 38, a tether 39 and an optical axis 41;

[0078] One end of the pressure sensor 35 is connected to the vertically arranged hammer plate 34, the other end of the pressure sensor 35 is fixedly connected with one end of the horizontally arranged optical axis 41, and the other end of the optical axis 41 passes through the horizontal through hole arranged on the fixed sliding block 37;

[0079] The damping spring 36 is sleeved on the optical axis 41, and the fixed sliding block 37 is sleeved on the guide rail 38 and slides horizontally along the guide rail 38;

[0080] The tether 39 is connected to the fixed slider 37, and the fixed slider 37 is connected to the tether release measurement unit through the tether 39.

[0081] Specific implementation two: the difference between this embodiment and specific implementation one is that the number of the winding drum fixing seat 7 is 2.

[0082] The other steps and parameters are the same as those in specific implementation one.

[0083] Specific implementation three: the difference between this embodiment and specific implementation one or two is that the diameters of the first synchronous pulley 5 and the second synchronous pulley 8 are the same.

[0084] The other steps and parameters are the same as those in specific implementation one or two.

[0085] Specific implementation four: the difference between this embodiment and one of specific implementation one to three is that the tether release measurement unit is also used to realize tether release length measurement, and the tether release measurement unit further comprises a roller fixing seat 10, an upper roller 11, a lower roller 12, an encoder 32, and an adjusting bolt 33.

[0086] The roller fixing seat 10 is arranged on the upper mounting plate 2, the lower roller 12 is fixed on the roller fixing seat 10 through a bearing, and the rotating shaft of the lower roller 12 is connected to the rotating shaft of the encoder 32 through a special-shaped clamping groove.

[0087] A U-shaped groove is reserved on the roller fixing seat 10, and the rotating shaft of the upper roller 11 is clamped in the reserved U-shaped groove.

[0088] An adjusting bolt 33 is arranged above the reserved U-shaped groove, the adjusting bolt 33 is used to adjust the distance between the upper roller 11 and the lower roller 12, and the tether on the winding drum 9 passes through the gap between the upper roller 11 and the lower roller 12.

[0089] The other steps and parameters are the same as those in one of specific implementation one to three.

[0090] Specific implementation five: the difference between this embodiment and one of specific implementation one to four is that the release speed adjusting module further comprises an optical rod 25, one end of the optical rod 25 is connected to the left support frame 14, and the other end of the optical rod 25 is connected to the right support frame 27 after the optical rod 25 passes through a horizontally arranged hole groove on the release motor support 20.

[0091] The other steps and parameters are the same as those in one of specific implementation one to four.

[0092] The optical rod 25 in this embodiment is used for force balance and limiting, and realizes the linear motion of the release motor support 20.

[0093] Sixth embodiment: the difference between this embodiment and one of the first to fifth embodiments is that the release speed adjustment module further comprises a first photoelectric switch 15, a first light shield 30, a second photoelectric switch 29, and a second light shield 21. The first light shield 30 and the second light shield 21 are fixedly arranged on the release motor bracket 20. The first photoelectric switch 15 is fixedly arranged on the left support frame 14. The second photoelectric switch 29 is fixedly arranged on the right support frame 27.

[0094] When the stepper motor 1 rotates, the release motor bracket 20 moves linearly along the lead screw 23, and the first light shield 30 and the second light shield 21 mounted thereon also move left and right. When the first light shield 30 moves into the slot of the first photoelectric switch 15 or the second light shield 21 moves into the slot of the second photoelectric switch 29, the light transmission is blocked, triggering the photoelectric switch and causing the output level to change. When the level change is monitored, the control stepper motor 1 stops rotating, preventing the release motor bracket and the components mounted thereon from moving excessively, thereby playing a limiting protection role and improving the safety performance of the system.

[0095] The other steps and parameters are the same as one of the first to fifth embodiments.

[0096] Seventh embodiment: in combination with Figure 6 This embodiment is described. The difference between this embodiment and one of the first to sixth embodiments is that the device further comprises a release photoelectric sensor 22 and a third light shield 19. The third light shield 19 is fixedly connected with the eccentric wheel follower 183. The horizontally arranged release photoelectric sensor 22 is connected to the release motor bracket 20. The release photoelectric sensor 22 cooperates with the third light shield 19 to control the release motor 3 to stop rotating.

[0097] The third light shield 19 moves with the movement of the special-shaped bolt 18. When the third light shield 19 blocks the release photoelectric sensor 22, the release motor 3 stops rotating, preventing subsequent rotation from affecting the normal firing of the hammer, and improving the reliability of the system.

[0098] The other steps and parameters are the same as one of the first to sixth embodiments.

[0099] Eighth embodiment: the difference between this embodiment and one of the first to seventh embodiments is that the number of the roller fixing seats 10 is two.

[0100] The other steps and parameters are the same as one of the first to seventh embodiments.

[0101] For convenience of description, first construct a coordinate system as shown in Figure 1 The coordinate origin is chosen to be the geometric center of the right support frame 27. The horizontal right direction is the positive direction of the X axis, and the vertical downward direction is the positive direction of the Z axis. The Y axis direction is defined according to the right-hand rule.

[0102] The momentum collision-based tethered satellite release device of the present application mainly consists of four parts: tether release measuring unit, sub-satellite release firing unit, steering adjusting unit and tension measuring unit. Among them, the first three units are integrated together as shown in Figure 1 and Figure 2 The three integrated units constitute the mother-satellite mounting part a in Figure 4 , which can realize the release of the sub-satellite, the release measurement of the tether, etc. The tension measuring unit is shown in Figure 3 , which is separately mounted on the sub-satellite, equivalent to the sub-satellite mounting part b in Figure 4 , which can realize the fixation of the tether on the sub-satellite and the measurement of the tether tension.

[0103] 1. Tether release measuring unit

[0104] The tether release measuring unit mainly consists of servo motor 31, winding drum 9, encoder 32, etc., which can release the tether and realize the measurement of the tether length and speed during the release process. The tether release measuring unit is fixed as a whole on the upper mounting plate 2.

[0105] Realization of tether release function

[0106] The servo motor 31 is fixed on the servo motor fixing seat 4 through 4 bolts, and the servo motor fixing seat 4 is fixedly connected with the upper mounting plate 2 through 2 bolts. The winding drum 9 is fixedly connected with two winding drum fixing seats 7 arranged in front and back along the Y-axis direction through bearings, and each winding drum fixing seat 7 is fixed on the upper mounting plate 2 through two bolts. The motor shaft of the servo motor 31 and the rotating shaft of the winding drum 9 are fixedly connected with the first synchronous pulley 5 and the second synchronous pulley 8 with the same diameter, respectively. The first synchronous pulley 5 and the second synchronous pulley 8 are connected through the meshing of the wheel teeth and the synchronous belt 6. The winding drum 9 serves as a wire storage device, and a sufficient amount of tether is wound thereon. The rotation of the servo motor 31 drives the winding drum 9 to rotate, which can realize the release of the tether.

[0107] Realization of tether length measurement function

[0108] The lower roller 12 is fixedly connected with two roller fixing seats 10 arranged in front and back along the Y-axis direction through bearings, and the rotating shaft of the upper roller 11 is clamped on the U-shaped groove reserved on the roller fixing seat 10. The tether wound on the winding drum 9 passes through the gap between the upper roller 11 and the lower roller 12. An adjusting bolt 33 is arranged directly above the U-shaped groove, and the adjustment of the free distance between the upper roller and the lower roller can be realized by rotating the adjusting bolt 33, thereby controlling the adjustment of the pressing force of the tether, achieving the effect of preventing the tether from sliding relative to the roller.

[0109] The rotation axis of the lower roller 12 and the rotation axis of the encoder 32 are connected together through a special-shaped slot, which ensures that the lower roller 12 can drive the rotation axis of the encoder 32 to rotate synchronously when the lower roller 12 rotates, and there is no synchronization error between the two. When the servo motor 31 drives the winding drum 9 to rotate synchronously through the second synchronous pulley 8, the tether will produce corresponding movement, and at the same time drive the lower roller 12 to rotate. The angle of rotation of the lower roller 12 can be obtained through the indication of the encoder 32, and then the length of the tether released can be obtained according to the diameter of the lower roller 12, so that the measurement of the length of the tether released is realized. The release rate of the tether can be obtained through the length difference calculation.

[0110] 2. Sub-satellite release and firing unit

[0111] The sub-satellite release and firing unit is mainly composed of a stepping motor 1, a release motor 3, a hammer 13, a compression spring 16, a limit photoelectric switch, etc., and can realize the adjustment of the release speed of the tethered satellite sub-satellite and complete the momentum collision to give the sub-satellite an initial release speed. The main structure is mainly limited between the upper mounting plate 2 and the lower mounting plate 26, and the two mounting plates are bolted together with the left support frame 14 and the right support frame 27.

[0112] 1) Sub-satellite release module

[0113] The release motor 3 is bolted on the release motor bracket 20, and the rotation axis of the release motor 3 is closely connected with the eccentric wheel 17. The rotation of the release motor 3 drives the rotation of the eccentric wheel 17, as shown in Figure 7 The special-shaped bolt 18 includes a blocking cylinder 181, a tensioning cylinder 182 and an eccentric wheel follower 183 which are fixed together. The eccentric wheel 17 is attached to the eccentric wheel follower 183, and constitutes a Figure 6The cam transmission mechanism is shown. The blocking cylinder 181 of the special-shaped pin 18 is sleeved with the release motor support 20 through a sliding groove, which limits its movement along the Y axis. The tensioning cylinder 182 of the special-shaped pin 18 is connected with the cylindrical part on the release motor support 20 through a spring, which ensures that the eccentric wheel follower 183 of the special-shaped pin 18 can tightly adhere to the eccentric wheel 17 and be controlled by the eccentric wheel 17. The rotation of the eccentric wheel 17 drives the horizontal displacement change of the special-shaped pin 18 along the Y axis. The impact hammer 13 is fixed with the limiting locking block 24, the lower edge of the limiting locking block 24 is clamped in the waist hole of the lower mounting plate 26, and the movement direction of the impact hammer 13 is limited to the X axis direction, and the impact hammer moves in the -X direction and compresses the spring 16. The spring 16 is compressed horizontally under the limitation of the spring guide shaft 40, and the energy is stored for the sub-star release link. The limiting locking block 24 is blocked by the blocking cylinder 181 of the special-shaped pin 18 after being compressed by the spring, and is limited to recover. The side of the limiting locking block 24 close to the release motor 3 is a trapezoidal chamfer, which can ensure that it can slide through the special-shaped pin 18 to limit the free movement in the -X direction, but cannot freely move in the +X direction. By adjusting the position of the release motor support 20 through the stepping motor 1, the limiting position of the limiting locking block 24 can be changed, that is, the compression amount of the compression spring 16 is changed to change the release speed. At the release moment, the release motor 3 drives the eccentric wheel 17 to rotate, the special-shaped pin 18 is driven by the eccentric wheel, moves in the Y direction, and no longer blocks the limiting locking device. Influenced by the elastic force of the compression spring 16, the impact hammer 13 will be quickly released and hit the sub-star to form a momentum collision, thereby giving the sub-star an initial release speed. The release photoelectric sensor 22 is provided with a bolt and can be fixed horizontally on the release motor support 20. The third light shield 19 on the release motor support 20 can realize the indication of whether the release requirement is met, so as to control the release motor to stop rotating.

[0114] 2) Release speed adjustment module

[0115] The stepping motor 1 is fixed on the left support frame 14 through a bolt, and the rotating shaft of the stepping motor is a lead screw 23. The rotating action of the stepping motor 1 can be converted into the linear motion of the module connected to the lead screw 23. The release motor support 20 is provided with two hole grooves, one hole passes through the light rod 25 for force balance, and the other hole passes through the lead screw 23, and the hole is provided with an internal thread consistent with the thread of the lead screw 23. Therefore, when the stepping motor 1 rotates, the rotating action of the stepping motor 1 can be converted into the linear motion of the module connected to the lead screw 23, that is, the release motor support 20 can be driven to move linearly along the X axis. The light rod 25 is fixed on the left and right support frames.

[0116] 3、Turning adjustment unit

[0117] The turning adjusting module 28 is bolted on the right support frame 27, can drive the tether release measuring unit and the sub-satellite release firing unit to rotate horizontally as a whole, plays a role of adjusting the firing release angle, can make the tether release direction not be limited by the installation angle, and improves the applicability of the device.

[0118] 4. Tension measuring unit

[0119] The tension measuring unit is composed of an impact plate 34, a pressure sensor 35, a damping spring 36, a fixed sliding block 37 and a guide rail 38. The impact plate 34 is a rigid plate used to bear the momentum collision of the impact hammer 13, and is used to convert the kinetic energy of the impact hammer 13 into the kinetic energy of the sub-satellite movement. The pressure sensor 35 is connected to the impact plate 34 through the thread on its own one end, and is sleeved on the damping spring 36 through an optical shaft 41 on the other end. The fixed sliding block 37 has a through hole in the center to allow the optical shaft 41 to pass through. The tether passes between the lower roller 12 and the upper roller 11 and is then tied on the fixed sliding block 37, and the fixed sliding block 37 can move left and right on the guide rail 38. The guide rail 38 and the impact plate 34 need to be fixed on the sub-satellite. When the impact plate 34 is impacted, an initial speed is given to the sub-satellite to make the sub-satellite move away from the mother satellite. The servo motor on the mother satellite releases the sub-satellite using the tether. The fixed sliding block 37 on the sub-satellite is forced to move left along the guide rail 38 to compress the damping spring 36. The pressure sensor 35 can directly read the pressure, providing a tension feedback for the tether release control. The pressure value is the tension on the tether. Compared with the traditional measurement method of calculating the tension of the tether through the tension wheel pressure, the measurement method adopted by the present application is more direct, and the measurement result is more accurate.

[0120] The overall schematic diagram of the tethered satellite release device based on momentum collision is shown in Figure 4 The mother satellite installation part a and the sub-satellite installation part b are connected through the tether 39, constituting a complete tethered satellite release device structure. The functions that can be realized by the device and the corresponding implementation methods are as follows:

[0121] 1) Adjustment of the initial release angle of the sub-satellite: according to the requirements of the orbit experiment task, the initial release direction of the sub-satellite is adjusted through the turning adjusting unit.

[0122] 2) Adjustment of the initial speed of the sub-satellite release: the release position is adjusted through the stepping motor. When the target position is far and the time requirement is short, the lead screw transmission device can be adjusted to the left, so that the spring produces greater deformation and stores more energy.

[0123] 3) the repeated release of the sub-satellite: the release moment releases the motor to drive the cam to rotate and collide with the hammer to unlock, impact the impact plate on the sub-satellite, give the sub-satellite an initial speed, and complete the release. After the experiment is completed, adjust the release motor to re-lock the release limit block 24, so that the release position can be adjusted by the stepping motor to complete the release operation of the new task again.

[0124] 4) the servo motor drives the winding drum to rotate to release the tether, thereby controlling and adjusting the position and movement speed of the sub-satellite in real time.

[0125] 5) the release length of the tether can be obtained by the encoder display connected to the lower roller. The specific calculation method is as follows:

[0126]

[0127] wherein X is the stroke of the encoder, n is the number of lines of the encoder, D is the diameter of the lower roller, and L is the length of the tether release.

[0128] 6) the release speed of the tether can be obtained by the difference of the tether length, and the specific calculation method is as follows:

[0129]

[0130] wherein T is the sampling period of the encoder, p is the differential period number selected for speed calculation, X i is the encoder stroke at the i-th sampling moment, V i is the release speed of the tether at the i-th sampling moment.

[0131] 7) the tension on the tether can be directly obtained, and the pressure of the pressure sensor is equal to the tension on the tether.

[0132] The above functions can realize the accurate release of the tethered satellite system sub-satellite to any position and complete the orbit maneuvering task.

[0133] The device of the application completes the orbit maneuvering of the tethered sub-satellite release process. The device operates according to the flow shown in the figure: Figure 9

[0134] 1) according to the requirements of the experiment, adjust the release angle by adjusting the steering adjustment unit.

[0135] 2) adjust the energy storage of the system by the stepping motor to realize the adjustment of the initial release speed.

[0136] 3) rotate the release motor, unlock the impact limit lock block, push the impact hammer to hit the impact plate, and give the sub-satellite an initial release speed through momentum collision.

[0137] ​4) Servo motor starts to run, release the tether outward, the sub-star drags the tether to the target position.

[0138] 5) The controller continuously reads the encoder and pressure sensor as position and force feedback.

[0139] 6) With the designed control algorithm, the servo motor speed is obtained, and the servo motor speed is continuously adjusted to realize the control of the sub-star release.

[0140] 7) After reaching the target point, the relevant experimental results are measured and counted, and the orbit maneuver of the tethered sub-star release process is completed.

[0141] The above examples of the application are only used to illustrate the calculation model and calculation process of the application, and are not limited to the embodiments of the application. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description, and all the embodiments cannot be exhausted here. Any obvious changes or variations derived from the technical solutions of the application still fall within the protection scope of the application.

Claims

1. A momentum collision based tethered satellite release device, characterized by, The device comprises a tether release measuring unit, a sub-satellite release firing unit, a steering adjusting unit (28) and a tension measuring unit; wherein: The tether release measuring unit, the sub-satellite release firing unit and the steering adjusting unit (28) are installed on the mother satellite, the tension measuring unit is installed on the sub-satellite, and the tether release measuring unit is connected with the tension measuring unit through the tether (39); The tether release measuring unit is used for releasing the tether, and comprises an upper mounting plate (2), a servo motor fixing seat (4), a first synchronous pulley (5), a synchronous belt (6), a winding drum fixing seat (7), a second synchronous pulley (8), a winding drum (9) and a servo motor (31); The servo motor fixing seat (4) and the winding drum fixing seat (7) are fixed on the upper mounting plate (2), and the servo motor (31) is fixed on the servo motor fixing seat (4), and the winding drum (9) is fixed on the winding drum fixing seat (7); The motor shaft of the servo motor (31) is fixedly connected with the first synchronous pulley (5), and the rotating shaft of the winding drum (9) is fixedly connected with the second synchronous pulley (8); The synchronous belt (6) is engaged with the first synchronous pulley (5) and the second synchronous pulley (8) through the gear teeth; The sub-satellite release firing unit comprises a release speed adjusting module and a sub-satellite release module, the sub-satellite release module is used for releasing the sub-satellite, and the release speed adjusting module is used for adjusting the release speed of the sub-satellite; The release speed adjusting module comprises a left support frame (14), a lower mounting plate (26), a right support frame (27), a stepping motor (1), a release motor support (20) and a lead screw (23); The upper mounting plate (2) and the lower mounting plate (26) are arranged in parallel, and the left support frame (14) and the right support frame (27) are arranged at both ends of the parallel structure respectively; The stepping motor (1) is fixed on the left support frame (14), a release motor support (20) is arranged between the upper mounting plate (2) and the lower mounting plate (26), the release motor support (20) is provided with a threaded hole in the horizontal direction, the rotating shaft of the stepping motor (1) is connected with the release motor support (20) through the threaded hole, and the release motor support (20) is driven to move linearly in the left-right direction through the rotation of the lead screw (23); The sub-satellite release module comprises a release motor (3), a hammer (13), a compression spring (16), an eccentric wheel (17), a special-shaped bolt (18), a limit locking block (24) and a spring guide shaft (40); The special-shaped bolt (18) comprises a blocking cylinder (181), a tensioning cylinder (182) and an eccentric wheel follower block (183) fixed together; The release motor (3) is fixedly arranged on the release motor support (20), the rotating shaft of the release motor (3) is connected with the eccentric wheel (17), the special-shaped bolt (18) is sleeved on the sliding groove of the release motor support (20) through the blocking cylinder (181), the tensioning cylinder (182) is connected with the release motor support (20) through the spring to make the eccentric wheel (17) and the eccentric wheel follower block (183) adhere to each other, and the spring guide shaft (40) is arranged on the release motor support (20). The rotation of the motor (3) drives the eccentric wheel (17) to rotate, and the rotation of the eccentric wheel (17) drives the eccentric wheel follower (183) to move horizontally along the front and back directions. The limiting locking block (24) and the spring guide shaft (40) are arranged between the upper mounting plate (2) and the lower mounting plate (26), the impact hammer (13) is horizontally arranged through the right support frame (27), one end of the limiting locking block (24) is fixedly connected with the impact hammer (13), and one end of the horizontally arranged spring guide shaft (40) is fixed on the left support frame (14); After the compression spring (16) is sleeved on the spring guide shaft (40), one end of the compression spring (16) is connected to the limiting locking block (24), and the other end of the compression spring (16) is connected to the left support frame (14); The upper surface of the lower mounting plate (26) is provided with a waist hole, and the lower edge of the limiting locking block (24) slides horizontally in the waist hole; The steering adjusting unit (28) is used for driving the whole horizontal rotation of the tether release measuring unit and the sub-star release firing unit, and the steering adjusting unit (28) is connected with the right support frame (27) through threads. The tension measuring unit is used for measuring the tension on the tether, and the tension measuring unit comprises an impact plate (34), a pressure sensor (35), a damping spring (36), a fixed sliding block (37), a guide rail (38), a tether (39), and an optical shaft (41). One end of the pressure sensor (35) is connected to the vertically arranged impact plate (34), the other end of the pressure sensor (35) is fixedly connected with one end of the horizontally arranged optical shaft (41), and the other end of the optical shaft (41) passes through the horizontal through hole of the fixed sliding block (37). The damping spring (36) is sleeved on the optical shaft (41), and the fixed sliding block (37) is sleeved on the guide rail (38) and slides horizontally along the guide rail (38). The tether (39) is connected to the fixed sliding block (37), and the fixed sliding block (37) is connected with the tether release measuring unit through the tether (39).

2. A momentum collision based tethered satellite release device according to claim 1, characterized in that The number of the winding drum fixing seats (7) is two.

3. A momentum collision based tethered satellite release device according to claim 1, wherein, The diameters of the first synchronous belt wheel (5) and the second synchronous belt wheel (8) are the same.

4. A momentum collision based tethered satellite release device according to claim 1, wherein, The tether release measuring unit is also used for measuring the release length of the tether, and the tether release measuring unit further comprises a roller fixing seat (10), an upper roller (11), a lower roller (12), an encoder (32), and an adjusting bolt (33). The roller fixing seat (10) is arranged on the upper mounting plate (2), the lower roller (12) is fixed on the roller fixing seat (10) through a bearing, and the rotating shaft of the lower roller (12) is connected with the rotating shaft of the encoder (32) through a special-shaped clamping groove. A U-shaped groove is reserved on the roller fixing seat (10), and the rotating shaft of the upper roller (11) is clamped in the reserved U-shaped groove. An adjusting bolt (33) is arranged above the reserved U-shaped groove, the adjusting bolt (33) is used for adjusting the distance between the upper roller (11) and the lower roller (12), and the tether on the winding drum (9) passes through the gap between the upper roller (11) and the lower roller (12).

5. A momentum collision based tethered satellite release device according to claim 1, wherein, The release speed adjusting module further comprises an optical rod (25), one end of which is connected to the left support frame (14) and the other end of which is connected to the right support frame (27) after passing through a horizontally arranged hole slot on the release motor support (20).

6. A momentum collision based tethered satellite release device according to claim 1, wherein, The release speed adjusting module further comprises a first photoelectric switch (15), a first light shield (30), a second photoelectric switch (29) and a second light shield (21), the first light shield (30) and the second light shield (21) being fixedly arranged on the release motor support (20), the first photoelectric switch (15) being fixedly arranged on the left support frame (14) and the second photoelectric switch (29) being fixedly arranged on the right support frame (27).

7. A momentum collision based tethered satellite release device according to claim 1, wherein, The device further comprises a release photoelectric sensor (22) and a third light shield (19), the third light shield (19) being fixedly connected to the eccentric wheel follower (183) and the horizontally arranged release photoelectric sensor (22) being connected to the release motor support (20), the release photoelectric sensor (22) and the third light shield (19) cooperating to control the release motor (3) to stop rotating.

8. A momentum collision based tethered satellite release device according to claim 4, wherein, The number of the roller fixing seats (10) is two.

Images