A tethered satellite release and recovery device

Abstract

The application provides a tethered satellite release and recovery device, which comprises an ejection module, a tether winding and unwinding module, a sub-satellite simulation unit, a control module and a base. The ejection module is used for ejecting the sub-satellite simulation unit; the tether winding and unwinding module is used for actively releasing the tether in a nearly non-damping state in the process of tether unwinding, applying variable damping to the tether at the end of the process of tether unwinding to avoid rebound, and adjusting the tension of the tether in the process of recovery to realize the function of closely and orderly automatically recovering the tether; the device has compact structure, high reliability and low tether abrasion, can realize repeated ejection and orderly and efficient recovery of the sub-satellite simulation unit, and can be used for performing space tasks such as orbit maneuvering of the tethered satellite and space debris cleaning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tethered satellite release and recovery, in particular to a tethered satellite release and recovery device. BACKGROUND

[0002] In the face of problems such as high cost of orbit maneuvering and space debris cleaning caused by space exploration, the tethered satellite release and recovery device provides a new solution of high efficiency and low cost to solve these problems. The device can achieve orbit maneuvering or capture space debris through ejection of a satellite, and achieve the task of recycling the satellite or cleaning space debris through winding of the tether. The premise of repeated use of the tethered satellite release and recovery device is repeated ejection and tightly ordered and efficient recovery of the tether. Specific problems include how to prevent the tether from winding during deployment and recovery, how to achieve satellite positioning, and how to reduce the wear of the tether during deployment and recovery.

[0003] To solve the above problems, through literature research, it is found that there are still some deficiencies in existing devices: some devices use passive release strategy, lack of active release mechanism, and reduce the application range of the device; in addition, some devices fail to solve the problem of how to achieve tightly ordered arrangement of the tether during recovery, and devices with wire arranging mechanism cause great wear and resistance of the tether during deployment, and rely on friction storage elements to play a buffering damping role, resulting in complex structure and insufficient compactness of the device. In summary, the deficiencies of the existing technology can be summarized as follows: there is great wear and resistance of the tether during deployment, the tether cannot be tightly and orderly arranged during recovery, and the structure of the device is not compact enough. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a tethered satellite release and recovery device with the characteristics of repeatable release, tightly ordered and automatic satellite recovery simulation unit, reduced tether wear, compact structure, etc. The device can work repeatedly more than 50 times, and the length of the release and recovery tether is greater than 100 m.

[0005] In order to achieve the above object, the application adopts the following technical scheme: a tethered satellite release and recovery device, comprising a tether winding and unwinding module (1), an ejection module (2), a sub-satellite simulation unit (3), a base (4) and a control module (5); the tether winding and unwinding module (1), the ejection module (2) and the control module (5) are fixed to the base (4), the tether winding and unwinding module (1) extends a tether (32) through the ejection module (2) and is connected with the sub-satellite simulation unit (3); the tether winding and unwinding module (1) comprises a pressing cylinder mechanism (6), a swing cylinder mechanism (7), a guide rope mechanism (8) and a rope winding and unwinding mechanism (9); the ejection module (2) comprises a stop baffle (11), a photoelectric switch sensor (12), a worm gear motor (13), a toothless gear (14), a reflecting plate (15), a rack slider (16), a guide block (17), a first support (18), a second support (19) and an energy storage spring (20); the rope winding and unwinding mechanism (9) comprises a servo motor (27), a servo motor mounting rack (28), a small pulley (29), a first mounting plate (30), a synchronous belt (31), a tether (32), a mandrel (33), a sleeve (34), a second mounting plate (35), a large pulley (36), a rope cylinder (37), a sliding bearing (38), a rotating guide rod (39), a rotating flange (40) and a deep groove ball bearing (41); the swing cylinder mechanism (7) comprises a lead screw motor (21), a swing cylinder guide rod (22), a swing cylinder rolling bearing (23), a shift fork (24), a lead screw nut (25) and a moving table (26); the pressing cylinder mechanism (6) comprises a DC stepper push rod (42), a stepper push rod mounting rack (43), a long bolt (44), a pressing cylinder mechanism mounting plate (45), a moving plate (46), a pressing cylinder roller (47) and a buffer spring (48); the guide rope mechanism (8) comprises a moving roller mounting box (49), a moving roller (50), a fixed roller (51), an electric push rod (52) and a guide rope mechanism mounting plate (53).

[0006] In a preferred embodiment: the rack slider (16) does not mesh with the cogwheel (14) in the initial state; when the tethered satellite release and recovery device receives an energy storage command, the worm gear motor (13) drives the cogwheel (14) to rotate, driving the rack slider (16) to compress the energy storage spring (20); when the photoelectric switch sensor (12) detects the reflected light beam reflected by the reflector plate (15), the worm gear motor (13) stops rotating; the DC stepper push rod (42) lifts the pressure cylinder roller (47) to separate from the tether (32), the electric push rod (52) lifts the moving roller (50), the servo motor (27) drives the rope storage assembly (10) to wind a section of the tether (32) through the synchronous belt (31), so that the rack slider (16) contacts the satellite simulation unit (3) before release; after the tethered satellite release and recovery device receives the ejection command, the worm gear motor (13) continues to rotate, the cogwheel (14) disengages from the rack slider (16), the rack slider (16) accelerates the satellite simulation unit (3) under the action of the energy storage spring (20), the servo motor (27) drives the rope storage assembly (10) to actively release the tether (32) at a speed equal to the speed of the satellite simulation unit (3); the screw rod motor (21) swings the rope cylinder (38) at a speed of one tether diameter along its axial direction for each rotation of the rope cylinder (38), at the end of the tether deployment, the servo motor (27) enters the damping mode, applies adjustable damping to the satellite simulation unit (3) to make it decelerate smoothly until it stops, avoiding rebound or failure to stay in place; during the recovery process, the electric push rod (52) drives the moving roller (50) to move downward to contact the fixed roller (51) below it, the DC stepper push rod (42) presses the pressure cylinder roller (47) to press the tether (32) and stick to the rope cylinder (37), the servo motor (27) reverses to drive the rope storage assembly (10) to wind the tether (32), the swing cylinder mechanism (7) swings the rope cylinder (37) in one direction, when the tether (32) is distributed to the cylinder edge, the swing cylinder mechanism (7) swings in the opposite direction, so that the tether (32) is distributed in the rope cylinder (37) in a spiral shape layer by layer.

[0007] In a preferred embodiment: the rotating guide rod (39) is fixedly connected with the large pulley (36) provided with a counterbore and the rotating flange (40), and is slidably connected with the rope cylinder (37) through the sliding bearing (38) to form the rope storage assembly (10), and the rope storage assembly (10) is rotatably connected with the mandrel (33); the rotating guide rod (39) is evenly arranged along the circumference of the rope cylinder (37) at 180°, and the rope cylinder (37) contained in the rope storage assembly (10) can reciprocate along the axis when the rope storage assembly (10) rotates around the axis.

[0008] In a preferred embodiment: the swing cylinder mechanism (7) is installed obliquely above the rope storage assembly (10), converting the rotary motion of the lead screw into the reciprocating linear motion of the rope cylinder (37) along the axial direction; during the winding or releasing of the tether (32), the swing cylinder mechanism (7) moves the rope cylinder (37) along its axial direction, thereby ensuring that the tether (32) always remains in the same vertical plane when the relative position of the tether (32) and the rope cylinder (37) changes due to the rotation of the rope cylinder (37).

[0009] In a preferred embodiment: the pressing cylinder mechanism (6) is fixed to the moving platform (26) through the pressing cylinder mechanism mounting plate (45) and is located directly above the rope storage assembly (10); when the DC stepper push rod (42) is fully extended, it presses the tether (32) tightly against the rope cylinder (37); the guide rope mechanism (8) is arranged between the rope winding and releasing mechanism (1) and the ejection module (2), and the guide rope groove, the rope outlet of the rope storage assembly (10), and the rope outlet hole of the ejection module (2) are in the same vertical plane; when the moving roller (50) is pressed down, the tether path forms a "V" shape, and when it is lifted up, the tether path forms a "I" shape.

[0010] In a preferred embodiment: the moving roller (50) and the fixed rollers (51) on the left and right sides of the lower side of the moving roller (50) are each fixed with a fixed roller (51), and the moving roller (50) and the fixed rollers (51) are each provided with a guide rope groove; the moving roller mounting box (49) is provided with a straight slot for the tether (32) to pass through, and the extended tether (32) of the rope storage assembly (10) enters the ejection module (2) in sequence through the fixed rollers (51), the moving roller (50), and the fixed rollers (51).

[0011] In a preferred embodiment: the ejection module (2) converts the rotary motion of the missing tooth gear (14) into the intermittent linear motion of the rack slider (16); the missing tooth gear (14) rotates one revolution in one release cycle; the ejection module (2) stops compressing and self-locks when the compression amount of the energy storage spring (20) reaches the maximum, and releases the energy storage spring (20) after receiving the ejection instruction.

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] (1) The tethered satellite release and recovery device of the present application has the characteristics of reusability, high reliability, and compact structure; the repeated release and recovery function effectively reduces the orbital maneuver cost, the self-locking property of the worm gear motor significantly improves the safety of the device, the ejection module has a simple structure, no collision during the ejection process, and high repeatability, further improving the reliability of the device for repeated use.

[0014] (2) In the early stage of the tether deployment, the released tether is always in the same vertical plane and the deployed tether path is in the shape of "1", the active release strategy effectively reduces the resistance and wear during the deployment process, and reduces the risk of entanglement during the release process; in the late stage of the tether deployment, the servo motor applies adjustable damping to the sub-star simulation unit to make it decelerate smoothly until it stops, avoiding the problem of rebound or unable to stay in place;

[0015] (3) In the tether recovery stage, the winding mechanism and the swing barrel mechanism realize the spiral close distribution of the tether in the rope cylinder, the guide rope mechanism and the pressing cylinder mechanism adjust the tether tension during the recovery process, realize the efficient and orderly automatic recovery, and greatly improve the working efficiency of the device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a general schematic diagram of the tether satellite release and recovery device.

[0017] Figure 2 It is a schematic diagram of the ejection module and the ejection process of the tether satellite release and recovery device.

[0018] Figure 3 It is a schematic diagram of the tether release and recovery module of the tether satellite release and recovery device.

[0019] Figure 4 It is a schematic diagram of the winding and unwinding mechanism and the swing barrel mechanism of the tether satellite release and recovery device.

[0020] Figure 5 It is a schematic diagram of the rope storage assembly of the tether satellite release and recovery device.

[0021] Figure 6 It is a schematic diagram of the pressing cylinder mechanism of the tether satellite release and recovery device.

[0022] Figure 7 It is a schematic diagram of the guide rope mechanism of the tether satellite release and recovery device.

[0023] Figure 8 It is a working flow chart of the tether satellite release and recovery device.

[0024] In the diagram, 1 is the tethering and releasing module, 2 is the catapult module, 3 is the satellite simulation unit, 4 is the base, 5 is the control module, 6 is the pressure cylinder mechanism, 7 is the swing cylinder mechanism, 8 is the rope guiding mechanism, 9 is the rope winding and releasing mechanism, 10 is the rope storage assembly, 11 is the stop baffle, 12 is the photoelectric switch sensor, 13 is the worm gear motor, 14 is the toothed gear, 15 is the reflector, 16 is the rack and pinion slider, 17 is the guide block, 18 is the first support, 19 is the second support, 20 is the energy storage spring, 21 is the lead screw motor, 22 is the swing cylinder guide rod, 23 is the swing cylinder rolling bearing, 24 is the shift fork, 25 is the lead screw nut, 26 is the moving platform, and 27 is the servo motor. 28 is the servo motor mounting bracket, 29 is the small pulley, 30 is the first mounting plate, 31 is the synchronous belt, 32 is the tie rope, 33 is the mandrel, 34 is the sleeve, 35 is the second mounting plate, 36 is the large pulley, 37 is the rope drum, 38 is the sliding bearing, 39 is the rotating guide rod, 40 is the rotating flange, 41 is the deep groove ball bearing, 42 is the DC stepper rod, 43 is the stepper rod mounting bracket, 44 is the long bolt, 45 is the pressure cylinder mechanism mounting plate, 46 is the moving plate, 47 is the pressure cylinder roller, 48 is the buffer spring, 49 is the moving roller mounting box, 50 is the moving roller, 51 is the fixed roller, 52 is the electric push rod, and 53 is the rope guide mechanism mounting plate. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0028] like Figures 1-8 As shown, a tethered satellite release and recovery device includes a launch module 2, a tether release and recovery module 1, a satellite simulation unit 3, a base 4, and a control module 5; the tether release and recovery module 1 extends a tether that passes through the launch module 2 and connects to the satellite simulation unit 3.

[0029] like Figure 2As shown, the ejection module 2 includes a stop baffle 11, a photoelectric switch sensor 12, a worm gear motor 13, a missing tooth gear 14, a reflection plate 15, a rack slider 16, a guide block 17, a first support 18, a second support 19, and an energy storage spring 20; the stop baffle 11, the photoelectric switch sensor 12, the worm gear motor 13, and the guide block 17 are fixed to the first support 18, the first support 18 is provided with a through hole with an axis parallel to the base 4, used for gap cooperation with the sub-star simulation unit 3 and the rack slider 16, the missing tooth gear 14 is directly connected with the output shaft of the worm gear motor 13, and is engaged with the rack slider 16 fitted in the through hole of the first support 18, the first support 18 is fixed to the base 4 by being fixed and connected with the second support 19 through bolts, and the stop baffle 11 and the rack slider 16 are provided with rope exit holes;

[0030] As shown in Figure 3 , the tether winding and unwinding module 1 includes a compression cylinder mechanism 6, a swing cylinder mechanism 7, a rope guide mechanism 8, and a rope winding and unwinding mechanism 9;

[0031] As shown in Figure 4 , Figure 5 , the rope winding and unwinding mechanism 9 includes a servo motor 27, a servo motor mounting bracket 28, a small pulley 29, a synchronous belt 31, a tether 32, a mandrel 33, a sleeve 34, a first mounting plate 30, a second mounting plate 35, a large pulley 36, a rope cylinder 37, a sliding bearing 38, a rotating guide rod 39, a rotating flange 40, and a deep groove ball bearing 41; the servo motor mounting bracket 28, the first mounting plate 29, and the second mounting plate 35 are fixed to the base 4, the mandrel 33 is fixedly connected with the first mounting plate 30 and the second mounting plate 35, as shown in Figure 5 , the rotating guide rod 39 is fixedly connected with the large pulley 36 provided with a counterbore and the rotating flange 40 through bolts, and is slidingly connected with the rope cylinder 37 through the sliding bearing 38 to form a rope storage assembly 10, the rope storage assembly is rotationally connected with the mandrel, the sleeve 34 axially positions the rope storage assembly 10, the output shaft of the servo motor 27 fixed to the servo motor mounting bracket 28 is directly connected with the small pulley 29, the small pulley is connected with the rope storage assembly 10 through the synchronous belt 31, and can drive the rope storage assembly 10 to rotate around the mandrel 33 to realize winding or releasing the tether 32;

[0032] As shown in Figure 4As shown, the swing cylinder mechanism 7 includes a screw rod motor 21, a swing cylinder guide rod 22, a swing cylinder rolling bearing 23, a yoke 24, a screw rod nut 25 and a moving table 26; the screw rod motor 21 is fixedly connected with the second mounting plate 35, the extending screw rod is rotatably connected with the first mounting plate 30 through the rolling bearing, and the screw rod nut 25 fixed to the moving table 26 forms a screw pair with the screw rod, the swing cylinder guide rod 22 is fixed to the first mounting plate 30 and the second mounting plate 35, the axis thereof is parallel to the axis of the rope cylinder 37, the moving table 26 is slidably connected with the swing cylinder guide rod 22 through a sliding bearing, the yoke 24 is fixed to the moving table 26, and the rope cylinder 37 located in the middle of the two prongs of the yoke 24 is abutted by the swing cylinder rolling bearing 23, the axis of the rolling bearing is perpendicular to the axis of the rope storage assembly 10, and the rope cylinder 36 can be reciprocally moved along the axis of the rope cylinder by driving the screw rod motor 20;

[0033] The swing cylinder mechanism 7 is installed obliquely above the rope cylinder 37, and the rope cylinder 37 swings along the axis direction by the swing cylinder mechanism 7 while winding or releasing the tether 32, so that the tether 32 is always in the same vertical plane when the relative position between the tether 32 and the rope cylinder 37 changes due to the rotation of the rope cylinder 37.

[0034] As shown, Figure 6 The pressing cylinder mechanism 6 includes a DC step push rod 42, a step push rod mounting frame 43, long bolts 44, a pressing cylinder mechanism mounting plate 45, a moving plate 46, a pressing cylinder roller 47 and a buffer spring 48; the DC step push rod 42 is fixedly connected with the step push rod mounting frame 43, and then is fixed to the moving table 26 through the pressing cylinder mechanism mounting plate 45, the pressing cylinder roller 47 is fixed with the two long bolts 44, the moving plate 46 is provided with through holes for guiding the long bolts 44 on the step motor mounting frame 43, the moving plate 46 is fixedly connected with the DC step push rod 42, and is abutted by the long bolt upper nut through the buffer spring 48, so as to avoid damaging the tether 32 and the rope storage assembly 10 when the rope cylinder is pressed;

[0035] As shown, Figure 7 The guide rope mechanism 8 includes a moving roller mounting box 49, a moving roller 50, a fixed roller 51, an electric push rod 52 and a guide rope mechanism mounting plate 53; the fixed roller 51 and the electric push rod 52 are fixed on the guide rope mechanism mounting plate 53, the moving roller mounting box 49 is used for mounting the moving roller 50 and is provided with a spring buffer, and is fixedly connected with the output shaft of the electric push rod 52, straight notches are formed on both sides of the moving roller mounting box 49 for discharging the rope, the fixed roller 51 and the moving roller 50 are provided with rope guide grooves and are located in the same vertical plane;

[0036] Furthermore, the ejection module 2 and the tether release and retrieval module 1 are fixed to the base 3. The ejection module 2 is used to release the sub-satellite simulation unit 3, and the tether release and retrieval module 1 is used to achieve orderly, efficient and automatic retrieval of the tether 32. The height of the tether outlet hole of the ejection module 2 is consistent with the height of the tether release and retrieval module 1 to ensure that the unfolding direction vector of the tether 32 is collinear with the velocity direction vector of the sub-satellite simulation unit 3.

[0037] The workflow of this embodiment is as follows:

[0038] In the initial state, the rack and pinion slider 16 is in contact with the guide block 16 under the action of the energy storage spring 20, and the rack and pinion slider 16 does not mesh with the toothed gear 14. The sub-star simulation unit 3 is in contact with the rack and pinion slider 16 under the guidance of the guide block 17.

[0039] like Figure 8 As shown, when the tethered satellite release and recovery device receives the energy storage command, the worm gear motor 13 drives the toothed gear 14 to rotate. When the toothed gear 14 meshes with the rack slider 16, it drives the rack slider 16 to compress the energy storage spring 20. When the photoelectric switch sensor 12 detects the light beam reflected back by the reflector 15, the worm gear motor 13 stops rotating. At this time, the toothed gear 14 and the rack slider 16 are about to disengage. The DC stepper push rod 42 lifts the pressure cylinder roller 47 to separate from the tether 32. The electric push rod 52 lifts the moving roller 50. The servo motor 27 drives the tether storage assembly 10 to wind a section of the tether 32 through the synchronous belt 31, so that the rack slider 16 contacts the satellite simulation unit 3 before separation, avoiding collisions during release and reducing efficiency.

[0040] When the tethered satellite release and recovery device receives the ejection command, the worm gear motor 13 continues to rotate, the toothed gear 14 disengages from the rack and pinion slider 16, and the rack and pinion slider 16 accelerates the satellite simulation unit 3 under the action of the energy storage spring 20 to achieve ejection release. The servo motor 27 drives the tether storage assembly 10 to actively release the tether 32 at a speed equal to that of the satellite simulation unit 3. The lead screw motor 21 drives the shift fork 24 to move the rope drum 38 along the axial direction of the rope drum. The rope drum 38 needs to move a distance of one tether diameter along its axial direction for each rotation, ensuring that the unfolded tether 32 is always in the same vertical plane, which greatly reduces the damping of the tether 32 during the unfolding process and the risk of entanglement inside the device. At the end of the tether unfolding, the servo motor 27 enters the damping mode and applies adjustable damping to the movement of the satellite simulation unit 3, so that the satellite simulation unit 3 decelerates smoothly until it stops, avoiding rebound or failure to stay in position.

[0041] In the recycling process, the electric push rod 52 drives the moving roller 50 to move downward to contact the fixed roller 51 located below, the DC stepper push rod 42 drives the pressure roller 47 to press the tether 32 and tightly contact the rope drum 37, increases the damping of the tether 32 in the recycling process, the servo motor 27 reverses to drive the rope storage assembly 10 to wind the tether 32, the swing drum mechanism 7 swings the rope drum 37 in a direction, when the tether 32 is distributed to the drum edge, the swing drum mechanism 7 swings reversely, so that the tether 32 is distributed in the rope drum 37 in a spiral line layer by layer, realizes the purpose of orderly and efficient automatic recycling of the tether 32.

Claims

1. A tethered satellite release and recovery device, characterized in that, The system includes a tethering and releasing module (1), a launch module (2), a sub-star simulation unit (3), a base (4), and a control module (5). The tethering and releasing module (1), the launch module (2), and the control module (5) are fixed to the base (4). The tethering and releasing module (1) extends the tether (32) and connects to the sub-star simulation unit (3) through the launch module (2). The tethering and releasing module (1) includes a pressure cylinder mechanism (6), a swing cylinder mechanism (7), a rope guide mechanism (8), and a rope winding and releasing mechanism (9). The launch module (2) includes a stop baffle (11), a photoelectric switch sensor (12), a worm gear motor (13), a toothed gear (14), a reflector (15), a rack and pinion slider (16), a guide block (17), a first support (18), a second support (19), and an energy storage spring (20). The rope winding and releasing mechanism (9) includes a servo motor (27), a servo motor mounting bracket (28), and a small belt. Wheel (29), first mounting plate (30), synchronous belt (31), tie rope (32), spindle (33), sleeve (34), second mounting plate (35), large pulley (36), rope drum (37), sliding bearing (38), rotating guide rod (39), rotating flange (40) and deep groove ball bearing (41); the swing cylinder mechanism (7) includes screw motor (21), swing cylinder guide rod (22), swing cylinder rolling bearing (23), shift fork (24), screw nut (25) and moving table (26); the pressure cylinder mechanism (6) includes DC stepper push rod (42), stepper push rod mounting bracket (43), long bolt (44), pressure cylinder mechanism mounting plate (45), moving plate (46), pressure cylinder roller (47), buffer spring (48); the rope guide mechanism (8) includes moving roller mounting box (49), moving roller (50), fixed roller (51), electric push rod (52) and rope guide mechanism mounting plate (53).

2. The tethered satellite release and recovery device according to claim 1, characterized in that: The rack and pinion slider (16) does not mesh with the toothed gear (14) in the initial state; when the tethered satellite release and recovery device receives the energy storage command, the worm gear motor (13) drives the toothed gear (14) to rotate, which in turn drives the rack and pinion slider (16) to compress the energy storage spring (20). When the photoelectric switch sensor (12) detects the light beam reflected back by the reflector (15), the worm gear motor (13) stops rotating; the DC stepper push rod (42) lifts the pressure cylinder roller (47) to separate it from the tether (32), and the electric push rod (52) Lift the moving roller (50), and the servo motor (27) drives the rope storage assembly (10) to wind a section of tether (32) through the synchronous belt (31), so that the rack slider (16) contacts the sub-satellite simulation unit (3) before release; when the tethered satellite release and recovery device receives the ejection command, the worm gear motor (13) continues to rotate, and the toothed gear (14) disengages from the rack slider (16). Under the action of the energy storage spring (20), the rack slider (16) moves towards the sub-satellite simulation unit (3). During acceleration, the servo motor (27) drives the rope storage assembly (10) to actively release the tether (32) at a speed equal to that of the sub-star simulation unit (3); the screw motor (21) swings the rope drum (37) at a speed that moves one tether diameter along its axis for each rotation of the rope drum (37). At the end of the tether unfolding, the servo motor (27) enters the damping mode, applying adjustable damping to the movement of the sub-star simulation unit (3), so that the sub-star simulation unit (3) decelerates smoothly until it stops, avoiding rebound or failure to stay in position; during the recovery process The electric push rod (52) drives the moving roller (50) to move downwards so that it contacts the fixed roller (51) located below it. The DC stepper push rod (42) presses down the pressure cylinder roller (47) to press the rope (32) and press it against the rope drum (37). The servo motor (27) reverses to drive the rope storage assembly (10) to wind the rope (32). The swing drum mechanism (7) swings the rope drum (37). When the rope (32) is distributed to the edge of the drum, the swing drum mechanism (7) swings in the opposite direction, so that the rope (32) is distributed in a spiral shape layer by layer on the rope drum (37).

3. The tethered satellite release and recovery device according to claim 1, characterized in that: The rotating guide rod (39) is fixedly connected to the large pulley (36) with countersunk holes and the rotating flange (40), and is slidably connected to the rope drum (37) through the sliding bearing (38) to form a rope storage assembly (10). The rope storage assembly (10) is rotatably connected to the spindle (33). The rotating guide rod (39) is evenly arranged 180° around the circumference of the rope drum (37). When the rope storage assembly (10) rotates around the axis, the rope drum (37) contained therein can reciprocate along the axis.

4. The tethered satellite release and recovery device according to claim 1, characterized in that: The swing drum mechanism (7) is installed diagonally above the rope storage assembly (10) and converts the rotational motion of the screw into the reciprocating linear motion of the rope drum (37) along the axial direction. During the process of winding or releasing the rope (32), the swing drum mechanism (7) moves the rope drum (37) along its axial direction, thereby ensuring that when the rotation of the rope drum (37) causes the relative position of the rope (32) and the rope drum (37) to change, the rope (32) always remains in the same vertical plane.

5. A tethered satellite release and recovery device according to claim 1, characterized in that: The pressure cylinder mechanism (6) is fixed to the moving platform (26) through the pressure cylinder mechanism mounting plate (45) and is located directly above the rope storage assembly (10). When the DC stepper push rod (42) is fully extended, it presses the rope (32) against the rope drum (37). The rope guide mechanism (8) is located between the rope winding and unwinding mechanism (9) and the ejection module (2). The rope guide groove, the rope outlet of the rope storage assembly (10), and the rope outlet hole of the ejection module (2) are in the same vertical plane. When the moving roller (50) is pressed down, the rope path is "V" shaped. When it is lifted, the rope path is "I" shaped.

6. The tethered satellite release and recovery device according to claim 1, characterized in that: The movable roller (50) has a fixed roller (51) fixed on its lower side and on its left and right sides. The movable roller (50) and the fixed roller (51) are provided with a guide rope groove. The movable roller mounting box (49) is provided with a straight slot for the tether rope (32) to pass through. The rope storage assembly (10) extends out of the tether rope (32) and passes through the fixed roller (51), the movable roller (50), and the fixed roller (51) in sequence to enter the ejection module (2).

7. A tethered satellite release and recovery device according to claim 1, characterized in that: The ejection module (2) converts the rotational motion of the toothed gear (14) into the intermittent linear motion of the rack and pinion slider (16); the toothed gear (14) rotates once in one release cycle; the ejection module (2) stops compressing and self-locks when the compression of the energy storage spring (20) reaches its maximum, and releases the energy storage spring (20) after receiving the ejection command.

Images