Small satellite flexible capture device

Abstract

The application discloses a small satellite flexible capturing device, and relates to a capturing device.The application is used to solve the problem that a high-orbit large satellite platform cannot meet the installation space and bearing requirements.The application comprises a docking cone part and a flexible capturing part, the docking cone part is installed on the outer surface of a passive satellite shell, and the flexible capturing part is installed on the outer surface of an active satellite shell.The application belongs to the field of aerospace technology.

Description

Technical Field

[0001] This invention relates to a capture device, belonging to the field of aerospace technology. Background Technology

[0002] Space servicing technology is one of the important standards for measuring a country's spacefaring capabilities. Countries around the world have launched thousands of spacecraft with diverse purposes, such as satellites, space stations, and various probes. During their on-orbit operation, these spacecraft have made initial progress in the development and utilization of outer space, improving people's quality of life in various aspects. my country is the third country to possess key core technologies for space rendezvous and docking. Space rendezvous and docking technology has played an irreplaceable role in maintaining my country's space station operation, assembling large high-orbit satellite platforms, providing on-orbit servicing for spacecraft, and completing manned spaceflight missions.

[0003] Large-scale space rendezvous and docking mechanisms mainly fall into two categories: heterogeneous isomorphic docking mechanisms and rod-cone docking mechanisms. The heterogeneous isomorphic peripheral docking mechanism was initially developed jointly by American and Soviet experts and used in the docking missions of the American Apollo spacecraft and the Soviet Soyuz spacecraft. In 1967, the rod-cone docking mechanism, developed by the Soviet Union, was successfully applied to the docking of manned spacecraft and space station modules with the space station.

[0004] To achieve real-time, three-dimensional, and precise observation of typical hazardous weather systems, it is necessary to improve the level of multi-sphere perspective observation of the Earth's atmosphere, water, and other layers, and to develop high-orbit collaborative observation technologies for various large payloads. However, current high-orbit large satellite platforms cannot meet the space and load-bearing requirements for installation. Therefore, modular design and on-orbit assembly of the entire satellite to construct the system at low cost has become an inevitable choice. Traditional rod-cone and heterogeneous isomorphic docking mechanisms, due to their large mass, are inevitably affected by the impact effects of docking collisions during the docking process. This makes it difficult for traditional docking mechanisms to meet the current mission requirements of lightweight docking mechanisms and low-impact docking processes in the field of on-orbit service.

[0005] Therefore, in the assembly of large satellite platforms in high orbit, designing a new type of reusable satellite capture and docking mechanism with a large capture area, low impact, small structural size, and lightweight is of great significance for meeting the urgent needs of space mission development. Summary of the Invention

[0006] To address the problem that existing high-orbit large satellite platforms cannot meet the space and load-bearing requirements for installation, this invention proposes a small satellite flexible capture device.

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

[0008] Furthermore, the mating cone portion includes a screw, an iron plate, a rigid mating cone, and a tower-shaped spring;

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

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

[0011] Furthermore, the flexible capture component includes an electromagnet, a first wire rope, a flexible spring rod, a cone assembly, a slider, a second wire rope, and a rope winding assembly;

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

[0013] Furthermore, the cone assembly includes a sleeve, a sleeve spring, and a cone.

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

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

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

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

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

[0019] Furthermore, the flexible capture section also includes a compression spring;

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

[0021] The beneficial effects of this invention are:

[0022] 1. The present invention is a flexible acquisition mechanism for small satellites, which can reliably acquire small satellites to facilitate subsequent rigid locking, maintain satellite stability, and prevent them from being affected by external disturbances;

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

[0024] 3. By changing the direction of the slide, this invention makes full use of the radial space inside the active satellite, thereby reducing the axial space occupied inside the active satellite, improving space utilization, and saving manufacturing and transportation costs.

[0025] 4. The present invention has a tension spring on the wire rope, which can ensure the synchronicity of locking, compensate for the deformation of the rope system, and ensure the synchronicity of the pull-back of the four flexible rods. Attached Figure Description

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

[0027] Figure 2 This is the schematic diagram of the mating cone;

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

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

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

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

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

[0033] Specific implementation method two: such as Figures 1 to 5 As shown, based on the first specific embodiment, the docking cone portion 22 includes a screw 14, an iron plate 15, a rigid docking cone 16, and a tower-shaped spring 17.

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

[0035] The tower-shaped spring 17 is made of non-magnetic material to avoid being attracted by the electromagnet 1, and is surrounded by a layer of flexible material with a low coefficient of friction to prevent the electromagnet 1 from entering the gap of the tower-shaped spring 17 and getting stuck.

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

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

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

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

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

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

[0042] Work process

[0043] During the initial capture phase, due to errors in the robotic arm, precise docking cannot be achieved. The robotic arm moves the small satellite into the capture area of ​​the mechanism. As the docking cone moves downward, the tower spring 17 contacts the electromagnet 1, and the flexible spring rod 3 bends along the cone surface. The electromagnet 1 moves along the cone surface of the tower spring 17, gradually approaching and attracting the iron plate 15, thus completing the initial capture. Subsequently, the rope winding motor 13 starts, driving the drum 11 to rotate and pull back the second steel wire rope 9, causing the slider 8 to pull the flexible spring rod 3 into the sleeve 4, further pulling the small satellite closer. Since the pull-back action of the four flexible spring rods is controlled by the rope winding motor 13, and the third steel wire rope 20 is connected to the second steel wire rope 9 through the tension spring 18, the displacement of all spring rods is consistent, ensuring that each electromagnet reaches the sleeve 4 simultaneously and continues to pull down a certain distance, compressing the sleeve spring for initial centering 5, preparing for subsequent rigid locking. Finally, the cone seat 6 contacts the rigid docking cone 16 to achieve fixation during rigid locking.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A small satellite flexible capture device comprising a docking cone portion (22) and a flexible capture portion (23), the docking cone portion (22) being mounted on an outer surface of a passive satellite shell (21) and the flexible capture portion (23) being mounted on an outer surface of an active satellite shell (19); characterized in that, The flexible capturing part (23) comprises an electromagnet (1), a first steel wire rope (2), a flexible spring rod (3), a taper seat assembly, a sliding block (8), a second steel wire rope (9) and a winding rope assembly; The outer surface of the driving satellite shell (19) is provided with a sliding groove (7), the sliding block (8) is arranged in the sliding groove (7) and can slide along the inner wall of the sliding groove (7), the taper seat assembly is installed on the outer surface of the driving satellite shell (19), the inner end of the flexible spring rod (3) is inserted into the taper seat assembly, the electromagnet (1) is connected with the outer end of the flexible spring rod (3), one end of the first steel wire rope (2) is connected with the electromagnet (1), the other end of the first steel wire rope (2) is connected with one side of the sliding block (8) after passing through the inside of the flexible spring rod (3), the other side of the sliding block (8) is connected with the winding rope assembly through the second steel wire rope (9), and the winding rope assembly is fixed on the middle part of the outer surface of the driving satellite shell (19).

2. A small satellite flexible capture device according to claim 1, wherein, The docking cone part (22) comprises a screw rod (14), an iron plate (15), a rigid docking cone (16) and a tower spring (17); One end of the screw rod (14) is fixedly connected with the outer surface of the passive satellite shell (21), the iron plate (15) is fixed on the top of the rigid docking cone (16), and the tower spring (17) is fixedly connected with the bottom of the rigid docking cone (16).

3. A small satellite flexible capture device according to claim 2, wherein, The tower spring (17) is made of non-magnetic material, and the outer surface of the tower spring (17) is covered with a flexible material.

4. The small satellite flexible capture device of claim 1, wherein, The taper seat assembly comprises a sleeve (4), a sleeve spring (5) and a taper seat (6); The taper seat (6) is fixed on the outer surface of the driving satellite shell (19), the sleeve spring (5) is inserted into the taper seat (6) from outside to inside, the sleeve (4) is inserted into the sleeve spring (5), and the flexible spring rod (3) is inserted into the sleeve (4).

5. The small satellite flexible capture device of claim 1, wherein, The winding rope assembly comprises a winding drum (11), a bevel gear (12) and a winding rope motor (13); The winding rope motor (13) is fixed on the middle part of the outer surface of the driving satellite shell (19), the bevel gear (12) is coaxially fixed on the motor shaft of the winding rope motor (13), the bevel gear (12) is engaged with the gear on the winding drum shaft of the winding drum (11), and the other end of the second steel wire rope (9) is fixedly connected with the winding drum (11).

6. A small satellite flexible capture device according to claim 5, wherein, The flexible capturing part (23) further comprises a tension spring (18) and a third steel wire rope (20); One end of the third steel wire rope (20) is fixedly connected with the winding drum (11), the other end of the third steel wire rope (20) is connected with one end of the tension spring (18), and the other end of the tension spring (18) is connected with the other end of the second steel wire rope (9).

7. The small satellite flexible capture device of claim 1, wherein, The flexible capturing part (23) further comprises a compression spring (10); The compression spring (10) is installed in the sliding groove (7) and located between the sliding block (8) and the winding rope assembly.

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