Space flexible net and locking and releasing mechanism

Abstract

The invention relates to the technical field of aerospace equipment, and provides a space flexible net and a locking and releasing mechanism. Wherein the space flexible net comprises an elastic ring frame and a limiting ring; a flexible net is installed in the elastic ring frame, the elastic ring frame has an unfolded state and a folded state, and the elastic ring frame is in a plane shape in the unfolded state; when the elastic ring frame is in the folded state, the elastic ring frame can elastically deform to be twisted and folded to form a plurality of sub-ring parts which are arranged in sequence, and every two adjacent sub-ring parts are coaxial and stacked; the limiting ring is detachably installed on the elastic ring frame in the folded state so as to limit the multiple sub-ring parts to rotate in the direction away from one another. And when the limiting ring is separated from the elastic ring frame, the elastic ring frame is switched from the folded state to the unfolded state under the elastic acting force of the elastic ring frame. After the elastic ring frame is folded, the occupied space is small, the elastic ring frame can be automatically unfolded under the action of the elastic force of the elastic ring frame, and the unfolded elastic ring frame has a supporting effect on the flexible net, so that the flexible net can be kept in an unfolded state for a long time to capture an object.

Description

Technical Field

[0001] The present application relates to the technical field of aerospace equipment, and in particular to a space flexible net and a locking and releasing mechanism. Background Art

[0002] With the development of aerospace technology in various countries, human space activities are becoming more frequent, the number of space debris in the Earth's orbit has increased dramatically, and the available orbital space resources are becoming increasingly scarce. Space debris refers to all non-functional man-made objects in the Earth's orbit, including their fragments and components. The space debris removal technology currently developed mainly uses net capture technology, that is, using an aircraft to approach a space target and use a flexible flying net to capture the target.

[0003] The flexible flying net is usually stored in a concentric cylindrical flexible rope net storage bag. A flexible rope connected to the satellite is set in the middle of the flexible flying net, and a mass block is set at the edge of the flexible flying net. When the flying net needs to be deployed, the mass block is launched, so that the mass block drives the flexible flying net to fly out of the storage bag and deploy in space. However, the overall operation of launching the mass block to deploy the flying net is complicated, requiring multiple launching devices, making the overall structure of the flexible flying net more complicated; and after the mass block is launched, it will continue to move in space. When the mass block moves too far, the flexible rope will drag the flying net and close the flying net, making it difficult for the flying net to remain deployed for a long time. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a spatial flexible net and a locking and releasing mechanism.

[0005] In a first aspect, the present application provides a spatial flexible net, including an elastic ring frame and a limiting ring;

[0006] A flexible net is installed in the elastic ring frame, and the elastic ring frame has an unfolded state and a folded state. The elastic ring frame is in a plane shape in the unfolded state;

[0007] The elastic ring frame can be elastically deformed and twisted and folded to form a plurality of sub-ring portions arranged in sequence. When the elastic ring frame is in a folded state, each two adjacent sub-ring portions are coaxial and stacked.

[0008] The limiting ring is detachably mounted on the elastic ring frame in the folded state to limit the rotation of multiple sub-ring parts in the direction away from each other; when the limiting ring is separated from the elastic ring frame in the folded state, the elastic ring frame switches from the folded state to the unfolded state under the action of its own elastic force.

[0009] Optionally, when the elastic ring frame is in a folded state, the diameters of the plurality of sub-ring portions are equal;

[0010] When the elastic ring frame is in the unfolded state, the flexible net has a plurality of equal equilateral triangle meshes, the side length of the equilateral triangle meshes is L, and L satisfies the following formula:

[0011]

[0012] Among them, D f is the diameter of the sub-ring portion.

[0013] Optionally, the elastic ring frame includes an elastic beam, a connecting sleeve and an elastic member;

[0014] The elastic member is arranged inside the connecting sleeve, and the elastic beam is bent so that the two ends of the elastic beam are respectively connected to the two ends of the connecting sleeve, so that the elastic beam and the connecting sleeve together form an annular structure; the elastic member is connected to the two ends of the elastic beam, and at least one end of the elastic beam can rotate in the connecting sleeve.

[0015] Optionally, an installation channel passing through the connecting sleeve is provided in the connecting sleeve, one end of the elastic beam is fixedly connected to a fixed end, and the other end is fixedly connected to a movable end, the fixed end is fixedly connected to one end of the installation channel, and the movable end is rotatably connected to the other end of the installation channel.

[0016] Optionally, the flexible net includes a rope net portion and a plurality of rope net connecting rings;

[0017] The plurality of cable net connecting rings are all movably mounted on the elastic beams, the rope net portion has a plurality of annular end heads, and the plurality of annular end heads are mounted and connected to the plurality of cable net connecting rings in a one-to-one correspondence.

[0018] Optionally, when the elastic ring frame is unfolded, the rope net portion is tensioned to make the cable net connecting ring abut against the elastic beam, so that the friction force between the cable net connecting ring and the elastic beam restricts the cable net connecting ring from sliding on the elastic beam.

[0019] Optionally, the limiting ring includes a first arc-shaped portion, a second arc-shaped portion and a mounting rope;

[0020] The elastic ring frame in the folded state is a cylindrical structure, the first arc-shaped portion is arranged on the inner side of the cylindrical structure, the second arc-shaped portion is arranged on the outer side of the cylindrical structure, and the first arc-shaped portion and the second arc-shaped portion are installed opposite to each other;

[0021] The installation rope binds the first arc-shaped portion and the second arc-shaped portion with a movable rope knot so that the first arc-shaped portion and the second arc-shaped portion remain in contact with each other, and when the movable knot of the installation rope is untied, the first arc-shaped portion and the second arc-shaped portion can be separated from each other.

[0022] The second aspect of the present application provides a locking and releasing mechanism, which is applied to the space flexible net as described in any one of the above items, comprising a launching device, a rotating member, and a limiting member installed on the launching device;

[0023] The elastic ring frame is rotatably connected to the launching device through the rotating member, the launching device has a movable launching portion, and the elastic ring frame in the folded state is in contact with the launching portion when in the first position;

[0024] The movement of the launch part can exert a force on the elastic ring frame in a direction away from the launch device, so that the elastic ring frame moves from the first position to a second position spaced apart from the launch device;

[0025] When the elastic ring frame is at the first position, the limiting member is connected to the elastic ring frame to limit the elastic ring frame from being away from the transmitting part;

[0026] When the transmitting part moves, the limiting member can be disconnected from the elastic ring frame synchronously.

[0027] Optionally, the rotating member includes a flexible rod that can be bent and deformed, one end of the flexible rod is connected to the elastic ring frame, and the other end of the flexible rod is connected to the launching device.

[0028] Optionally, the rotating member includes a rotating base, a rotating arm and a spring sheet;

[0029] The rotating base is installed on the launching device, the rotating arm is rotatably connected to the rotating base, and the elastic ring frame is rotatably connected to the rotating arm;

[0030] The spring sheet is connected between the rotating base and the rotating arm, and the elastic force of the spring sheet drives the rotating arm to rotate relative to the rotating base in a direction away from the launching device.

[0031] Optionally, the launching device includes an upper movable plate, a lower fixed plate arranged on the bottom side of the upper movable plate, a driving spring installed between the upper movable plate and the lower fixed plate, and a locking member installed between the upper movable plate and the lower fixed plate;

[0032] The elastic ring frame in the first position is attached to the top side of the upper movable plate, a mounting hole is provided on the upper movable plate, the rotating member is mounted on the lower fixed plate and connected to the elastic ring frame through the mounting hole, and the elastic force of the driving spring drives the upper movable plate and the lower fixed plate to move away from each other;

[0033] When the locking member is locked, the upper movable plate and the lower fixed plate are restricted from relative movement;

[0034] When the locking member is unlocked, the upper movable plate and the lower fixed plate can move away from each other under the drive of the driving spring.

[0035] Optionally, the locking member includes an upper connecting member, a lower connecting member and a pin puller;

[0036] The upper connecting member is connected to the upper movable plate, the lower connecting member is connected to the lower fixed plate, and the pin puller has a retractable pin shaft;

[0037] When the locking member is locked, the pin puller drives the pin shaft to extend to connect with the upper connecting member and the lower connecting member, so that the pin shaft restricts the upper connecting member and the lower connecting member from moving away from each other;

[0038] When the locking member is unlocked, the pin puller drives the pin shaft to retract to be disconnected from at least one of the upper connecting member and the lower connecting member, so that the upper connecting member and the lower connecting member can move away from each other.

[0039] Optionally, the limit member includes an upper pressure rod and a lower pull rod, at least a portion of the lower pull rod is on the top side of the upper movable plate, the upper pressure rod is on the top side of the upper movable plate and is rotatably connected to the lower pull rod, the upper pressure rod can rotate relative to the lower pull rod to switch between an abutting position and an avoidance position, and the avoidance position is on the side of the abutting position facing away from the upper movable plate;

[0040] When the locking member is locked, the upper pressing rod can abut against the top side of the elastic ring frame at the first position at the abutting position to limit the elastic ring frame from moving in a direction away from the upper movable plate;

[0041] When the locking member is unlocked, the upper pressing rod can be switched to the avoidance position to disengage from the abutment with the elastic ring frame.

[0042] Compared with the prior art, the technical solution provided by this application has the following advantages:

[0043] The present application provides a space flexible net and a locking and releasing mechanism. The space flexible net includes an elastic ring frame and a limiting ring; a flexible net is installed in the elastic ring frame, the elastic ring frame has an unfolded state and a folded state, and the elastic ring frame is flat in the unfolded state; when the elastic ring frame is in the folded state, the elastic ring frame can be elastically deformed and twisted and folded to form a plurality of sub-rings arranged in sequence, and each two adjacent sub-rings are coaxial and stacked to reduce the occupied space of the elastic ring frame in the folded state; the limiting ring is detachably installed on the elastic ring frame in the folded state to limit the rotation of the plurality of sub-rings in the direction away from each other; when the limiting ring is separated from the elastic ring frame in the folded state, the elastic ring frame switches from the folded state to the unfolded state under the action of its own elastic force. The elastic ring frame is twisted to form multiple stacked sub-rings, and can be stably maintained in a folded state by a limiting ring. After the limiting ring is detached, the elastic ring frame can automatically unfold under the action of its own elastic force, avoiding the need to set up a mechanism on the spacecraft to release the mass block to unfold the space flexible net, simplifying the unfolding operation of the space flexible net, reducing the complexity of the space flexible net, and reducing the space required for installing the space flexible net; the unfolded elastic ring frame has a supporting effect on the flexible net, so that the flexible net can remain in an open state for a long time to capture objects.

[0044] The locking and releasing mechanism provided by the present application has a launching device that can provide driving force for the movement of the elastic ring frame, a rotating member that can limit the movement range and movement trajectory of the elastic ring frame, and improve the accuracy of the locking and releasing mechanism when releasing the space flexible net. The limiting member can keep the elastic ring frame stable in the first position to prevent the elastic ring frame from being separated from the launching device when the spacecraft is flying. The launching device, the rotating member, and the limiting member cooperate with each other to achieve locking the elastic ring frame in the first position and driving the elastic ring frame to move to the second position. The launching device, the rotating member, and the limiting member are mechanical structures, which make the locking and releasing mechanism simple in structure, strong in bearing capacity, and reliable in function. The space flexible net can be installed on the spacecraft by installing the locking and releasing mechanism on the spacecraft, simplifying the installation operation of the space flexible net. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 It is a schematic structural diagram of the elastic ring frame on the locking and releasing mechanism according to the embodiment of the present application when it is in the first position;

[0048] Figure 2 It is a schematic diagram of the structure of the elastic ring frame on the locking and releasing mechanism of the embodiment of the present application when it is in the second position;

[0049] Figure 3 A schematic diagram of a process of twisting and folding the elastic ring frame according to an embodiment of the present application;

[0050] Figure 4 This is a schematic diagram of the elastic ring frame in an expanded state according to an embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of the partial structure of the elastic ring frame described in the embodiment of the present application;

[0052] Figure 6 This is a schematic diagram of the structure of the elastic ring frame in the folded state according to the embodiment of the present application;

[0053] Figure 7 It is a schematic diagram of the partial structure of the elastic ring frame in the embodiment of the present application when in a folded state;

[0054] Figure 8 A cross-sectional view of the elastic ring frame at the connecting sleeve of the embodiment of the present application;

[0055] Fig. 9 This is a schematic diagram of the structure of the limit ring described in the embodiment of the present application;

[0056] Fig.10 This is an exploded view of the launching device and the locking member described in the embodiment of the present application;

[0057] Fig.11 This is one of the side views of a rotating member described in an embodiment of the present application;

[0058] Fig.12 This is a second side view of a rotating member according to an embodiment of the present application;

[0059] Fig.13 This is a structural schematic diagram of the flexible rod according to the embodiment of the present application being applied to a locking release mechanism and the elastic ring frame being in the first position;

[0060] Fig.14 This is a schematic diagram of the structure when the flexible rod according to the embodiment of the present application is applied to the locking release mechanism and the elastic ring frame is in the second position;

[0061] Fig.15 This is a schematic diagram of the deformation process of the flexible net corresponding to the multiple twisting of the elastic ring frame described in the embodiment of the present application;

[0062] Fig.16 This is a schematic diagram of the structure of the elastic ring frame and the flexible net after being folded according to an embodiment of the present application.

[0063] Among them, 1, elastic ring frame; 11, sub-ring portion; 12, elastic beam; 13, connecting sleeve; 131, installation channel; 132, fixed end; 133, movable end; 14, elastic member; 2, limit ring; 21, first arc portion; 22, second arc portion; 31, launching device; 311, upper movable plate; 312, lower fixed plate; 313, installation hole; 314, driving spring; 315, locking member; 316, upper connecting member; 317, lower connecting member; 318, pull Pin device; 319, connecting hole; 32, rotating member; 321, rotating base; 322, rotating arm; 323, spring sheet; 324, arc surface; 325, positioning groove; 326, limiting protrusion; 327, abutting spring; 328, positioning platform; 329, positioning convex part; 33, limiting member; 331, upper pressure rod; 332, lower pull rod; 333, limiting seat; 334, central axis; 4, flexible net; 41, rope net part; 42, annular end; 43, rope net connecting ring. DETAILED DESCRIPTION

[0064] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0065] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0066] Reference Figures 1 to 16 As shown, the first aspect of the embodiment of the present application provides a spatial flexible net, including an elastic ring frame 1 and a limiting ring 2; a flexible net 4 is installed in the elastic ring frame 1, and the elastic ring frame 1 has an unfolded state and a folded state, and the elastic ring frame 1 is planar in the unfolded state; when the elastic ring frame 1 is in the folded state, the elastic ring frame 1 can be elastically deformed and twisted and folded to form a plurality of sub-ring portions 11 arranged in sequence, and each two adjacent sub-ring portions 11 are coaxial and stacked; the limiting ring 2 is detachably installed on the elastic ring frame 1 in the folded state to limit the rotation of the plurality of sub-ring portions 11 in a direction away from each other; when the limiting ring 2 is detached from the elastic ring frame 1 in the folded state, the elastic ring frame 1 switches from the folded state to the unfolded state under the action of its own elastic force.

[0067] Specifically, the elastic ring frame 1 can be made of an elastic beam, the beam is bent to connect the two ends to each other, so that the beam forms a ring-shaped frame structure, the flexible net 4 can be formed by a flexible rope, and the flexible net 4 is arranged inside the ring-shaped frame structure of the elastic ring frame 1. The edge of the flexible net 4 is tied to the elastic ring frame 1 through a rope knot, so that the edge of the flexible net 4 is connected to the elastic ring frame 1, so that when the elastic ring frame 1 is in a plane unfolded state, the flexible net 4 can capture objects in space. Of course, the edge of the flexible net 4 can also be tied to the ring structure, and the ring structure is set on the frame of the elastic ring frame 1, so that the flexible net 4 is connected to the elastic ring frame 1.

[0068] When the elastic ring frame 1 is folded, Figure 3 As shown, a part of the annular frame can be twisted 180° relative to the other part to form an "8" structure, so that the elastic ring frame 1 forms two annular structures after being twisted once. The annular structure serves as a sub-ring portion 11, and the twisted part of the elastic ring frame 1 is bent so that the two sub-ring portions 11 overlap.

[0069] The elastic ring frame 1 forms two ring structures after being twisted once. By selecting one of the ring structures and twisting it again, the elastic ring frame 1 can form three sub-ring portions 11, that is, the elastic ring frame 1 can form multiple sub-ring portions 11 arranged in sequence through multiple twists. The more sub-ring portions 11 formed by the elastic ring frame 1, the smaller the diameter of the sub-ring portion 11, and the higher the height of the cylindrical structure formed by stacking multiple sub-ring portions 11.

[0070] The above-mentioned folded elastic ring frame 1 can be formed into two sub-ring parts 11, and the two elastic ring frames 1 are stacked to form a cylindrical structure; of course, the folded elastic ring frame 1 can also be formed into multiple sub-ring parts 11, and the multiple sub-ring parts 11 are stacked to form a cylindrical structure.

[0071] The above-mentioned limiting ring 2 can be selected to include two arc-shaped parts that can be connected and separated from each other. The two arc-shaped parts are connected to each other to form an annular structure. One arc-shaped part is on the inner side of the cylindrical structure, and the other arc-shaped part is on the outer side of the cylindrical structure. The two ends of the arc-shaped part are respectively at the two ends of the cylindrical structure along the axial direction of the cylindrical structure. The ends of the two arc-shaped parts are connected to each other, so that the limiting ring 2 can limit the multiple sub-ring parts 11 in the cylindrical structure.

[0072] Of course, the limiting ring 2 can also be selected to include two arc-shaped parts, which are rotatably connected, and the connection point of the two arc-shaped parts is at the bottom end of the cylindrical structure, one arc-shaped part is on the inner side of the cylindrical structure, and the other arc-shaped part is on the outer side of the cylindrical structure. The two arc-shaped parts are close to each other to be connected to each other, so that the two arc-shaped parts surround each sub-ring part 11, so that the limiting ring 2 can limit multiple sub-ring parts 11.

[0073] When the elastic ring frame 1 is not deformed, the elastic ring frame 1 is located in a plane, and the flexible net 4 can capture objects in space inside the elastic ring frame 1. The elastic ring frame 1 is in an elastic deformation state when in a folded state, and the flexible net 4 bends as the elastic ring frame 1 is folded, so that the flexible net 4 can deform together with the elastic ring frame 1. When the limit ring 2 is separated from the elastic ring frame 1, the multiple sub-rings 11 rotate in a direction away from each other under the action of their own elastic force, so that the elastic ring frame 1 in the folded state switches to the unfolded state under the action of its own elastic force.

[0074] The elastic ring frame 1 can be made of nickel-titanium alloy to make the elastic ring frame 1 have high elasticity so that the elastic ring frame 1 can be elastically deformed to a large extent. The flexible net 4 can be made of a rope net system composed of Kevlar fibers or PBO fibers interwoven horizontally and vertically so that the flexible net 4 can withstand the impact when capturing objects.

[0075] When the spacecraft is launched, the elastic ring frame 1 is in a folded state, and the limit ring 2 is connected to the elastic ring frame 1. The folded elastic ring frame 1 can reduce the occupied space; when the spacecraft enters the space and needs to capture objects in the space, the elastic ring frame 1 is in the space, and the limit ring 2 is separated from the elastic ring frame 1. Under the action of its own elastic force, the elastic ring frame 1 causes the stacked multiple sub-rings 11 to rotate in a direction away from each other, so that the folded elastic ring frame 1 automatically unfolds and is in a planar unfolded state. When the elastic ring frame 1 is in the unfolded state, the flexible net 4 forms a grid structure in the elastic ring frame 1. When an object in the space contacts the unfolded elastic ring frame 1, the impact force of the object causes the flexible net 4 to deform, so that the flexible net 4 wraps the object to complete the capture of the object in the space. After the object contacts the flexible net 4, the object is hung on the flexible net 4 to complete the capture of the object in the space.

[0076] When the space flexible net provided by the present application is used specifically, the elastic ring frame 1 is in a folded state, the limiting ring 2 is installed on the elastic ring frame 1 in the folded state, and the elastic ring frame 1 in the folded state is installed on a spacecraft; when the spacecraft is launched into space and moves to a position where capture is required, the elastic ring frame 1 in the folded state moves to the outside of the spacecraft, the limiting ring 2 separates from the elastic ring frame 1, and the elastic ring frame 1 switches to an unfolded state under the action of its own elastic force, and the flexible net 4 on the inner side of the elastic ring frame 1 in the unfolded state contacts objects floating in space, so that the flexible net 4 can capture objects floating in space.

[0077] The spatial flexible net provided in the present application includes an elastic ring frame 1 and a limiting ring 2; a flexible net 4 is installed in the elastic ring frame 1, and the elastic ring frame 1 has an unfolded state and a folded state. The elastic ring frame 1 is planar in the unfolded state; when the elastic ring frame 1 is in the folded state, the elastic ring frame 1 can be elastically deformed and twisted and folded to form a plurality of sub-ring portions 11 arranged in sequence, and each two adjacent sub-ring portions 11 are coaxial and stacked to reduce the occupied space of the elastic ring frame 1 in the folded state; the limiting ring 2 is detachably installed on the elastic ring frame 1 in the folded state to limit the rotation of the plurality of sub-ring portions 11 in a direction away from each other; when the limiting ring 2 is detached from the elastic ring frame 1 in the folded state, the elastic ring frame 1 switches from the folded state to the unfolded state under the action of its own elastic force. The elastic ring frame 1 is twisted to form a plurality of stacked sub-ring portions 11, and can be stably maintained in a folded state by the limiting ring 2, thereby avoiding the storage of the space flexible net in a cylindrical storage net bag and reducing the space occupied by the space flexible net; after the limiting ring 2 is detached, the elastic ring frame 1 can automatically unfold under the action of its own elastic force, thereby avoiding the need to set up a mechanism for releasing a mass block on the spacecraft to unfold the space flexible net, simplifying the unfolding operation of the space flexible net and reducing the complexity of the space flexible net; the unfolded elastic ring frame 1 has a supporting effect on the flexible net 4, so that the flexible net 4 can remain in an open state for a long time to capture objects.

[0078] Reference Figures 1 to 4 and Figure 6 As shown, in some embodiments, when the elastic ring frame 1 is in a folded state, the diameters of the plurality of sub-ring portions 11 are equal;

[0079] When the elastic ring frame 1 is in the unfolded state, the flexible net 4 has a plurality of equal equilateral triangle meshes, and the side length of the equilateral triangle meshes is L, and L satisfies the following formula:

[0080]

[0081] Among them, D f is the diameter of the sub-ring portion 11.

[0082] In this way, the side length of the mesh of the flexible net 4 can be determined according to the diameter of the sub-ring portion 11 of the elastic ring frame 1 in the folded state, so as to provide guidance for weaving and manufacturing the flexible net 4.

[0083] Specifically, one part of the elastic ring frame 1 is twisted 180° relative to the other part to form two adjacent sub-ring portions 11; the elastic ring frame 1 is twisted multiple times to form a plurality of sub-ring portions 11 arranged in sequence, and the diameters of each two adjacent sub-ring portions 11 are equal, or the difference in diameters of each two adjacent sub-ring portions 11 is less than the error value, and the diameters of each two adjacent sub-ring portions 11 are considered to be equal. The error value can be selected from 0.1 cm to 0.5 cm. When there is an error in the diameters of the two adjacent sub-ring portions 11, D fis the average value of the diameters of the plurality of sub-rings 11, or D f It is the minimum value of the diameter among the plurality of sub-ring portions 11. Every two adjacent sub-ring portions 11 are folded toward a direction approaching each other, so that the two adjacent sub-ring portions 11 are coaxial and fit each other.

[0084] When the multiple sub-ring portions 11 are folded, the multiple sub-ring portions 11 are first arranged in a straight line. At this time, the axial direction of each sub-ring portion 11 can be set in the vertical direction. A sub-ring portion 11 at the end is folded upward toward an adjacent sub-ring portion 11 to make the two sub-ring portions 11 stacked, and then the two stacked sub-ring portions 11 are folded downward toward an adjacent sub-ring portion 11. The folding direction is changed each time, and the above process is repeated to fold the multiple sub-ring portions 11 formed by twisting the elastic ring frame 1 into a coaxially arranged stacked state. Fig.15 This is a schematic diagram of the shape change of the flexible net 4 when the elastic ring frame 1 is twisted multiple times from the unfolded state to form multiple sub-ring portions 11, with only the flexible net 4 being considered. Figure 4 The flexible net 4 on the elastic ring frame 1 in the expanded state is in an initial state. In the initial state, the flexible net 4 is a grid structure with equilateral triangles as meshes. Fig.15 In the figure, a to d are arranged in sequence, and the degree of torsional deformation of the elastic ring frame 1 gradually increases along the direction indicated by the arrow in the figure, that is, the degree of torsional deformation of the flexible net 4 along the elastic ring frame 1 gradually increases along the direction of the arrow.

[0085] According to practice and experience, the total folding ratio N t It is preferably an integer power of 2. This facilitates the initial configuration design and further facilitates the specific operation during folding. It should be noted that in order to avoid entanglement of the stretched net structure during the unfolding process, and further, to minimize the self-entanglement of the mesh of the flexible net 4 on some sub-rings 11 in the folded state, there are certain requirements for the mesh size of the flexible net 4. The side length L of the equilateral triangle mesh is determined according to the following empirical formula:

[0086] The grid side length L can be selected to be 20 cm, and the diameter of the elastic ring frame 1 in the unfolded state is D i = 2.4m, the diameter of the elastic ring frame 1 in the folded state is diameter D f =0.3m, the total folding ratio is That is, after being folded, the elastic ring frame 1 can form eight sub-ring portions 11 with the same diameter or whose diameter errors are less than the error value. The above formula can be further expressed as: The selection principle is to consider the inscribed triangle of the circle, and it is necessary to ensure that the length of the mesh of the cable net system is less than the side length of the inscribed triangle. When the above formula is satisfied, when the elastic ring frame 1 is in a folded state, there must be at least two cable net nodes connected to the sub-ring portion 11 in any mesh surface of the folded flexible net 4, so as to ensure that the folded elastic ring frame 1 has multiple sub-ring portions 11 of the flexible net 4 interlayer crossing and self-intersection, thereby ensuring that the flexible net 4 can stably unfold with the elastic ring frame 1.

[0087] like Fig.15 As shown, the degree of twisting of the elastic ring frame 1 gradually increases in the direction of the arrow. The uppermost figure a is a schematic diagram of the elastic ring frame 1 in the expanded state and the flexible net 4 in the initial form, at which time the flexible net 4 is in an untwisted initial state; figure b is a schematic diagram of the shape of the flexible net 4 after the elastic ring frame 1 is twisted once in the middle to form two sub-ring portions 11; figure c is a schematic diagram of the shape of the flexible net 4 after the elastic ring frame 1 is twisted when the middle part of the elastic ring frame 1 is twisted once to form two annular structures, and the middle part of each annular structure is also twisted once, so that the elastic ring frame 1 forms four sub-ring portions 11, and the flexible net 4 is twisted with the elastic ring frame 1 after twisting; figure d is a schematic diagram of the shape of the flexible net 4 after the elastic ring frame 1 is twisted when the middle part of the elastic ring frame 1 is twisted once to form two annular structures, and the middle part of each annular structure in each annular structure is also twisted once to form four first rings, and the middle part of each first ring is twisted once to form two second rings, so that the elastic ring frame 1 forms eight second rings after multiple twists, and the eight second rings are used as eight sub-ring portions 11, and the flexible net 4 is twisted with the elastic ring frame 1 after twisting.

[0088] The eight sub-rings 11 are stacked to form a cylindrical structure. Fig.16 As shown, after the elastic ring frame 1 is folded to form eight sub-ring portions 11 , each sub-ring portion 11 has at least two cable net nodes connected to the flexible net 4 .

[0089] Reference Figure 1 , Figure 2 , Figure 6 and Figure 8 As shown, in some embodiments, the elastic ring frame 1 includes an elastic beam 12, a connecting sleeve 13 and an elastic member 14; the elastic member 14 is arranged on the inner wall of the connecting sleeve 13, the elastic beam 12 is bent so that the two ends of the elastic beam 12 are respectively connected to the two ends of the connecting sleeve 13, so that the elastic beam 12 and the connecting sleeve 13 together form a ring structure; the elastic member 14 is connected to the two ends of the elastic beam 12, and at least one end of the elastic beam 12 can rotate in the connecting sleeve 13. In this way, the two ends of the elastic beam 12 can rotate relatively in the connecting sleeve 13 to reduce the torsion amplitude of the elastic beam 12 itself during the folding process of the elastic ring frame 1, and the elastic member 14 can store elastic energy when the elastic ring frame 1 is twisted and folded, so that when the elastic ring frame 1 is unfolded, the elastic member 14 releases the elastic energy to assist the elastic beam 12 to unfold in place.

[0090] Specifically, the connecting sleeve 13 is a hollow cylinder, and the elastic member 14 can be optionally set inside the connecting sleeve 13. The elastic member 14 can be selected as a spring or an elastic rubber member. The two ends of the elastic beam 12 respectively enter the two ends of the connecting sleeve 13, so that the two ends of the elastic beam 12 are respectively connected to the elastic member 14.

[0091] The elastic beam 12 is a straight beam body. The elastic beam 12 can be made of a metal with elastic deformation ability, or the elastic beam 12 can be made of a metal with shape memory function. When the elastic ring frame 1 is folded, the elastic beam 12 is elastically deformed and twisted to form a plurality of sub-ring portions 11. At this time, the elastic beam 12 of each sub-ring portion 11 is inserted into the limiting ring 2.

[0092] When the ends of the elastic beam 12 are directly connected to form a ring structure, during the process of twisting the elastic ring frame 1 to form a plurality of sub-rings 11, if the elastic ring frame 1 needs to be twisted a large number of times, for example, six to eight times, the degree of twisting of the elastic beam 12 in its own circumferential direction is large, which easily causes the deformation degree of the elastic beam 12 to exceed the range of its own elastic deformation. Therefore, at least one end of the elastic beam 12 is rotatably connected to the connecting sleeve 13, so that when the elastic ring frame 1 is twisted, the two ends of the elastic beam 12 can rotate relative to the connecting sleeve 13 to reduce the torsion amplitude of the elastic beam 12 itself.

[0093] The connecting sleeve 13 can make the two ends of the elastic beam 12 rotate relative to each other when folded, so that the elastic ring frame 1 reduces the torsion amplitude of the elastic beam 12 itself when folded; however, the reduction of the torsion amplitude of the elastic beam 12 itself will reduce the elastic energy stored in the elastic beam 12, and it is easy for the elastic beam 12 to not unfold properly when unfolded. Therefore, the elastic member 14 is connected to the two ends of the elastic beam 12, so that the elastic member 14 can elastically deform when the elastic beam 12 rotates relative to the connecting sleeve 13, so that the elastic member 14 can store energy. When the elastic beam 12 needs to be unfolded, the elastic energy stored in the elastic member 14 can rotate the two ends of the elastic beam 12, so as to ensure that the elastic beam 12 can be unfolded properly during the unfolding of the elastic ring frame 1.

[0094] That is, when the elastic ring frame 1 is in the unfolded state, the elastic beam 12 only undergoes elastic deformation caused by bending into a ring, and the elastic member 14 is in a state where no elastic deformation occurs, and the elastic beam 12 is in an initial state. After the elastic ring frame 1 is folded, the elastic beam 12 further undergoes elastic deformation and twists and folds, and the elastic member 14 also undergoes elastic deformation due to the relative rotation of the two ends of the elastic beam 12, so that the folded elastic ring frame 1 stores elastic potential energy. When the limiting ring 2 is separated from the elastic ring frame 1, the elastic potential energy stored in the folded elastic ring frame 1 is released, so that the elastic beam 12 returns to the initial state under its own elasticity and the elasticity of the elastic member 14, so as to complete the automatic unfolding of the elastic ring frame 1.

[0095] The elastic beam 12 may be fixedly connected to the connecting sleeve 13 at one end and rotatably connected to the connecting sleeve 13 at the other end, so that when the elastic ring frame 1 is twisted, the two ends of the elastic beam 12 can rotate relative to each other to elastically deform the elastic member 14. Of course, it is also possible to select that both ends of the elastic beam 12 are rotatably connected to the connecting sleeve 13, so that when the elastic ring frame 1 is twisted, the two ends of the elastic beam 12 can rotate relative to each other.

[0096] Reference Figure 1 , Figure 2 , Figure 6 and Figure 8 As shown, in some embodiments, a mounting channel 131 passing through the connecting sleeve 13 is provided in the connecting sleeve 13, one end of the elastic beam 12 is fixedly connected to a fixed end 132, and the other end is fixedly connected to a movable end 133, the fixed end 132 is fixedly connected to one end of the mounting channel 131, and the movable end 133 is rotatably connected to the other end of the mounting channel 131.

[0097] With such arrangement, when the movable end 133 rotates in the installation channel 131 , it can drive the elastic beam 12 to rotate relative to the fixed end 132 , so as to reduce the torsion amplitude of the elastic beam 12 itself when the elastic ring frame 1 is folded.

[0098] Specifically, the interior of the connecting sleeve 13 is hollow, so that the internal space of the connecting sleeve 13 forms a mounting channel 131, and the fixed end 132 and the movable end 133 can be fixedly connected to the two ends of the elastic beam 12 by welding.

[0099] The above-mentioned fixed end head 132 can be selectively welded or adhesively connected to the inner wall of the installation channel 131, or a positioning hole can be provided on the connecting sleeve 13, and a positioning screw hole can be provided on the fixed end head 132. After the fixed end head 132 enters the installation channel 131, the positioning screw hole is aligned with the positioning hole, and a bolt is used to pass through the positioning hole of the connecting sleeve 13 to connect with the positioning screw hole, thereby limiting the fixed end head 132 from rotating in the installation channel 131.

[0100] The diameter of the movable end 133 is smaller than the diameter of the installation channel 131, so that the movable end 133 can rotate in the installation channel 131. A clamping protrusion is provided at one end of the connecting sleeve 13 close to the installation channel 131, and the clamping protrusion prevents the movable end 133 from escaping from the installation channel 131. The connecting sleeve 13 can be selected to be formed by splicing two symmetrical half-cylinder structures to facilitate the installation of the fixed end 132 and the movable end 133 in the installation channel 131.

[0101] Reference Figure 4 and Figure 5As shown, in some embodiments, the flexible net 4 includes a rope net portion 41 and a plurality of rope net connecting rings 43; the plurality of rope net connecting rings 43 are movably mounted on the elastic beam 12, and the rope net portion 41 has a plurality of annular end heads 42, and the plurality of annular end heads 42 are mounted one by one and connected to the plurality of rope net connecting rings 43.

[0102] With such arrangement, the cable net connecting ring 43 can slide on the elastic beam 12 to adjust the position of the rope net portion 41 in the elastic ring frame 1 so that the rope net portion 41 can adapt to the elastic ring frame 1 in different states.

[0103] Specifically, the cable net connecting ring 43 is movably mounted on the elastic beam 12 , so that the cable net connecting ring 43 can slide on the elastic beam 12 along the extension direction of the elastic beam 12 , and the cable net connecting ring 43 can also rotate on the elastic beam 12 relative to the elastic beam 12 .

[0104] The above-mentioned rope net part 41 is a mesh structure formed by weaving multiple flexible ropes, and the mesh structure is circular. After weaving, the rope net part 41 can form a plurality of annular end heads 42, and the plurality of annular end heads 42 are distributed at intervals on the mesh structure, and the annular end heads 42 are sleeved on the rope net connecting ring 43; the outer side of the rope net connecting ring 43 is recessed to form an annular groove, and the annular end head 42 can be sleeved in the annular groove.

[0105] When the elastic ring frame 1 is folded and unfolded, the cable net connecting ring 43 slides on the elastic beam 12, so that the rope net part 41 can move in the elastic ring frame 1 while being folded, so as to adjust the position of the rope net part 41 in the elastic ring frame 1 in different states.

[0106] Reference Figure 4 and Figure 5 As shown, in some embodiments, when the elastic ring frame 1 is unfolded, the rope net portion 41 is tensioned to make the cable net connecting ring 43 abut against the elastic beam 12, so that the friction between the cable net connecting ring 43 and the elastic beam 12 limits the cable net connecting ring 43 from sliding on the elastic beam 12.

[0107] With such arrangement, when the elastic ring frame 1 is folded, the cable net connecting ring 43 can slide on the elastic beam 12 to adjust the position of the rope net portion 41 in the elastic ring frame 1, so as to prevent the rope net portion 41 from being deformed too much and breaking. When the elastic ring frame 1 is unfolded, the rope net portion 41 is tensioned, so that the cable net connecting ring 43 is tightly abutted against the elastic beam 12, and the friction force is used to limit the sliding of the cable net connecting ring 43 on the elastic beam 12, so that the rope net portion 41 remains stable in the elastic ring frame 1.

[0108] Specifically, when the elastic ring frame 1 is unfolded, the rope net portion 41 is tensioned, and the multiple annular ends 42 can exert a force on the rope net connecting ring 43 toward the center of the elastic ring frame 1, so that the rope net connecting ring 43 can abut against the elastic beam 12 of the elastic ring frame 1, so that the rope net connecting ring 43 cannot slide along the elastic beam 12 due to friction. When the elastic ring frame 1 is folded, the rope net portion 41 is relaxed due to the folding of the elastic ring frame 1, so that the force exerted by the annular ends 42 on the rope net connecting ring 43 will not cause the rope net connecting ring 43 to abut tightly against the elastic beam 12, so that the rope net connecting ring 43 can slide on the elastic beam 12, so that the rope net portion 41 can adapt to the torsion and folding of the elastic ring frame 1.

[0109] Reference Figure 5 , Figure 6 , Figure 7 and Fig. 9 As shown, in some embodiments, the limiting ring 2 includes a first arc-shaped portion 21, a second arc-shaped portion 22 and an installation rope; the elastic ring frame 1 in the folded state is a cylindrical structure, the first arc-shaped portion 21 is arranged on the inner side of the cylindrical structure, the second arc-shaped portion 22 is arranged on the outer side of the cylindrical structure, and the first arc-shaped portion 21 is installed relative to the second arc-shaped portion 22; the installation rope binds the first arc-shaped portion 21 and the second arc-shaped portion 22 with a movable rope node so that the first arc-shaped portion 21 and the second arc-shaped portion 22 remain in contact, and when the movable knot of the installation rope is untied, the first arc-shaped portion 21 and the second arc-shaped portion 22 can be separated from each other.

[0110] In this way, the first arc-shaped portion 21 and the second arc-shaped portion 22 are arranged inside and outside the cylindrical structure and abut against each other, so that the first arc-shaped portion 21 and the second arc-shaped portion 22 can form an annular limiting structure to limit the rotation of the multiple sub-ring portions 11 in the direction away from each other. The installation rope is tied with a slipknot knot to the first arc-shaped portion 21 and the second arc-shaped portion 22, and the first arc-shaped portion 21 and the second arc-shaped portion 22 can be separated from each other by pulling the installation rope, thereby improving the convenience of operation of separating the limiting ring 2 from the elastic ring frame 1.

[0111] Specifically, the first arc portion 21 is a semicircular arc frame, and the second arc portion 22 is a semicircular arc frame. The first arc portion 21 is on the inner side of the cylindrical structure formed by multiple sub-ring portions 11 of the folded elastic ring frame 1, and the first arc portion 21 is on both sides of the cylindrical structure along its axial direction at both ends of the cylindrical structure, and the second arc portion 22 is on the outside of the cylindrical structure. The second arc portion 22 is on both sides of the cylindrical structure along its axial direction at both ends of the cylindrical structure. When the first arc portion 21 and the two ends are abutted against the two ends of the second arc portion 22 one by one, the first arc portion 21 and the second arc portion 22 surround the side wall of the cylindrical structure; at this time, the installation rope is tied to the first arc portion 21 and the second arc portion 22 to keep the first arc portion 21 and the second arc portion 22 in an abutting state, so that the first arc portion 21 and the second arc portion 22 can limit the multiple sub-ring portions 11 from moving away from each other to limit the elastic ring frame 1 from unfolding.

[0112] The installation rope uses a slipknot to tie the first arc portion 21 and the second arc portion 22, so that the first arc portion 21 and the second arc portion 22 can maintain an abutting state, and the slipknot can be untied by pulling the installation rope, so that the first arc portion 21 and the second arc portion 22 can be separated from each other, thereby releasing the position restriction of the plurality of sub-ring portions 11. The slipknot can be selected as a bowknot, as long as the slipknot can be untied by pulling the installation rope.

[0113] A motor can be optionally provided on the spacecraft, and the output end of the motor is connected to the installation rope. After the motor is started, the installation rope can be pulled to untie the slipknot. Thus, after the folded elastic ring frame 1 is moved to a suitable position on the spacecraft, the motor is started to untie the slipknot, so that the first arc-shaped portion 21 and the second arc-shaped portion 22 are separated, thereby causing the multiple sub-ring portions 11 to rotate in a direction away from each other, and finally the elastic ring frame 1 is switched to the unfolded state under the action of its own elastic force.

[0114] Reference Figures 10 to 14 As shown, the second aspect of the present application provides a locking and releasing mechanism, which is applied to the space flexible net as described in any of the above items, including a launching device 31, a rotating member 32 and a limiting member 33 installed on the launching device 31; the elastic ring frame 1 is rotatably connected to the launching device 31 through the rotating member 32, the launching device 31 has a movable launching part, and the elastic ring frame 1 in a folded state is in contact with the launching part when in the first position; the movement of the launching part can apply a force to the elastic ring frame 1 in a direction away from the launching device 31, so that the elastic ring frame 1 moves from the first position to a second position spaced from the launching device 31; when the elastic ring frame 1 is in the first position, the limiting member 33 is connected to the elastic ring frame 1 to limit the elastic ring frame 1 from being away from the launching part; when the launching part moves, the limiting member 33 can be synchronously disconnected from the elastic ring frame 1.

[0115] Specifically, since the elastic ring frame 1 has little resistance in space and is not affected by gravity, the elastic ring frame 1 can continue to move along the direction of the initial velocity after having an initial velocity. Therefore, when the launcher of the launch device 31 moves, the force applied by the launcher to the elastic ring frame 1 can make the elastic ring frame 1 have an initial velocity along the moving direction of the launcher, so that after the elastic ring frame 1 is out of contact with the launcher, the elastic ring frame 1 can continue to move at the initial velocity.

[0116] The launching device 31 may optionally include a motor and a lifting plate, wherein the motor is mounted on the bottom side of the lifting plate, and the rotating member 32 is mounted on the top side of the lifting plate. The motor can drive the lifting plate to move, so that the lifting plate is used as a launching part, and the elastic ring frame 1 is placed on the lifting plate, and the rotating member 32 is connected to the elastic ring frame 1. The motor drives the lifting plate to move upward, and a force can be applied to the elastic ring frame 1, so that the elastic ring frame 1 has an initial velocity along the force application direction under the action of the lifting plate.

[0117] Of course, it is also possible to select that the launch device 31 is provided with a placement plane and a substrate, and a spring is provided between the substrate and the placement plane. When the spring is compressed, it can drive the placement plane to move in a direction away from the substrate, so that the placement plane serves as a launch portion. The elastic ring frame 1 is in contact with the placement plane in the first position, and the spring is in a compressed state at this time. There is an active buckle between the substrate and the placement plane. When the active buckle is out of the clamping state, the placement plane can move in a direction away from the substrate; when the placement plane moves in a direction away from the substrate, a force can be applied to the elastic ring frame 1 away from the placement plane, so that the elastic ring frame 1 obtains an initial velocity away from the launch device 31.

[0118] The above-mentioned limiter 33 is arranged on the launch device 31. The limiter 33 can be selected as an active buckle. The active buckle can be opened and closed under the drive of the driving member. After the active buckle is closed, it abuts against the elastic ring frame 1, which can limit the elastic ring frame 1 from moving in the direction away from the launch part, so that the elastic ring frame 1 abuts against the launch device 31; when the launch part of the launch device 31 moves, the driving member is synchronously started, so that the active buckle switches to the open state while the launch part moves, so as to prevent the limiter 33 from limiting the elastic ring frame 1 from leaving the launch device 31. Of course, the switch structure of the active buckle can also be connected to the launch part, and the active buckle and the launch device 31 remain relatively still. When the launch part moves, it can drive the switch structure to open the active buckle, so as to realize that the launch part moves and the active buckle is in the open state.

[0119] The rotating member 32 may optionally include a rotating arm, which can rotate relative to the launching device 31, so that when the elastic ring frame 1 moves to the second position under the action of the launching device 31, the rotating arm rotates with the movement of the elastic ring frame 1, so that the elastic ring frame 1 can be kept in the second position without drifting away. The rotating member 32, as a connecting structure between the elastic ring frame 1 and the launching device 31, can determine the moving range of the elastic ring frame 1, and has the effect of stabilizing the position of the elastic ring frame 1 when the elastic ring frame 1 captures an object in space.

[0120] When the elastic ring frame 1 is in the first position, it can be selected to fit on the plane formed on the surface side of the launch part, so that the force after the launch device 31 is started can be directly applied to the elastic ring frame 1, so that the elastic ring frame 1 obtains the initial velocity of movement. When the elastic ring frame 1 is in the second position, the elastic ring frame 1 is spaced from the launch device 31, so that the launch device 31 will not hinder the expansion of the elastic ring frame 1, and the elastic ring frame 1 can be captured at a position with a certain distance from the launch device 31 after expansion; when the elastic ring frame 1 is in the second position, the rotating member 32 is perpendicular to the plane of the launch part for placing the elastic ring frame 1, the axial direction of the sub-ring part 11 is parallel to the plane of the launch part for fitting the elastic ring frame 1 when the elastic ring frame 1 is in the folded state, and the axial direction of the elastic ring frame 1 is parallel to the plane of the launch part for fitting the elastic ring frame 1 when the elastic ring frame 1 is in the expanded state.

[0121] When the elastic ring frame 1 is in the first position, the rotating member 32 can be selected to be in the center of the sub-ring portion 11, saving the space occupied by the elastic ring frame 1 and the rotating member 32 on the launch portion. Since the rotating member 32 limits the movement range of the elastic ring frame 1, when the elastic ring frame 1 is in the second position, the rotating member 32 can be selected to be perpendicular to the launch portion, so that the distance between the elastic ring frame 1 and the launch device 31 reaches the maximum value.

[0122] When the locking and releasing mechanism provided by the present application is used specifically, the elastic ring frame 1 in the folded state is set in the first position, and the limiting member 33 is abutted against the elastic ring frame 1 in the first position, so that the limiting member 33 limits the elastic ring frame 1 from leaving the first position. After the spacecraft enters the space, the launching part of the launching device 31 applies a force to the elastic ring frame 1, and synchronously disengages the limiting member 33 from the abutment with the elastic ring frame 1. The elastic ring frame 1 in the folded state moves in a direction away from the launching device 31 under the action of the launching device 31, and the rotating member 32 rotates relative to the launching device 31, so that the rotating member 32 assists the elastic ring frame 1 to move to the second position; after the elastic ring frame 1 in the folded state moves to the second position, the limiting ring 2 disengages from the elastic ring frame 1 in the folded state, and the elastic ring frame 1 in the folded state switches to the unfolded state under the action of its own elastic force, and the flexible net 4 inside the elastic ring frame 1 in the unfolded state captures objects in space.

[0123] The locking and releasing mechanism provided by the present application, the launching device 31 can provide driving force for the movement of the elastic ring frame 1, the rotating member 32 can limit the movement range and movement trajectory of the elastic ring frame 1, improve the accuracy of the locking and releasing mechanism when releasing the space flexible net, and the limiting member 33 can keep the elastic ring frame 1 stable in the first position to prevent the elastic ring frame 1 from being separated from the launching device 31 when the spacecraft is flying. Through the cooperation of the launching device 31, the rotating member 32 and the limiting member 33, the elastic ring frame 1 is locked in the first position and the elastic ring frame 1 is driven to move to the second position. The launching device 31, the rotating member 32 and the limiting member 33 are mechanical structures, which make the locking and releasing mechanism simple in structure, strong in bearing capacity and reliable in function; the space flexible net can be installed on the spacecraft by installing the locking and releasing mechanism on the spacecraft, simplifying the installation operation of the space flexible net.

[0124] Reference Figure 1 , Figures 2 to 13 and Fig.14 As shown, in some embodiments, there are multiple limit members 33. When the elastic ring frame 1 is in the first position, multiple limit members are arranged at intervals around the elastic ring frame 1, and each limit member 33 is abutted against the elastic ring frame 1; when the launching device 31 applies a force to the elastic ring frame 1, each limit member 33 can be disconnected from the elastic ring frame 1 synchronously.

[0125] With such arrangement, when the elastic ring frame 1 is in the first position, the plurality of limiting members 33 can limit the elastic ring frame 1 , thereby improving the stability of the elastic ring frame 1 in the first position.

[0126] Specifically, multiple limiting members 33 can be selected on the outside of the elastic ring frame 1 at the first position, and multiple limiting members 33 are arranged at intervals around the elastic ring frame 1 at the first position, and each limiting member 33 abuts against the elastic ring frame 1, so that multiple limiting members 33 can limit the elastic ring frame 1 at the first position. When the launch device 31 applies a force to the elastic ring frame 1 to drive the elastic ring frame 1 to move, multiple limiting members 33 can be disconnected from the elastic ring frame 1 at the same time.

[0127] Reference Fig.13 and Fig.14 As shown, in some embodiments, the rotating member 32 includes a flexible rod that can be bent and deformed, one end of the flexible rod is connected to the elastic ring frame 1, and the other end is connected to the launching device 31. In this way, the flexible rod can limit the movement range of the elastic ring frame 1, and the bending deformation of the flexible rod itself will not hinder the movement of the elastic ring frame 1. When the flexible rod itself has elasticity, the bending deformation of the flexible rod under its own elasticity can assist the elastic ring frame 1 to move to the second position.

[0128] Specifically, the flexible rod is a rod structure capable of bending and deforming. One end of the flexible rod is connected to the launch device 31, and the other end is connected to the elastic ring frame 1. When the elastic ring frame 1 is in the first position, the flexible rod is in a bent state. When the elastic ring frame 1 moves to the second position, the flexible rod can be selected to be in a straight state, and the flexible rod and the launcher are perpendicular to the plane on which the elastic ring frame 1 is placed. The flexible rod can be selected to have elasticity. When the elastic ring frame 1 is in the first position, the flexible rod is in an elastically deformed bent state. During the process of the elastic ring frame 1 moving to the second position, the elastic force of the flexible rod itself drives the elastic deformation of the flexible rod to recover, so that the flexible rod assists the elastic ring frame 1 to move to the second position.

[0129] Reference Figures 10 to 12 As shown, in some embodiments, the rotating member 32 includes a rotating base 321, a rotating arm 322 and a spring sheet 323; the rotating base 321 is installed on the launching device 31, the rotating arm 322 is rotatably connected to the rotating base 321, and the elastic ring frame 1 is rotatably connected to the rotating arm 322; the spring sheet 323 is connected between the rotating base 321 and the rotating arm 322, and the elastic force of the spring sheet 323 drives the rotating arm 322 to rotate relative to the rotating base 321 in a direction away from the launching device 31.

[0130] With such arrangement, the rotating arm 322 can assist the movement of the elastic ring frame 1 while restricting the movement range of the elastic ring frame 1, thereby improving the stability of the movement trajectory of the elastic ring frame 1 and preventing the elastic ring frame 1 from colliding with other components of the spacecraft when moving.

[0131] Specifically, when the launch device 31 includes a motor and a lifting plate, the rotating base 321 can be optionally installed on the motor, so that when the lifting plate moves as a launch part, it will not drive the rotating base 321 to move. When the launch device 31 includes a placement plane and a base plate, the rotating base 321 can be optionally installed on the base plate, so that when the placement plane moves as a launch part, it will not drive the rotating base 321 to move. That is, the rotating base 321 can be optionally installed on the launch device 31, and the movement of the launch part will not drive the rotating base 321 to move, so that the position of the rotating member 32 remains stable to limit the movement range of the elastic ring frame 1.

[0132] The above-mentioned rotating arm 322 is rotatably connected to the top side of the rotating base 321, and the spring sheet 323 is connected between the rotating base 321 and the rotating arm 322. When the elastic ring frame 1 is in the first position, the rotating arm 322 is close to the launching device 31, and the elastic force of the spring sheet 323 can drive the rotating arm 322 to move in the direction away from the launching device 31, but the limit member 33 is connected to the elastic ring frame 1 so that the rotating arm 322 cannot drive the elastic ring frame 1 to move, so that the rotating arm 322 remains in a position close to the launching device 31.

[0133] When the limiting member 33 is disengaged from the elastic ring frame 1, the rotation of the rotating arm 322 is not restricted, and the elastic force of the spring sheet 323 can drive the rotating arm 322 to move in a direction away from the launching device 31, so that the rotating arm 322 drives the elastic ring frame 1 to rotate in a direction away from the launching device 31, and the rotating arm 322 assists the elastic ring frame 1 to move to the second position.

[0134] The above-mentioned rotating arm 322 can be selectively rotatably connected to the connecting sleeve 13 on the elastic ring frame 1. The rotating arm 322 is on the inner side of the elastic ring frame 1 in the first position, and the rotating arm 322 is attached to the top side of the upper movable plate 311. When the upper movable plate 311 moves, the upper movable plate 311 drives the elastic ring frame 1 to move, and the rotating arm 322 rotates relative to the upper movable plate 311 and the lower fixed plate 312. Because the entire plane of the upper movable plate 311 exerts a force on the elastic ring frame 1, after the elastic ring frame 1 is separated from the upper movable plate 311, the axial direction of the sub-ring portion 11 of the elastic ring frame 1 is still perpendicular to the upper movable plate 311, and when the rotating arm 322 rotates to a position perpendicular to the upper movable plate 311, the rotating arm 322 applies resistance to a part of the elastic ring frame 1, so that each position of the elastic ring frame 1 causes the elastic ring frame 1 to rotate around the rotating arm 322, so that when the rotating arm 322 rotates to a position perpendicular to the upper movable plate 311, the axial direction of the sub-ring portion 11 of the elastic ring frame 1 is perpendicular to the rotating arm 322 and parallel to the upper movable plate 311, and the axial direction of the elastic ring frame 1 after unfolding can also be perpendicular to the rotating arm 322 and parallel to the upper movable plate 311.

[0135] Reference Figures 10 to 12 As shown, in some embodiments, an arc surface portion 324 is provided on the rotating base 321, and a positioning groove 325 is formed by a depression on the arc surface portion 324. A limiting protrusion 326 that can rotate relative to the rotating arm 322 is provided on the rotating arm 322. An abutment spring 327 is connected between the limiting protrusion 326 and the rotating arm 322, and the abutment spring 327 drives the limiting protrusion 326 to abut against the arc surface portion 324. When the elastic ring frame 1 moves to the first position, the limiting protrusion 326 is spaced from the positioning groove 325; when the elastic ring frame 1 moves toward the second position, the limiting protrusion 326 moves with the rotating arm 322, so that the limiting protrusion 326 moves along the arc surface portion 324 toward the positioning groove 325; when the elastic ring frame 1 is in the second position, the limiting protrusion 326 is plug-connected with the positioning groove 325.

[0136] In this arrangement, the limiting protrusion 326 and the positioning groove 325 cooperate with each other, so that the rotating arm 322 can stop rotating after rotating to a certain angle, thereby achieving the effect of limiting the rotation range of the rotating arm 322, and preventing the rotating arm 322 from rotating too much and making the distance between the elastic ring frame 1 and the launching device 31 closer.

[0137] Specifically, the arc surface 324 can be selected as a cylindrical block, the axial direction of the cylindrical block is in the same direction as the rotation axis of the rotating arm 322 and the rotating base 321, the end of the limiting protrusion 326 abuts against the arc surface 324, and the end of the arc surface 324 away from the launching device 31 is recessed to form a positioning groove 325. The limiting protrusion 326 can be movably connected to the rotating arm 322 through a slide rail, or the limiting protrusion 326 and the rotating arm 322 are movably connected through a rotating shaft, and the limiting protrusion 326 can abut against the arc surface 324 at one end in the radial direction of the rotating shaft.

[0138] When the elastic ring frame 1 is in the first position, the rotating arm 322 is close to the launching device 31, and the limiting protrusion 326 and the positioning groove 325 are close to the side of the launching device 31; the elastic ring frame 1 moves toward the second position, the rotating arm 322 rotates in the direction away from the launching device 31, and the limiting protrusion 326 is kept in contact with the arc surface 324 under the action of the abutment spring 327, so that the limiting protrusion 326 moves along the arc surface 324 toward the positioning groove 325. When the elastic ring frame 1 moves to the second position, the limiting protrusion 326 is plugged into the positioning groove 325, and the rotation of the rotating arm 322 relative to the launching device 31 is limited.

[0139] When the rotating arm 322 rotates in a direction away from the launch device 31, the distance between the end of the rotating arm 322 away from the rotating base 321 and the launch device 31 gradually increases, until the rotating arm 322 is perpendicular to the plane of the launch portion for fitting and placing the elastic ring frame 1, the distance between the end of the rotating arm 322 away from the rotating base 321 and the launch device 31 reaches a maximum value. If the rotating arm 322 continues to rotate, the distance between the end of the rotating arm 322 away from the rotating base 321 and the launch device 31 will begin to decrease. When the limiting protrusion 326 is plugged into the positioning groove 325, the rotating arm 322 can be perpendicular to the plane of the launch portion for fitting and placing the elastic ring frame 1, so that the elastic ring frame 1 has the maximum distance from the launch device 31 when in the second position.

[0140] Reference Figures 10 to 12 As shown, in some embodiments, a positioning platform 328 is provided on the top side of the rotating base 321, and a positioning protrusion 329 is provided at one end of the rotating arm 322 close to the rotating base 321. When the elastic ring frame 1 is in the second position, the positioning protrusion 329 abuts against the positioning platform 328.

[0141] With this arrangement, the positioning protrusion 329 and the positioning platform 328 cooperate with each other, so that the rotating arm 322 can stop rotating after rotating to a certain angle, thereby achieving the effect of limiting the rotation range of the rotating arm 322, and preventing the rotating arm 322 from rotating too much and making the distance between the elastic ring frame 1 and the launching device 31 closer.

[0142] Specifically, the end of the rotating base 321 away from the launching device 31 is the top side of the rotating base 321, and a planar structure is formed on the top side of the rotating base 321 to serve as a positioning platform 328; the positioning protrusion 329 is arranged at the end of the rotating arm 322 close to the rotating base 321, and when the elastic ring frame 1 is in the first position, the rotating arm 322 is close to the launching device 31, and the positioning protrusion 329 and the positioning platform 328 are spaced apart from each other; when the elastic ring frame 1 moves toward the second position, the rotating arm 322 rotates in the direction away from the launching device 31, and the positioning protrusion 329 moves toward the positioning platform 328 along with the rotating arm 322.

[0143] When the elastic ring frame 1 moves to the second position, the positioning protrusion 329 abuts against the positioning platform 328 to limit the rotating arm 322 from continuing to rotate relative to the rotating base 321 .

[0144] Reference Figure 1 , Figure 2 and Fig.10 As shown, in some embodiments, the launching device 31 includes an upper movable plate 311, a lower fixed plate 312 arranged on the bottom side of the upper movable plate 311, a driving spring 314 installed between the upper movable plate 311 and the lower fixed plate 312, and a locking member 315 installed between the upper movable plate 311 and the lower fixed plate 312; the elastic ring frame 1 in the first position is attached to the top side of the upper movable plate 311, the upper movable plate 311 is provided with a mounting hole 313, the rotating member 32 is installed on the lower fixed plate 312 and connected to the elastic ring frame 1 through the mounting hole 313, the elastic force of the driving spring 314 drives the upper movable plate 311 and the lower fixed plate 312 to move away from each other; when the locking member 315 is locked, it limits the relative movement of the upper movable plate 311 and the lower fixed plate 312; when the locking member 315 is unlocked, the upper movable plate 311 and the lower fixed plate 312 can move away from each other under the drive of the driving spring 314.

[0145] With such arrangement, the driving spring 314 can provide driving force for the movement of the upper movable plate 311 relative to the lower fixed plate 312, and the movement of the upper movable plate 311 relative to the lower fixed plate 312 can be controlled by locking and unlocking the locking member 315, and the movement of the upper movable plate 311 relative to the lower fixed plate 312 can apply force to the elastic ring frame 1. The launch device 31 can conveniently control the movement of the upper movable plate 311 without additionally setting up a motor or other equipment, thereby simplifying the structure of the launch device 31 and reducing the manufacturing cost of the launch device 31.

[0146] Specifically, the upper movable plate 311 can be selected as a planar plate structure, the lower fixed plate 312 is parallel to and spaced from the upper movable plate 311, the lower fixed plate 312 can be selected as a plate body, and the lower fixed plate 312 is installed on the spacecraft so that the launch device 31 is installed on the spacecraft; or the lower fixed plate 312 can be selected as the shell of the spacecraft. The folded elastic ring frame 1 is attached to the top side of the upper movable plate 311 when it is in the first position, so that when the upper movable plate 311 moves away from the lower fixed plate 312, the upper movable plate 311 drives the folded elastic ring frame 1 to move along the lower fixed plate 312 toward the upper movable plate 311.

[0147] The above-mentioned driving spring 314 extends along the upper movable plate 311 toward the lower fixed plate 312, one end of the driving spring 314 is connected to the upper movable plate 311, and the other end is connected to the lower fixed plate 312; when the locking member 315 is locked, the distance between the upper movable plate 311 and the lower fixed plate 312 is smaller than the length of the driving spring 314 itself, that is, when the locking member 315 is locked, the driving spring 314 is in a compressed state.

[0148] The number of the above-mentioned drive springs 314 can be selected to be multiple, and the multiple drive springs 314 are arranged at intervals around the elastic ring frame 1 at the upper first position, so that the multiple drive springs 314 can synchronously drive the upper movable plate 311 to move in a direction away from the lower fixed plate 312.

[0149] The locking member 315 may optionally include two mounting members and a pin puller, one mounting member being connected to the upper movable plate 311, and the other being connected to the lower fixed plate 312, the two mounting members being connected to each other via a movably inserted pin, the pin being connected to the pin puller, the pin puller being able to drive the pin to move, causing the pin mounting member to be disconnected, and when the pin is disconnected from any mounting member, the two mounting members can be separated from each other, so that the elastic force of the driving spring 314 drives the upper movable plate 311 to move in a direction away from the lower fixed plate 312.

[0150] Of course, the two mounting parts can also be connected to each other through a buckle. When the buckle is engaged, the two mounting parts are connected to each other, so that the upper movable plate 311 and the lower fixed plate 312 can remain in a state of being connected to each other, so that the upper movable plate 311 cannot move in a direction away from the lower fixed plate 312. When the buckle is opened, the two mounting parts can be separated from each other, so that the elastic force of the driving spring 314 drives the upper movable plate 311 to move in a direction away from the lower fixed plate 312. A control motor can be optionally provided at the buckle of the locking member 315, and the control motor can control the opening and engagement of the buckle to control the locking and unlocking of the locking member 315.

[0151] The above-mentioned limiter 33 can be selected to include a movable buckle and a driving member. The switch structure of the movable buckle can control the opening and closing of the movable buckle. The switch structure of the movable buckle is connected to the driving member, so that the driving member can control the opening and closing of the movable buckle. When the movable buckle is closed, it abuts against the elastic ring frame 1 at the first position to limit the elastic ring frame 1 from being disengaged from the upper movable plate 311. When the movable buckle is opened, it is disengaged from the elastic ring frame 1 at the first position. The driving member is electrically connected to the control motor of the locking member 315, so that the driving member and the control motor of the locking member 315 can be started synchronously, so that the movable buckle of the limiter 33 and the buckle of the locking member 315 can be opened synchronously.

[0152] Of course, the limiter 33 may also include a movable buckle, and the switch structure of the movable buckle can control the opening and closing of the movable buckle. The switch structure of the movable buckle is connected to the lower fixed plate 312. When the movable buckle is closed, it abuts against the elastic ring frame 1 in the first position to limit the elastic ring frame 1 from being disengaged from the upper movable plate 311. When the movable buckle is opened, it is disengaged from the elastic ring frame 1 in the first position. When the locking member 315 is unlocked to drive the upper movable plate 311 to move away from the lower fixed plate 312, the switch structure of the movable buckle is forced to open and retreat from the elastic ring frame 1, so that when the locking member 315 is unlocked, the limiter 33 is synchronously separated from the elastic ring frame 1.

[0153] Reference Figures 10 to 12 As shown, in some embodiments, the locking member 315 includes an upper connecting member 316, a lower connecting member 317 and a pin puller 318; the upper connecting member 316 is connected to the upper movable plate 311, the lower connecting member 317 is connected to the lower fixed plate 312, and the pin puller 318 has a retractable pin shaft; when the locking member 315 is locked, the pin puller 318 drives the pin shaft to extend to connect with the upper connecting member 316 and the lower connecting member 317, so that the pin shaft restricts the upper connecting member 316 and the lower connecting member 317 from moving away from each other; when the locking member 315 is unlocked, the pin puller 318 drives the pin shaft to retract to disconnect from at least one of the upper connecting member 316 and the lower connecting member 317, so that the upper connecting member 316 and the lower connecting member 317 can move away from each other.

[0154] In this arrangement, the upper connecting member 316 and the lower connecting member 317 are connected by a pin shaft to limit the upper connecting member 316 and the lower connecting member 317 from moving away from each other, so that the locking member 315 is in a locked state; the pin puller 318 controls the position of the pin shaft to control the unlocking of the locking member 315, thereby realizing the automatic unlocking function of the locking member 315.

[0155] Specifically, a first through hole is provided on the upper connecting member 316, and a second through hole is provided on the lower connecting member 317. The first through hole and the second through hole are coaxially arranged, and a pin shaft is movably inserted in the first through hole and the second through hole to connect the upper connecting member 316 and the lower connecting member 317 to each other, thereby limiting the upper connecting member 316 and the lower connecting member 317 from moving away from each other. At this time, the locking member 315 is in a locked state, and the upper movable plate 311 and the lower fixed plate 312 cannot move in a direction away from each other.

[0156] The pin puller 318 can be selected as a telescopic motor, and an axial structure is provided on the telescopic end of the telescopic motor as a pin shaft. The pin shaft is plugged and connected with the first through hole of the upper connecting member 316 and the second through hole of the lower connecting member 317 along its own axial direction. The telescopic direction of the telescopic end is in the same direction as the axial direction of the pin shaft. When the telescopic motor is started, it can drive the pin shaft to move along its own axial direction, so that the pin shaft is disengaged from at least one of the upper connecting member 316 and the lower connecting member 317.

[0157] The above-mentioned pin puller 318 can be selectively installed on the lower fixed plate 312 or the lower connecting member 317. When the pin puller 318 pulls out the pin shaft, the pin shaft can be disconnected from the upper connecting member 316 and remain connected to the lower connecting member 317. At this time, the upper connecting member 316 can be separated from the lower connecting member 317, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0158] Of course, the pin puller 318 can also be installed on the upper movable plate 311 or the upper connecting member 316, and the pin shaft is disconnected from the lower connecting member 317 and remains connected to the upper connecting member 316. At this time, the upper connecting member 316 can be separated from the lower connecting member 317, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0159] Alternatively, the pin shaft can be disconnected from both the upper connecting member 316 and the lower connecting member 317, so that the upper connecting member 316 can be separated from the lower connecting member 317. As long as the pin puller 318 can drive the pin shaft to move, the upper connecting member 316 and the lower connecting member 317 can be separated from each other, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0160] Reference Figure 1 , Figure 2 and Figures 10 to 12As shown, in some embodiments, the limiting member 33 includes an upper pressure rod 331 and a lower pull rod 332, at least a portion of the lower pull rod 332 is on the top side of the upper movable plate 311, the upper pressure rod 331 is on the top side of the upper movable plate 311 and is rotatably connected to the lower pull rod 332, the upper pressure rod 331 can rotate relative to the lower pull rod 332 to switch between an abutment position and an avoidance position, the avoidance position is on the side of the abutment position facing away from the upper movable plate 311; when the locking member 315 is locked, the upper pressure rod 331 can abut against the top side of the elastic ring frame 1 in the first position at the abutment position to limit the elastic ring frame 1 from moving in a direction away from the upper movable plate 311; when the locking member 315 is unlocked, the upper pressure rod 331 can switch to the avoidance position to disengage from the abutment with the elastic ring frame 1.

[0161] With such arrangement, the upper pressing rod 331 can rotate relative to the lower pulling rod 332, so that the upper pressing rod 331 can limit the movement of the elastic ring frame 1 at the abutting position, and release the elastic ring frame 1 at the avoiding position, so that the elastic ring frame 1 can move toward the second position; the structure of the limiting member 33 is simple, which reduces the manufacturing cost of the limiting member 33.

[0162] Specifically, the upper pressing rod 331 can be rotatably connected with the top end of the lower pulling rod 332, and the lower pulling rod 332 can be located at the outer side or the inner side of the elastic ring frame 1 at the first position; when the upper pressing rod 331 and the lower pulling rod 332 are perpendicular, the upper pressing rod 331 is in the contact position, so that a part of the upper pressing rod 331 can contact the top side of the elastic ring frame 1 at the first position, so that the elastic ring frame 1 at the first position is clamped on the upper movable plate 311. The upper pressing rod 331 rotates in a direction away from the upper movable plate 311, so that the upper pressing rod 331 moves toward the avoidance position, and when the upper pressing rod 331 and the lower pulling rod 332 are parallel, the upper pressing rod 331 is in the avoidance position, at which time the elastic ring frame 1 can be separated from the contact with the upper movable plate 311 and move to the second position.

[0163] A rotating motor can be optionally set between the above-mentioned upper pressure rod 331 and the lower pull rod 332, and the rotating motor drives the upper pressure rod 331 to rotate relative to the lower pull rod 332, so that the rotating motor can drive the upper pressure rod 331 to rotate between the abutment position and the avoidance position. The rotating motor can be electrically connected to the pin puller 318 of the locking member 315, so that the pin puller 318 and the rotating motor work synchronously, that is, when the pin puller 318 pulls out the pin shaft, the rotating motor rotates the upper pressure rod 331 to the avoidance position, and when the upper movable plate 311 moves away from the lower fixed plate 312, the upper pressure rod 331 is disengaged from the abutment with the elastic ring frame 1, so that the elastic ring frame 1 can subsequently move to the second position.

[0164] In some embodiments, the limit member 33 also includes a limit seat 333, a baffle and a center axis 334. A connecting hole 319 is provided on the upper movable plate 311. The lower pull rod 332 is connected to the lower fixed plate 312 through the connecting hole 319. The baffle is arranged between the lower pull rod 332 and the elastic ring frame 1. A sliding groove and an abutment platform are provided on the lower pull rod 332. The sliding groove is located on the upper side of the abutment platform. The center axis 334 is passed through the sliding groove and is connected to the limit seat 333. The upper pressure rod 331 and the lower pull rod 332 are rotatably connected through the center axis 334.

[0165] When the locking member 315 is locked, the upper pressure rod 331 is tilted relative to the lower pull rod 332 toward the elastic ring frame 1 or the upper pressure rod 331 is perpendicular to the lower pull rod 332, so that the upper pressure rod 331 is located at the abutting position, and the central axis 334 is spaced apart from the top of the sliding groove. At this time, the side surface of one end of the upper pressure rod 331 abuts against the elastic ring frame 1, and the side surface of the other end abuts against the top side of the abutting platform, and the central axis 334 is between the end surfaces of the two ends of the upper pressure rod 331; the upper pressure rod 331 and the abutting platform The planes where the platforms abut each other have a certain area, so that at least a part of the abutting plane is on the side of the central axis 334 away from the elastic ring frame 1. The abutting platform can provide supporting force for the upper pressure rod 331, so that the forces on the upper pressure rod 331 at both ends of the central axis 334 are parallel, so that the upper pressure rod 331 will not rotate, and the upper pressure rod 331 is restricted from rotating relative to the lower pull rod 332 in the direction away from the upper movable plate 311, so that the upper pressure rod 331 can abut the elastic ring frame 1 against the top side of the upper movable plate 311.

[0166] When the locking piece 315 is unlocked, the upper movable plate 311 moves upward relative to the lower pull rod 332, and the limit seat 333 moves together with the upper movable plate 311, so that the central axis 334 moves toward the top of the sliding groove, and the upper pressure rod 331 is spaced from the top side of the abutment platform, so that the upper pressure rod 331 can rotate relative to the lower pull rod 332, and the baffle plate moves upward with the upper movable plate 311, so that the baffle plate pushes the upper pressure rod 331 to move in the direction away from the upper movable plate 311, so that the upper pressure rod 331 moves to the avoidance position.

[0167] The lower pull rod 332 is connected to the lower fixed plate 312 through the connecting hole 319, so that the upper movable plate 311 can move toward and away from the lower fixed plate 312 while pushing the upper pressure rod 331 to rotate. The linkage between the limit member 33 and the launching device 31 is completed through a simple structure. There is no need to respectively set driving devices that can be started synchronously on the launching device 31 and the limit member 33, which simplifies the structure of the locking release mechanism and reduces the manufacturing cost.

[0168] Reference Fig.10As shown, in some embodiments, there are multiple locking members 315, and the multiple locking members 315 are arranged at intervals, and the multiple locking members 315 can be unlocked and locked synchronously. In this way, the locking of multiple locking members 315 can improve the stability of the connection between the upper movable plate 311 and the lower fixed plate 312.

[0169] Specifically, a plurality of locking members 315 are arranged at intervals on the lower fixing plate 312, and may be arranged in the radial direction of the mounting hole 313, with a portion of the locking members 315 being arranged on one side of the mounting hole 313 and another portion of the locking members 315 being arranged on the other side of the mounting hole 313. The locking members 315 may be arranged at the driving spring 314.

[0170] The locking and releasing mechanism provided by the present application is a mechanical mechanism with a simple structure, strong bearing capacity and reliable function. Its launching device 31 includes an upper movable plate 311, a lower fixed plate 312, a driving spring 314 and a locking member 315; the driving spring 314 provides power to drive the upper movable plate 311 to move, and no gunpowder is required to drive it, which significantly reduces the impact load, eliminates the safety protection problem of gunpowder, does not pollute the surrounding environment, can be used multiple times, and is convenient for test verification. The locking member 315 includes an upper connecting member 316, a lower connecting member 317 and a pin puller 318. The connection and unlocking of the upper connecting member 316 and the lower connecting member 317 can be controlled by the extension and retraction of the pin shaft of the pin puller 318. The pin puller 318 controls the extension and retraction of the pin shaft with a sensitive response and a fast movement time, which can realize the precise control of instantaneous unlocking and unlocking time, and is not affected by the external temperature; the overall structure of the locking and releasing mechanism is a mechanical structure, and has high reliability in the complex electromagnetic environment of space.

[0171] When the space flexible net and locking release mechanism provided by the present application are used specifically, the folded elastic ring frame 1 is placed on the top surface of the upper movable plate 311, so that the elastic ring frame 1 is located in the first position; the rotating arm 322 is rotatably connected to the connecting sleeve 13 of the elastic ring frame 1, and the upper pressure rod 331 of the limiting member 33 is in the abutting position, so that the upper pressure rod 331 abuts against the top side of the elastic ring frame 1, and the pin shaft of the locking member 315 is movably inserted into the upper connecting member 316 and the lower connecting member 317, and then the lower fixed plate 312 is installed on the spacecraft.

[0172] When the spacecraft is launched into space and moves to a position where an object needs to be captured, the pin puller 318 pulls out the pin shaft, and the driving spring 314 drives the upper movable plate 311 to move in a direction away from the lower fixed plate 312. The upper movable plate 311 moves and disengages from the abutment platform of the lower pull rod 332, so that the upper movable plate 311 can rotate relative to the lower pull rod 332. The movement of the upper movable plate 311 will also cause the baffle to push the upper pressure rod 331, causing the upper pressure rod 331 to rotate in a direction away from the upper movable plate 311, and causing the upper pressure rod 331 to rotate to an avoidance position.

[0173] Driven by the movement of the upper movable plate 311, the elastic ring frame 1 moves in a direction away from the upper movable plate 311, and the rotating arm 322 rotates relative to the upper movable plate 311 until the limiting protrusion 326 is plugged into the positioning groove 325, and the positioning protrusion 329 abuts against the positioning platform 328, so that the rotating arm 322 is perpendicular to the upper movable plate 311, and the elastic ring frame 1 moves to the second position.

[0174] After the folded elastic ring frame 1 moves to the second position, the motor on the spacecraft pulls the installation rope to open the slipknot, so that the first arc portion 21 and the second arc portion 22 of the limit ring 2 are separated from each other, so that the elastic ring frame 1 drives the multiple sub-ring portions 11 to rotate in a direction away from each other under the action of its own elastic force, so that the elastic ring frame 1 is unfolded to the unfolded state under the action of its own elastic force. The flexible net 4 inside the unfolded elastic ring frame 1 is unfolded, and the flexible net 4 is in a tensioned state, so that the cable net connecting ring 43 is closely abutted against the elastic beam 12, so that the relative position of the cable net connecting ring 43 and the elastic beam 12 remains stable; the flexible net 4 is inside the unfolded elastic ring frame 1 to capture objects in space.

[0175] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0176] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A space flexible net, characterized in that: It comprises an elastic ring frame (1) and a limiting ring (2); A flexible net (4) is installed in the elastic ring frame (1); the elastic ring frame (1) has an unfolded state and a folded state; the elastic ring frame (1) is in a planar shape when in the unfolded state; The elastic ring frame (1) can be elastically deformed and twisted and folded to form a plurality of sub-ring portions (11) arranged in sequence; when the elastic ring frame (1) is in the folded state, each two adjacent sub-ring portions (11) are coaxial and stacked; The limiting ring (2) is detachably mounted on the elastic ring frame (1) in a folded state to limit the rotation of the plurality of sub-ring portions (11) in a direction away from each other; when the limiting ring (2) is detached from the elastic ring frame (1) in the folded state, the elastic ring frame (1) switches from the folded state to the unfolded state under the action of its own elastic force.

2. The spatial flexible net according to claim 1, characterized in that: When the elastic ring frame (1) is in a folded state, the diameters of the plurality of sub-ring portions (11) are equal; When the elastic ring frame (1) is in an unfolded state, the flexible net (4) has a plurality of equal equilateral triangle meshes, the side length of the equilateral triangle meshes is L, and L satisfies the following formula: Among them, D f is the diameter of the sub-ring portion (11).

3. The spatial flexible net according to claim 1, characterized in that: The elastic ring frame (1) comprises an elastic beam (12), a connecting sleeve (13) and an elastic member (14); The elastic member (14) is arranged inside the connecting sleeve (13); the elastic beam (12) is bent so that the two ends of the elastic beam (12) are respectively connected to the two ends of the connecting sleeve (13), so that the elastic beam (12) and the connecting sleeve (13) together form an annular structure; the elastic member (14) is connected to the two ends of the elastic beam (12), and at least one end of the elastic beam (12) can rotate in the connecting sleeve (13).

4. The spatial flexible net according to claim 3, characterized in that: The connecting sleeve (13) is provided with a mounting channel (131) passing through the connecting sleeve (13); one end of the elastic beam (12) is fixedly connected to a fixed end head (132), and the other end is fixedly connected to a movable end head (133); the fixed end head (132) is fixedly connected to one end of the mounting channel (131), and the movable end head (133) is rotatably connected to the other end of the mounting channel (131).

5. The spatial flexible net according to claim 3, characterized in that: The flexible net (4) comprises a rope net portion (41) and a plurality of rope net connecting rings (43); The plurality of cable net connecting rings (43) are movably sleeved on the elastic beam (12), the rope net portion (41) has a plurality of annular end heads (42), and the plurality of annular end heads (42) are sleeved and connected to the plurality of cable net connecting rings (43) in a one-to-one correspondence.

6. The spatial flexible net according to claim 5, characterized in that: When the elastic ring frame (1) is unfolded, the rope net portion (41) is tensioned so that the rope net connecting ring (43) abuts against the elastic beam (12), so that the friction force between the rope net connecting ring (43) and the elastic beam (12) restricts the rope net connecting ring (43) from sliding on the elastic beam (12).

7. The spatial flexible net according to claim 1, characterized in that: The limiting ring (2) comprises a first arc-shaped portion (21), a second arc-shaped portion (22) and a mounting rope; The elastic ring frame (1) in a folded state is a cylindrical structure, the first arc-shaped portion (21) is arranged on the inner side of the cylindrical structure, the second arc-shaped portion (22) is arranged on the outer side of the cylindrical structure, and the first arc-shaped portion (21) and the second arc-shaped portion (22) are installed opposite to each other; The installation rope binds the first arc-shaped portion (21) and the second arc-shaped portion (22) with a movable rope knot so that the first arc-shaped portion (21) and the second arc-shaped portion (22) are kept in contact with each other, and when the movable rope knot of the installation rope is untied, the first arc-shaped portion (21) and the second arc-shaped portion (22) can be separated from each other.

8. A locking release mechanism, characterized in that: A space flexible net as claimed in any one of claims 1 to 7, comprising a launching device (31), a rotating member (32) and a limiting member (33) mounted on the launching device (31); The elastic ring frame (1) is rotatably connected to the launching device (31) via the rotating member (32); the launching device (31) has a movable launching portion; the elastic ring frame (1) in a folded state is in contact with the launching portion when in a first position; The movement of the launching portion can exert a force on the elastic ring frame (1) in a direction away from the launching device (31), so that the elastic ring frame (1) moves from a first position to a second position spaced apart from the launching device (31); When the elastic ring frame (1) is in the first position, the limiting member (33) is connected to the elastic ring frame (1) to limit the elastic ring frame (1) from being away from the emitting portion; When the transmitting portion moves, the limiting member (33) can be synchronously disconnected from the elastic ring frame (1).

9. The lock release mechanism according to claim 8, characterized in that: The rotating member (32) comprises a flexible rod capable of bending and deforming, one end of the flexible rod is connected to the elastic ring frame (1), and the other end is connected to the launching device (31).

10. The lock release mechanism according to claim 8, characterized in that: The rotating member (32) comprises a rotating base (321), a rotating arm (322) and a spring sheet (323); The rotating base (321) is installed on the launching device (31), the rotating arm (322) is rotatably connected to the rotating base (321), and the elastic ring frame (1) is rotatably connected to the rotating arm (322); The spring sheet (323) is connected between the rotating base (321) and the rotating arm (322), and the elastic force of the spring sheet (323) drives the rotating arm (322) to rotate relative to the rotating base (321) in a direction away from the launching device (31).

11. The lock release mechanism according to claim 8, characterized in that: The launching device (31) comprises an upper movable plate (311), a lower fixed plate (312) arranged on the bottom side of the upper movable plate (311), a driving spring (314) installed between the upper movable plate (311) and the lower fixed plate (312), and a locking member (315) installed between the upper movable plate (311) and the lower fixed plate (312); The elastic ring frame (1) in the first position is attached to the top side of the upper movable plate (311), a mounting hole (313) is provided on the upper movable plate (311), the rotating member (32) is mounted on the lower fixed plate (312) and connected to the elastic ring frame (1) through the mounting hole (313), and the elastic force of the driving spring (314) drives the upper movable plate (311) and the lower fixed plate (312) to move away from each other; When the locking member (315) is locked, the upper movable plate (311) and the lower fixed plate (312) are restricted from relative movement; When the locking member (315) is unlocked, the upper movable plate (311) and the lower fixed plate (312) can move away from each other under the drive of the driving spring (314).

12. The lock release mechanism according to claim 11, characterized in that: The locking member (315) comprises an upper connecting member (316), a lower connecting member (317) and a pin puller (318); The upper connecting member (316) is connected to the upper movable plate (311), the lower connecting member (317) is connected to the lower fixed plate (312), and the pin puller (318) has a retractable pin shaft; When the locking member (315) is locked, the pin puller (318) drives the pin shaft to extend to connect with the upper connecting member (316) and the lower connecting member (317), so that the pin shaft restricts the upper connecting member (316) and the lower connecting member (317) from moving away from each other; When the locking member (315) is unlocked, the pin puller (318) drives the pin shaft to retract to disconnect from at least one of the upper connecting member (316) and the lower connecting member (317), so that the upper connecting member (316) and the lower connecting member (317) can move away from each other.

13. The lock release mechanism according to claim 11, characterized in that: The limiting member (33) comprises an upper pressing rod (331) and a lower pulling rod (332), at least a portion of the lower pulling rod (332) is on the top side of the upper movable plate (311), the upper pressing rod (331) is on the top side of the upper movable plate (311) and is rotatably connected to the lower pulling rod (332), the upper pressing rod (331) can rotate relative to the lower pulling rod (332) to switch between an abutting position and an avoidance position, the avoidance position being on the side of the abutting position facing away from the upper movable plate (311); When the locking member (315) is locked, the upper pressing rod (331) can abut against the top side of the elastic ring frame (1) at the first position at the abutting position to limit the elastic ring frame (1) from moving in a direction away from the upper movable plate (311); When the locking member (315) is unlocked, the upper pressing rod (331) can be switched to the avoidance position to disengage from the abutment with the elastic ring frame (1).

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