Spatially flexible net and locking release mechanism

Abstract

The application relates to the technical field of aerospace equipment, and provides a space flexible net and a locking and releasing mechanism. 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; the elastic ring frame is in a planar shape 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-ring parts arranged in sequence; each two adjacent sub-ring parts are coaxial and arranged in layers; the limiting ring is detachably installed on the elastic ring frame in the folded state to limit the rotation of the plurality of sub-ring parts in the direction away from each other; 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 action of the elastic force of the elastic ring frame. The elastic ring frame occupies a small space after being folded; the elastic ring frame can be automatically unfolded under the action of the elastic force of the elastic ring frame; the unfolded elastic ring frame has a supporting effect on the flexible net, so that the flexible net can keep open for a long time to capture objects.

Description

TECHNICAL FIELD

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

[0002] With the development of space technology in various countries, human space activities are becoming more and more frequent, and the number of space debris in the earth's orbit is increasing rapidly. 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 fragments and components thereof. The current developed space debris removal technology mainly uses net catching technology, that is, a spacecraft approaches a space target, and a flexible flying net is used to capture the target.

[0003] The flexible flying net is usually stored in a concentric cylindrical flexible rope net storage net package. A flexible rope connected to a satellite is arranged in the middle of the flexible flying net, and a mass block is arranged at the edge of the flexible flying net, so that when the flying net needs to be unfolded, the mass block is launched to drive the flexible flying net out of the storage net package and unfolded in space. However, the overall operation of launching the mass block to unfold the flying net is complex, multiple launching devices are required, and the overall structure of the flexible flying net is relatively complex. Moreover, 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 fold the flying net, making it difficult for the flying net to maintain an unfolded state for a long time. SUMMARY

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

[0005] The first aspect of the present application provides a space flexible net, comprising an elastic ring frame and a limiting ring;

[0006] The 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 planar shape in the unfolded state;

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

[0008] The limiting ring is detachably installed on the elastic ring frame in the folded state to limit the rotation of the plurality of sub-ring portions 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 is switched from the folded state to the unfolded state under the action of its own elastic force.

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

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

[0011]

[0012] D f is the diameter of the sub-ring part.

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

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

[0015] Optionally, the connecting sleeve is provided with a mounting channel penetrating through the connecting sleeve, one end of the elastic beam is fixedly connected with a fixed end, and the other end is fixedly connected with a movable end, the fixed end is fixedly connected with one end of the mounting channel, and the movable end is rotatably connected with the other end of the mounting channel.

[0016] Optionally, the flexible net comprises a rope net part and a plurality of cable net connecting rings.

[0017] The plurality of cable net connecting rings are movably sleeved on the elastic beam, and the rope net part has a plurality of annular end heads which are sleeved and connected on the plurality of cable net connecting rings one by one.

[0018] Optionally, when the elastic ring frame is unfolded, the rope net part is tensioned so that the cable net connecting ring abuts against the elastic beam, and the friction force between the cable net connecting ring and the elastic beam limits the sliding of the cable net connecting ring on the elastic beam.

[0019] Optionally, the limiting ring comprises a first arc-shaped part, a second arc-shaped part and a mounting rope.

[0020] The elastic ring frame in the folded state has a cylindrical structure, the first arc-shaped part is arranged on the inner side of the cylindrical structure, the second arc-shaped part is arranged on the outer side of the cylindrical structure, and the first arc-shaped part and the second arc-shaped part are oppositely arranged.

[0021] The mounting rope binds the first arc-shaped part and the second arc-shaped part with movable rope joints, so that the first arc-shaped part and the second arc-shaped part abut against each other, and when the movable knot of the mounting rope is opened, the first arc-shaped part and the second arc-shaped part can be separated from each other.

[0022] The second aspect of the present application provides a locking release mechanism applied to the spatial flexible net as claimed in any one of the preceding aspects, comprising a launching device, a rotating member and a limiting member mounted on the launching device;

[0023] The elastic ring frame is rotationally connected with the launching device through the rotating member, and the launching device has a movable launching part, and the elastic ring frame in the folded state is attached to the launching part at a first position;

[0024] The launching part is movable to exert a force on the elastic ring frame in a direction away from the launching device, so as to move the elastic ring frame from the first position to a second position spaced from the launching device;

[0025] The limiting member is connected with the elastic ring frame at the first position to limit the elastic ring frame from moving away from the launching part;

[0026] The limiting member can be synchronously disconnected with the elastic ring frame when the launching part is moved.

[0027] Optionally, the rotating member comprises a flexible rod capable of being bent and deformed, one end of the flexible rod is connected with the elastic ring frame, and the other end of the flexible rod is connected with the launching device.

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

[0029] The rotating base is mounted on the launching device, the rotating arm is rotationally connected on the rotating base, and the elastic ring frame is rotationally connected with 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 comprises an upper movable plate, a lower fixed plate arranged on the bottom side of the upper movable plate, a driving spring mounted between the upper movable plate and the lower fixed plate, and a locking member mounted between the upper movable plate and the lower fixed plate;

[0032] The elastic ring frame at the first position is attached to the top side of the upper movable plate, the upper movable plate is provided with a mounting hole, the rotating member is mounted on the lower fixed plate and connected with 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] The locking member is locked to limit the relative movement of the upper movable plate and the lower fixed plate;

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

[0035] Optionally, the locking member comprises an upper connecting member, a lower connecting member and a pin extractor.

[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 extractor has an extendable pin shaft.

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

[0038] When the locking member is unlocked, the pin extractor drives the pin shaft to retract to disconnect with 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 limiting member comprises an upper pressing rod and a lower pull rod, at least a part of the lower pull rod is on the top side of the upper movable plate, the upper pressing rod is rotationally connected with the lower pull rod on the top side of the upper movable plate, the upper pressing rod can rotate relative to the lower pull rod to switch between an abutting position and an avoiding position, the avoiding position is on the side opposite to the abutting position and 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 in the first position in the abutting position, so as to limit the elastic ring frame from moving towards the direction away from the upper movable plate.

[0041] When the locking member is unlocked, the upper pressing rod can switch to the avoiding position to disconnect with the elastic ring frame.

[0042] Compared with the prior art, the technical scheme provided in the application has the following advantages:

[0043] The application provides a space flexible net and a locking release mechanism. The space flexible net comprises an elastic ring frame and a limiting ring. The flexible net is installed in the elastic ring frame. The elastic ring frame has an unfolded state and a folded state. The elastic ring frame is in a planar shape in the unfolded state. In the folded state, the elastic ring frame can be elastically deformed and twisted to fold to form a plurality of sub-ring portions arranged in sequence. Each two adjacent sub-ring portions 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-ring portions 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 is switched from the folded state to the unfolded state under the action of its own elastic force. The elastic ring frame is twisted to form a plurality of stacked sub-ring portions and can be stably kept in the folded state by the limiting ring. After the limiting ring is separated, the elastic ring frame can be automatically unfolded under the action of its own elastic force, avoiding the need to set a release mass on the spacecraft 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 be kept open for a long time to capture objects.

[0044] The locking release mechanism provided by the application can provide driving force for the movement of the elastic ring frame, the rotating member can limit the movement range and movement track of the elastic ring frame, the precision of the locking release mechanism when releasing the space flexible net is improved, and the limiting member can keep the elastic ring frame stable at the first position, avoiding the disconnection of the elastic ring frame from the launching device when the spacecraft is flying. Through the cooperation of the launching device, the rotating member and the limiting member, the elastic ring frame is locked at the first position and driven to move to the second position. The launching device, the rotating member and the limiting member are mechanical structures, so that the locking release mechanism has simple structure, high bearing capacity and reliable action. The locking release mechanism can be installed on the spacecraft to install the space flexible net on the spacecraft, simplifying the installation operation of the space flexible net. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative labor.

[0047] Figure 1 It is a structural schematic view of the elastic ring frame on the locking release mechanism in the first position.

[0048] Figure 2 Structure diagram of the elastic ring frame in the second position of the locking release mechanism according to the embodiment of the application;

[0049] Figure 3 Process diagram of the elastic ring frame being folded once according to the embodiment of the application;

[0050] Figure 4 Diagram of the elastic ring frame in the unfolded state according to the embodiment of the application;

[0051] Figure 5 Diagram of the elastic ring frame in the unfolded state according to the embodiment of the application;

[0052] Figure 6 Structure diagram of the elastic ring frame in the folded state according to the embodiment of the application;

[0053] Figure 7 Structure diagram of the elastic ring frame in the folded state according to the embodiment of the application;

[0054] Figure 8 Sectional view of the elastic ring frame at the connecting sleeve according to the embodiment of the application;

[0055] Figure 9 Structure diagram of the limiting ring according to the embodiment of the application;

[0056] Figure 10 Exploded view of the launching device and the locking member according to the embodiment of the application;

[0057] Figure 11 Side view of one of the rotating members according to the embodiment of the application;

[0058] Figure 12 Side view of the other of the rotating members according to the embodiment of the application;

[0059] Figure 13 Structure diagram of the flexible rod being applied to the locking release mechanism and the elastic ring frame being in the first position according to the embodiment of the application;

[0060] Figure 14 Structure diagram of the flexible rod being applied to the locking release mechanism and the elastic ring frame being in the second position according to the embodiment of the application;

[0061] Figure 15 Process diagram of the flexible net being deformed when the elastic ring frame is twisted multiple times according to the embodiment of the application;

[0062] Figure 16 Structure diagram of the elastic ring frame and the flexible net after being folded according to the embodiment of the application.

[0063] Wherein, 1, elastic ring frame; 11, sub-ring part; 12, elastic beam; 13, connecting sleeve; 131, mounting channel; 132, fixed end; 133, movable end; 14, elastic member; 2, limiting ring; 21, first arc-shaped part; 22, second arc-shaped part; 31, launching device; 311, upper movable plate; 312, lower fixed plate; 313, mounting hole; 314, driving spring; 315, locking member; 316, upper connecting member; 317, lower connecting member; 318, pin puller; 319, communication hole; 32, rotating member; 321, rotating base; 322, rotating arm; 323, spring sheet; 324, arc surface part; 325, positioning groove; 326, limiting protrusion; 327, abutting spring; 328, positioning platform; 329, positioning protrusion; 33, limiting member; 331, upper pressing rod; 332, lower pull rod; 333, limiting seat; 334, central shaft; 4, flexible net; 41, rope net part; 42, annular end; 43, 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 in order to provide a thorough understanding of the present application, but the present application can also be implemented in other different ways from those described herein; obviously, the embodiments in the description are only some embodiments of the present application, not all embodiments.

[0066] Reference Figures 1 to 16 As shown in the drawings, the first aspect of the present application provides a space flexible net, comprising an elastic ring frame 1 and a limiting ring 2; the 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 in the unfolded state; in the folded state, the elastic ring frame 1 can be elastically deformed to twist and fold to form a plurality of sub-ring parts 11 arranged in sequence, each adjacent two sub-ring parts 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 parts 11 away from each other; when the limiting ring 2 is separated from the elastic ring frame 1 in the folded state, the elastic ring frame 1 is switched 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 selected to be made of an elastic beam body, the beam body is bent to connect two ends to each other, so that the beam body forms a ring-shaped frame structure, the flexible net 4 can be selected to be made of a flexible rope, the flexible net 4 is arranged inside the ring-shaped frame structure of the elastic ring frame 1, and the edges of the flexible net 4 are tied on the elastic ring frame 1 by knots, so that the edges of the flexible net 4 are connected to the elastic ring frame 1, and when the elastic ring frame 1 is in a planar unfolded state, the flexible net 4 can capture objects in space. Of course, the edges of the flexible net 4 can also be tied on the ring-shaped structure, and the ring-shaped structure is arranged on the frame body 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, as shown in FIG. 1, a part of the ring-shaped frame can be selected to be twisted by 180° relative to another part, forming an “8” structure, so that the elastic ring frame 1 is twisted once to form two ring-shaped structures, the ring-shaped structure is used as a sub-ring part 11, and the elastic ring frame 1 is bent at the twisted position, so that the two sub-ring parts 11 overlap. Figure 3

[0069] After the elastic ring frame 1 is twisted once to form two ring-shaped structures, one ring-shaped structure is selected to be twisted again, so that the elastic ring frame 1 forms three sub-ring parts 11, that is, the elastic ring frame 1 can form a plurality of sequentially arranged sub-ring parts 11 by multiple twisting, the more the number of the sub-ring parts 11 formed by the elastic ring frame 1, the smaller the diameter of the sub-ring part 11, and the higher the height of the cylindrical structure formed by the stacked plurality of sub-ring parts 11.

[0070] The above-mentioned elastic ring frame 1 in the folded state can be selected to form two sub-ring parts 11, and the two elastic ring frames 1 are stacked to form a cylindrical structure; of course, the elastic ring frame 1 in the folded state can also be selected to form a plurality of sub-ring parts 11, and the plurality of 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 members capable of being connected to each other and separated from each other, the two arc-shaped members are connected to each other to form a ring-shaped structure, one arc-shaped member is arranged on the inner side of the cylindrical structure, and the other arc-shaped member is arranged on the outer side of the cylindrical structure, and the two ends of the arc-shaped members are respectively arranged at the two ends of the cylindrical structure along the axial direction of the cylindrical structure, and the end portions of the two arc-shaped members are connected to each other, so that the limiting ring 2 can limit the plurality of sub-ring parts 11 in the cylindrical structure.

[0072] Of course, the limiting ring 2 can also include two arc-shaped members, the two arc-shaped members are rotatably connected, the connecting position of the two arc-shaped members is at the bottom end of the cylindrical structure, one arc-shaped member is arranged on the inner side of the cylindrical structure, and the other arc-shaped member is arranged on the outer side of the cylindrical structure, and the two arc-shaped members are close to each other to be connected to each other, so that the two arc-shaped members surround each sub-ring part 11, so that the limiting ring 2 can limit the plurality of sub-ring parts 11.

[0073] ​The elastic ring frame 1 is in a plane when not deformed, 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 the folded state, and the flexible net 4 is bent along with the folding of the elastic ring frame 1, so that the flexible net 4 can deform together with the elastic ring frame 1. After the limiting ring 2 is separated from the elastic ring frame 1, the plurality of sub-ring parts 11 rotate in directions away from each other under the action of the elastic force of the elastic ring frame 1, so that the elastic ring frame 1 in the folded state is switched to the unfolded state under the action of the elastic force of the elastic ring frame 1.

[0074] The elastic ring frame 1 can be made of nickel-titanium alloy, so that the elastic ring frame 1 has high elasticity and 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 the folded state, and the limiting ring 2 is connected to the elastic ring frame 1, so that the elastic ring frame 1 in the folded state can reduce the occupied space; when the spacecraft needs to capture objects in space, the elastic ring frame 1 is in space, the limiting ring 2 is separated from the elastic ring frame 1, and the elastic ring frame 1 rotates in directions away from each other under the action of the elastic force of the elastic ring frame 1, so that the folded elastic ring frame 1 is automatically unfolded to be in the unfolded state in a plane. When the elastic ring frame 1 is in the unfolded state, the flexible net 4 forms a grid structure inside the elastic ring frame 1, and when an object in space contacts the elastic ring frame 1 in the unfolded state, the impact force of the object deforms the flexible net 4, so that the flexible net 4 wraps the object to complete the capture of the object in 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 space.

[0076] The space flexible net provided in the application is used in the following manner: the elastic ring frame 1 is in the 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 the spacecraft; when the spacecraft is launched into space and moves to a position where capture is needed, the elastic ring frame 1 in the folded state moves to the outside of the spacecraft, the limiting ring 2 is separated from the elastic ring frame 1, the elastic ring frame 1 is switched to the unfolded state under the action of the elastic force of the elastic ring frame 1, and the flexible net 4 inside the elastic ring frame 1 in the unfolded state contacts an object floating in space, so that the flexible net 4 can capture the object floating in space.

[0077] The space flexible net provided in the application 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 in the unfolded state; in the folded state, the elastic ring frame 1 can be elastically deformed to be twisted and folded to form a plurality of sub-ring parts 11 arranged in sequence; each two adjacent sub-ring parts 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 parts 11 in the direction away from each other; when the limiting ring 2 is separated from the elastic ring frame 1 in the folded state, the elastic ring frame 1 is switched 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 parts 11, and can be stably kept in the folded state by the limiting ring 2, avoiding the space flexible net being accommodated in a cylindrical accommodation net package, reducing the occupied space of the space flexible net; after the limiting ring 2 is separated, the elastic ring frame 1 can be automatically unfolded under the action of its own elastic force, avoiding the need to set a release mass 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 be kept in an open state for a long time to capture objects.

[0078] Referring to Figures 1 to 4 and Figure 6 In some embodiments, the diameters of the plurality of sub-ring parts 11 are equal in the folded state of the elastic ring frame 1.

[0079] In the unfolded state of the elastic ring frame 1, the flexible net 4 has a plurality of equal equilateral triangle mesh holes, and the side length of the equilateral triangle mesh hole is L, which satisfies the following formula:

[0080]

[0081] wherein D f is the diameter of the sub-ring part 11.

[0082] In this way, the mesh hole side length of the flexible net 4 can be determined according to the diameter of the sub-ring part 11 of the elastic ring frame 1 in the folded state, thereby providing guidance for weaving the flexible net 4.

[0083] Specifically, the twisting of a part of the elastic ring frame 1 by 180° relative to another part can form two adjacent sub-ring parts 11; the elastic ring frame 1 is twisted multiple times to form a plurality of sub-ring parts 11 arranged in sequence, and the diameters of each two adjacent sub-ring parts 11 are equal, or the difference between the diameters of each two adjacent sub-ring parts 11 is less than an error value, that is, the diameters of each two adjacent sub-ring parts 11 are considered equal, and the error value can be selected as 0.1 cm to 0.5 cm; when there is an error in the diameters of the adjacent two sub-ring parts 11, D fD is the average value of the diameters of the plurality of sub-ring portions 11, or D f Dmin is the minimum value of the diameters of the plurality of sub-ring portions 11. Each adjacent two sub-ring portions 11 are folded towards each other to be coaxial and abutted with each other.

[0084] When the plurality of sub-ring portions 11 are folded, the plurality of sub-ring portions 11 are first arranged along a straight line. The axial direction of each sub-ring portion 11 can be arranged along a vertical direction. One sub-ring portion 11 at the end is folded upwards towards an adjacent sub-ring portion 11 to stack two sub-ring portions 11. Then the stacked two sub-ring portions 11 are folded downwards towards an adjacent sub-ring portion 11. The folding direction is changed each time. The above process is repeated to fold the plurality of sub-ring portions 11 twisted from the expanded state into a stacked state arranged coaxially. Figure 15 Fig. 2 is a schematic diagram of the shape change of the flexible net 4 only considering the flexible net 4 during the process of twisting the elastic ring frame 1 from the expanded state to form the plurality of sub-ring portions 11. Figure 4 The flexible net 4 on the elastic ring frame 1 in the expanded state is in an initial state. The flexible net 4 in the initial state is a mesh structure with an equilateral triangle mesh. Figure 15 Fig. a to Fig. d are arranged in sequence. The degree of deformation of the elastic ring frame 1 is gradually increased in the direction indicated by the arrow in the figure. That is, the degree of deformation of the flexible net 4 with the elastic ring frame 1 is gradually increased in 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 the entanglement of the tensioned net structure during the unfolding process, and further to reduce the self-entanglement phenomenon of the mesh of the flexible net 4 on part of the sub-ring portions 11 in the folded state as much as possible, there is a certain requirement 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 mesh side length L can be selected as 20 cm. The diameter of the elastic ring frame 1 in the expanded state is D i = 2.4 m. The diameter of the elastic ring frame 1 in the folded state is D f = 0.3 m. The total folding ratio is That is, the elastic ring frame 1 can form eight sub-ring portions 11 after folding, which have the same diameter or a diameter error less than the error value. The above formula can be further expressed as: The selection principle is to consider the incircle triangle of the circle, and the length of the net system mesh needs to be less than the length of the incircle triangle. When the elastic ring frame 1 is in the folded state, at least two net nodes of the flexible net 4 connected to the sub-ring part 11 exist in any net surface of the folded flexible net 4, so as to ensure that the elastic ring frame 1 in the folded state crosses and intersects the flexible net 4 in the layers of the sub-ring part 11, and further ensures that the flexible net 4 can stably expand with the elastic ring frame 1.

[0087] As shown in Figure 15 , the elastic ring frame 1 gradually increases the degree of torsion in the direction of the arrow, and the uppermost end of the figure a is a schematic diagram of the flexible net 4 in the initial state when the elastic ring frame 1 is in the expanded state. At this time, the flexible net 4 is in the initial state without torsion; the 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 parts 11; the figure c 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 ring structures, and the middle of each ring structure is also twisted once, so that the elastic ring frame 1 forms four sub-ring parts 11; the figure d 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 ring structures, and the middle of each ring structure is also twisted once to form four first rings, and the middle 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 eight sub-ring parts 11.

[0088] The eight sub-ring parts 11 are stacked to form a cylindrical structure, as shown in Figure 16 , after the elastic ring frame 1 is folded to form eight sub-ring parts 11, there are at least two places on each sub-ring part 11 where the flexible net 4 is connected.

[0089] Referring to Figure 1 , Figure 2 , Figure 6 and Figure 8 , 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 relative to each other in the connecting sleeve 13 to reduce the torsion amplitude of the elastic beam 12 itself during the folding 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 as to assist the elastic beam 12 to expand to the position when the elastic ring frame 1 is expanded.

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

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

[0092] When the two ends of the elastic beam 12 are directly connected to form a ring structure, if the elastic ring frame 1 needs to be twisted for a large number of times, for example, six to eight times, the twisting degree of the elastic beam 12 in the circumferential direction of the elastic beam 12 is large, which is easy to make the deformation degree of the elastic beam 12 exceed the range of the elastic deformation of the elastic beam 12. Therefore, at least one end of the elastic beam 12 is rotationally connected with 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, so as to reduce the twisting amplitude of the elastic beam 12 itself.

[0093] The connecting sleeve 13 can make the two ends of the elastic beam 12 relatively rotate when the elastic ring frame 1 is folded, so as to reduce the twisting amplitude of the elastic beam 12 itself. However, the reduction of the twisting amplitude of the elastic beam 12 itself can reduce the elastic energy stored in the elastic beam 12, which is easy to make the elastic beam 12 not to be unfolded to the position. Therefore, the elastic member 14 is connected with the two ends of the elastic beam 12, so that when the elastic beam 12 rotates relative to the connecting sleeve 13, the elastic member 14 can be elastically deformed, so as to store the elastic energy in the elastic member 14. When the elastic beam 12 needs to be unfolded, the elastic energy stored in the elastic member 14 can make the two ends of the elastic beam 12 rotate, so as to ensure that the elastic beam 12 can be unfolded to the position in the unfolding process 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 has elastic deformation caused by bending into a ring shape, and the elastic member 14 is in a state of not being elastically deformed. At this time, the elastic beam 12 is in an initial state. After the elastic ring frame 1 is folded, the elastic beam 12 is further elastically deformed to be twisted and folded, and the elastic member 14 is also elastically deformed 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 the elasticity of the elastic beam 12 itself 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 can be fixedly connected with the connecting sleeve 13 at one end and rotatably connected with the connecting sleeve 13 at the other end, so that the two ends of the elastic beam 12 can rotate relative to each other when the elastic ring frame 1 is twisted, and the elastic member 14 is elastically deformed. Of course, the two ends of the elastic beam 12 can also be rotatably connected with the connecting sleeve 13, so that the two ends of the elastic beam 12 can rotate relative to each other when the elastic ring frame 1 is twisted.

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

[0097] In this way, when the movable end 133 rotates in the mounting 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 when the elastic ring frame 1 is folded.

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

[0099] The fixed end 132 can be welded or bonded to the inner wall of the mounting channel 131, or the connecting sleeve 13 can be provided with a positioning hole and the fixed end 132 can be provided with a positioning screw hole, the positioning screw hole is aligned with the positioning hole after the fixed end 132 enters the mounting channel 131, and a bolt is used to pass through the positioning hole of the connecting sleeve 13 to connect with the positioning screw hole, so as to limit the rotation of the fixed end 132 in the mounting channel 131.

[0100] The diameter of the movable end 133 is smaller than the diameter of the mounting channel 131, so that the movable end 133 can rotate in the mounting channel 131, and a clamping protrusion is arranged at the end of the connecting sleeve 13 close to the mounting channel 131, which prevents the movable end 133 from being pulled out of the mounting channel 131. The connecting sleeve 13 can 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 mounting channel 131.

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

[0102] In this way, the 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 net connecting ring 43 is movably sleeved on the elastic beam 12, so that the net connecting ring 43 can slide on the elastic beam 12 along the extension direction of the elastic beam 12, and the net connecting ring 43 can also rotate on the elastic beam 12 relative to the elastic beam 12.

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

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

[0106] Referring to 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 enable the net connecting ring 43 to abut against the elastic beam 12, so that the friction between the net connecting ring 43 and the elastic beam 12 limits the sliding of the net connecting ring 43 on the elastic beam 12.

[0107] In this way, when the elastic ring frame 1 is folded, the 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 avoid the rope net portion 41 from being deformed too much and being broken. When the elastic ring frame 1 is unfolded, the rope net portion 41 is tensioned to enable the net connecting ring 43 to abut against the elastic beam 12 tightly, so that the friction limits the sliding of the net connecting ring 43 on the elastic beam 12, and the rope net portion 41 can be kept stable in the elastic ring frame 1.

[0108] Specifically, when the elastic ring frame 1 is unfolded, the rope net part 41 is tensioned, the plurality of annular end heads 42 can exert a force on the cable net connecting ring 43 towards the direction of the center of the elastic ring frame 1, so that the cable net connecting ring 43 can abut on the elastic beam 12 of the elastic ring frame 1, so that the cable net connecting ring 43 cannot slide along the elastic beam 12 by friction. When the elastic ring frame 1 is folded, due to the folding of the elastic ring frame 1, the rope net part 41 is relaxed, so that the force of the annular end head 42 on the cable net connecting ring 43 cannot make the cable net connecting ring 43 tightly abut on the elastic beam 12, so that the cable net connecting ring 43 can slide on the elastic beam 12, so that the rope net part 41 can adapt to the torsional folding of the elastic ring frame 1.

[0109] Referring to Figure 5 , Figure 6 , Figure 7 and Figure 9 , in some embodiments, the limiting ring 2 includes a first arc-shaped part 21, a second arc-shaped part 22, and a mounting rope; the elastic ring frame 1 in the folded state is in a cylindrical structure, the first arc-shaped part 21 is arranged on the inner side of the cylindrical structure, the second arc-shaped part 22 is arranged on the outer side of the cylindrical structure, and the first arc-shaped part 21 is opposite to the second arc-shaped part 22; the mounting rope is used to bind the first arc-shaped part 21 and the second arc-shaped part 22 with movable rope joints, so that the first arc-shaped part 21 and the second arc-shaped part 22 are kept in abutment, and when the movable rope joints of the mounting rope are opened, the first arc-shaped part 21 and the second arc-shaped part 22 can be separated from each other.

[0110] In this way, the first arc-shaped part 21 and the second arc-shaped part 22 are arranged in abutment on the inner and outer sides of the cylindrical structure, so that the first arc-shaped part 21 and the second arc-shaped part 22 form a ring-shaped limiting structure to limit the rotation of the plurality of sub-ring parts 11 in the direction of moving away from each other. The mounting rope is used to bind the first arc-shaped part 21 and the second arc-shaped part 22 with movable rope joints, and pulling the mounting rope can separate the first arc-shaped part 21 and the second arc-shaped part 22, which improves the operation convenience of separating the limiting ring 2 from the elastic ring frame 1.

[0111] Specifically, the first arc-shaped part 21 is a semicircular arc-shaped frame body, and the second arc-shaped part 22 is a semicircular arc-shaped frame body. The first arc-shaped part 21 is arranged on the inner side of the cylindrical structure formed by the plurality of sub-ring parts 11 of the folded elastic ring frame 1, and the first arc-shaped part 21 is arranged at the two ends of the axial direction of the cylindrical structure, respectively on the two sides of the cylindrical structure along the axial direction. The second arc-shaped part 22 is arranged on the outer side of the cylindrical structure, and the second arc-shaped part 22 is arranged at the two ends of the axial direction of the cylindrical structure, respectively on the two sides of the cylindrical structure along the axial direction. When the first arc-shaped part 21 and the two ends of the second arc-shaped part 22 correspondingly abut, the first arc-shaped part 21 and the second arc-shaped part 22 surround the side wall of the cylindrical structure. At this time, the mounting rope is tied to the first arc-shaped part 21 and the second arc-shaped part 22, so that the first arc-shaped part 21 and the second arc-shaped part 22 are kept in the abutting state, that is, the first arc-shaped part 21 and the second arc-shaped part 22 limit the plurality of sub-ring parts 11 from moving away from each other to limit the unfolding of the elastic ring frame 1.

[0112] The mounting rope is used to tie the first arc-shaped part 21 and the second arc-shaped part 22 by using a quick-release knot, so that the first arc-shaped part 21 and the second arc-shaped part 22 can be kept in the abutting state. By pulling the mounting rope, the quick-release knot can be untied, so that the first arc-shaped part 21 and the second arc-shaped part 22 can be separated from each other to release the limitation on the plurality of sub-ring parts 11. The quick-release knot can be a bow knot, as long as the quick-release knot can be untied by pulling the mounting rope.

[0113] A motor can be arranged on the spacecraft, and the output end of the motor is connected with the mounting rope. After the motor is started, the mounting rope can be pulled to untie the quick-release knot, so that after the folded elastic ring frame 1 is moved to a suitable position on the spacecraft, the motor is started to untie the quick-release knot, so that the first arc-shaped part 21 and the second arc-shaped part 22 are separated, and the plurality of sub-ring parts 11 are rotated towards the direction of moving 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] Referring to Figures 10 to 14 The second aspect of the present application provides a locking and releasing mechanism, which is applied to the space flexible net as claimed in any one of the above, and includes a launching device 31, a rotating part 32, and a limiting part 33 arranged on the launching device 31. The elastic ring frame 1 is rotationally connected with the launching device 31 through the rotating part 32. The launching device 31 has a movable launching part. The elastic ring frame 1 in the folded state is attached to the launching part when being at a first position. The launching part can apply a force to the elastic ring frame 1 in the direction away from the launching device 31, so as to move the elastic ring frame 1 from the first position to a second position spaced from the launching device 31. When the elastic ring frame 1 is at the first position, the limiting part 33 is connected with the elastic ring frame 1 to limit the elastic ring frame 1 from moving away from the launching part. When the launching part is moved, the limiting part 33 can be synchronously disconnected with the elastic ring frame 1.

[0115] Specifically, since the elastic ring frame 1 has little resistance in the space and is not interfered by gravity, the elastic ring frame 1 can continuously move along the initial speed direction after having the initial speed. Therefore, when the launching part of the launching device 31 moves, the elastic ring frame 1 can have the initial speed in the moving direction of the launching part by the force applied by the launching part, and the elastic ring frame 1 can continuously move at the initial speed after being separated from the launching part.

[0116] The launching device 31 can be provided with a motor and a lifting plate, the motor is installed at the bottom side of the lifting plate, the rotating part 32 is installed at the top side of the lifting plate, and the motor can drive the lifting plate to move, so that the lifting plate serves as the launching part. The elastic ring frame 1 is placed on the lifting plate, and the rotating part 32 is connected with the elastic ring frame 1. The motor drives the lifting plate to move upward, so that the elastic ring frame 1 can have the initial speed in the force applying direction under the action of the lifting plate.

[0117] Of course, the launching device 31 can also be provided with a placing plane and a base plate, and a spring is arranged between the base plate and the placing plane. When the spring is compressed, the placing plane can be driven to move away from the base plate, so that the placing plane serves as the launching part. The elastic ring frame 1 is abutted on the placing plane in the first position, and at this time, the spring is in the compressed state, and the base plate and the placing plane have a movable buckle. When the movable buckle is separated from the clamping state, the placing plane can move away from the base plate. When the placing plane moves away from the base plate, the elastic ring frame 1 can be applied with the force away from the placing plane, so that the elastic ring frame 1 can have the initial speed away from the launching device 31.

[0118] The above-mentioned limiting part 33 is arranged on the launching device 31, and the limiting part 33 can be a movable buckle. The movable buckle can be opened and closed under the driving of the driving part. When the movable buckle is closed, the movable buckle is abutted on the elastic ring frame 1, so that the movement of the elastic ring frame 1 away from the launching part is limited, and thus the elastic ring frame 1 is abutted on the launching device 31. When the launching part of the launching device 31 moves, the driving part is started synchronously, so that the launching part moves while the movable buckle is switched to the opened state, and thus the limiting part 33 is prevented from limiting the elastic ring frame 1 from the launching device 31. Of course, the opening and closing structure of the movable buckle can be connected with the launching part, and the movable buckle remains relatively stationary with the launching device 31. When the launching part moves, the opening and closing structure can drive the movable buckle to be opened, so that the launching part moves to make the movable buckle in the opened state.

[0119] The rotating member 32 can be selected to include a rotating arm, which can rotate relative to the launching device 31, so that when the elastic ring frame 1 is moved 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 the connecting structure of the elastic ring frame 1 and the launching device 31, can determine the movement range of the elastic ring frame 1, and can stabilize the position of the elastic ring frame 1 when the elastic ring frame 1 captures objects in space.

[0120] The elastic ring frame 1 can be selected to be attached to the plane formed on the side of the launching part when it is in the first position, so that the force of the launching device 31 can be directly applied to the elastic ring frame 1 to obtain the initial speed of the elastic ring frame 1. When the elastic ring frame 1 is in the second position, the elastic ring frame 1 is spaced from the launching device 31, so that the launching device 31 does not hinder the unfolding of the elastic ring frame 1, and the elastic ring frame 1 can perform the capturing operation at a position with a certain distance from the launching device 31; the rotating member 32 can be selected to be perpendicular to the plane for attaching the elastic ring frame 1 when the elastic ring frame 1 is in the second position, the axial direction of the sub-ring part 11 in the folded state is parallel to the plane for attaching the elastic ring frame 1, and the axial direction of the elastic ring frame 1 in the unfolded state is parallel to the plane for attaching the elastic ring frame 1.

[0121] The elastic ring frame 1 can be selected to have the rotating member 32 in the center of the sub-ring part 11, so as to save the space occupied by the elastic ring frame 1 and the rotating member 32 on the launching part. Since the rotating member 32 limits the movement range of the elastic ring frame 1, the rotating member 32 can be selected to be perpendicular to the launching part when the elastic ring frame 1 is in the second position, so as to maximize the distance between the elastic ring frame 1 and the launching device 31.

[0122] The locking and releasing mechanism provided in the present application is used as follows: the elastic ring frame 1 in the folded state is arranged in the first position, and the limiting member 33 is in abutment with the elastic ring frame 1 in the first position, so that the limiting member 33 limits the elastic ring frame 1 from moving away from the first position; after the spacecraft enters space, the launching part of the launching device 31 applies a force to the elastic ring frame 1, and simultaneously, the limiting member 33 is separated from the abutment with the elastic ring frame 1; the elastic ring frame 1 in the folded state moves in the 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 is separated 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; the flexible net 4 inside the elastic ring frame 1 in the unfolded state captures objects in space.

[0123] The locking release mechanism provided by the application can provide driving force for the movement of the elastic ring frame 1, the rotating piece 32 can limit the movement range and movement track of the elastic ring frame 1, improve the accuracy of the locking release mechanism when releasing the space flexible net, and the limiting piece 33 can keep the elastic ring frame 1 stable at the first position, so that the elastic ring frame 1 is not separated from the launching device 31 when the spacecraft is flying. Through the cooperation of the launching device 31, the rotating piece 32 and the limiting piece 33, the elastic ring frame 1 is locked at the first position and driven to move to the second position. The launching device 31, the rotating piece 32 and the limiting piece 33 are mechanical structures, so that the locking release mechanism has the advantages of simple structure, strong bearing capacity and reliable action. The locking release mechanism is installed on the spacecraft, so that the space flexible net can be installed on the spacecraft, and the installation operation of the space flexible net is simplified.

[0124] Referring to Figure 1 , Figures 2 to 13 and Figure 14 , in some embodiments, the number of limiting pieces 33 is multiple, and when the elastic ring frame 1 is at the first position, the multiple limiting pieces are arranged at intervals around the elastic ring frame 1, and each limiting piece 33 abuts against the elastic ring frame 1. When the launching device 31 exerts force on the elastic ring frame 1, each limiting piece 33 can be synchronously disconnected from the elastic ring frame 1.

[0125] In this way, when the elastic ring frame 1 is at the first position, the multiple limiting pieces 33 can limit the elastic ring frame 1, thereby improving the stability of the elastic ring frame 1 at the first position.

[0126] Specifically, the multiple limiting pieces 33 can be selected to be outside the elastic ring frame 1 at the first position, and the multiple limiting pieces 33 are arranged at intervals around the elastic ring frame 1 at the first position, and each limiting piece 33 abuts against the elastic ring frame 1, so that the multiple limiting pieces 33 can limit the elastic ring frame 1 at the first position. When the launching device 31 exerts force on the elastic ring frame 1 to drive the elastic ring frame 1 to move, the multiple limiting pieces 33 can be simultaneously disconnected from the elastic ring frame 1.

[0127] Referring to Figure 13 and Figure 14 , in some embodiments, the rotating piece 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 and 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 and 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 body structure capable of bending and deforming, one end of the flexible rod is connected with the launching device 31, and the other end is connected with 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 is 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 movement of the elastic ring frame 1 to the second position, the elastic force of the flexible rod 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] Referring to Figures 10 to 12 As shown in FIG. 1, 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] In this way, 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 avoiding collision between the elastic ring frame 1 and the remaining parts of the spacecraft during movement.

[0131] Specifically, when the launching device 31 includes a motor and a jacking plate, the rotating base 321 can be selected to be installed on the motor, so that the jacking plate will not drive the rotating base 321 to move when the jacking plate moves as the launching part. When the launching device 31 includes a placement plane and a base plate, the rotating base 321 can be selected to be installed on the base plate, so that the placement plane will not drive the rotating base 321 to move when the placement plane moves as the launching part. That is, the rotating base 321 can be selected to be installed on the launching device 31, and the movement of the launching 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 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 in a position close to the launching device 31, 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, but the limiting member 33 is connected with the elastic ring frame 1, so that the rotating arm 322 cannot drive the elastic ring frame 1 to move, and the rotating arm 322 remains in the 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 limited, and the elastic force of the spring sheet 323 can drive the rotating arm 322 to move away from the launching device 31, so that the rotating arm 322 drives the elastic ring frame 1 to rotate 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 rotating arm 322 described above can be rotationally connected with the connecting sleeve 13 on the elastic ring frame 1, and 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, the axis of the sub-ring part 11 of the elastic ring frame 1 is still perpendicular to the upper movable plate 311 after the elastic ring frame 1 is disengaged from the upper movable plate 311. When the rotating arm 322 rotates to a position perpendicular to the upper movable plate 311, the rotating arm 322 exerts a resistance on a part of the position of the elastic ring frame 1, so that the elastic ring frame 1 rotates around the rotating arm 322 at each position, so that when the rotating arm 322 rotates to a position perpendicular to the upper movable plate 311, the axis of the sub-ring part 11 of the elastic ring frame 1 is perpendicular to the rotating arm 322 and parallel to the upper movable plate 311, and the axis of the elastic ring frame 1 after being unfolded can also be perpendicular to the rotating arm 322 and parallel to the upper movable plate 311.

[0135] Referring to Figures 10 to 12 As shown in the drawings, in some embodiments, the rotating base 321 is provided with an arc surface part 324, the arc surface part 324 is recessed to form a positioning groove 325, the rotating arm 322 is provided with a limiting protrusion 326 that can rotate relative to the rotating arm 322, and the limiting protrusion 326 and the rotating arm 322 are connected with an abutting spring 327 that drives the limiting protrusion 326 to abut on the arc surface part 324. When the elastic ring frame 1 moves in the first position, the limiting protrusion 326 is spaced from the positioning groove 325; when the elastic ring frame 1 moves towards the second position, the limiting protrusion 326 moves with the rotating arm 322, so that the limiting protrusion 326 moves along the arc surface part 324 towards the positioning groove 325; and when the elastic ring frame 1 is in the second position, the limiting protrusion 326 is insertedly connected with the positioning groove 325.

[0136] In this way, 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, realizing the effect of limiting the rotation range of the rotating arm 322, and avoiding that the rotating arm 322 rotates too large to make the distance between the elastic ring frame 1 and the launching device 31 too close.

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

[0138] When the elastic ring frame 1 is in the first position, the rotating arm 322 is in the position close to the launching device 31, and the limiting protrusion 326 is close to the side of the positioning groove 325 close to the launching device 31; when the elastic ring frame 1 moves towards the second position, the rotating arm 322 rotates towards the direction away from the launching device 31, and the limiting protrusion 326 keeps abutting against the arc surface part 324 under the action of the abutting spring 327, so that the limiting protrusion 326 moves along the arc surface part 324 towards the positioning groove 325. When the elastic ring frame 1 moves to the second position, the limiting protrusion 326 is inserted 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 towards the direction away from the launching device 31, the distance between the end of the rotating arm 322 away from the rotating base 321 and the launching device 31 gradually increases, until the rotating arm 322 is perpendicular to the plane of the launching part for placing the elastic ring frame 1, and the distance between the end of the rotating arm 322 away from the rotating base 321 and the launching device 31 reaches the 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 launching device 31 will begin to decrease. It can be selected that when the limiting protrusion 326 is inserted into the positioning groove 325, the rotating arm 322 is perpendicular to the plane of the launching part for placing the elastic ring frame 1, so that the elastic ring frame 1 has the maximum distance from the launching device 31 when in the second position.

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

[0141] In this way, 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 realizing the effect of limiting the rotation range of the rotating arm 322, and avoiding that the rotating arm 322 rotates too large to make the distance between the elastic ring frame 1 and the launching device 31 too close.

[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. When the elastic ring frame 1 is in the first position, the rotating arm 322 is in a position 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 a 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 further rotating relative to the rotating base 321 .

[0144] Reference Figure 1 、 Figure 2 and Figure 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 is 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 restricts 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 this arrangement, the drive spring 314 provides the driving force for the movement of the upper movable plate 311 relative to the lower fixed plate 312. Locking and unlocking the locking member 315 controls the movement of the upper movable plate 311 relative to the lower fixed plate 312. Movement of the upper movable plate 311 relative to the lower fixed plate 312 exerts a force on the elastic ring frame 1. The launcher 31 conveniently controls the movement of the upper movable plate 311 without requiring additional equipment such as a motor, simplifying its structure and reducing its manufacturing cost.

[0146] Specifically, the upper movable plate 311 can be a flat plate structure, and the lower fixed plate 312 is parallel to and spaced from the upper movable plate 311. The lower fixed plate 312 can be a plate body, which is installed on the spacecraft to enable the launching device 31 to be installed on the spacecraft. Alternatively, the lower fixed plate 312 can be a shell of the spacecraft. When the folded elastic ring frame 1 is in the first position, it is attached to the top side of the upper movable plate 311. 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 towards the upper movable plate 311.

[0147] The driving spring 314 extends along the upper movable plate 311 towards 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 less 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 driving springs 314 can be selected to be multiple. The multiple driving springs 314 are arranged around the first-position elastic ring frame 1 at intervals, so that the multiple driving springs 314 can synchronously drive the upper movable plate 311 to move away from the lower fixed plate 312.

[0149] The locking member 315 can include two mounting members and a pin extractor. One mounting member is connected to the upper movable plate 311, and the other is connected to the lower fixed plate 312. The two mounting members are connected to each other by a movable pin. The pin is connected to the pin extractor, which can drive the pin to move, causing the pin mounting member to disconnect. When the pin is disconnected from either 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 away from the lower fixed plate 312.

[0150] Of course, the two mounting members can also be connected to each other by a buckle. When the buckle is closed, the two mounting members are connected to each other, enabling the upper movable plate 311 and the lower fixed plate 312 to remain connected to each other, so that the upper movable plate 311 cannot move away from the lower fixed plate 312. When the buckle is opened, 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 away from the lower fixed plate 312. The buckle of the locking member 315 can be provided with a control motor, which can control the opening and closing of the buckle to control the locking and unlocking of the locking member 315.

[0151] The limiting member 33 can be provided with a movable buckle and a driving member. The opening and closing of the movable buckle can be controlled by the switch structure of the movable buckle. The switch structure of the movable buckle is connected with 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, so as to limit the elastic ring frame 1 from being separated from the upper movable plate 311. When the movable buckle is opened, it is separated from the elastic ring frame 1 at the first position. The driving member is electrically connected with 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, and the opening of the movable buckle of the limiting member 33 and the locking of the locking member 315 can be synchronized.

[0152] Of course, the limiting member 33 can also be provided with a movable buckle. The opening and closing of the movable buckle can be controlled by the switch structure of the movable buckle. The switch structure of the movable buckle is connected with the lower fixed plate 312. When the movable buckle is closed, it abuts against the elastic ring frame 1 at the first position, so as to limit the elastic ring frame 1 from being separated from the upper movable plate 311. When the movable buckle is opened, it is separated from the elastic ring frame 1 at 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 to be separated from the elastic ring frame 1, so that the locking member 315 is unlocked, and the limiting member 33 is separated from the elastic ring frame 1 at the same time.

[0153] Referring to Figures 10 to 12 In some embodiments, the locking member 315 includes an upper connecting member 316, a lower connecting member 317 and a pin extractor 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 extractor 318 has a telescopic pin shaft. When the locking member 315 is locked, the pin extractor 318 drives the pin shaft to extend to be connected with the upper connecting member 316 and the lower connecting member 317, so that the pin shaft limits 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 extractor 318 drives the pin shaft to retract to be disconnected with 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 way, the upper connecting member 316 and the lower connecting member 317 are connected by the pin shaft, so as to limit the upper connecting member 316 and the lower connecting member 317 from moving away from each other, and the locking member 315 is in a locked state. The unlocking of the locking member 315 can be controlled by controlling the position of the pin shaft by the pin extractor 318, so as to realize the automatic unlocking function of the locking member 315.

[0155] Specifically, the upper connecting piece 316 is provided with a first through hole, the lower connecting piece 317 is provided with a second through hole, the first through hole and the second through hole are coaxially arranged, the pin shaft is movably inserted into the first through hole and the second through hole, so as to connect the upper connecting piece 316 and the lower connecting piece 317 with each other, thereby limiting the upper connecting piece 316 and the lower connecting piece 317 from moving away from each other, at this time, the locking piece 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 extractor 318 can be selected as a telescopic motor, the telescopic motor is provided with a shaft body structure as a pin shaft at a telescopic end, the pin shaft is inserted and connected with the first through hole of the upper connecting piece 316 and the second through hole of the lower connecting piece 317 along the axial direction of the pin shaft, and the telescopic direction of the telescopic end is the same as the axial direction of the pin shaft; the pin extractor 318 is started to drive the pin shaft to move along the axial direction of the pin shaft, so that the pin shaft is at least separated from one of the upper connecting piece 316 and the lower connecting piece 317.

[0157] The pin extractor 318 can be selected to be installed on the lower fixed plate 312 or the lower connecting piece 317, when the pin extractor 318 extracts the pin shaft, the pin shaft can be selected to be separated from the upper connecting piece 316 and connected with the lower connecting piece 317, at this time, the upper connecting piece 316 can be separated from the lower connecting piece 317, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0158] Of course, the pin extractor 318 can also be selected to be installed on the upper movable plate 311 or the upper connecting piece 316, the pin shaft is separated from the lower connecting piece 317 and connected with the upper connecting piece 316, at this time, the upper connecting piece 316 can be separated from the lower connecting piece 317, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0159] Or the pin shaft can be selected to be separated from the upper connecting piece 316 and the lower connecting piece 317, so that the upper connecting piece 316 can be separated from the lower connecting piece 317. As long as the pin extractor 318 can drive the pin shaft to move, so that the upper connecting piece 316 and the lower connecting piece 317 can be separated from each other, so that the upper movable plate 311 can move relative to the lower fixed plate 312.

[0160] Referring to Figure 1 , Figure 2 and Figures 10 to 12As shown, in some embodiments, 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 rotationally connected with the lower pulling rod 332, the upper pressing rod 331 can rotate relative to the lower pulling rod 332 to switch between the abutting position and the avoiding position, the avoiding position is on the side of the abutting position 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 in the first position to limit the movement of the elastic ring frame 1 away from the upper movable plate 311; when the locking member 315 is unlocked, the upper pressing rod 331 can switch to the avoiding position to be disengaged from the abutment with the elastic ring frame 1.

[0161] In this way, the rotation of the upper pressing rod 331 relative to the lower pulling rod 332 can limit the movement of the elastic ring frame 1 in the abutting position and release the elastic ring frame 1 in the avoiding position, so that the elastic ring frame 1 can move towards 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 rotationally connected with the top end of the lower pulling rod 332, and the lower pulling rod 332 can be located on the outside or inside of the elastic ring frame 1 in the first position; when the upper pressing rod 331 is perpendicular to the lower pulling rod 332, the upper pressing rod 331 is in the abutting position, so that a portion of the upper pressing rod 331 can abut against the top side of the elastic ring frame 1 in the first position, so that the elastic ring frame 1 in the first position is clamped on the upper movable plate 311. The upper pressing rod 331 rotates towards the direction away from the upper movable plate 311, so that the upper pressing rod 331 moves towards the avoiding position, and when the upper pressing rod 331 is parallel to the lower pulling rod 332, the upper pressing rod 331 is in the avoiding position, so that the elastic ring frame 1 can move to the second position away from the abutment with the upper movable plate 311.

[0163] The rotation motor can be arranged between the upper pressing rod 331 and the lower pulling rod 332, and the rotation motor drives the upper pressing rod 331 to rotate relative to the lower pulling rod 332, so that the rotation motor can drive the upper pressing rod 331 to rotate between the abutting position and the avoiding position, and the rotation motor can be electrically connected with the ejector 318 of the locking member 315, so that the ejector 318 and the rotation motor work synchronously, that is, when the ejector 318 ejects the pin shaft, the rotation motor rotates the upper pressing rod 331 to the avoiding position, so that the upper pressing rod 331 is disengaged from the abutment with the elastic ring frame 1 when the upper movable plate 311 moves away from the lower fixed plate 312, so that the elastic ring frame 1 can subsequently move to the second position.

[0164] In some embodiments, the limiting piece 33 further comprises a limiting seat 333, a baffle and a central shaft 334, the upper movable plate 311 is provided with a communication hole 319, the lower pull rod 332 is connected with the lower fixed plate 312 through the communication hole 319, the baffle is arranged between the lower pull rod 332 and the elastic ring frame 1, the lower pull rod 332 is provided with a sliding groove and an abutting table, the sliding groove is located on the upper side of the abutting table, the central shaft 334 is arranged in the sliding groove and connected with the limiting seat 333, and the upper pressing rod 331 is rotationally connected with the lower pull rod 332 through the central shaft 334.

[0165] When the locking piece 315 is locked, the upper pressing rod 331 is arranged obliquely relative to the lower pull rod 332 and towards the elastic ring frame 1 or is arranged vertically relative to the lower pull rod 332, so that the upper pressing rod 331 is located at the abutting position, the central shaft 334 is arranged spaced apart from the top end of the sliding groove, at this time, the side surface of one end of the upper pressing rod 331 abuts against the elastic ring frame 1, the side surface of the other end abuts against the top side of the abutting table, and the central shaft 334 is between the end faces of the two ends of the upper pressing rod 331; the planes of the upper pressing rod 331 and the abutting table that abut against each other have a certain area, so that at least a part of the abutting planes is on the side of the central shaft 334 away from the elastic ring frame 1, the abutting table can provide a supporting force to the upper pressing rod 331, so that the stress of the upper pressing rod 331 at the two ends of the central shaft 334 is parallel, the upper pressing rod 331 cannot rotate, the rotation of the upper pressing rod 331 relative to the lower pull rod 332 towards the direction away from the upper movable plate 311 is limited, and the upper pressing 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 upwards relative to the lower pull rod 332, the limiting seat 333 moves together with the upper movable plate 311, the central shaft 334 moves towards the top end of the sliding groove, the upper pressing rod 331 is spaced apart from the top side of the abutting table, so that the upper pressing rod 331 can rotate relative to the lower pull rod 332, the baffle moves upwards together with the upper movable plate 311, the baffle pushes the upper pressing rod 331 to move towards the direction away from the upper movable plate 311, so that the upper pressing rod 331 moves to the avoiding position.

[0167] The lower pull rod 332 is connected with the lower fixed plate 312 through the communication hole 319, so that the upper movable plate 311 can push the upper pressing rod 331 to rotate while moving towards the direction away from the lower fixed plate 312, the linkage of the limiting piece 33 and the launching device 31 is completed through a simple structure, it is not necessary to separately arrange driving devices capable of being started synchronously on the launching device 31 and the limiting piece 33, the structure of the locking and releasing mechanism is simplified, and the manufacturing cost is reduced.

[0168] Reference Figure 10As shown, in some embodiments, the number of locking members 315 is multiple, 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 multiple locking members 315 can lock the stability of the connection between the upper movable plate 311 and the lower fixed plate 312.

[0169] Specifically, the multiple locking members 315 are arranged at intervals on the lower fixed plate 312, and can be selected to be arranged in the radial direction of the mounting hole 313, part of the locking members 315 being arranged on one side of the mounting hole 313 and the other part of the locking members 315 being arranged on the other side of the mounting hole 313. The locking members 315 can be selected to be arranged at the driving spring 314.

[0170] The locking release mechanism provided by the present application is a mechanical knot mechanism, which is simple in structure, strong in carrying capacity, and reliable in action. The 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, without the need for powder driving, significantly reducing the impact load, eliminating the safety protection problem of powder, not polluting the surrounding environment, and being reusable for easy testing and verification. The locking member 315 includes an upper connecting member 316, a lower connecting member 317, and a pin extractor 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 extractor 318. The pin extractor 318 controls the extension and retraction of the pin shaft, which is sensitive in response and has an end of movement time, can achieve instantaneous unlocking and accurate control of the unlocking time, and is not affected by external temperature. The overall structure of the locking release mechanism is a mechanical structure, which has high reliability in a complex electromagnetic environment in space.

[0171] The space flexible net and the locking release mechanism provided by the present application are used in particular. The elastic ring frame 1 in the folded state is placed on the top surface of the upper movable plate 311, so that the elastic ring frame 1 is located at the first position. The connecting sleeve 13 of the elastic ring frame 1 is rotationally connected with the rotating arm 322. The upper pressing rod 331 of the limiting member 33 is in abutment position, so that the upper pressing rod 331 abuts against the top side of the elastic ring frame 1. The pin shaft of the locking member 315 is movably inserted into the upper connecting member 316 and the lower connecting member 317. 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 extractor 318 pulls out the pin shaft, the driving spring 314 drives the upper movable plate 311 to move away from the lower fixed plate 312, the upper movable plate 311 moves away from the abutment table 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 also causes the baffle to push the upper pressing rod 331, so that the upper pressing rod 331 rotates away from the upper movable plate 311, and the upper pressing rod 331 rotates to the avoiding position.

[0173] The elastic ring frame 1 is pushed by the movement of the upper movable plate 311 to move towards the 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 inserted and connected with 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 elastic ring frame 1 in the folded state moves to the second position, the motor on the spacecraft pulls the installation rope to open the quick release knot, so that the first arc-shaped part 21 and the second arc-shaped part 22 of the limiting ring 2 are separated from each other, and the elastic ring frame 1 drives the plurality of sub-ring parts 11 to rotate towards the direction away from each other under the action of the elastic force of the elastic ring frame 1, so that the elastic ring frame 1 is unfolded to the unfolded state under the action of the elastic force. The flexible net 4 inside the elastic ring frame 1 in the unfolded state is unfolded, and the flexible net 4 is in a tensioned state to make the cable net connecting ring 43 tightly abut against the elastic beam 12, so that the relative position of the cable net connecting ring 43 and the elastic beam 12 is kept stable; the flexible net 4 is inside the elastic ring frame 1 in the unfolded state to capture the object in space.

[0175] It should be noted that, in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”, or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by“comprises a...” does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0176] The above descriptions are only specific embodiments of the present application to enable a person skilled in the art to 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 these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A locking release mechanism, characterized in that: Applicable to a space flexible net, the space flexible net comprises 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; The elastic ring frame (1) can be elastically deformed and twisted and folded to form a plurality of sequentially arranged sub-ring portions (11); 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 the folded state to limit the plurality of sub-ring portions (11) from rotating in a direction away from each other; when the limiting ring (2) is separated 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 locking and releasing mechanism comprises 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 the folded state is in contact with the launching portion in the 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 transmitting portion; When the transmitting portion moves, the limiting member (33) can be synchronously disconnected from the elastic ring frame (1).

2. The lock release mechanism according to claim 1, wherein: 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 the 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 lock release mechanism according to claim 1, wherein: 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), and 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 lock release mechanism according to claim 3, wherein: 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 lock release mechanism according to claim 3, wherein: 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 all 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 lock release mechanism according to claim 5, characterized in that: When the elastic ring frame (1) is unfolded, the rope net portion (41) is tensioned to cause the rope net connecting ring (43) to abut 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 lock release mechanism according to claim 1, wherein: 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 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) and the second arc-shaped portion (22) are installed relative to each other; The installation rope ties 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. The lock release mechanism according to claim 1, wherein: The rotating member (32) comprises a flexible rod capable of bending and deforming, one end of the flexible rod being connected to the elastic ring frame (1), and the other end being connected to the launching device (31).

9. The lock release mechanism according to claim 1, wherein: The rotating member (32) comprises a rotating base (321), a rotating arm (322) and a spring sheet (323); The rotating base (321) is mounted 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).

10. The lock release mechanism according to claim 1, wherein: 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), the upper movable plate (311) is provided with a mounting hole (313), 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, 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).

11. The lock release mechanism according to claim 10, wherein: 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.

12. The lock release mechanism according to claim 10, wherein: 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 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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