Space tether system rotation driving unfolding and retracting method and device

Abstract

The invention belongs to the technical field of space tether systems, and discloses a space tether system rotation driving unfolding and retracting method and device. According to the method, the centroid body is locked to a rotating mechanism in a relatively static mode, and controllable release of the centroid body is achieved through rotating centrifugal force; during recovery, traction is performed in the tension direction of the tether, so that the centroid body approaches the body in a manner of rotating and gradually reducing the radius; and at the recovery tail end, a guide mechanism is used for enabling the material to naturally rotate into a circular motion trail surrounding the body, and stable butt joint is achieved by means of synchronous rotation control. And finally, the centroid body is locked again, and the rotation kinetic energy of the system is reserved as the reserve energy of the next task. According to the method, the impact, attitude disturbance and collision risks in the tether unfolding and retracting process are effectively reduced, and the safety, controllability and energy utilization efficiency of space tether operation are improved.

Description

Technical Field

[0001] This application belongs to the technical field of space tethering systems, specifically relating to a method and apparatus for the rotation-driven deployment and recovery of a space tethering system. Background Technology

[0002] As the complexity of space missions continues to increase, the release and recovery of on-orbit payloads places higher demands on controllability, reliability, and repeatability. Space tether systems, a technical solution that uses flexible tethers to achieve payload traction and deployment, offer advantages such as lightweight structure, high flexibility, and low energy consumption. They can adapt to various orbital environments and mission requirements, and have attracted widespread attention in the domestic and international aerospace fields in recent years, becoming one of the emerging space technologies with significant application potential.

[0003] Patent CN103964001B discloses a small tethered satellite ejection mechanism and ejection method, which uses a motor drive and a compressed spring to achieve ejection and release of the tethered satellite, and uses a docking cone to achieve recovery and docking; Patent CN117087880A discloses a low-impact ejection mechanism for the release and recovery of tethered satellites. The invention can achieve ejection, release, recovery and locking of the satellite, and can be repeatedly used in ground simulation experiments for the release and recovery of tethered satellites.

[0004] However, the aforementioned technical solutions mostly rely on rigid structures or elastic elements for release drive, which can easily generate large attitude disturbances in the initial stage of release, making it difficult to achieve a load release process with controllable speed or predictable path. At the same time, existing recovery methods mostly adopt rigid docking or mechanical clamping, lacking buffering and transition mechanisms during the approach phase, which poses a risk of collision, interference, or sudden tension changes during the end of load recovery, making it difficult to meet the continuity and safety requirements of flexible connection systems. Summary of the Invention

[0005] In view of the problems of large release impact, strong attitude disturbance and lack of buffer at the retrieval end of existing space tether release and retrieval methods, this application provides a rotation-driven deployment and retrieval method and device for space tether systems. The method is controllable, safe at the end and reusable.

[0006] To achieve the above technical objectives, this application specifically adopts the following technical solution: In one aspect of this application, a method for the rotation-driven deployment and retrieval of a space tether system is provided, comprising the following steps: S1. Lock the center of mass to be released onto the rotating mechanism and keep the center of mass stationary relative to the rotating mechanism. Connect the first end of the tether to the center of mass and store the second end of the tether in the storage chamber of the rotating mechanism. S2. The rotating mechanism gradually accelerates its rotation according to a preset speed curve, driving the center of mass to a preset angular velocity, releasing the center of mass to unfold along a predetermined path and perform the task. S3. After the recovery conditions are met, the rotating mechanism is activated to recover the tether along the tether tension direction, causing the center of mass to approach the rotating mechanism in a rotating manner with a gradually decreasing radius of rotation. S4. At the end of the recovery phase, the centroid is guided to enter the orbit around the rotating mechanism to perform circular motion, and the tether is controlled by the rotating mechanism to move synchronously with the centroid. S5. Lock the center of mass and the rotating mechanism to a stationary position, and reserve rotational kinetic energy for the next release task.

[0007] In one embodiment, the rotating mechanism has a storage chamber for storing and retrieving a tether, the tether extending from the center of the rotating mechanism and connected to the center of mass.

[0008] In one embodiment, the tether extends smoothly and without interference from the storage chamber as the center of mass is released.

[0009] In one embodiment, after the center of mass is released, the tether is controlled by the rotating mechanism to move naturally and synchronously with the center of mass along the tension direction.

[0010] In one implementation, step S4 includes: at the end of the retrieval phase, when the centroid approaches the orbital trajectory, applying a block to the tether on the orbital trajectory to establish an eccentricity, causing the centroid to enter the orbital trajectory, locking the tether length, and controlling the tether to move synchronously with the centroid.

[0011] In another aspect of this application, a space tether system rotation-driven deployment and recovery device is provided, comprising: Tie a rope; A shaft cylinder, which is rotatably configured and has a rope outlet; A turntable, which is rotatably sleeved on the outer circumference of the shaft cylinder; A rope storage box is fixed to the bottom surface of the turntable and communicates with the shaft cylinder. The tether rope is stored in the rope storage box, and one end of the tether rope extends out through the rope outlet of the shaft cylinder for connecting to the center of mass to be released. A tether rope retrieval mechanism is provided inside the rope storage box for releasing and retrieving the tether rope.

[0012] In one embodiment, a locking mechanism is provided on the lower surface of the turntable to lock the relative movement between the shaft cylinder and the turntable.

[0013] In one embodiment, the turntable is provided with a locking mechanism for fixing the center of mass.

[0014] In one embodiment, the locking mechanism is movable and retractable within the turntable.

[0015] In one embodiment, the cylinder and the turntable are driven to rotate by a first motor and a second motor, respectively.

[0016] In one embodiment, the tether retrieval mechanism includes an active friction wheel, an auxiliary friction wheel, and a third motor. The active friction wheel and the auxiliary friction wheel are fixed relative to each other in the rope storage box. The tether enters the shaft cylinder between the active friction wheel and the auxiliary friction wheel and extends out from the rope outlet. The third motor drives the active friction wheel to rotate.

[0017] The beneficial effects of this application are as follows: 1. This application adopts a rotation drive combined with centrifugal force release method to achieve precise and continuous control of the release speed of the center of mass, effectively reducing the impact load and system attitude disturbance in the initial stage of release, and improving the stability and reliability of the space tether system in orbit.

[0018] 2. By introducing a rotational guidance and synchronous rotation mechanism at the end of the recovery process, the center of mass smoothly transitions from a linear recovery state to a circular motion around the body. By utilizing the dissipation and buffering of kinetic energy at the end of the rotational motion, the rigid collision, sudden change in tether tension, and structural interference problems commonly encountered in traditional recovery are avoided, greatly improving the safety and controllability of the recovery process.

[0019] After recovery, the system does not immediately brake the rotating components. Instead, it stores the remaining rotational kinetic energy in the turntable as mechanical energy, which serves as a reserve energy source for the next launch. This reduces energy loss during the energy cycle, improves the system's energy utilization efficiency and mission repeatability, and is particularly suitable for space experiments and operations that require multiple deployments and recoverys. Attached Figure Description

[0020] Figure 1 This is a front view of the recycling device according to an embodiment of this application; Figure 2 This is a top view of the recycling device according to an embodiment of this application; Figure 3 This is a schematic diagram of the spatial tether deployment process provided in an embodiment of this application; Figure 4 A schematic diagram of the rope winding process provided in the embodiments of this application; Figure 5 This is a schematic diagram of the centroid rotation guidance process provided in an embodiment of this application; Figure 6 This is a schematic diagram of the centroid recovery end provided in an embodiment of this application; Figure 7 This is a schematic diagram of the wheel acceleration process provided in an embodiment of this application; Figure 8 This is a schematic diagram of the centroid fixation process provided in an embodiment of this application; In the picture: 1-Shaft cylinder, 2-Tethering rope, 3-Second motor, 4-Turntable, 5-Auxiliary friction wheel, 6-Active friction wheel, 7-Rope storage box, 8-First motor, 9-Shaft cylinder insertion pin, 10-Center of mass, 11-Blocking pin. Detailed Implementation

[0021] The technical solution of this application will be clearly and completely described below with reference to specific embodiments. However, those skilled in the art will understand that the embodiments described below are only some embodiments of this application, not all embodiments, and are only used to illustrate this application, and should not be regarded as limiting the scope of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In one embodiment, a space tethered system rotation-driven deployment and recovery device is provided, with reference to... Figure 1 and Figure 2 As shown, it includes a tethering rope 2, a shaft cylinder 1, a turntable 4, and a rope storage box 7.

[0023] The shaft cylinder 1 is rotatably mounted on the support structure via bearings or a similar structure. The shaft cylinder 1 has a hollow channel inside, with a rope outlet at one end through which the tethering rope 2 is led out. The turntable 4 is rotatably fitted around the outer circumference of the shaft cylinder 1, allowing the turntable 4 and the shaft cylinder 1 to be both coaxially mounted and capable of independent rotational motion.

[0024] In some embodiments, the shaft cylinder 1 and the turntable 4 are driven to rotate independently by a first motor 8 and a second motor 3, respectively. Specifically, the rotation of the shaft cylinder 1 is specifically driven and controlled by the first motor 8, while the rotation of the turntable 4 is independently driven and controlled by the second motor 3. This dual-motor independent drive architecture provides a high degree of control freedom, allowing the system to rotate the shaft cylinder 1 and the turntable 4 at the same or different speeds, or even in different directions, as needed, to facilitate functions such as dynamic alignment of the rope outlet, synchronous guidance of the retrieval end, and kinetic energy storage. It is understood that the first motor 8 and the second motor 3 can be fixed to the support structure to drive the rotation of the shaft cylinder 1 and the turntable 4.

[0025] A locking mechanism is fixedly connected to the lower surface of the turntable 4, for example, a shaft cylinder insertion pin 9, which is used to lock the shaft cylinder 1 and the turntable 4 to restrict their relative movement.

[0026] In some embodiments, the locking mechanism 9 is a shaft insert pin, which is movably connected to the upper surface of the turntable 4. The shaft cylinder 1 has a matching pin hole on its wall, and the shaft insert pin is inserted into the pin hole to lock the shaft cylinder 1 and the turntable 4.

[0027] Preferably, the locking mechanism 9 employs an electrically or electromagnetically controllable shaft cylinder insertion pin. When the shaft cylinder insertion pin pops out and simultaneously inserts into the corresponding pin hole on the shaft cylinder 1, the shaft cylinder 1 and the turntable 4 are rigidly connected, forcing them to rotate synchronously at the same angular velocity; when the pin retracts, the connection is released, allowing relative rotation between the shaft cylinder 1 and the turntable 4.

[0028] In some embodiments, the turntable 4 is provided with a locking mechanism for securing the center of mass 10. This locking mechanism reliably secures the center of mass 10 to a designated position on the turntable 4 before launch and after final recovery, keeping it relatively stationary. This ensures that the center of mass 10 receives the required centrifugal force during the rotational acceleration phase and maintains system stability during the final storage phase.

[0029] In some embodiments, the locking mechanism includes multiple blocking pins 11. These blocking pins 11 are circumferentially distributed on the upper surface of the turntable 4 in a retractable manner, collectively forming a structure for constraining and fixing the center of mass 10. When the center of mass 10 needs to be released, the multiple blocking pins 11 are controlled to retract synchronously into the turntable 4, releasing the mechanical constraint on the center of mass 10. When the center of mass 10 is retracted to a predetermined locking position, the multiple blocking pins 11 are controlled to extend synchronously, collectively forming a limiting structure to reliably fix the center of mass 10 within its enclosed area. It is understood that the blocking pins 11 achieve their extension and retraction movement through an electric drive. For example, a micro servo motor, stepper motor, or linear motor can be used as the drive source, and the rotational motion of the motor can be converted into the linear motion of the blocking pins through a transmission mechanism. This electric drive mechanism receives command signals from the system controller to precisely control the synchronous extension or retraction of the multiple blocking pins, ensuring the reliability and consistency of the locking and releasing operations of the center of mass 10.

[0030] The rope storage box 7 is fixedly installed on the bottom surface of the turntable 4, i.e., the other end opposite to the rope outlet, and is connected to the hollow channel inside the shaft cylinder 1. The tether 2 is coiled and stored inside the rope storage box 7. The second end of the tether 2 is fixedly or controllably released and connected to the rope storage box 7, and its first end passes sequentially through the connection port between the rope storage box 7 and the shaft cylinder 1, the internal channel of the shaft cylinder 1, and finally extends out from the rope outlet of the shaft cylinder 1 to connect to the center of mass 10 to be released. The rope storage box 7 is equipped with a tether retrieval mechanism, which is used to actively wind up the tether 2 during the retrieval phase, or to provide controllable damping or constraint during the release phase, thereby realizing active control of the entire release and retrieval process of the tether 2.

[0031] The tether retrieval mechanism includes an active friction wheel 6, an auxiliary friction wheel 5, and a third motor. The active friction wheel 6 and the auxiliary friction wheel 5 are arranged opposite each other, forming a "friction wheel pair" that clamps the tether 2. The tether 2 passes through the clamping area between these two friction wheels. By controlling the direction and torque of the third motor, the active friction wheel 6 can be driven to rotate, thereby relying on friction to pull the tether 2 to move for retrieval or controllably release. It is understood that the auxiliary friction wheel 5 is typically a driven wheel, serving to support and provide positive pressure, ensuring sufficient friction between it and the active friction wheel. This mechanism provides precise control over the tether tension and retrieval / release speed.

[0032] In another embodiment, a method for the rotation-driven deployment and recovery of a space tethered system is provided, referring to... Figures 1-8 As shown, the specific steps include: S1. Lock the center of mass to be released onto the rotating mechanism and keep the center of mass 10 stationary relative to the rotating mechanism. Connect the first end of the tether to the center of mass and store the second end of the tether at the rotation axis of the rotating mechanism.

[0033] The rotating mechanism has a storage chamber for storing and retrieving the tether, which extends from the center of the rotating mechanism and is connected to the center of mass.

[0034] In some embodiments, the rotating mechanism includes a turntable 4 and a shaft cylinder 1 coaxially arranged therewith. The turntable 4 is driven by a second motor 3 and can rotate about its central axis. The shaft cylinder 1 is coupled to the turntable 4 and has a hollow channel inside. The entrance of the channel is located at the rotation axis of the shaft cylinder 1 and is connected to a storage chamber for storing and releasing tethered ropes—that is, a rope storage box 7. The rope storage box 7 is used to store and release tethered ropes 2 in an orderly manner. It may have a rope guiding mechanism or a layered structure inside to ensure that the tethered ropes 2 are not tangled, knotted, or subjected to excessive friction during storage and release.

[0035] The center of mass 10 is fixed to the rotating mechanism by a releasable locking mechanism. In some embodiments, the locking mechanism is a blocking pin 11 that can be ejected by a control system command. During the initial preparation phase, the blocking pin 11 is in the ejected state, firmly locking the center of mass 10 in a specific mounting position on the turntable 4, thereby keeping the center of mass 10 relatively stationary with respect to the turntable 4 and the shaft cylinder 1 of the rotating mechanism, without relative movement or displacement.

[0036] The tether 2 is made of a high-strength, flexible material. Its first end is fixedly connected to the center of mass 10. After being led out from the connection point of the center of mass 10, the tether 2 passes through the hollow channel inside the shaft cylinder 1, and its second end is finally stored and fixed in the rope storage box 7. The entrance of the channel inside the shaft cylinder 1 is precisely located on the geometric axis of rotation of the rotating mechanism, thereby ensuring that the tether 2 is led out from the center of rotation. This arrangement allows the centrifugal force to act effectively on the center of mass 10 along the tether direction during subsequent rotational release, while minimizing unintended torque and attitude disturbances.

[0037] In this initial state, the entire system is in a ready-to-go mode: the centroid 10 is locked, the tether 2 is in an orderly coiled state in the rope storage box 7 without obvious tension, and the rotating mechanism turntable 4 and shaft cylinder 1 are in a static or low standby speed state, laying the foundation for the subsequent accelerated rotation and controllable release process.

[0038] S2. Control the rotating mechanism to gradually accelerate its rotation according to a preset speed curve to drive the center of mass to reach a preset angular velocity, and then release the center of mass to unfold along a predetermined path and perform on-orbit tasks.

[0039] In some embodiments, with the center of mass 10 locked and the tether 2 ready, the control system sends a command to the second motor 3 driving the rotating mechanism, causing it to gradually accelerate its rotation according to a preset acceleration curve. This preset speed curve aims to smoothly increase the angular velocity of the turntable 4 and the center of mass 10 fixed thereon, in order to avoid generating excessive starting torque or impact loads and ensure system stability.

[0040] As turntable 4 rotates, the center of mass 10 is subjected to centrifugal force due to its circular motion. The control system monitors the angular velocity of turntable 4 in real time via a speed sensor. When the angular velocity reaches a preset critical value, the control system determines that the release condition has been met.

[0041] Subsequently, the control system triggers the locking mechanism. In some embodiments, the locking mechanism is a blocking pin 11. The control system controls the blocking pin 11 to retract, releasing the mechanical constraint on the center of mass 10. At the same time, to ensure a smooth transition at the moment of release, the shaft cylinder 1 and the turntable 4 are temporarily decoupled, and the turntable 4 can enter a deceleration or free rotation state.

[0042] After being released, the center of mass 10, driven by the acquired tangential velocity, flies away from the rotating mechanism mainly by inertia along the approximate radial direction indicated by the tether 2, achieving directional and constant-velocity launch. The center of mass 10 then unfolds along a predetermined spatial path and begins to perform its predetermined on-orbit mission, such as space observation, experimentation, or as a dynamic end effector.

[0043] In some embodiments, the tether extends smoothly and without interference from the storage chamber as the center of mass is released.

[0044] Specifically, during the release and takeoff of the center of mass 10, the first end of the tether 2 is engaged. The second end of the tether 2 is fixed inside the tether box 7 or connected to its internal release mechanism. Under the tension of the center of mass 10, the tether 2 is orderly extracted from the tether box 7. The internal design of the tether box 7, such as using guide rings made of low-friction materials, layered reels, or guiding mechanisms, ensures that the tether 2 will not become entangled, jammed, or excessively rubbed against the box structure or other parts of the tether during rapid extraction, thus achieving smooth, interference-free extension and ensuring the reliability of the release process and the integrity of the tether.

[0045] In some embodiments, after the center of mass is released, the rotation mechanism is controlled to ensure that the tether always moves synchronously with the center of mass along the tension direction.

[0046] Specifically, during the flight phase after the center of mass 10 is released, the turntable 4 may have stopped actively accelerating or begun to decelerate, driving the shaft cylinder 1 to rotate via the first motor 8. The control system calculates or estimates the flight direction of the center of mass 10 relative to the rotating mechanism in real time based on feedback from the attitude sensor or tether tension sensor. The control system then instructs the first motor 8 to adjust the rotation angle of the shaft cylinder 1, so that the tether outlet at the end of the shaft cylinder 1 is always aligned with the approximate direction of the center of mass 10. In this way, the direction in which the tether 2 is drawn from the tether outlet is always consistent with the tension direction on the tether, that is, synchronized with the motion direction of the center of mass 10. This dynamic adjustment avoids lateral friction, wear, or path interference between the tether 2 and the edge of the tether outlet, ensuring that the tether always extends along the natural tension direction, maintaining the stability of the flight path and the controllability of the tether system.

[0047] S3. When the recovery conditions are met, the rotating mechanism is activated to recover the tether along the tether tension direction, thereby driving the center of mass to approach the rotating mechanism in a rotating manner with a gradually decreasing radius of rotation.

[0048] When the center of mass 10 completes its mission in orbit or the system determines that it needs to be recovered according to a preset strategy, the control system initiates the recovery procedure. The recovery conditions may include mission completion instructions, energy status, specific time nodes, or emergency instructions.

[0049] The retrieval process involves applying a controlled retrieval force along the tension direction to the tether 2 via a tether retrieval mechanism. In some embodiments, the tether retrieval mechanism consists of an active friction wheel 6 and an auxiliary friction wheel 5. The control system activates the active friction wheel 6, causing it to work in conjunction with the auxiliary friction wheel 5 to clamp the tether 2. By controlling the speed and torque of a third motor, a controllable traction force is applied to the tether 2, initiating the slow retrieval of the tether 2. The retrieved tether 2 is then guided systematically into the tether storage box 7 for collection and storage, preventing tangling.

[0050] Furthermore, the direction of this recovery force is controlled to always align with the inherent tension direction of the tether 2. Controlling the recovery force to be applied in this direction minimizes lateral disturbance to the center of mass 10, ensuring the stability of the recovery path.

[0051] As the tether 2 is continuously retracted, its length gradually shortens. At this time, the rotating mechanism is not stationary. The second motor 3 is controlled to drive the turntable 4 to rotate. Simultaneously, the center of mass 10, under the traction of the tether 2, begins to change its motion state. It is not pulled back directly in a straight line, but under the combined influence of the retraction force and its own possible residual tangential velocity, it begins to enter a circular motion trajectory around the rotating mechanism.

[0052] Specifically, it includes the following steps: Establishing rotational motion: The rotational motion of turntable 4, transmitted through rope 2, applies a tangential guiding force to the center of mass 10. Simultaneously, the recovery pull provides a centripetal radial force. The resultant force of these two forces propels the center of mass 10 into a roughly conical trajectory surrounding the body.

[0053] Reducing the radius of rotation: As the tether 2 is continuously retracted, its effective length decreases continuously, thus the radius of rotation of the circular motion of the center of mass 10 also gradually decreases. While rotating around the rotating mechanism, the center of mass 10 steadily approaches the rotating mechanism along a gradually tightening spiral or similar trajectory.

[0054] Synchronization and Control: During this process, the first motor 8 drives the shaft cylinder 1 to rotate, dynamically adjusting the direction of the rope outlet to ensure it is always aligned with the instantaneous position of the center of mass 10. This ensures that the tether rope 2 is always smoothly drawn out from the center of rotation, with its outlet direction consistent with the direction of the tether rope tension, avoiding interference between the tether rope and the mechanism, and maintaining the stability and controllability of the retrieval process.

[0055] This step enabled the center of mass 10 to smoothly and controllably approach the rotating mechanism in a rotating manner with a gradually decreasing radius of rotation, which prepared for the next stage of fine end-effector guidance and capture, and effectively avoided the collision risk and tension abrupt change that may be caused by linear recovery.

[0056] S4. At the end of the retrieval process, the center of mass is guided to enter the circular trajectory around the rotating mechanism to perform circular motion, and the tether and the center of mass are synchronized by controlling the rotating mechanism. Specifically, at the end of the retrieval process, when the center of mass approaches the circular trajectory, the tether is blocked on the circular trajectory to establish an eccentricity, causing the center of mass to enter the circular trajectory, locking the length of the tether, and controlling the tether and the center of mass to move synchronously.

[0057] In some embodiments, guiding the centroid 10 into the orbital trajectory includes the following steps: The second motor 3 drives the turntable 4 to rotate at a certain speed. The control system commands the blocking pin 11 to pop out. Its pop-out position is precisely calculated and located on the tangential path of the expected orbit of the center of mass 10. The popped-out blocking pin 11 is not used to rigidly block the center of mass, but rather as a guiding structure that interacts with the tether 2.

[0058] As the center of mass 10 moves close to this position during the retrieval process, the tether 2 comes into contact with the popped-out blocking pin 11 and is slightly blocked or guided by it. This interaction instantly changes the lever arm of the tether 2 relative to the center of rotation of the turntable 4, thereby establishing a preset eccentricity.

[0059] This eccentricity causes the direction of the pulling force acting on the center of mass 10 to no longer pass through the center of rotation, thereby generating a torque that causes the center of mass 10 to rotate around the center. Under the combined action of this torque and the recovery pulling force, the center of mass 10 is naturally and smoothly guided into a stable circular motion trajectory around the rotating mechanism.

[0060] In some embodiments, locking the tether length and controlling the tether to move synchronously with the center of mass includes the following steps: After confirming that the center of mass 10 has successfully entered a stable circular motion state, the control system immediately instructs the active friction wheel 6, auxiliary friction wheel 5, and third motor of the tether retrieval mechanism to stop operating. The effective length of the tether 2 is locked, and retrieval ceases, thus fixing the current radius of rotation and effectively avoiding potential impacts or collisions caused by excessive traction. Subsequently, the system initiates synchronous rotation control. Specifically: The first motor 8 is controlled to drive the shaft cylinder 1 to rotate, so that the rotational angular velocity of the rope outlet of the shaft cylinder 1 is synchronized with the angular velocity of the center of mass 10 in circular motion around the rotating mechanism. After synchronization, the direction of the tether 2 led out from the rope outlet can continuously and accurately point to the instantaneously changing position of the center of mass 10. This ensures that the tether 2 and the center of mass 10 always maintain a natural tension connection, without generating additional torsion, friction or wear due to relative motion.

[0061] S5. Relock the center of mass so that it is relatively stationary with the rotating mechanism, and maintain the rotational kinetic energy of the rotating mechanism as reserve energy for the next release task.

[0062] Specifically, the following steps are included: S51. Ensure that the different components of the rotating mechanism achieve synchronized rotation speeds.

[0063] Specifically, the second motor 3 driving the turntable 4 is controlled to adjust its speed so that the rotational angular velocity of the turntable 4 matches the rotational angular velocity of the shaft cylinder 1. When the rotational speeds of the turntable 4 and the shaft cylinder 1 are the same, there is no relative movement between them. At this time, the control system commands the shaft cylinder insertion pin 9 to pop out and insert into the corresponding pin hole on the shaft cylinder 1, thereby rigidly connecting and locking the shaft cylinder 1 and the turntable 4, making them a synchronously rotating whole.

[0064] S52, relocking of the centroid.

[0065] With the turntable 4 and shaft cylinder 1 rotating synchronously and locked, the center of mass 10 continues to move in a circular motion. The control system, at an appropriate time, commands the blocking pin 11 to pop out. The popped-out blocking pin 11 precisely engages in the movement path of the center of mass 10, achieving mechanical capture. Because the turntable 4 and the center of mass 10 rotate synchronously, there is no tangential velocity difference between them; therefore, the locking process is a smooth, shock-free "soft capture," rather than a violent collision.

[0066] S53. Maintain rotational kinetic energy as a reserve energy.

[0067] After the center of mass 10 is locked, the entire system, including the turntable 4, the shaft cylinder 1, and the locked center of mass 10, continues to rotate as a whole. At this time, the control system does not instruct the turntable motor 3 to brake or decelerate the system to a stop, but rather maintains its current rotational state or brings it to a preset holding speed. The rotational kinetic energy of this entire rotating system is thus effectively preserved. This preserved kinetic energy constitutes the system's reserve energy.

[0068] When the next release mission is required, the turntable motor 3 does not need to accelerate the entire system from scratch. Instead, it can use the stored rotational kinetic energy as the initial state and directly apply torque to accelerate, thereby significantly reducing the energy input required for the next launch mission, improving energy utilization efficiency and the system's rapid response capability.

[0069] Although the embodiments of this application have been described above in conjunction with the accompanying drawings, this application is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, not restrictive. Those skilled in the art can make many other forms based on the guidance of this specification and without departing from the scope of protection of the claims of this application, and these are all within the scope of protection of this application.

Claims

1. A method for the rotation-driven deployment and recovery of a space tethered system, characterized in that, include: S1. Lock the center of mass to be released to the rotating mechanism while it is relatively stationary, and connect the first end of the tether to the center of mass, and store the second end of the tether in the storage chamber of the rotating mechanism. S2. The rotating mechanism gradually accelerates its rotation according to a preset speed curve, driving the center of mass to a preset angular velocity, releasing the center of mass to unfold along a predetermined path and perform the task. S3. After the recovery conditions are met, the rotating mechanism is activated to recover the tether along the tension direction, causing the center of mass to move closer to the rotating mechanism by rotating and reducing its radius. S4. At the end of the recovery phase, the centroid is guided to enter a circular motion around the rotating mechanism, and the tether is controlled to move synchronously with the centroid through the rotating mechanism. S5. Lock the center of mass and the rotating mechanism to a stationary position, and reserve rotational kinetic energy for the next release task.

2. The method for rotation-driven deployment and recovery of a space tethered system according to claim 1, characterized in that, The rotating mechanism has a storage chamber for storing and retrieving the tether, which extends from the center of the rotating mechanism and is connected to the center of mass.

3. The method for rotation-driven deployment and recovery of a space tethered system according to claim 1, characterized in that, The tether extends smoothly and without interference from the storage chamber as the center of mass is released.

4. The method for rotation-driven deployment and recovery of a space tethered system according to claim 1, characterized in that, After the center of mass is released, the tether is controlled by the rotating mechanism to move naturally and synchronously with the center of mass along the tension direction.

5. The method for rotation-driven deployment and recovery of a space tethered system according to claim 1, characterized in that, Step S4 includes: at the end of the recovery phase, when the center of mass approaches the orbital trajectory, blocking the tether on the orbital trajectory to establish an eccentricity, causing the center of mass to enter the orbital trajectory, locking the tether length and controlling the tether to move synchronously with the center of mass.

6. A rotation-driven deployment and recovery device for a space tethered system, characterized in that, include: Tie a rope; A shaft cylinder, which is rotatably configured and has a rope outlet; A turntable, which is rotatably sleeved on the outer circumference of the shaft cylinder; A rope storage box is fixed to the bottom surface of the turntable and communicates with the shaft cylinder. The tether rope is stored in the rope storage box, and one end of the tether rope extends out through the rope outlet of the shaft cylinder for connecting to the center of mass to be released. A tether rope retrieval mechanism is provided inside the rope storage box for releasing and retrieving the tether rope.

7. The space tethered system rotation drive deployment and recovery device according to claim 6, characterized in that, The lower surface of the turntable is provided with a locking mechanism to lock the relative movement between the shaft cylinder and the turntable.

8. The space tethered system rotation drive deployment and recovery device according to claim 6, characterized in that, The turntable is equipped with a locking mechanism for fixing the center of mass, and the locking mechanism can extend and retract within the turntable.

9. The space tethered system rotation drive deployment and recovery device according to claim 6, characterized in that, The cylinder and the turntable are driven to rotate by a first motor and a second motor, respectively.

10. The space tethered system rotation drive deployment and recovery device according to claim 6, characterized in that, The tether retrieval mechanism includes an active friction wheel, an auxiliary friction wheel, and a third motor. The active friction wheel and the auxiliary friction wheel are fixed relative to each other in the rope storage box. The tether enters the shaft cylinder between the active friction wheel and the auxiliary friction wheel and extends out from the rope outlet. The third motor drives the active friction wheel to rotate.

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