Space net launcher and method of launching the same

Abstract

This invention relates to a space net launcher and its launch method, belonging to the aerospace field. By setting a groove on the traction body and a corresponding guide and limiting component, it eliminates the need for the pre-set cone angle of conventional launchers, enabling launch requirements to be met with a smaller structural size. Furthermore, by adjusting the trajectory, shape, and parameters of the groove, the corresponding launch angle can be changed, thus achieving rapid launch angle adjustment without altering other structures of the launcher. This invention boasts strong flexibility and adaptability, significantly improving mission adaptation efficiency, and offers advantages in miniaturization and lightweight design. After product finalization, this invention only requires routine testing, eliminating the need for re-conducting qualification tests, enabling rapid response to different needs, significantly shortening the adaptation cycle, and improving mission adaptation flexibility and efficiency. Simultaneously, this invention effectively avoids roll disturbances to the platform satellite, ensuring the stability of the platform satellite's attitude.

Description

Technical Field

[0001] This invention relates to a device for capturing non-cooperative targets such as space debris, and more particularly to a space net launcher and its launch method, belonging to the aerospace field. Background Technology

[0002] In recent years, an increasing number of defunct satellites and a large amount of debris generated by collisions have been left in space, occupying precious orbital resources and posing a serious threat to the safety of human space assets. Therefore, developing space debris removal technology has become a consensus among major spacefaring nations. In the field of space debris removal, space net capture and deorbiting is a novel cleanup technology. This technology involves launching several towing bodies at a certain distance from the target. These towing bodies pull out and unfold the net, which then flies towards the target. After colliding with the target, the net wraps around it, capturing it. The cleanup is then completed by the platform's towing mechanism.

[0003] Currently, domestic and international research institutions have proposed various net-launching technologies. To ensure the net can expand to a large area after launch, these schemes employ multiple mass traction bodies that launch in a conical trajectory, with each traction body at a specific launch angle to the central axis. Patents ZL 201310503724.3 and ZL 201510403945.2 disclose launchers that use multiple mass traction bodies launched at a preset angle from the launch tube. Patent JP 2023-080383A discloses a net-launching device that uses a linkage mechanism to adjust the launch angle. These launchers, in order to achieve a conical launch trajectory for the traction bodies, have an overall conical shape. When the net is placed in the center, the conical net compartment has limited space; when the net is arranged around the launcher, it wastes considerable internal space due to the need to avoid the conical launcher. The satellite launchers disclosed in CN 117068403 A and CN117360806 A both adopt a launch tube tilted offset net compartment center layout. Although this increases the internal net compartment space to some extent, it will cause significant roll interference to the platform satellite during launch.

[0004] In summary, existing publicly available technologies for fly net transmitters reveal the following problems that are difficult to solve simultaneously: 1) In order to launch the rope net and deploy it to the predetermined position, the preset cone angle of the launcher results in a large space occupation and low space utilization; 2) Once the existing fly net launcher is finalized and put into production, the launch angle parameters are difficult to adjust, and the mass of the towing body cannot be flexibly adjusted. Any changes to these parameters would require the fly net engineering product to undergo re-evaluation testing, making it impossible to quickly adapt to different mission requirements and hindering commercial low-cost development. 3) The publicly disclosed technical solutions for transmitters have complex structures, are heavy, and have low transmitter mass utilization (i.e., the ratio of the mass of the towing body to the mass of the transmitter), making it difficult to achieve lightweight design. 4) Some transmitter designs may cause significant roll interference to the platform satellites during launch.

[0005] Therefore, there is an urgent need to develop a new type of space net launcher for space net launch systems. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a space net launcher. By setting a groove on the traction body and a corresponding guide and limiting component, the launch requirements can be met with a smaller structural size. Furthermore, by adjusting the sliding trajectory or path of the guide and limiting component in the groove, the corresponding launch angle can be changed, thereby achieving rapid launch angle adjustment without altering other structures of the launcher. This invention has strong flexibility and adaptability, which can significantly improve mission adaptation efficiency. It also has advantages in miniaturization and lightweight design. At the same time, this invention can effectively avoid roll disturbances to the platform satellite, ensuring the stability of the platform satellite's attitude.

[0007] The above-mentioned objectives of the present invention are mainly achieved through the following technical solutions: A space net launcher includes a traction body, a piston, and a power unit. The power unit drives the piston to move. The device is characterized by further including a guide and limiting member. The traction body has a groove, and the guide and limiting member can slide within the groove. The piston pushes the traction body upwards. Under the constraint and guidance of the guide and limiting member, the center of mass of the traction body moves along a pre-set trajectory to achieve the required launch angle. The launch angle can be adjusted by adjusting the sliding trajectory of the guide and limiting member within the groove.

[0008] The aforementioned space net launcher also includes a limiting component, wherein the guide limiting member is fixedly installed on the limiting component and cooperates with the groove provided on the traction body.

[0009] In the aforementioned space net launcher, there are N traction bodies, and the limiting component is a segmented structure. A through hole is formed between two adjacent segments for the traction body to pass through, and mounting holes are opened on the two side walls of each segment for installing guide limiting components. The side wall surface of the traction body and the inner wall surface of the through hole of the segmented structure form a clearance fit; where N is a positive integer and N≥2.

[0010] The aforementioned space net launcher also includes a fixing pin assembly, which connects N traction bodies to a limiting assembly. The fixing pin assembly is provided with a weakening groove. When the N traction bodies move upward, the fixing pin assembly is pulled off at the weakening groove position, thus releasing the constraint.

[0011] In the aforementioned space net launcher, the traction body includes an end and a bottom, the groove is formed at the bottom, and the bottom fulcrum is in contact with the support groove at the corresponding position of the piston.

[0012] The aforementioned space net launcher also includes a sleeve and a base, wherein a limiting component is located at the top of the sleeve and is coaxially fixedly connected, and the piston is assembled inside the sleeve in a clearance fit manner, allowing them to slide relative to each other along the central axis; the sleeve is fixedly connected to the base.

[0013] In the aforementioned space net launcher, the power unit is an igniter, a spring device, or a pneumatic device.

[0014] In the aforementioned space net launcher, the sliding trajectory of the guide and limiting component within the slot is adjusted by adjusting the slotting trajectory or path of the slot.

[0015] The aforementioned space net launcher also includes N sleeves, and there are N traction bodies, pistons, and power devices. Each sleeve contains one traction body, one piston, and one power device. The N sleeves are arranged in a distributed layout. Each traction body is driven by the corresponding power device in an independent sleeve to move the piston, thereby pushing the traction body to achieve the movement and launch of the set trajectory.

[0016] In the aforementioned space net launcher, the guide and limiting component is installed on the side wall of the sleeve.

[0017] The aforementioned space net launcher also includes a shear pin, which is installed on the sleeve and engages with a shear pin hole on the traction body to constrain and fix the traction body to the sleeve.

[0018] In the aforementioned space net launcher, the sliding trajectory of the guide limiting member within the groove is a curve, arc, straight line, or broken line. If it is a straight line, the angle between the straight line and the launcher axis is not 0°; if it is a broken line, at least one of the line segments has an angle between it and the launcher axis that is not 0°.

[0019] In the aforementioned space net launcher, the cross-sectional structure of the groove is a rectangular groove, a dovetail groove, a trapezoidal groove, a semi-circular groove, a T-shaped groove, a U-shaped groove, a V-shaped groove, or an L-shaped groove.

[0020] In the aforementioned space net launcher, the sliding trajectory of the guide limiting member within the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; According to the launch angle of the traction body Given the initial position of the center of mass C of the traction body, set the expected trajectory of the center of mass C of the traction body. For the target curve; Based on the expected trajectory of the center of mass C of the traction body The coordinates of the guide and limiting components in the rectangular coordinate system Oxy, and the position of the bottom fulcrum of the traction body at time t, are used to calculate the coordinate position of the center of mass C of the traction body in the rectangular coordinate system Oxy at time t. Calculate the vectors of the center of mass C of the traction body relative to the pivot point at the initial position and at time t, respectively. Based on the two calculated vectors, calculate the rotation angle θ of the traction body relative to the initial position at time t by dot product. Based on the aforementioned rotation angle θ, a certain point of the traction groove is used at time t. The coordinate relationship between the guide and limiting components is used to obtain the position of the traction body when it is in its initial position through coordinate transformation. Coordinates in the rectangular coordinate system Oxy; Based on the travel distance of the traction body's fulcrum, the values ​​at each moment can be calculated. The coordinates, and the curve obtained by data fitting, are the sliding trajectory of the guide limiter in the groove.

[0021] In the aforementioned space net launcher, the sliding trajectory of the guide limiting member within the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; the coordinates of the center of mass C of the traction body in the initial position are... = ( , ); According to the launch angle of the traction body Given the initial position of the center of mass C of the traction body, the trajectory of the center of mass C is given by graphical or analytical methods. Based on the position of the center of mass C of the traction body at the moment when the traction body disengages from the guide limiter, the trajectory of the center of mass C is determined. The tangent at this location, which makes an angle with the coordinate axis Oy. That is, the launch angle of the traction body. ; At time t, the bottom fulcrum of the traction body moves to The point is located at coordinates (0, s), and the corresponding centroid C coordinates are... = (x, y); Let the coordinates of the guide limit component be... = ( , ); C-coordinate of the center of mass of the traction body The following conditions must be met: : (1) (2) Based on formulas (1) and (2), the effective coordinate position of the center of mass C of the traction body at time t is calculated using numerical or analytical methods. (x, y); Based on coordinate position (x, y), calculate the vector of the center of mass C of the traction body relative to the bottom pivot point at the initial position and time t. , According to vectors , The rotation angle θ of the traction body relative to its initial position at time t is calculated using dot product. At time t, a certain point in the traction body groove Coordinates of the guide limiter Coincident; furthermore, using coordinate transformation, the position of the traction body when it is in its initial position is obtained. The coordinates of the point in the Oxy coordinate system are as follows: (3) (4) Calculate the motion of the traction body's fulcrum at each moment. The coordinate values ​​are used to fit the data and obtain the sliding trajectory of the guide limiter in the groove.

[0022] In the aforementioned space net launcher, when the pre-set trajectory of the traction body's center of mass is a straight line, the sliding trajectory of the guide limiting member within the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; the coordinates of the center of mass C of the traction body in the initial position are... = ( , ); Let the angle between the linear trajectory L of the center of mass C of the traction body and the coordinate axis Oy be... That is, the launch angle of the traction body is ; At time t, the bottom fulcrum of the traction body moves to The point is located at coordinates (0, s), and the corresponding centroid C coordinates are... = (x, y); Let the coordinates of the guide limit component be... = ( , ); C-coordinate of the center of mass of the traction body The following conditions must be met: (5) (6) make ,

[0023] Arrange formulas (5) and (6) to obtain: (7) (8) Further analysis revealed the following: (9) Among them, let The solution to the quadratic equation in formula (5) is: (10) Taking negative values ​​based on the geometric boundary conditions, we obtain x as follows: (11) Calculate the coordinate position of the center of mass C of the traction body at time t according to formulas (5) and (11). (x, y); Based on coordinate position (x, y), calculate the vector of the center of mass C of the traction body relative to the pivot point at the initial position and time t. , According to vectors , The rotation angle θ of the traction body relative to its initial position at time t is calculated using dot product. At time t, a certain point in the traction body groove The coordinates of the guide and limiting components coincide; further, coordinate transformation is used to obtain the coordinates when the traction body is in the initial position. The coordinates of the point in the Oxy coordinate system are as follows: (12) (13) Calculate the motion of the traction body's fulcrum at each moment. The coordinate values ​​are used to fit the data, and the resulting curve is the sliding trajectory of the guide and limiting component in the groove.

[0024] The aforementioned space net launcher also includes a gripping adapter interface, which is a ring structure formed by N petal-shaped retaining rings. Each petal-shaped retaining ring is installed on the top of the corresponding traction body and is used for gripping operations of the end effector of the space robotic arm. The petal-shaped retaining rings are launched and fly out with the traction body.

[0025] In the aforementioned space net launcher, the cross-section of the petal-shaped retaining ring is "T"-shaped or "「"-shaped, and N petal-shaped retaining rings are combined to form a ring structure that is circular or a regular polygon.

[0026] A method for launching a space net launcher, applied to the aforementioned space net launcher, comprising: The power unit acts on the piston to generate relative motion, thereby pushing the traction body upward; when the force generated by the traction body exceeds the breaking force of the fixing pin assembly, the fixing pin assembly breaks, releasing the locking of the traction body; The piston continues to push the traction body upward. Under the constraint and guidance of the guide limiting member, the center of mass of the traction body accelerates along the defined trajectory. When the piston moves to the top of the sleeve, it stops moving under the limitation of the limiting component. The traction body is released from the constraint of the guide limiting member and is launched outward.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects: (1) This invention provides a space net launcher. By setting a groove on the traction body and a guide limiting component that cooperates with it, the groove on the traction body and the guide limiting component work together. There is no need to use the pre-set cone angle of conventional launchers, which effectively reduces the overall volume and can meet the launch requirements with a smaller structural size. This invention has significant advantages in modular layout and achieves minimization of volume. (2) This invention provides a space net launcher, which can flexibly adjust the launch angle by adjusting the sliding trajectory or path of the guide limiter in the groove, and has flexible adaptability and greatly improves the adaptability efficiency. After the product is finalized, this invention only needs routine testing and does not need to carry out the qualification test again. It can quickly respond to different needs, significantly shorten the adaptation cycle, and improve the flexibility and efficiency of mission adaptation. (3) The present invention provides a space flying net launcher with lightweight advantages, which can effectively improve mission efficiency, effectively reduce the redundant weight of non-functional structures, significantly improve the launcher mass utilization rate (i.e., the ratio of towing body mass to launcher mass), optimize the system lightweight level, significantly reduce the space debris removal mission execution cost, and improve the overall mission execution efficiency. (4) The present invention provides a space flying net launcher that will not cause roll disturbance to the platform satellite. In the embodiment, the angle deflection actions of multiple traction bodies during launch are symmetrical, and the torque disturbances generated cancel each other out, which can effectively avoid roll disturbance to the platform satellite during launch and ensure the stability of the platform satellite's attitude. (5) The present invention provides a space net launcher, which achieves the preset and adjustable launch angle of the launcher traction body by means of the traction body groove and the guide limiter design, without the preset cone angle. Preferably, a mechanical arm gripping adapter interface is integrated at the top of the launcher to meet the on-orbit operation docking requirements. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the installation of the flight network system on a service aircraft in Embodiment 1 of the present invention; Figure 2 This is a perspective view of the composition of the flying net system in Embodiment 1 of the present invention; Figure 3 This is a cross-sectional view of the flying net system in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram (cross-sectional view) of the components of the flying net transmitter in Embodiment 1 of the present invention. Figure 5 This is a schematic diagram (top view) of the components of the flying net transmitter in Embodiment 1 of the present invention. Figure 6 This is a schematic diagram of the limiting component (indexing end cap) structure in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the traction body structure in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the piston pushing the traction body of the flying net launcher in Embodiment 1 of the present invention (during the process); Figure 9 This is a schematic diagram (in position) of the piston-driven traction body of the fly net launcher in Embodiment 1 of the present invention. Figure 10 This is a schematic diagram of the trajectory of the traction body during launch in Embodiment 1 of the present invention; Figure 11 The trajectory of the traction body and the launch angle after launch in Embodiment 1 of the present invention Schematic diagram; Figure 12 This is a cross-sectional view of the flying net system with a gripping adapter interface in Embodiment 1 of the present invention; Figure 13 This is a schematic diagram of the gripping adapter interface structure in Embodiment 1 of the present invention; Figure 14 This is a schematic diagram of the single-tube launching tube structure in Embodiment 2 of the present invention; Figure 15 This is a schematic diagram of the firing process of a single-tube launcher in Embodiment 2 of the present invention; Figure 16 This is a schematic diagram of the traction body structure in Embodiment 2 of the present invention; Figure 17 This is a perspective view of the net launcher assembly using a single-tube launcher in Embodiment 2 of the present invention; Figure 18 This is a schematic diagram of the release of the traction body of the net launcher using a single-tube launcher in Embodiment 2 of the present invention; 1: Flying net system; 2: Service satellite; 100: Transmitter; 101: Traction body; 1011: Groove; 1012: Pivot point; 102: Sleeve; 103: Piston; 104: Sealing ring; 105: Ignition device; 106: Base; 107: Fixing pin assembly; 108: Limiting assembly (indexing end cap); 109: Guide limiting component (guide limiting pin); 1081: Mounting hole; 1082: Through hole; 200: Rope net package; 233: Protective plate; 121: Grip adapter interface; 122: Lobe-shaped retaining ring; 123: Protective cover structure; 100a: Second launcher; 110a: Second launch tube; 101a: Second traction body; 102a: Second sleeve; 103a: Second piston; 104a: Second sealing ring; 105a: Second igniter; 107a: Shear pin; 109a: Second guide limiter (guide limit pin); 120a: Shear pin hole; 1011a: Second groove; 1012a: Second fulcrum; 200c: Rope net bag; 300: Thin film sail module. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments: To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0030] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0031] Example 1 like Figure 1 As shown, the space net launcher 1 provided in this embodiment is installed on the front surface of the service satellite 2, that is, the front surface of the satellite in the flight direction. Here, this plane is named the installation plane. In this embodiment, the space net system includes the space net launcher. The service satellite 2 approaches the non-cooperative target based on the target detection information. When the target enters the net capture range of the space net system, the space net system performs actions such as launching, deploying, and capturing.

[0032] like Figure 2 , Figure 3As shown, the space net system in this embodiment has a cylindrical configuration. The space net system specifically includes a launcher 100 and a net package 200, etc. Optionally, the space net system can also be designed in shapes including but not limited to elliptical cylinders, frustum cones, polygonal prisms, and frustum pyramids. The launcher 100 is located at the center, and the net package 200 is a cylindrical structure with a pre-drilled hole in the center, fitted around the launcher 100.

[0033] like Figure 4 , Figure 5 As shown, the launcher 100 comprises a traction body 101, a sleeve 102, a piston 103, a sealing ring 104, an igniter 105, a limiting assembly 108, a guide limiting member 109, a base 106, and a fixing pin assembly 107. The launcher 100 is cylindrical in shape, with N traction bodies 101 arranged on its top, where N≥2; preferably, N is 4 or 6. In this embodiment, there are 6 traction bodies 101, i.e., N is 6. The traction bodies 101 are evenly distributed around the center of the launcher 100 and are limited by the limiting assembly 108.

[0034] like Figure 6 As shown, in this embodiment, the limiting component 108 is an indexing end cap with a segmented structure and a cylindrical outer contour, comprising six segments. Each segment is evenly distributed along the center, and a through hole 1082 is formed between adjacent segments for the traction body 101 to pass through. Mounting holes 1081 are provided on the two side walls of the non-arc surface of each segment for mounting guide limiting components 109. In this embodiment, the guide limiting component 109 is a guide limiting pin. The side wall surface of the traction body 101 forms a clearance fit with the inner wall surface of the through hole 1082. The fixing pin assembly 107 presses several traction bodies 101 against the indexing end cap 108 and is connected by bolts. The fixing pin assembly 107 is provided with a weakening groove. When the six traction bodies 101 move upward under force, the fixing pin assembly 107 can be broken at the weakening groove position, thereby releasing the constraint. This fixing and releasing method can be implemented in various ways, which are obvious within the scope of the art and will not be elaborated further.

[0035] The bottom fulcrum 1012 of the six traction bodies 101 directly contacts the support grooves on the pistons 103 at corresponding positions; the indexing end cap 108 is located on the top of the sleeve 102 and is coaxially fixedly connected; the piston 103 is assembled inside the sleeve 102 with a clearance fit, and the two slide against each other along the central axis. The airtight seal between them is achieved by the sealing ring 104. Furthermore, when the piston 103 moves to the top of the sleeve 102, it can be stopped by the indexing end cap 108. An igniter 105 is installed on the sleeve 102. After the igniter 105 is ignited, it generates high-pressure gas that pushes the piston 103 upward, thereby driving the traction body 101 to move; the sleeve 102 is connected to the base 106 by screws or other means.

[0036] like Figure 7 As shown, the traction body 101 is provided with a groove structure, also known as a sliding groove structure. In this invention, the groove structure is defined as: a long strip / annular cavity machined on the surface of a mechanical part according to a specific cross-sectional shape (such as rectangular, T-shaped, V-shaped, dovetail, etc.), used for installation, positioning, guiding, sealing, fastening, or force transmission, and is a standardized, functional geometric structure. The traction body 101 includes an end and a bottom. A groove 1011 is formed on the bottom structure, that is, a strip-shaped groove is formed on the bottom structure of the traction body 101. This strip-shaped groove structure cooperates with the guide limiting pin 109 to form a sliding pair, and the guide limiting pin 109 can slide within the groove 1011 of the traction body 101. During the upward movement of the piston 103 pushing the traction body 101 upward, the groove structure of the traction body 101 slides against the guide pin 109, causing the traction body 101 to move upward as a whole. Simultaneously, the traction body 101 deflects at an angle with its bottom fulcrum 1012 as the center; this center is the point of action between the piston 103 and the traction body 101. The launch angle is adjusted by regulating the sliding trajectory of the guide pin 109 within the groove 1011. In actual operation, the sliding trajectory of the guide pin 109 within the groove 1011 can be adjusted by modifying and machining the slotting trajectory or path of the groove 1011 of the traction body 101.

[0037] In this embodiment, the sliding trajectory of the guide limiting member 109 within the groove 1011 (i.e., the slotting trajectory or path of the groove 1011) is a curve, arc, straight line, or broken line. If it is a straight line, the angle between the straight line and the transmitter axis is not 0°; if it is a broken line, at least one segment has an angle between its angle and the transmitter axis not 0°. It should be noted that the sliding trajectory angles within the groove 1011 are all in the initial state of the traction body 101. In this embodiment, the cross-sectional structure of the groove 1011 of the traction body 101 can be various functional groove structures, including but not limited to rectangular grooves, dovetail grooves, trapezoidal grooves, semi-circular grooves, T-grooves, U-grooves, V-grooves, and L-grooves; the groove 1011 can be a sliding groove or a keyway, etc.

[0038] like Figure 8 , Figure 9 As shown, the working principle or transmission method of the transmitter 100 in this embodiment is as follows: First, after the igniter 105 ignites, high-pressure gas is generated in the sealed cavity of the sleeve 102. The high-pressure gas acts on the piston 103, causing it to move upward relative to the sleeve 102, thereby pushing several traction bodies 101. When the force generated by the traction body 101 exceeds the breaking force of the fixing pin assembly 107, the fixing pin assembly 107 breaks at the weakening groove, releasing the constraint and fixation on the traction body 101. Afterward, the piston 103 continues to push the traction body 101 upward. Under the constraint and guidance of the guide limiting pin 109, the center of mass of the traction body 101 accelerates along the defined trajectory. When the piston 103 moves to the top of the sleeve 102, it stops moving under the limitation of the indexing end cover 108 (see...). Figure 9 At this point, the traction body 101 is freed from the constraint of the guide limit pin 109. At this point, the velocity of the center of mass of the traction body 101 is defined as the initial launch velocity, and the angle between the direction of its center of mass movement and the vertical direction is defined as the launch angle.

[0039] Furthermore, during the process of piston 103 pushing traction body 101 upward, the groove 1011 structure of traction body 101 and guide limiting pin 109 slide against each other, and traction body 101 moves upward as a whole. At the same time, traction body 101 deflects at an angle with its bottom fulcrum 1012 as the center, that is, the center of the circle is the point of action between piston 103 and traction body 101.

[0040] In this embodiment, the trajectory of the center of mass of the traction body 101 is determined by parameters such as the center trajectory of the cross-section of the groove 1011 and the guide limit pin 109. After the traction body 101 is freed from the constraint, the direction of motion of its center of mass is the launch angle. Therefore, the method of pre-setting the cross-section center trajectory of the groove 1011 can be used to calculate the trajectory of the center of mass of the traction body 101 through graphical or numerical methods, thereby obtaining the launch angle when the traction body 101 is freed from the constraint. This method is suitable for simple linear, polygonal, and other cross-section trajectories of the groove 1011, but the launch angle design obtained is relatively rough.

[0041] To achieve precise design of the sliding trajectory and launch angle of the guide limiting member 109 within the groove 1011, the design method for the center-of-gravity motion trajectory of the traction body 101 and the sliding trajectory of the guide limiting member 109 within the groove 1011 in this embodiment is as follows: like Figure 10 As shown, before the launcher 100 operates, the traction body 101 is in its initial position. In this state, a local Cartesian coordinate system Oxy is defined, with its plane located on the symmetrical section of the traction body 101 (see...). Figure 4 (Cross section), its origin O is located at the fulcrum 1012 of the traction body 101, and the directions of each axis are defined as follows: Figure 10 As shown in (a), the Ox axis is the horizontal axis, with the arrow pointing to the central axis of the transmitter, and the Oy axis is the vertical axis, parallel to the central axis of the transmitter. The coordinate values ​​of each feature point in the Oxy coordinate system are defined as follows: The coordinates of the center of mass C of the traction body 101 at the initial position are: = ( , ).

[0042] According to the launch angle of the traction body Given the initial position of the center of mass C of the traction body 101, the expected trajectory of the center of mass C of the traction body 101 is set. That is, the locus of the center of mass C Given a target curve, the expected trajectory of the center of mass C of the traction body 101 can be given by graphical or analytical methods. .

[0043] Based on the position of the center of mass C of the traction body 101 at the moment when the traction body 101 is released from the constraint of the guide limit pin 109, the motion trajectory of the center of mass C is obtained. The tangent at this location, which makes an angle with the coordinate axis Oy. That is, the launch angle of the traction body. .

[0044] At time t, the bottom fulcrum 1012 of the traction body 101 moves to The point is located at coordinates (0, s), and its corresponding centroid C coordinates are... = (x, y); Let the coordinates of guide pin 109 be (x, y); = ( , ).

[0045] For any trajectory The coordinate of the center of mass C of the traction body 101 The following conditions must be met: : (1) (2) Formula (1) is the equation of motion of the center of mass C of the traction body 101. Formula (2) is a constraint equation derived from the distance between the center of mass C of the traction body 101 and the fulcrum 1012.

[0046] Based on formulas (1) and (2), the effective coordinate position of the center of mass C of the traction body 101 at time t is calculated using numerical or analytical methods. (x, y), it should be noted here that invalid solutions need to be eliminated based on geometric boundary conditions, and valid results should be retained.

[0047] Based on coordinate position (x, y), calculate the vector of the center of mass C of the traction body 101 relative to the bottom pivot point 1012 at the initial position and time t. , According to vectors , The rotation angle θ of the traction body 101 relative to its initial position at time t is calculated by dot product.

[0048] At time t, a certain point in the traction body 101 type groove Coordinates of guide limit pin 109 Coincident; furthermore, using coordinate transformation, the position of the traction body 101 when it is in its initial position is obtained. The coordinates of the point in the Oxy coordinate system are as follows: (3) (4) Based on the stroke of the bottom fulcrum 1012 of the traction body 101 (i.e., the stroke of the piston 103), calculate the stroke at each moment. The coordinate values ​​are used to fit the data, and the resulting curve is the sliding trajectory line of the guide limiter 109 in the groove 1011.

[0049] When the center of mass C of the traction body 101 is pressed Figure 10 (b) shows the motion of the straight line trajectory L, and the straight line trajectory L makes an angle with the coordinate axis Oy. This refers to the launch angle of the traction body 101. In this case, the steps for calculating the groove trajectory of the traction body 101 are as follows: The coordinate of the center of mass C of the traction body 101 The following conditions must be met: (5) (6) Among them, formula (5) is the equation of the straight trajectory L of the center of mass C, and formula (6) is the constraint equation derived from the distance between the center of mass C of the traction body 101 and the fulcrum 1012.

[0050] make ,

[0051] Arrange formulas (5) and (6) to obtain: (7) (8) Further analysis revealed the following: (9) Among them, let The solution to the quadratic equation in formula (9) is: (10) according to Figure 10Given the positional relationships shown, we take negative values ​​here, resulting in the following x: (11) According to formulas (5) and (11), the coordinate position of the center of mass C of the traction body 101 at a certain time t is calculated. (x, y).

[0052] Based on the coordinate values, the vector of the center of mass C of the traction body 101 at the initial position and time t relative to the fulcrum 1012 can be calculated. , Based on the two known vectors, the rotation angle θ of the traction body 101 relative to its initial position at time t is calculated by dot product.

[0053] according to Figure 10 (b) It is known that at time t, a certain point in the traction body type 101 groove... The coordinates coincide with those of the guide limit pin 109. Furthermore, this... Dot at Figure 10 (a) The coordinate description can be performed below, and coordinate transformation can be used to obtain the position of the traction body 101 when it is in the initial position. The coordinates of the point in the Oxy coordinate system are as follows: (12) (13) As an example, the values ​​for the aforementioned parameters are as follows: ; ; ; ; ; Where the length unit is mm. Calculation Coordinate values ​​are used to fit the data and derive the curve; see [link / reference]. Figure 10 (a) Specifically as follows: (14) (15) Based on the above, given that the structural parameters of the traction body 101 are determined, i.e., the structural parameters such as the center of mass C and the fulcrum 1012 are known, the sliding trajectory of the guide limiter in the groove (or any point on the trajectory line of the groove 1011) is as follows. Both can be obtained by given the trajectory curve of the center of mass C. and fulcrum position The calculations yielded the following result, which can be further described as: the trajectory points of groove 1011. It is the trajectory curve of the center of mass C. And the position of fulcrum 1012 A bivariate function, namely: (16) When the center of mass C of the traction body 101 follows any given curve During the motion, the required trajectory of the groove 1011 can be calculated by following formulas (1) to (4) and the steps described therein. When the center of mass C of the traction body 101 moves along any given straight line L trajectory, the required trajectory of the groove 1011 can be calculated according to formulas (5) to (13) and their steps. To further describe, the linear trajectory L of the centroid C is a curve. A simplified case can be found in [reference]. Figure 10 (b).

[0054] Furthermore, the trajectory curve of the center of mass C of the traction body 101. The selection and determination are based on the design requirements of the launching mechanism. When the groove 1011 of the traction body 101 is released from the constraint of the guide limit pin 109, the center of mass C of the traction body 101 will continue to move along the instantaneous velocity direction at that point. The angle between the velocity direction of the center of mass C of the traction body 101 at that moment and the Oy axis (i.e., the Oy axis is parallel to the axis of the launcher 100) is... The launch angle is the velocity of the center of mass C at that moment, which is defined as the initial launch velocity.

[0055] According to the aforementioned formula and steps, without changing other parameters, the corresponding launch angle can be changed by adjusting the sliding trajectory of the guide limiter 109 within the groove 1011, that is, by adjusting the slotting trajectory line or path of the traction body 101 in the groove 1011. This allows for rapid adjustment of the launch angle without altering other parts of the launcher structure; that is, to adjust the launch angle of the traction body 101. This can be achieved simply by designing the slotting trajectory or path of the groove 1011 of the traction body 101 according to the aforementioned formula and steps (this trajectory or path determines the sliding trajectory of the guide limiter 109 within the groove 1011). The launch angle can be adjusted by modifying the trajectory of the groove 1011 of the traction body 101. =0°~60° range adjustment.

[0056] like Figure 11 As shown, after the traction body 101 detaches from the launcher 100 and flies out, the trajectories of the centroids C of the plurality of traction bodies 101 form a semi-cone angle. The cone-shaped envelope.

[0057] Optionally, in addition to pyrotechnics, the power source for the transmitter 100 can also be springs, pneumatic power, or other power sources.

[0058] like Figure 12 , 13As shown, in this embodiment, the transmitter 100 has an added gripping adapter interface 121 at its top. This gripping adapter interface 121 is composed of several petal-shaped retaining rings 122, each of which is installed on the top of the traction body 101 in a one-to-one correspondence. See also Figure 15 The petal-shaped retaining ring 122 is arc-shaped with a T-shaped cross-section. Six petal-shaped retaining rings 122 are combined to form a ring structure, which can be used for gripping operations of the end effector of a space robotic arm. Furthermore, the petal-shaped retaining rings 122 can be launched out with the traction body 101; optionally, the launcher 100 can also be configured with other types of gripping interfaces, for example, retaining rings with a cross-section resembling a "「" shape can be combined to form a regular hexagonal structure.

[0059] like Figure 12 As shown, each traction body 101 on the launcher 100 is equipped with a protective cover structure 123 on its top. The protective cover structures 123, when combined, form an arc-shaped closed structure. The outer edge of the protective cover structure 123 contacts the top of the protective plate 233 and restricts the protective plate 233 from opening outward. When the launcher 100 is working, the traction body 101 carries the protective cover structure 123 to launch. At the same time, the protective cover 123 releases its movement constraint on the protective plate 233, and the protective plate 233 rotates outward around the bottom pivot axis to open, releasing and fluffing out its internal storage bag. The pivot axis is mounted on the base 106.

[0060] Example 2 like Figure 14 , Figure 15 As shown, in this embodiment, each second traction body 101a can be individually configured with a second piston 103a to achieve a one-to-one driving effect. That is, each traction body 101a is configured with an independent second launch tube 110a for launching. N (N≥3) second launch tubes 110a form a combination to form a complete second launcher 100a, which is used for the extraction and deployment of the N-sided net. In this embodiment, N is taken as 4.

[0061] In this embodiment, the second launcher 100a is composed of several independent second launch tubes 110a. That is, each second traction body 101a is equipped with an independent second launch tube 110a for launch. The net launcher adopts a distributed layout, with each second traction body 101a launched and released by an independent second single-tube launcher 100a, arranged on the periphery, and the rope net package 200c placed inside the second single-tube launcher 100a. Figure 16As shown, the netting system in this embodiment consists of a second single-tube launcher 100a and a rope net package 200c, with a thin-film sail module 300 disposed at the bottom of the netting system. The second single-tube launcher 100a consists of several second launch tubes 110a and a base plate structure. The second launch tubes 110a are vertically arranged around the periphery of the overall structure, with their launch direction pointing upwards. The trajectory of the second traction body 101a released by these second launch tubes 110a forms a cone shape.

[0062] like Figure 15 As shown, the second launching tube 110a includes a second traction body 101a, a second sleeve 102a, a second piston 103a, a second sealing ring 104a, a second igniter 105a, a second guide limiting pin 109a, and a shear pin 107a. The second traction body 101a is fixed to the second sleeve 102a by the shear pin 107a. That is, each second sleeve 110a contains one second traction body 101a, one second piston 103a, and one second igniter 105a. The N second sleeves 110a are arranged in a distributed layout. Each second traction body 101a is driven by the corresponding second piston 103a within an independent second sleeve 110a to achieve the movement and launch along a set trajectory. The second piston 103a is fitted inside the second sleeve 102a with a clearance fit, and the two slide against each other along the central axis. The airtight seal between them is achieved by the second sealing ring 104a. The bottom of the second traction body 101a is provided with a second fulcrum 1012a.

[0063] like Figure 15 , Figure 16 As shown, the second guide limiting member 109a is installed in the hole in the side wall of the second sleeve 110a and cooperates with the second groove 1011a opened on the second traction body 101a. The shear pin 107a is installed on the second sleeve 102a and cooperates with the shear pin hole 120a opened on the second traction body 101a, thereby constraining and fixing the second traction body 101a to the second sleeve 102a.

[0064] In this embodiment, the working principle of the fly net transmitter is similar to that of transmitter 100 in embodiment 1, as detailed below: When the second launcher 100a fires, the second igniter 105a on each second launch tube 110a ignites and detonates, generating high-pressure gas that acts on the second piston 103a. When the pressure exceeds a certain value, the second traction body 101a shears the shear pin 107a, thereby releasing the constraint. Afterwards, the second piston 103a continues to push the second traction body 101a upward. Under the constraint and guidance of the second guide limit pin 109a, the center of mass of the second traction body 101a accelerates along a defined trajectory. When the second piston 103a reaches the top of the second sleeve 102a, it stops moving due to the protruding limit at the top of the second sleeve 102a (see...). Figure 15 At this point, the second traction body 101a breaks free from the constraint of the second guide limiting pin 109a, and its center of mass flies out along the separation velocity. The second launcher 100a completes the launch process. It should be noted that all the second launch tubes 110a of the second launcher 100a ignite and launch synchronously, thus all the second traction bodies 101a fly out synchronously. Figure 17 , 18 As shown.

[0065] In this embodiment, the sliding trajectory (i.e., the slotting trajectory or path of the second type of groove 1011a) of the second guide limiting member 109a within the second type groove 1011a is a curve, arc, straight line, or broken line. If it is a straight line, the angle between the straight line and the transmitter axis is not 0°; if it is a broken line, at least one line segment has an angle between its angle and the transmitter axis not 0°. In this embodiment, the cross-sectional structure of the second type of groove 1011a of the second traction body 101a can be various functional groove structures, including but not limited to rectangular grooves, dovetail grooves, trapezoidal grooves, semi-circular grooves, T-shaped grooves, U-shaped grooves, V-shaped grooves, and L-shaped grooves; the second type of groove 1011a can be a sliding groove or a keyway, etc.

[0066] In this embodiment, the motion trajectory of the second traction body 101a and the design method of the second groove 1011a are the same as in Embodiment 1, and will not be repeated here.

[0067] Optionally, the second launch tube 110a may be powered by a power source including but not limited to springs, high-pressure gas, etc.

[0068] Optionally, the second launching tube 110a can also be installed at a certain preset angle, that is, the second launching tube 110a makes a certain angle with the vertical direction. During installation, the launch angle of the flying net system 1c should be the sum of the launch angle of the second launch tube 110a and the included angle. Vector sum.

[0069] Optionally, in order to enable the net rope to hook onto the target after capture, a magnetic material can be attached to the second traction body 101.

[0070] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0071] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A space net launcher, comprising a traction body, a piston, and a power device, wherein the power device drives the piston to move, characterized in that, It also includes a guide limiting component. The traction body is provided with a groove. The guide limiting component can slide in the groove. The piston pushes the traction body to move upward. Under the constraint and guidance of the guide limiting component, the center of mass of the traction body moves along a preset trajectory to achieve the required launch angle. The launch angle can be adjusted by adjusting the sliding trajectory of the guide limiting component in the groove.

2. The space net transmitter according to claim 1, characterized in that, It also includes a limiting component, wherein the guide limiting member is fixedly installed on the limiting component and cooperates with the groove provided in the traction body.

3. A space net transmitter according to claim 2, characterized in that, The traction body consists of N parts, and the limiting component is a segmented structure. A through hole is formed between two adjacent segments for the traction body to pass through. Each segment has mounting holes on its two side walls for installing guide limiting components. The side wall of the traction body and the inner wall of the through hole of the segmented structure form a clearance fit. N is a positive integer and N≥2.

4. A space net transmitter according to claim 3, characterized in that, It also includes a fixing pin assembly, which connects N traction bodies to the limiting assembly. The fixing pin assembly is provided with a weakening groove. When the N traction bodies move upward, the fixing pin assembly is pulled off at the position of the weakening groove, thus releasing the constraint.

5. A space net transmitter according to claim 1, characterized in that, The traction body includes an end and a bottom, the groove is formed at the bottom, and the bottom fulcrum is in contact with the support groove at the corresponding position of the piston.

6. A space net transmitter according to claim 2, characterized in that, It also includes a sleeve and a base, wherein the limiting component is located at the top of the sleeve and is coaxially fixedly connected, the piston is assembled inside the sleeve in a clearance fit manner, and slides relative to each other along the central axis direction; the sleeve and the base are fixedly connected.

7. A space net transmitter according to claim 1, characterized in that, The power unit is an igniter, a spring device, or a pneumatic device.

8. A space net transmitter according to claim 1, characterized in that, The sliding trajectory of the guide and limiting component within the groove can be adjusted by adjusting the groove's opening trajectory or path.

9. A space net transmitter according to claim 1, characterized in that, It also includes N sleeves, and there are N traction bodies, pistons and power devices. Each sleeve contains one traction body, one piston and one power device. The N sleeves are arranged in a distributed layout. Each traction body is driven by the corresponding power device in an independent sleeve to move the piston and push the traction body to achieve the movement and launch of the set trajectory. N is a positive integer and N≥2.

10. A space net transmitter according to claim 9, characterized in that, The guide limiter is installed on the side wall of the sleeve.

11. A space net transmitter according to claim 9, characterized in that, It also includes a shear pin, which is installed on the sleeve and engages with a shear pin hole on the traction body to constrain and fix the traction body to the sleeve.

12. A space net transmitter according to claim 1 or 9, characterized in that, The sliding trajectory of the guide limiter in the groove is a curve, arc, straight line or broken line. If it is a straight line, the angle between the straight line and the transmitter axis is not 0°; if it is a broken line, at least one of the line segments has an angle between the line segment and the transmitter axis that is not 0°.

13. A space net transmitter according to claim 12, characterized in that, The cross-sectional structure of the groove is a rectangular groove, a dovetail groove, a trapezoidal groove, a semi-circular groove, a T-shaped groove, a U-shaped groove, a V-shaped groove, or an L-shaped groove.

14. A space net transmitter according to claim 12, characterized in that, The sliding trajectory of the guide limiting member within the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; According to the launch angle of the traction body Given the initial position of the center of mass C of the traction body, set the expected trajectory of the center of mass C of the traction body. For the target curve; Based on the expected trajectory of the center of mass C of the traction body The coordinates of the guide and limiting components in the rectangular coordinate system Oxy, and the position of the bottom fulcrum of the traction body at time t, are used to calculate the coordinate position of the center of mass C of the traction body in the rectangular coordinate system Oxy at time t. Calculate the vectors of the center of mass C of the traction body relative to the pivot point at the initial position and at time t, respectively. Based on the two calculated vectors, calculate the rotation angle θ of the traction body relative to the initial position at time t by dot product. Based on the aforementioned rotation angle θ, a certain point of the traction groove is used at time t. The coordinate relationship between the guide and limiting components is used to obtain the position of the traction body when it is in its initial position through coordinate transformation. Coordinates in the rectangular coordinate system Oxy; Based on the travel distance of the traction body's fulcrum, the values ​​at each moment can be calculated. The coordinates, and the curve obtained by data fitting, are the sliding trajectory of the guide limiter in the groove.

15. A space net transmitter according to claim 14, characterized in that, The sliding trajectory of the guide limiting member within the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; the coordinates of the center of mass C of the traction body in the initial position are... = ( , ); According to the launch angle of the traction body Given the initial position of the center of mass C of the traction body, the trajectory of the center of mass C is given by graphical or analytical methods. Based on the position of the center of mass C of the traction body at the moment when the traction body disengages from the guide limiter, the trajectory of the center of mass C is determined. The tangent at this location, which makes an angle with the coordinate axis Oy. That is, the launch angle of the traction body. ; At time t, the bottom fulcrum of the traction body moves to The point is located at coordinates (0, s), and the corresponding centroid C coordinates are... = (x, y); Let the coordinates of the guide limit component be... = ( , ); C-coordinate of the center of mass of the traction body The following conditions must be met: ： （1） （2） Based on formulas (1) and (2), the effective coordinate position of the center of mass C of the traction body at time t is calculated using numerical or analytical methods. (x, y); Based on coordinate position (x, y), calculate the vector of the center of mass C of the traction body relative to the bottom pivot point at the initial position and time t. , According to vectors , The rotation angle θ of the traction body relative to its initial position at time t is calculated using dot product. At time t, a certain point in the traction body groove Coordinates of the guide limiter Coincident; furthermore, using coordinate transformation, the position of the traction body when it is in its initial position is obtained. The coordinates of the point in the Oxy coordinate system are as follows: （3） （4） Calculate the motion of the traction body's fulcrum at each moment. The coordinate values ​​are used to fit the data and obtain the sliding trajectory of the guide limiter in the groove.

16. A space net transmitter according to claim 15, characterized in that, When the pre-set trajectory of the center of mass of the traction body is a straight line, the sliding trajectory of the guide limiting member in the groove is determined by the following method: Before the transmitter operates, the traction body is in its initial position, and a rectangular coordinate system Oxy is established with the bottom fulcrum of the traction body as the origin O; the coordinates of the center of mass C of the traction body in the initial position are... =( , ); Let the angle between the linear trajectory L of the center of mass C of the traction body and the coordinate axis Oy be... That is, the launch angle of the traction body is ; At time t, the bottom fulcrum of the traction body moves to The point is located at coordinates (0, s), and the corresponding centroid C coordinates are... = (x, y); Let the coordinates of the guide limit component be... =( , ); C-coordinate of the center of mass of the traction body The following conditions must be met: （5） （6） make , Arrange formulas (5) and (6) to obtain: （7） （8） Further analysis revealed the following: （9） Among them, let The solution to the quadratic equation in formula (5) is: （10） Taking negative values ​​based on the geometric boundary conditions, we obtain x as follows: （11） Calculate the coordinate position of the center of mass C of the traction body at time t according to formulas (5) and (11). (x, y); Based on coordinate position (x, y), calculate the vector of the center of mass C of the traction body relative to the pivot point at the initial position and time t. , According to vectors , The rotation angle θ of the traction body relative to its initial position at time t is calculated using dot product. At time t, a certain point in the traction body groove The coordinates of the guide and limiting components coincide; further, coordinate transformation is used to obtain the coordinates when the traction body is in the initial position. The coordinates of the point in the Oxy coordinate system are as follows: （12） （13） Calculate the motion of the traction body's fulcrum at each moment. The coordinate values ​​are used to fit the data, and the resulting curve is the sliding trajectory of the guide and limiting component in the groove.

17. A space net transmitter according to claim 1, characterized in that, It also includes a gripping adapter interface, which is a ring structure formed by N petal-shaped retaining rings. Each petal-shaped retaining ring is installed on the top of the corresponding traction body and is used for gripping operations of the end tool of the space robotic arm. The petal-shaped retaining rings are launched and fly out with the traction body.

18. A space net transmitter according to claim 17, characterized in that, The cross-section of the petal-shaped retaining ring is "T"-shaped or "「"-shaped, and N petal-shaped retaining rings are combined to form a ring structure that is circular or a regular polygon.

19. A method for launching a space net launcher, characterized in that, The space net transmitter of claim 4 is applied to, comprising: The power unit acts on the piston to generate relative motion, thereby pushing the traction body upward; when the force generated by the traction body exceeds the breaking force of the fixing pin assembly, the fixing pin assembly breaks, releasing the locking of the traction body; The piston continues to push the traction body upward. Under the constraint and guidance of the guide limiting member, the center of mass of the traction body accelerates along the defined trajectory. When the piston moves to the top of the sleeve, it stops moving under the limitation of the limiting component. The traction body is released from the constraint of the guide limiting member and is launched outward.

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