CN106628278B - Noncooperative target satellite capture device and catching method - Google Patents
Noncooperative target satellite capture device and catching method Download PDFInfo
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- CN106628278B CN106628278B CN201611169621.8A CN201611169621A CN106628278B CN 106628278 B CN106628278 B CN 106628278B CN 201611169621 A CN201611169621 A CN 201611169621A CN 106628278 B CN106628278 B CN 106628278B
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- 238000000034 method Methods 0.000 title claims abstract description 28
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
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- 238000009434 installation Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention discloses a kind of noncooperative target satellite capture device and catching methods, belong to field of aerospace technology.Including shell, two double leval jib capture pawl mechanisms, four horizontal retaining mechanisms, screw rod and controller；Two double leval jib capture pawl mechanisms are oppositely arranged in shell, and lower part and mounting base are connected；Screw rod upper end passes through mounting base, and lower part connects driving mechanism；Four horizontal retaining mechanisms are located at the outside of two double leval jib capture pawl mechanisms, are mounted on the top of shell in opposite directions two-by-two；Pressure lever mechanism is installed in the two sides on double leval jib capture pawl mechanism top respectively, and pressure lever mechanism oppresses horizontal retaining mechanism sliding horizontal inwardly when double leval jib captures pawl mechanism downlink；Photoelectric sensor is installed at the top of shell, and the photoelectric sensor and driving mechanism are electrically connected controller.The capture that the composite can be widely applied to all kinds of spacecrafts, with applied widely, big tolerance, response speed block, high reliability.
Description
Technical field
It is especially a kind of noncooperative target satellite capture device and catching method the present invention relates to a kind of capture mechanism,
Belong to field of aerospace technology.
Background technique
With the development of aeronautical and space technology, the continuous expansion of space mission, in-orbit capture technique has become space flight neck
One research hotspot in domain.In-orbit service, space junk removing and some military affairs can be realized to arresting for noncooperative target
Task is great perspective and challenge a project in in-orbit capture technique.However, being grabbed to space non-cooperative target
It catches, there is presently no carried out in-orbit demonstration and verification.In fact, many space tasks are related to arresting for noncooperative target, for example,
The failed satellite into planned orbit is carried out assisting entering the orbit to repair replacement trouble unit instrument to the satellite to break down
Device, auxiliary body's expansion (such as expansion fails solar array, the antenna normally opened)；To run out of gas but other systems work
Normal satellite fueling, extends the service life；Discarded satellite and space junk are sent into grave track etc..
Compared with cooperative target, the maximum difference of noncooperative target is that the target to be docked does not have special connect
Mouth (such as realizes Servicing spacecraft using mechanical, electrical equipment and by being reliably connected between Servicing spacecraft), and which results in right
The randomness of termination process and to docking autonomy it is more demanding.
Conventional rigid capture technique needs to precisely align with predetermined catch position dynamic, accurately controls and catches in acquisition procedure
The relative motion of mechanism and target aircraft is obtained, it can energy if there are relative displacement deviation, angular deviations etc. in acquisition procedure
Capture is caused to fail.The most of satellite quality emitted at present are in 1000KG or more, the drag target satellite in acquisition procedure
Biggish driving force is needed, while biggish impact force can be generated in acquisition procedure, or even to target satellite and capture mechanism
It damages.Further, since capture time is short, the mechanical arm for capturing target satellite is difficult to make in a short time with the sound of something astir
It answers, these factors all considerably increase capture difficulty.
Summary of the invention
Technical problem to be solved by the present invention lies in prior art defect is overcome, providing one kind be can adapt to and all kinds of boats
The docking of its device influences small, the high noncooperative target satellite capture device of self stability to target satellite.
In order to solve the above technical problem, the present invention provides noncooperative target satellite capture device, including shell, two four
Connecting rod captures pawl mechanism, four horizontal retaining mechanisms, screw rod and controller；
Described two double leval jib capture pawl mechanisms are oppositely arranged in shell, and lower part and mounting base are connected；The screw rod
Vertically arranged, screw rod upper end passes through mounting base, and lower part connects driving mechanism, and screw rod can drive double leval jib to capture pawl machine when rotating
Structure is opened to shell outreach or is closed into shell；
Four horizontal retaining mechanisms are located at the outside of two double leval jib capture pawl mechanisms, are mounted in opposite directions two-by-two
The top of shell；
Pressure lever mechanism is installed in the two sides on double leval jib capture pawl mechanism top respectively, when double leval jib captures pawl mechanism downlink
Pressure lever mechanism oppresses horizontal retaining mechanism sliding horizontal inwardly；
Photoelectric sensor is installed at the top of the shell, and the photoelectric sensor and driving mechanism are electrically connected controller.
The invention also includes power load maintainer is pre-tightened, the preload power load maintainer includes prefastening force spring sleeve, position
Sensor and feed screw nut's mounting plate；The prefastening force spring sleeve is movably arranged on mounting base, can be relative to installation bottom
Plate moves up and down, and spring is arranged in prefastening force spring sleeve, and feed screw nut's mounting plate is installed in the top surface of prefastening force spring sleeve；Institute
The lower section that position sensor is located at feed screw nut's mounting plate is stated, is fixedly connected with mounting base；Position sensor electrical connection control
Device；The screw rod passes through prefastening force spring sleeve and feed screw nut's mounting plate.
In the present invention, the horizontal retaining mechanism includes lateral guide rod, horizontal latch segment and reset spring；The transverse direction is led
Bar is fixedly mounted on the shell, and on the guide bar, reset spring one end is fixed for horizontal latch segment and reseting spring sleeve, and the other end connects
The flat latch segment of water receiving.
In the present invention, double leval jib capture pawl mechanism includes pedestal, short connecting rod, axial prong and long connecting rod；The short connecting rod
Pass through axis respectively with the lower end of long connecting rod and pedestal assembles, upper end passes through axis respectively and axial prong assembles；The short connecting rod, long connecting rod
With installation driving wind spring at the connecting joint of pedestal；Closing cam is equipped with short connecting rod corresponding position on the shell.
In the present invention, sliding track mechanism is equipped between the outside and shell inside of double leval jib capture pawl mechanism.
In the present invention, the shell connects passive smoothing mechanism by turntable bearing, and the passive smoothing mechanism includes bottom
Seat ring flange, sliding brake function mechanism, rotation brake mechanism and bracket；The base flange plate top surface is equipped with line slide rail, bracket
Bottom be equipped with sliding slot, sliding slot is mounted on line slide rail, the interior installation sliding brake function mechanism of base flange plate；The rotation system
Motivation structure is mounted on the rotation of control turntable bearing in bracket；Connection revolution bullet between the shell two sides and base flange plate
Spring.
In the present invention, the sliding brake function mechanism includes electromagnetic brake and brake plate, and electromagnetic brake is located at brake plate
Top, gap is equipped between the two, the both ends of brake plate are connect by countersunk head screw rod with base flange plate, brake plate upper surface and
Spring is set between screw rod, and brake plate can move up and down along countersunk head screw rod.
In the present invention, the pressure lever mechanism includes compression bar, bearing and nut, and the compression bar and double leval jib capture pawl mechanism are solid
Even, bearing is assemblied on compression bar by nut.
The present invention also provides the catching methods of noncooperative target satellite, are filled using above-mentioned noncooperative target satellite capture
It sets, specific steps are as follows:
1), control unit control driving mechanism driving screw rod drives double leval jib capture pawl mechanism to move upwards, and moves to outer
When except shell envelope range, double leval jib capture pawl mechanism is opened to shell outreach, while the outside sliding horizontal of horizontal latch segment；
2), photoelectric sensor is monitored when the interface frame, mating frame of noncooperative target satellite, and control unit controls driving mechanism and drives
Dynamic screw rod drives double leval jib capture pawl to move downward, and is closed double leval jib capture pawl mechanism gradually, gradually defends noncooperative target
Including the interface frame, mating frame envelope of star；While double leval jib capture pawl mechanism moves downward, double leval jib captures the compression bar in pawl mechanism
Mechanism drives the horizontal inside sliding horizontal of latch segment, gradually locks interface frame, mating frame；
3), acquisition equipment is monitored to interface frame, mating frame coupling mechanism force, after reaching locking force request, in advance by pre-tightening power load maintainer
Clamp force loading mechanism issues signal and stops driving mechanism work, and the pawl mechanism of double leval jib capture at this time is located at noncooperative target satellite
On step surface, horizontal latch segment withstands the interface frame, mating frame internal-and external diameter for pre-tightening power load maintainer, realizes the capture of noncooperative target satellite.
In the present invention, during the motion, when connecing frame coordinate system and acquisition equipment coordinate system to noncooperative target satellite
It is shifted in relative position and angle offset, Two coordinate system is carried out to just by passive smoothing mechanism.
The beneficial effects of the present invention are: (1), by with spaceborne 1194mm interface frame, mating frame dock complete non-cooperative target
Target capture, 1194 interface of φ is international standard interface size, is widely used on all kinds of spacecrafts, ensure that the present invention
The capture for adapting to all kinds of noncooperative target space flight, with applied widely, big tolerance, response speed block, reliability height etc.
Feature；In acquisition procedure, on the 5.72mm step surface for the interface frame, mating frame that double leval jib capture pawl axial prong is stuck in noncooperative target satellite, water
Flat latch segment withstands interface frame, mating frame internal-and external diameter, and the two cooperates the stability that ensure that acquisition procedure, is effectively protected noncooperative target
Spacecraft avoids damaging；(2), in satellites coupling frame, there are certain position error and angle are inclined with acquisition equipment of the present invention
In the case where shifting, by the capture of the adjusting completion pair of the passive smoothing mechanism of bottom, reduce the impact force in acquisition procedure, greatly
It increases greatly and is captured as power；(3), double leval jib capture pawl mechanism can accurately be controlled to non-conjunction by pre-tightening power load maintainer
The locking force for making the interface frame, mating frame of target space flight prevents locking force overload to non-cooperative target while meeting normal table capture
Mark satellite damages；(4), mechanism function is highly integrated, and working method is direct, and envelope size is small, and main screw lift is light, is applicable in
Property is strong.
Detailed description of the invention
Fig. 1 is the interface frame, mating frame schematic diagram of existing noncooperative target satellite；
Fig. 2 is acquisition equipment structural schematic diagram；
Fig. 3 is acquisition equipment structural representation Fig. 2；
Fig. 4 is acquisition equipment front view；
Fig. 5 is acquisition equipment side view；
Fig. 6 is acquisition equipment top view；
Fig. 7 is acquisition equipment schematic diagram of internal structure；
Fig. 8 is acquisition equipment schematic diagram of internal structure 2；
Fig. 9 is that double leval jib captures pawl mechanism structure schematic diagram；
Figure 10 is that double leval jib captures pawl mechanism structure schematic diagram 2；
Figure 11 is horizontal locking mechanism structure schematic diagram；
Figure 12 is that pretightning force loads machine structural schematic diagram；
Figure 13 is to pre-tighten power load maintainer explosive view；
Figure 14 is that acquisition equipment captures flow chart；
Figure 15 is that double leval jib captures pawl mechanism, horizontal retaining mechanism and interface frame, mating frame contact schematic diagram；
Figure 16 is that double leval jib captures pawl mechanism, horizontal retaining mechanism and interface frame, mating frame contact schematic diagram 2；
Figure 17 is capture effect figure of the noncooperative target satellite capture device to interface frame, mating frame.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the capture target of noncooperative target satellite capture device of the present invention is spacecraft and carrier rocket pair
The satellite (spacecraft) that frame diameter is 1194 is connect, 1194 interface of φ is international standard interface size, is widely used in all kinds of boats
On its device.The outer diameter of interface frame, mating frame is 1194mm, internal diameter 1133mm, has a 5.72mm step surface on outer, and interface frame, mating frame is whole
Body height is 320mm.
Three noncooperative target satellite capture devices of the present invention, three noncooperative target satellite capture devices are used when capture
Relative to 120 ° of array distributions of interface frame, mating frame axis of noncooperative target satellite, three noncooperative target satellite capture devices lead to respectively
It crosses its base flange plate 2 and is installed on space manipulator end.Space manipulator drives noncooperative target satellite capture device to non-
It protrudes into the interface frame, mating frame of cooperative target satellite, successively the interface frame, mating frame of noncooperative target satellite is captured, complete for non-conjunction
Make the whole capture of target satellite.
As shown in 2 to 8, acquisition equipment includes shell 1, double leval jib capture pawl mechanism, four horizontal locking machines in the present invention
Structure pre-tightens power load maintainer and passive smoothing mechanism.
Passive smoothing mechanism includes base flange plate 2, electromagnetic brake 3, swing brake 4 and bracket 5.Base flange plate
2 with space manipulator end for being connected, and two parallel line slide rails 6 are installed in 2 top surface of base flange plate, and middle part is hollow knot
Structure.Bracket 5 is set there are four support leg, and the bottom of four support legs is respectively equipped with sliding block 7, and sliding block 7 is mounted on line slide rail 6,
So that bracket 5 is mounted on base flange plate 2 and can move along a straight line along line slide rail 6.Electromagnetic brake 3 passes through pedestal method
Blue disk 2 is fixedly connected with bracket 5, and the hollow structure at 2 middle part of base flange plate follows bracket 5 to carry out a left side for electromagnetic brake 3
It slides on the right side.The lower section of electromagnetic brake 3 is arranged brake plate 8, and there are gaps between the two.Brake plate 8 is string configuration, brake plate
8 both ends pass through two screw rods 9 respectively and connect with the bottom of base flange plate 2, between 9 top surface of 8 upper surface of brake plate and screw rod
Spring is set, and brake plate 8 can move up and down along screw rod 9.Electromagnetic brake 3 is electrically connected controller, in 3 energization feelings of electromagnetic brake
Under condition, the attraction that electromagnetic brake 3 generates makes brake plate 8 overcome the active force uplink of spring, tightly inhales with electromagnetic brake 3,
And then braking and locking is realized to bracket 5；After electromagnetic brake 3 powers off, the self-return under the force of a spring of brake plate 8, this
When bracket 5 can be slided along line slide rail 6.
Swing brake 4 is mounted in bracket 5, and turntable bearing 10 is installed in the top of bracket 5, and swing brake 4 is electrically connected
Control device, swing brake 4 by the rotation of on/off electric control turntable bearing 10, this part be prior art herein not
Reinflated description.
Shell 1 is fixedly mounted on turntable bearing 10 by the tape spool bottom plate of its bottom, the left and right sides of tape spool bottom plate with
Base flange plate is separately connected two main springs 11 between 2 left and right sides.In acquisition procedure, in noncooperative target satellite
Interface frame, mating frame coordinate system and acquisition equipment coordinate system are there are PT positional tolerance ± 50m, in the case where angle allowance ± 10 °, passive compliance
Mechanism can provide sliding passive compliance and rotation passive compliance for acquisition equipment, complete the capture to interface frame, mating frame, and complete to catch
After obtaining locking can be completed by electromagnetic brake 3, swing brake 4.
The structure of two double leval jib capture pawl mechanisms is consistent, is symmetricly set in shell 1 in opposite directions, and two double leval jibs capture pawl machine
The bottom of structure is fixedly connected with mounting base 12.The centre of mounting base 12 is equipped with cylindrical type groove, and cylindrical type groove is located at two
Between a double leval jib capture pawl mechanism, power load maintainer is pre-tightened for accommodating, power load maintainer is pre-tightened and is fixedly mounted on installation bottom
On plate 12.Vertically arranged screw rod 13 is equipped with below mounting base 12, screw rod 13 is worn upwards via cylindrical type bottom portion of groove through-hole
It crosses mounting base 12 and pre-tightens power load maintainer, driven wheel 14 is installed in the lower part of screw rod 13.Driving is fixedly mounted in the outside of shell 1
The output shaft of motor 15, driving motor 15 installs driving wheel 16, is connected between driving wheel 16 and driven wheel 14 by synchronous belt 17,
Realize transmission.Driving motor 15 is electrically connected controller, and controller controls the positive and negative rotation of driving motor 15, and then passes through mounting base
12 driving double leval jib capture pawl mechanisms move up and down on the inside of shell 1.
Four horizontal retaining mechanisms are located at the outside of two double leval jib capture pawl mechanisms, the horizontal locking machine of two of the same side
Structure is oppositely arranged, and horizontal retaining mechanism is fixedly mounted on the top of shell 1.
Shell installs four photoelectric sensors 18 on 1 four angles in top respectively, and photoelectric sensor 18 is electrically connected controller, uses
In the interface frame, mating frame of monitoring noncooperative target satellite.
As shown in Figures 9 and 10, double leval jib capture pawl mechanism includes pedestal 19, short connecting rod 20, axial prong 21, long connecting rod 22 and drives
Dynamic wind spring 23.The lower end of short connecting rod 20 and long connecting rod 22 passes through axis respectively and pedestal 19 assembles, and upper end passes through axis and axial prong respectively
21 assembly, pedestal 19 with mounting base 12 for being fixedly connected.At the connecting joint of short connecting rod 20 and pedestal 19, long connecting rod 22 with
Installation drives wind spring 23 respectively at the connecting joint of pedestal 19；Under the active force of driving wind spring 23, it may make that axial prong 21 is outside
Expansion.Yielding rubber 24 is cased on the finger tip of axial prong 21, to reduce impact force in acquisition procedure, and to noncooperative target satellite
Interface frame, mating frame protected.
The two sides at the top of axial prong 21 are respectively equipped with the pressure lever mechanism being unfolded outward.Pressure lever mechanism includes compression bar 25, axis
26 and nut 27 are held, compression bar 25 is fixed on axial prong 21, and bearing 26 is assemblied on compression bar 25 by nut 27, rotates around compression bar 25.
Movement of the pressure lever mechanism for controlled level retaining mechanism during 21 downlink of axial prong.
The lower part of 21 lateral surface of axial prong is equipped with two the first vertically arranged guide runners 28.
As shown in Fig. 1,3 and 5, the first vertically arranged directive slide track 29, the first guiding are installed in 1 inside two sides of shell respectively
Sliding rail 29 is corresponding with 21 lateral surface the first guide runner 28 of axial prong, and the first guide runner 28 is placed in the first directive slide track 29,
For being oriented to the up and down motion of double leval jib capture pawl mechanism.The outside of shell 1 and 20 corresponding position of short connecting rod are respectively equipped with four
Cam.
When double leval jib capture pawl mechanism moves out except 1 envelope range of shell under the driving of screw rod 13, rolled up by driving
Spring 23 drives axial prong 21 to expansion；Within the scope of double leval jib capture pawl mechanism moves to 1 envelope of shell under the driving of screw rod 13
When, short connecting rod 20 is pushed by four cam mechanisms on shell 1, realizes that axial prong 21 is gradually closed, interface frame, mating frame is caught in completion
It obtains.
As shown in Fig. 3,5 and 11, four horizontal retaining mechanisms are respectively equipped in the outside of two double leval jib capture pawl mechanisms,
Horizontal retaining mechanism positioned at two double leval jib capture pawl mechanism the same sides is oppositely arranged.Horizontal retaining mechanism is fixedly mounted outside
On shell 1.Horizontal retaining mechanism includes lateral guide rod 31, horizontal latch segment 32, support platform 33 and reset spring 34, lateral guide rod
31 are fixedly mounted on the inside of shell 1, and support platform 33 installs the top of lateral guide rod 31 in parallel.The outside of horizontal latch segment 32
Equipped with guide block, the inside of support platform 33 and guide block corresponding position are equipped with horizontal retaining mechanism guide rail 35, and horizontal latch segment 32 is along water
Flat retaining mechanism guide rail 35 moves, and improves the stability of operation.
In lateral guide rod 31,34 one end of reset spring is withstood in lateral guide rod 31 for horizontal latch segment 32 and 34 sets of reset spring
The block at end, the inside of other end top horizontal latch segment 32.
The position of horizontal latch segment 32 is corresponding with the pressure lever mechanism on axial prong 21.During 21 downlink of axial prong, compression bar
Mechanism presses to horizontal latch segment 32, so that reset spring 34 is shunk, transversely guide rod 31 inwardly moves horizontal latch segment 32；It is main
When 21 uplink of pawl, the pressure of horizontal latch segment 32 is released, under the action of reset spring 34, horizontal latch segment 32, which returns to, is laterally led
The initial position of 31 outer end of bar.
As shown in Fig. 8,12 and 13, pre-tightening power load maintainer includes prefastening force spring 36, position sensor 37, pretightning force bullet
Spring sleeve 38, the second guide runner 39 and feed screw nut's mounting plate 40.Prefastening force spring sleeve 38 is mounted on mounting base 12
In intermediate column type groove, prefastening force spring 36 is set in prefastening force spring sleeve 38；The bottom of mounting base 12, which is equipped with, to be adjusted
41 are covered, vertical adjusting waist hole 42 is provided in adjusting set 41, waist hole 42 is adjusted for connecting and adjusts bolt 46.Prefastening force spring set
The two sides of 38 bottoms of cylinder are connect by adjusting bolt 46 with adjusting set 41, and adjusting set 41 can be transported relative to about 12 mounting base
It is dynamic, and the pre compressed magnitude for adjusting bolt 46 and controlling prefastening force spring 36 by being installed in adjusting set 41, to control pretightning force.
Feed screw nut's mounting plate 40 is installed at the top of prefastening force spring sleeve 38, and feed screw nut's mounting plate 40 installs spiral shell by feed screw nut
Bolt 43 and feed screw nut 44 are fixed on prefastening force spring sleeve 38.
Position sensor 37 is located at the lower section of feed screw nut's mounting plate 40, and position sensor 37 is installed by position sensor
Frame 45 is mounted on mounting base 12, and position sensor 37 is electrically connected with the controller, and position sensor 37 and feed screw nut install
There are gaps between plate 40.By the distance between throttle position sensor 37 and feed screw nut's mounting plate 40, and then control bit
It sets sensor 37 and triggers acquisition equipment to the coupling mechanism force of noncooperative target satellites coupling frame.
Feed screw nut's mounting plate 40, mounting base 12 front and rear sides the second vertically arranged guide runner is installed respectively
39, the inside of shell 1 two sides corresponding with the second guide runner 39 be equipped with the second directive slide track (not shown), second
Guide runner 39 slides up and down along the second directive slide track, to be further ensured that double leval jib capture pawl mechanism and pretightning force load machine
The stability and reliability that structure moves up and down.
As shown in Figure 14 to 17, the detailed process of catching method of the invention is as follows:
Step 1: controller starts driving motor with n1 rotary speed working, and synchronous belt drives screw rod driving double leval jib to capture pawl machine
Structure is moved upwards along the first directive slide track and the second directive slide track, when moving to except shell envelope range, driving wind spring driving
Double leval jib capture pawl mechanism is unfolded outward, and state is as shown in A in Figure 14.
Step 2: space manipulator drives acquisition equipment to protrude into the interface frame, mating frame of noncooperative target satellite, when non-cooperative target
When the interface frame, mating frame of mark satellite shelters from photoelectric sensor, photo-sensor feedback signal to controller, controller control driving electricity
Machine is rotated backward with n2 revolving speed, and screw rod driving double leval jib capture pawl moves downward, when moving within the scope of shell envelope, at this time
Cam pushes the short connecting rod of double leval jib capture pawl to be closed double leval jib capture pawl mechanism gradually into shell, gradually by interface frame, mating frame packet
Including network.In motion process, if the interface frame, mating frame coordinate system of noncooperative target satellite and acquisition equipment coordinate system be not completely right
Standard, there are relative offset and angle offset, provided by line slide rail in passive smoothing mechanism and turntable bearing it is servo-actuated,
By Two coordinate system to just, process status is as shown in B, C in Figure 14.
In double leval jib capture pawl mechanism gradually closing course, the pressure lever mechanism being installed on double leval jib capture pawl axial prong is driven
It moves horizontal latch segment inwardly to move along horizontal retaining mechanism guide rail, gradually lock the interface frame, mating frame of noncooperative target satellite, state
As shown in D in Figure 14.
Step 3: controller control driving motor is rotated backward with n3 revolving speed, since noncooperative target is defended in acquisition procedure
The ontology of star is motionless, and double leval jib capture pawl mechanism is along screw rod while move downward, make to drag acquisition equipment of the present invention it is whole to
Captured noncooperative target satellite is mobile, and after reaching the locking force request of setting, feed screw nut's mounting plate pushes trigger position
Sensor, position sensor feedback signal to controller, controller stops driving motor work, and controls electromagnetic brake and rotation
It is sealed to turn brake power supply realization, interface frame, mating frame rests in support platform at this time, and double leval jib capture pawl axial prong is stuck in interface frame, mating frame
On 5.72mm step surface, horizontal latch segment tightly withstands interface frame, mating frame internal-and external diameter, such as E in Figure 14, as shown in figs；It is final real
Now to the capture of noncooperative target satellite, as shown in figure 17.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of noncooperative target satellite capture device, including shell, it is characterised in that: further include two double leval jib capture pawl machines
Structure, four horizontal retaining mechanisms, screw rod and controller；
Described two double leval jib capture pawl mechanisms are oppositely arranged in shell, and lower part and mounting base are connected；The screw rod is vertical
Setting, screw rod upper end pass through mounting base, lower part connect driving mechanism, screw rod rotate when can drive double leval jib capture pawl mechanism to
It is unfolded outside shell or is closed into shell；
Four horizontal retaining mechanisms are located at the outside of two double leval jib capture pawl mechanisms, are mounted on shell in opposite directions two-by-two
Top；
The two sides on double leval jib capture pawl mechanism top are installed by pressure lever mechanism, compression bar when double leval jib captures pawl mechanism downlink respectively
Mechanism oppresses horizontal retaining mechanism sliding horizontal inwardly；
Photoelectric sensor is installed at the top of the shell, and the photoelectric sensor and driving mechanism are electrically connected controller.
2. noncooperative target satellite capture device according to claim 1, it is characterised in that: load machine including pretightning force
Structure, the preload power load maintainer include prefastening force spring sleeve, position sensor and feed screw nut's mounting plate；
The prefastening force spring sleeve is movably arranged on mounting base, can be moved up and down relative to mounting base, pretightning force bullet
Spring is set in spring sleeve, and feed screw nut's mounting plate is installed in the top surface of prefastening force spring sleeve；
The position sensor is located at the lower section of feed screw nut's mounting plate, is fixedly connected with mounting base；Position sensor is electrically connected
Connect controller；
The screw rod passes through prefastening force spring sleeve and feed screw nut's mounting plate.
3. noncooperative target satellite capture device according to claim 1, it is characterised in that: the horizontal retaining mechanism packet
Include lateral guide rod, horizontal latch segment and reset spring；Horizontal latch segment and reset on the shell is fixedly mounted in the transverse direction guide rod
Spring pocket on the guide bar, fix by reset spring one end, and the other end connects horizontal latch segment.
4. noncooperative target satellite capture device according to claim 1, it is characterised in that: the double leval jib captures pawl machine
Structure includes pedestal, short connecting rod, axial prong and long connecting rod；The lower end of the short connecting rod and long connecting rod passes through axis respectively and pedestal assembles,
Upper end passes through axis respectively and axial prong assembles；Installation driving wind spring at the connecting joint of the short connecting rod, long connecting rod and pedestal；It is described
Closing cam is equipped with short connecting rod corresponding position on shell.
5. noncooperative target satellite capture device according to claim 1, it is characterised in that: the double leval jib captures pawl machine
Sliding track mechanism is equipped between on the inside of the outside of structure and shell.
6. noncooperative target satellite capture device according to claim 1, it is characterised in that: the shell passes through turntable axis
Hold connection passive smoothing mechanism, the passive smoothing mechanism include base flange plate, sliding brake function mechanism, rotation brake mechanism and
Bracket；The base flange plate top surface is equipped with line slide rail, and the bottom of bracket is equipped with sliding slot, and sliding slot is mounted on line slide rail,
The interior installation sliding brake function mechanism of base flange plate；The rotation brake mechanism is mounted on turn of control turntable bearing in bracket
It is dynamic；Main spring is connected between the shell two sides and base flange plate.
7. noncooperative target satellite capture device according to claim 6, it is characterised in that: sliding brake function mechanism packet
Electromagnetic brake and brake plate are included, electromagnetic brake is located at the top of brake plate, and gap is equipped between the two, and the both ends of brake plate are logical
It crosses countersunk head screw rod to connect with base flange plate, spring is set between brake plate upper surface and screw rod, brake plate can be along countersunk head screw rod
It moves up and down.
8. noncooperative target satellite capture device according to claim 1, it is characterised in that: the pressure lever mechanism includes pressure
Bar, bearing and nut, the compression bar and double leval jib capture pawl mechanism are connected, and bearing is assemblied on compression bar by nut.
9. a kind of catching method of noncooperative target satellite, it is characterised in that use the described in any item non-conjunctions of claim 1 to 8
Make target satellite acquisition equipment, specific steps are as follows:
1), control unit control driving mechanism driving screw rod drives double leval jib capture pawl mechanism to move upwards, and moves to shell packet
When except network range, double leval jib capture pawl mechanism is opened to shell outreach, while the outside sliding horizontal of horizontal latch segment；
2), photoelectric sensor is monitored when the interface frame, mating frame of noncooperative target satellite, and control unit controls driving mechanism and drives silk
Bar drives double leval jib capture pawl to move downward, and is closed double leval jib capture pawl mechanism gradually, gradually by noncooperative target satellite
Including interface frame, mating frame envelope；While double leval jib capture pawl mechanism moves downward, double leval jib captures the pressure lever mechanism in pawl mechanism
The inside sliding horizontal of horizontal latch segment is driven, gradually locks interface frame, mating frame；
3), acquisition equipment is monitored to interface frame, mating frame coupling mechanism force, after reaching locking force request, pretightning force by pre-tightening power load maintainer
Loading mechanism issues signal and stops driving mechanism work, and the pawl mechanism of double leval jib capture at this time is located at the step of noncooperative target satellite
On face, horizontal latch segment withstands the interface frame, mating frame internal-and external diameter for pre-tightening power load maintainer, realizes the capture of noncooperative target satellite.
10. the catching method of noncooperative target satellite according to claim 9, it is characterised in that: during the motion, when
To noncooperative target satellite connect frame coordinate system and acquisition equipment coordinate system is shifted in relative position and angle offset, pass through by
Dynamic compliant mechanism carries out to just Two coordinate system.
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