CN118405276B - Target rope net capturing system and method based on twisted fiber compaction - Google Patents

Abstract

The present invention discloses a target object rope net capture system and method based on twisted fiber compression. The rope net capture system includes a task platform, a conductive traction rope and a flexible rope net; the task platform is connected to the center of the flexible rope net through the conductive traction rope; in the initial state, the conductive traction rope and the flexible rope net are both placed in the task platform; when a target object appears, the task platform launches the flexible rope net to the target object, and after the flexible rope net is unfolded and successfully traps the target object, the task platform controls the flexible rope net to contract, that is, the task platform supplies power to the flexible rope net through the conductive traction rope, so that the flexible rope net is quickly tightened after being powered on and heated, thereby locking the target object. The rope net capture form designed by the present invention has the advantages of strong capture fault tolerance and long capture distance, especially the rope net tightening method based on twisted fiber replaces the traditional mechanical or motor closing method, which has the advantages of small size and high reliability.

Description

A target rope net capture system and method based on twisted fiber compression

Technical Field

The invention relates to a space target rope net capture system, and in particular to a target rope net capture system and method based on twisted fiber compaction.

Background Art

With the increase of human space activities, the space debris environment is deteriorating. Therefore, a space target capture device is proposed to capture space debris in space. Existing space target capture devices are mainly divided into rigid capture devices and flexible capture devices. Among them, the flexible capture device is a combination of a flexible structure such as a net or cloth covering and wrapping the target, or a manipulator grabbing the target and then forming a reliable connection with the mission spacecraft through a flexible connection (such as a rope). Compared with the rigid capture device, the flexible capture device represented by the rope net has the advantages of good capture fault tolerance, long operating distance, and high capture efficiency.

In order to improve the reliability of capture in flexible capture devices, after the rope net wraps the target, it is generally necessary to close and lock the net mouth through a closing mechanism. Currently, the commonly used active closing forms are compression spring energy storage type or motor type, and the closing rope is wound by the closing mechanism to achieve active locking of the net mouth, but there are problems such as complex system, large device size and low reliability.

Summary of the invention

In view of the closing problem of existing space rope net capture, the purpose of the present invention is to provide a target rope net capture system and method based on twisted fiber compression, which has the advantages of simple system, small device size and high closing reliability.

The objectives of the present invention are achieved through the following technical solutions.

1. A target net capture system based on twisted fiber compression

The rope net capture system includes a task platform, a conductive traction rope and a flexible rope net containing twisted fibers; the task platform is connected to the center of the flexible rope net through the conductive traction rope, and the twisted fibers are twisted fibers that shrink after being electrically heated; in the initial state, the conductive traction rope and the flexible rope net are both placed in the task platform; when a target object appears, the task platform launches the flexible rope net towards the target object, and after the flexible rope net unfolds and successfully traps the target object, the task platform controls the flexible rope net to contract so that the flexible rope net completely captures the target object.

Furthermore, the task platform includes a platform body, a rope net launcher and a DC power supply. The rope net launcher and the DC power supply are installed in the platform body. A conductive traction rope and a flexible rope net are placed in the platform body on the transmitting end side of the rope net launcher. The conductive traction rope is electrically connected to the DC power supply, and the conductive traction rope is electrically connected to the flexible rope net.

Furthermore, the conductive traction rope includes an incoming power cable, a return power cable and an outer braided layer; the incoming power cable and the return power cable are arranged side by side and the incoming power cable and the return power cable are coated with the outer braided layer, and the incoming power cable and the return power cable are insulated and isolated.

Furthermore, the flexible rope net includes an internal net body, a traction mass block and a plurality of fan-shaped rope bodies. The plurality of fan-shaped rope bodies are connected in sequence along the circumference to form a circular net body. The circular net body is made of twisted fibers that are tightened after being electrically heated. After the internal net body is installed in the circular net body, a flexible rope net main body is formed. The outermost circle of the flexible rope net main body is installed with a plurality of traction mass blocks arranged at intervals along the circumference.

Furthermore, each of the fan-shaped rope bodies includes a net mouth rope and two net body ropes, the two ends of the net mouth rope are respectively connected to one end of the two net body ropes, and the other ends of the two net body ropes are electrically connected to the conductive traction rope; the net body rope and the net mouth rope are twisted fibers that shrink after being electrically heated; in the circular net body, each net mouth rope forms a single closed loop with an adjacent net body rope, conductive traction rope, and task platform; each of the fan-shaped rope bodies shrinks after being electrically heated, so that the target object is completely captured by the flexible rope net.

Furthermore, a plurality of the traction mass blocks are installed at equal intervals along the circumference at the outermost circle of the flexible rope net body.

Furthermore, there are at least three traction masses.

Furthermore, there are at least three fan-shaped rope bodies.

2. A capture method of a target rope net capture system based on twisted fiber compression

1) Before capture, the conductive traction rope and the flexible rope net are compressed and placed in the task platform;

2) During capture, the task platform launches the flexible rope net toward the target through the rope net launcher. The main body of the flexible rope net is gradually unfolded and approaches the target under the drive of the traction mass block;

3) When the target falls completely into the flexible rope net, the task platform supplies power to the flexible rope net through the conductive traction rope. The flexible rope net is heated and tightened, thereby locking the target. Finally, the task platform maneuvers and drags the target to the target position through the conductive traction rope.

The present invention has the following beneficial effects:

1. The present invention adopts the method of twisting and shrinking the fiber to achieve locking of the target after capture, replacing the traditional mechanical or electric mesh opening folding, greatly reducing the size and weight of the device.

2. The net mouth rope and the net rope of the present invention use twisted fibers at the same time. When closing the net mouth, the net body rope will also be tightened at the same time, so that the target object can be firmly locked, which increases the reliability of capturing the target object.

3. The net mouth rope and the net body rope of the present invention have a certain mass, which can make the net body unfold better during launching, increase the effective capture area, and improve the capture efficiency of the rope net to a certain extent.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an overall diagram of the system of the present invention.

FIG. 2 is a cross-sectional view of the task platform of the present invention.

FIG3 is a cross-sectional view of the conductive traction rope of the present invention.

FIG4 is a structural diagram and current flow diagram of the flexible rope net of the present invention; wherein (a) is a schematic diagram of the current flow of a fan-shaped rope body, and (b) is a schematic diagram of the current flow of all fan-shaped rope bodies in the flexible rope net.

FIG. 5 is a structural diagram of a rope made of twisted fibers in the present invention.

FIG. 6 is a schematic diagram of the rope net capture system proposed by the present invention before capture.

FIG. 7 is a schematic diagram of the rope net capture system proposed in the present invention after capture.

In the figure: 1. task platform, 2. conductive traction rope, 3. flexible rope net, 1-1. DC power supply, 1-2. rope net transmitter, 2-1. power input cable, 2-2. power return cable, 2-3. outer braided layer, 3-1. internal net body, 3-2. net mouth rope, 3-3. net body rope, 3-4. traction mass block.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

Example 1

On the one hand, as shown in Figures 1, 6 and 7, the target object rope net capture system based on the tightening of twisted fibers includes a task platform 1, a conductive traction rope 2 and a flexible rope net 3 containing twisted fibers; the task platform 1 is connected to the center of the flexible rope net 3 through the conductive traction rope 2, and the twisted fibers are twisted fibers that are tightened after being energized and heated, specifically including a rope body and a resistance wire wound outside the rope body, as shown in Figure 5; in the initial state, the conductive traction rope 2 and the flexible rope net 3 are both placed in the task platform 1; when a target object appears, the task platform 1 launches the flexible rope net 3 towards the target object, and after the flexible rope net 3 is unfolded and successfully wraps around the target object, the task platform 1 energizes the flexible rope net 3, thereby controlling the contraction of the flexible rope net 3, so that the flexible rope net 3 tightly and completely captures the target object.

As shown in Fig. 2, the task platform 1 includes a platform body, a rope net launcher 1-2 and a high-voltage DC power supply 1-1. The rope net launcher 1-2 and the high-voltage DC power supply 1-1 are installed in the platform body. The rope net launcher 1-2 is responsible for launching the rope net module, and the high-voltage DC power supply 1-1 provides current for the conductive traction rope 2. A conductive traction rope 2 and a flexible rope net 3 are placed in the platform body on the transmitting end side of the rope net launcher 1-2. The conductive traction rope 2 is electrically connected to the high-voltage DC power supply 1-1, and the conductive traction rope 2 and the flexible rope net 3 are electrically connected.

As shown in Figure 3, the conductive traction rope 2 includes an incoming power cable 2-1, a return power cable 2-2 and an outer braided layer 2-3; the incoming power cable 2-1 and the return power cable 2-2 are arranged side by side and the incoming power cable 2-1 and the return power cable 2-2 are coated with the outer braided layer 2-3, and the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated, specifically, the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated by their respective insulation layers.

As shown in (b) of Fig. 4, the flexible rope net 3 includes an internal net body 3-1, a traction mass block 3-4 and eight fan-shaped rope bodies, each of which has a central angle of 45°. The eight fan-shaped rope bodies are connected in sequence along the circumference to form a circular net body, and the internal net body 3-1 is installed in the circular net body to form a flexible rope net body. The outermost circle of the flexible rope net body (i.e., the net mouth rope 3-2 of the fan-shaped rope body) is equipped with four traction mass blocks 3-4 arranged at equal intervals along the circumference, and the interval between two adjacent traction mass blocks 3-4 is 90°; each fan-shaped rope body includes a net mouth rope 3-2 and two net body ropes 3-3, and the net body rope 3-3 and the net mouth rope 3-2 are twisted fibers that shrink rapidly after being electrically heated. Each net mouth rope 3-2 is the arc segment of the outermost circle of the flexible rope net body, and the two net body ropes 3-3 are arranged radially; the two ends of the net mouth rope 3-2 are respectively connected to one end of the two net body ropes 3-3, and the other ends of the two net body ropes 3-3 are electrically connected to the conductive traction rope 2, and the two copper wires on each net body rope 3-3 are respectively electrically connected to the power cable 2-1 and the return cable 2-2 of the conductive traction rope 2; the common edge of two adjacent fan-shaped rope bodies is the same net body rope 3-3, so the circular net body contains eight net body ropes 3-3 and eight net mouth ropes 3-2. In the circular net body, each net mouth rope 3-2 forms a single closed loop with an adjacent net body rope 3-3, the conductive traction rope 2, and the DC power supply 1-1 of the task platform 1, as shown in Figure 4 (a). When working, the current flow in a single closed loop is as follows: the current of the high-voltage DC power supply 1-1 passes through the power cable 2-1 in the conductive traction rope 2 to the assembly point in the center of the net body, and then passes through a net body rope 3-3, a net mouth rope 3-2, and then reversely passes through the same net mouth rope 3-2, the same net body rope 3-3, and finally flows back to the high-voltage DC power supply 1-1 from the assembly point in the center of the net body through the return cable 2-2. The flexible rope net 3 contains eight closed loops, and the eight closed loops are arranged in parallel. Each fan-shaped rope body is energized and heated and then tightened, so that the target object is completely captured by the flexible rope net 3.

On the other hand, a method for capturing a target using a twisted fiber-compression-based target net capture system comprises the following steps:

1) Before the capture system is started, the conductive traction rope 2 and the flexible rope net 3 are compressed and placed in the task platform 1;

2) During capture, the task platform 1 launches the flexible rope net 3 toward the target through the rope net launcher 1-2, and the main body of the flexible rope net is gradually unfolded and approaches the target under the drive of the traction mass block 3-4;

3) When the target object completely falls into the flexible rope net 3, the target object is wrapped and captured. The task platform 1 supplies power to the net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 through the conductive traction rope 2. The net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 will shrink rapidly after being energized and heated, completing the tightening of the flexible rope net 3, thereby locking the target object; finally, the task platform 1 maneuvers and drags the target object to the target position through the conductive traction rope 2.

Example 2

On the one hand, the target object rope net capture system based on the tightening of twisted fibers includes a task platform 1, a conductive traction rope 2 and a flexible rope net 3 containing twisted fibers; the task platform 1 is connected to the center of the flexible rope net 3 through the conductive traction rope 2, and the twisted fibers are twisted fibers that are tightened after being electrically heated, specifically including a rope body and a resistance wire wound outside the rope body; in the initial state, the conductive traction rope 2 and the flexible rope net 3 are both placed in the task platform 1; when a target object appears, the task platform 1 launches the flexible rope net 3 toward the target object, and after the flexible rope net 3 is unfolded and successfully wraps around the target object, the task platform 1 energizes the flexible rope net 3, thereby controlling the contraction of the flexible rope net 3, so that the flexible rope net 3 tightly and completely captures the target object.

As shown in Fig. 2, the task platform 1 includes a platform body, a rope net launcher 1-2 and a high-voltage DC power supply 1-1. The rope net launcher 1-2 and the high-voltage DC power supply 1-1 are installed in the platform body. The rope net launcher 1-2 is responsible for launching the rope net module, and the high-voltage DC power supply 1-1 provides current for the conductive traction rope 2. A conductive traction rope 2 and a flexible rope net 3 are placed in the platform body on the transmitting end side of the rope net launcher 1-2. The conductive traction rope 2 is electrically connected to the high-voltage DC power supply 1-1, and the conductive traction rope 2 and the flexible rope net 3 are electrically connected.

As shown in Figure 3, the conductive traction rope 2 includes an incoming power cable 2-1, a return power cable 2-2 and an outer braided layer 2-3; the incoming power cable 2-1 and the return power cable 2-2 are arranged side by side and the incoming power cable 2-1 and the return power cable 2-2 are coated with the outer braided layer 2-3, and the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated, specifically, the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated by their respective insulation layers.

The flexible rope net 3 includes an inner net body 3-1, a traction mass block 3-4 and six fan-shaped rope bodies, each of which has a central angle of 60°. The six fan-shaped rope bodies are connected in sequence along the circumference to form a circular net body, and the inner net body 3-1 is installed in the circular net body to form a flexible rope net body. Three traction mass blocks 3-4 are installed at equal intervals along the circumference at the outermost circle of the flexible rope net body (i.e., the net mouth rope 3-2 of the fan-shaped rope body), and the interval between two adjacent traction mass blocks 3-4 is 120°; each fan-shaped rope body includes a net mouth rope 3-2 and two net body ropes 3-3, and the net body rope 3-3 and the net mouth rope 3-2 are twisted fibers that shrink rapidly after being electrically heated. Each net mouth rope 3-2 is the arc segment of the outermost circle of the flexible rope net body, and the two net body ropes 3-3 are arranged radially; the two ends of the net mouth rope 3-2 are respectively connected to one end of the two net body ropes 3-3, and the other ends of the two net body ropes 3-3 are electrically connected to the conductive traction rope 2, and the two copper wires on each net body rope 3-3 are respectively electrically connected to the power cable 2-1 and the return cable 2-2 of the conductive traction rope 2; the common edge of two adjacent fan-shaped rope bodies is the same net body rope 3-3, so the circular net body contains six net body ropes 3-3 and six net mouth ropes 3-2. In the circular net body, each net mouth rope 3-2 forms a single closed loop with an adjacent net body rope 3-3, the conductive traction rope 2, and the DC power supply 1-1 of the task platform 1. When working, the current flow in a single closed loop is as follows: the current of the high-voltage DC power supply 1-1 passes through the power cable 2-1 in the conductive traction rope 2 to the assembly point in the center of the net body, and then passes through a net body rope 3-3, a net mouth rope 3-2, and then reversely passes through the same net mouth rope 3-2, the same net body rope 3-3, and finally flows back to the high-voltage DC power supply 1-1 from the assembly point in the center of the net body through the return cable 2-2. The flexible rope net 3 contains six closed loops, and the six closed loops are arranged in parallel. Each fan-shaped rope body is energized and heated and then tightened, so that the target object is completely captured by the flexible rope net 3.

On the other hand, a method for capturing a target using a twisted fiber-compression-based target net capture system comprises the following steps:

1) Before the capture system is started, the conductive traction rope 2 and the flexible rope net 3 are compressed and placed in the task platform 1;

2) During capture, the task platform 1 launches the flexible rope net 3 toward the target through the rope net launcher 1-2, and the main body of the flexible rope net is gradually unfolded and approaches the target under the drive of the traction mass block 3-4;

3) When the target object completely falls into the flexible rope net 3, the target object is wrapped and captured. The task platform 1 supplies power to the net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 through the conductive traction rope 2. The net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 will shrink rapidly after being energized and heated, completing the tightening of the flexible rope net 3, thereby locking the target object; finally, the task platform 1 maneuvers and drags the target object to the target position through the conductive traction rope 2.

Example 3

On the one hand, the target object rope net capture system based on the tightening of twisted fibers includes a task platform 1, a conductive traction rope 2 and a flexible rope net 3 containing twisted fibers; the task platform 1 is connected to the center of the flexible rope net 3 through the conductive traction rope 2, and the twisted fibers are twisted fibers that are tightened after being electrically heated, specifically including a rope body and a resistance wire wound outside the rope body; in the initial state, the conductive traction rope 2 and the flexible rope net 3 are both placed in the task platform 1; when a target object appears, the task platform 1 launches the flexible rope net 3 toward the target object, and after the flexible rope net 3 is unfolded and successfully wraps around the target object, the task platform 1 energizes the flexible rope net 3, thereby controlling the contraction of the flexible rope net 3, so that the flexible rope net 3 tightly and completely captures the target object.

As shown in Fig. 2, the task platform 1 includes a platform body, a rope net launcher 1-2 and a high-voltage DC power supply 1-1. The rope net launcher 1-2 and the high-voltage DC power supply 1-1 are installed in the platform body. The rope net launcher 1-2 is responsible for launching the rope net module, and the high-voltage DC power supply 1-1 provides current for the conductive traction rope 2. A conductive traction rope 2 and a flexible rope net 3 are placed in the platform body on the transmitting end side of the rope net launcher 1-2. The conductive traction rope 2 is electrically connected to the high-voltage DC power supply 1-1, and the conductive traction rope 2 and the flexible rope net 3 are electrically connected.

As shown in Figure 3, the conductive traction rope 2 includes an incoming power cable 2-1, a return power cable 2-2 and an outer braided layer 2-3; the incoming power cable 2-1 and the return power cable 2-2 are arranged side by side and the incoming power cable 2-1 and the return power cable 2-2 are coated with the outer braided layer 2-3, and the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated, specifically, the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated by their respective insulation layers.

The flexible rope net 3 includes an inner net body 3-1, a traction mass block 3-4 and six fan-shaped rope bodies, each of which has a central angle of 60°. The six fan-shaped rope bodies are connected in sequence along the circumference to form a circular net body, and the inner net body 3-1 is installed in the circular net body to form a flexible rope net body. The outermost circle of the flexible rope net body (i.e., the net mouth rope 3-2 of the fan-shaped rope body) is equipped with six traction mass blocks 3-4 arranged at equal intervals along the circumference, and the interval between two adjacent traction mass blocks 3-4 is 60°; each fan-shaped rope body includes a net mouth rope 3-2 and two net body ropes 3-3, and the net body rope 3-3 and the net mouth rope 3-2 are twisted fibers that shrink rapidly after being electrically heated. Each net mouth rope 3-2 is the arc segment of the outermost circle of the flexible rope net body, and the two net body ropes 3-3 are arranged radially; the two ends of the net mouth rope 3-2 are respectively connected to one end of the two net body ropes 3-3, and the other ends of the two net body ropes 3-3 are electrically connected to the conductive traction rope 2, and the two copper wires on each net body rope 3-3 are respectively electrically connected to the power supply cable 2-1 and the return power cable 2-2 of the conductive traction rope 2; the common edge of two adjacent fan-shaped rope bodies is the same net body rope 3-3, so the circular net body contains six net body ropes 3-3 and six net mouth ropes 3-2. In the circular net body, each net mouth rope 3-2 forms a single closed loop with an adjacent net body rope 3-3, the conductive traction rope 2, and the DC power supply 1-1 of the task platform 1. When working, the current flow in a single closed loop is as follows: the current of the high-voltage DC power supply 1-1 passes through the power cable 2-1 in the conductive traction rope 2 to the assembly point in the center of the net body, and then passes through a net body rope 3-3, a net mouth rope 3-2, and then reversely passes through the same net mouth rope 3-2, the same net body rope 3-3, and finally flows back to the high-voltage DC power supply 1-1 from the assembly point in the center of the net body through the return cable 2-2. The flexible rope net 3 contains six closed loops, and the six closed loops are arranged in parallel. Each fan-shaped rope body is energized and heated and then tightened, so that the target object is completely captured by the flexible rope net 3.

On the other hand, a method for capturing a target using a twisted fiber-compression-based target net capture system comprises the following steps:

1) Before the capture system is started, the conductive traction rope 2 and the flexible rope net 3 are compressed and placed in the task platform 1;

2) During capture, the task platform 1 launches the flexible rope net 3 toward the target through the rope net launcher 1-2, and the main body of the flexible rope net is gradually unfolded and approaches the target under the drive of the traction mass block 3-4;

3) When the target object completely falls into the flexible rope net 3, the target object is wrapped and captured. The task platform 1 supplies power to the net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 through the conductive traction rope 2. The net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 will shrink rapidly after being energized and heated, completing the tightening of the flexible rope net 3, thereby locking the target object; finally, the task platform 1 maneuvers and drags the target object to the target position through the conductive traction rope 2.

Example 4

On the one hand, the target object rope net capture system based on the tightening of twisted fibers includes a task platform 1, a conductive traction rope 2 and a flexible rope net 3 containing twisted fibers; the task platform 1 is connected to the center of the flexible rope net 3 through the conductive traction rope 2, and the twisted fibers are twisted fibers that are tightened after being electrically heated, specifically including a rope body and a resistance wire wound outside the rope body; in the initial state, the conductive traction rope 2 and the flexible rope net 3 are both placed in the task platform 1; when a target object appears, the task platform 1 launches the flexible rope net 3 toward the target object, and after the flexible rope net 3 is unfolded and successfully wraps around the target object, the task platform 1 energizes the flexible rope net 3, thereby controlling the contraction of the flexible rope net 3, so that the flexible rope net 3 tightly and completely captures the target object.

As shown in Fig. 2, the task platform 1 includes a platform body, a rope net launcher 1-2 and a high-voltage DC power supply 1-1. The rope net launcher 1-2 and the high-voltage DC power supply 1-1 are installed in the platform body. The rope net launcher 1-2 is responsible for launching the rope net module, and the high-voltage DC power supply 1-1 provides current for the conductive traction rope 2. A conductive traction rope 2 and a flexible rope net 3 are placed in the platform body on the transmitting end side of the rope net launcher 1-2. The conductive traction rope 2 is electrically connected to the high-voltage DC power supply 1-1, and the conductive traction rope 2 and the flexible rope net 3 are electrically connected.

As shown in Figure 3, the conductive traction rope 2 includes an incoming power cable 2-1, a return power cable 2-2 and an outer braided layer 2-3; the incoming power cable 2-1 and the return power cable 2-2 are arranged side by side and the incoming power cable 2-1 and the return power cable 2-2 are coated with the outer braided layer 2-3, and the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated, specifically, the incoming power cable 2-1 and the return power cable 2-2 are insulated and isolated by their respective insulation layers.

The flexible rope net 3 includes an inner net body 3-1, a traction mass block 3-4 and ten fan-shaped rope bodies, each of which has a central angle of 36°. The ten fan-shaped rope bodies are connected in sequence along the circumference to form a circular net body, and the inner net body 3-1 is installed in the circular net body to form a flexible rope net body. Five traction mass blocks 3-4 are installed at equal intervals along the circumference at the outermost circle of the flexible rope net body (i.e., the net mouth rope 3-2 of the fan-shaped rope body), and the interval between two adjacent traction mass blocks 3-4 is 72°; each fan-shaped rope body includes a net mouth rope 3-2 and two net body ropes 3-3, and the net body rope 3-3 and the net mouth rope 3-2 are twisted fibers that shrink rapidly after being electrically heated. Each net mouth rope 3-2 is the arc segment of the outermost circle of the flexible rope net body, and the two net body ropes 3-3 are arranged radially; the two ends of the net mouth rope 3-2 are respectively connected to one end of the two net body ropes 3-3, and the other ends of the two net body ropes 3-3 are electrically connected to the conductive traction rope 2, and the two copper wires on each net body rope 3-3 are respectively electrically connected to the power cable 2-1 and the return cable 2-2 of the conductive traction rope 2; the common edge of two adjacent fan-shaped rope bodies is the same net body rope 3-3, so the circular net body contains ten net body ropes 3-3 and ten net mouth ropes 3-2. In the circular net body, each net mouth rope 3-2 forms a single closed loop with an adjacent net body rope 3-3, the conductive traction rope 2, and the DC power supply 1-1 of the task platform 1. When working, the current flow in a single closed loop is as follows: the current of the high-voltage DC power supply 1-1 passes through the power cable 2-1 in the conductive traction rope 2 to the assembly point in the center of the net body, and then passes through a net body rope 3-3, a net mouth rope 3-2, and then reversely passes through the same net mouth rope 3-2, the same net body rope 3-3, and finally flows back to the high-voltage DC power supply 1-1 from the assembly point in the center of the net body through the return cable 2-2. The flexible rope net 3 contains ten closed loops, and the ten closed loops are arranged in parallel. Each fan-shaped rope body is energized and heated and then contracted, so that the target object is completely captured by the flexible rope net 3.

On the other hand, a method for capturing a target using a twisted fiber-compression-based target net capture system comprises the following steps:

1) Before the capture system is started, the conductive traction rope 2 and the flexible rope net 3 are compressed and placed in the task platform 1;

2) During capture, the task platform 1 launches the flexible rope net 3 toward the target through the rope net launcher 1-2, and the main body of the flexible rope net is gradually unfolded and approaches the target under the drive of the traction mass block 3-4;

3) When the target object completely falls into the flexible rope net 3, the target object is wrapped and captured. The task platform 1 supplies power to the net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 through the conductive traction rope 2. The net mouth rope 3-2 and the net body rope 3-3 of the flexible rope net 3 will shrink rapidly after being energized and heated, completing the tightening of the flexible rope net 3, thereby locking the target object; finally, the task platform 1 maneuvers and drags the target object to the target position through the conductive traction rope 2.

The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims (7)

1. A target object rope net capture system based on the tightening of twisted fibers, characterized in that it comprises a task platform (1), a conductive traction rope (2) and a flexible rope net (3) containing twisted fibers; the task platform (1) is connected to the center of the flexible rope net (3) through the conductive traction rope (2), and the twisted fibers are twisted fibers that are tightened after being electrically heated; in an initial state, the conductive traction rope (2) and the flexible rope net (3) are both placed in the task platform (1); when a target object appears, the task platform (1) launches the flexible rope net (3) toward the target object, and after the flexible rope net (3) is unfolded and successfully encloses the target object, the task platform (1) controls the flexible rope net (3) to shrink, so that the flexible rope net (3) completely captures the target object; The flexible rope net (3) comprises an internal net body (3-1), a traction mass block (3-4) and a plurality of fan-shaped rope bodies, wherein the plurality of fan-shaped rope bodies are sequentially connected along the circumference to form a circular net body, wherein the circular net body is made of twisted fibers that are compressed after being electrically heated, and the internal net body (3-1) is installed in the circular net body to form a flexible rope net main body, wherein the outermost circle of the flexible rope net main body is installed with a plurality of traction mass blocks (3-4) arranged at intervals along the circumference; Each of the fan-shaped rope bodies comprises a net mouth rope (3-2) and two net body ropes (3-3); the two ends of the net mouth rope (3-2) are respectively connected to one end of the two net body ropes (3-3), and the other ends of the two net body ropes (3-3) are electrically connected to the conductive traction rope (2); the net body rope (3-3) and the net mouth rope (3-2) are twisted fibers that shrink after being electrically heated; in the circular net body, each net mouth rope (3-2) forms a single closed loop with an adjacent net body rope (3-3), the conductive traction rope (2), and the task platform (1); each of the fan-shaped rope bodies shrinks after being electrically heated, so that the target object is completely captured by the flexible rope net (3). 2. According to claim 1, a target rope net capture system based on twisted fiber compression is characterized in that the task platform (1) includes a platform body, a rope net launcher (1-2) and a DC power supply (1-1), the rope net launcher (1-2) and the DC power supply (1-1) are installed in the platform body, and a conductive traction rope (2) and a flexible rope net (3) are placed in the platform body on the transmitting end side of the rope net launcher (1-2), the conductive traction rope (2) is electrically connected to the DC power supply (1-1), and the conductive traction rope (2) and the flexible rope net (3) are electrically connected. 3. According to claim 1, a target rope net capture system based on twisted fiber compression is characterized in that the conductive traction rope (2) includes an incoming power cable (2-1), a return power cable (2-2) and an outer braided layer (2-3); the incoming power cable (2-1) and the return power cable (2-2) are arranged side by side and the incoming power cable (2-1) and the return power cable (2-2) are coated with an outer braided layer (2-3), and the incoming power cable (2-1) and the return power cable (2-2) are insulated and isolated. 4. A target rope net capture system based on twisted fiber compression according to claim 1, characterized in that a plurality of said traction mass blocks (3-4) are installed at equal intervals along the circumference at the outermost circle of the flexible rope net body. 5. A target object rope net capture system based on twisted fiber compression according to claim 1, characterized in that the number of the traction mass blocks (3-4) is at least 3. 6. A target object rope net capture system based on twisted fiber compression according to claim 1, characterized in that there are at least three fan-shaped rope bodies. 7. A capture method of a target object rope net capture system based on twisted fiber compaction according to any one of claims 1 to 6, characterized in that the capture method comprises the following steps: 1) Before capture, the conductive traction rope (2) and the flexible rope net (3) are compressed and placed in the task platform (1); 2) During capture, the task platform (1) launches the flexible rope net (3) toward the target object through the rope net launcher (1-2), and the main body of the flexible rope net is gradually unfolded and approaches the target object under the drive of the traction mass block (3-4); 3) When the target object (4) completely falls into the flexible rope net (3), the task platform (1) supplies power to the flexible rope net (3) through the conductive traction rope (2), and the flexible rope net (3) is energized and heated and then contracts, thereby locking the target object (4); finally, the task platform (1) maneuvers and drags the target object (4) to the target position through the conductive traction rope (2).