CN106143952A - A kind of buffering racemization damping unit for satellites coupling - Google Patents
A kind of buffering racemization damping unit for satellites coupling Download PDFInfo
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- CN106143952A CN106143952A CN201610520873.4A CN201610520873A CN106143952A CN 106143952 A CN106143952 A CN 106143952A CN 201610520873 A CN201610520873 A CN 201610520873A CN 106143952 A CN106143952 A CN 106143952A
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- 230000006340 racemization Effects 0.000 title claims abstract description 66
- 238000013016 damping Methods 0.000 title claims abstract description 57
- 230000003139 buffering effect Effects 0.000 title claims abstract description 43
- 230000008878 coupling Effects 0.000 title claims abstract description 16
- 238000010168 coupling process Methods 0.000 title claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 16
- 238000003032 molecular docking Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000035939 shock Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a kind of buffering racemization damping unit for satellites coupling, including flap-type buffer structure and racemization damping structure, flap-type buffer structure includes buffering body, Hookean spring damper, flap-type structure and arrives level sensor, and racemization damping structure includes racemization body, rotates driving disk, electric rotating machine.Satellite under the conditions of buffering racemization damping unit in the present invention is suitable for weak shock is arrested, and can provide bigger relative velocity and angular speed tolerance for arresting agency；It is provided with one section of flap-type buffer structure and target satellite engine nozzle inwall crusherbull zone in a device, reduce the speed of related movement of collision process, and it is provided with the racemization damping structure driving flap-type buffer structure to rotate, to reduce flap-type buffer structure and target satellite engine nozzle inwall relative angle speed.
Description
Technical field
The present invention relates to a kind of buffering racemization damping unit for satellites coupling, belong to spacecraft maintainable technology on-orbit and safeguard skill
Art field.
Background technology
GEO satellite is generally of the features such as extensive, multi-functional, long-life, high cost, causes if broken down in-orbit
Task cannot be normally completed national politics, economic dispatch each side will be caused and be had a strong impact on.Development is for the rescue clothes of GEO satellite
Business ability, with relatively low cost, quickly makes fault satellites load task ability be continued, or the discarded satellite of auxiliary leaves the right or normal track and releases
Put important track resources, highly important economic benefit and social benefit can be obtained.
For control and propulsion system failure, run out of gas and terminate the satellite in life-span, adapter control and auxiliary can be used
The track rescue of positioning.The many satellites in-orbit of current China extend service in the army in-orbit, these end of lifetime satellites pair in-orbit
Communication still plays an important role, and the cost that the track rescue carrying out adapter control can be relatively low and relatively short period of time extend
The satellite operation on orbit life-span.Satellite booster agent exhausts or fault cannot leave the right or normal track voluntarily and discard, sometimes as attitude is out of control
Cause disintegration, define large-scale orbit debris, the safety of normal operational satellites is constituted a threat to.
Owing at present in-orbit and at the GEO satellite grinding not for accepting Service Design in-orbit, GEO fault satellites being implemented
Rescue service, core is to complete to arrest docking operation to GEO target.At present, typical research approach includes U.S.'s FREND machine
Mechanical arm+replaceable end effector scheme, Germany DEOS and Europe SMART-OLEV cone rod-type arresting agency scheme.Cone therein
Rod-type arresting agency is arrested mainly for the general apogee engine of GEO satellite, and this mechanism is by telescoping mechanism and cone bar
Mechanisms in series forms, and telescoping mechanism realizes the axial stretching motion of cone linkage, and cone linkage is by crown extension retaining mechanism, end
The tip forms to level sensor and combined laser sensor.Regrettably, this mechanism only considers to defend with target at servicing aircraft
Arrest operation under star relative static conditions, do not consider to utilize servicing aircraft to grab in the residual speed of relative docking process
Catch, the rail control of servicing aircraft self is required higher, and do not consider to use damping mechanism to correct attitude error impact.
Content of the invention
The technology of the present invention solves problem: for overcoming the deficiencies in the prior art, provide a kind of buffering for satellites coupling
Racemization damping unit, to reduce the speed of related movement of serving satellite and target satellite collision process, reduces flap-type buffer structure
With target satellite engine nozzle inwall relative angle speed.
The technical solution of the present invention is:
A kind of buffering racemization damping unit for satellites coupling, including flap-type buffer structure and racemization damping structure,
Flap-type buffer structure includes buffering body, Hookean spring damper, flap-type structure and arrives level sensor,
Buffering body is tray type structure, and it is connected to the external world and arrests on shaft bar, is provided with in the center of buffering body
Center drum, the two ends of Hookean spring damper respectively with the ball pivot mounting seat being arranged on flap-type inner structural wall and center drum
Connect；
When flap-type buffer structure and target satellite engine nozzle contact internal walls, flap-type structure can be adjusted according to Impact direction
Whole with engine nozzle inwall snubber contact；
It is arranged on the top of center drum to level sensor near the position of corresponding flap-type structure, corresponding to judge
Whether flap-type structure contacts with target satellite engine nozzle inwall；
Racemization damping structure includes racemization body, rotates driving disk, electric rotating machine,
Described racemization body fits is arrested on shaft bar in the external world, and racemization main body one end connects firmly with buffering body, the other end
Connect firmly with rotating driving disk；Rotate driving disk and electric rotating machine is all sleeved on the external world and arrests on shaft bar, electric rotating machine band
The dynamic driving disk that rotates rotates, and then drives flap-type buffer structure to rotate together with racemization damping structure.
The Hookean spring damper being connected with each flap-type structure at least one.
Flap-type structure is at least three, and after multiple flap-type textural associations, monnolithic case is tapered, and the radian of this taper is more than
The radian of target satellite engine nozzle inwall, it is ensured that in docking operation, one of multiple flap-type structures or two flap-type
Structure can first contact treats target satellite engine nozzle inwall.
Consistent with the quantity of flap-type structure to the quantity of level sensor.
Racemization damping structure also includes photoelectric in-place sensor, and photoelectric in-place sensor is installed on electric rotating machine zero-bit side
Side, to confirm the turn-taked number of electric rotating machine.
Each flap-type structure connects three Hookean spring dampers.
The distribution triangular in shape of three Hookean spring dampers.
It is microswitch to level sensor.
Photoelectric in-place sensor is slot type photoelectric sensor.
Each is connected to level sensor with control system, when flap-type structure and target satellite engine nozzle contact internal walls
During, send corresponding signal to level sensor to control system accordingly.
The present invention compared with prior art has the advantage that
(1) satellite under the conditions of the buffering racemization damping unit in the present invention is suitable for weak shock is arrested, can be for arresting
Mechanism provides bigger relative velocity and angular speed tolerance；It is provided with one section of flap-type buffer structure in a device to send out with target satellite
Motivation nozzle inner walls crusherbull zone, reduces the speed of related movement of collision process, and is provided with drive flap-type buffer structure rotation
Racemization damping structure, to reduce flap-type buffer structure and target satellite engine nozzle inwall relative angle speed；
(2) the buffering racemization damping unit in the present invention is designed as flap-type buffer structure, and this structure is designed as taper,
On the one hand making target satellite engine nozzle inwall little with the contact quality of buffering racemization damping unit impact moment, momentum is faster
Speed is buffered racemization damping mechanism and absorbs；On the other hand more fit with engine nozzle inwall, can effectively reduce rotation relatively
Turn the impact on buffering racemization damping unit, improve the racemization efficiency of buffering racemization damping unit.
Brief description
Fig. 1 is overall structure schematic diagram of the present invention；
Fig. 2 is present configuration profile；
Fig. 3 is flap-type buffer structure overall schematic of the present invention；
Fig. 4 is this hair crepe formula buffer structure profile；
Fig. 5 is racemization damping structure profile of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Serving satellite, during target satellite, first calculates target satellite relative pose, and control serving satellite is originally
Body attitude so that it is move closer to around target satellite, and make rescue facility's alignment engine nozzle axle center.During this, target is defended
Star rotates along X-axis and is typically ignored, and therefore when rescue facility enters engine nozzle, except axial friction, also includes rotation
Turn the friction in direction.By effect of weightlessness in space, the two star attitudes vibration that friction causes become unpredictable, and cause and rescue
Helping the even whole star of mechanism to be destroyed, so needing a kind of rotary damping device of design, increasing by one section of flap-type buffer structure and mesh
Mark satellite engine nozzle inwall crusherbull zone, reduces the speed of related movement of collision process, and increases drive flap-type buffering knot
The racemization damping structure that structure rotates, reduces flap-type buffer structure and target satellite engine nozzle inwall relative angle speed.
Devise it is contemplated that make full use of cone bar machine weak clash into lower cone linkage and put in-engine guiding in distant
With active racemization damping unit, bore, to improve tradition, the relative velocity tolerance that linkage arrests docking.
In the present invention, in order to realize that docking is arrested to the weak shock of extraterrestrial target satellite apogee engine, provide peace
It is contained in the flap-type buffer structure (A in Fig. 1) of serving satellite arresting agency front end.Remaining speed at serving satellite and target satellite
Under degree effect, the flap-type buffer structure A of cone linkage front end, space enters inside the apogee engine of target satellite.The present invention
Guide with installation site on the cone linkage of space for the actively racemization damping unit as it is shown in figure 1, it is arranged on space cone bar
The front end of mechanism, for absorb cone linkage and target satellite between Impact energy, and can smooth be directed into apogee
Inside engine trunnion.
Concrete structure as it is shown in figure 1, include flap-type buffer structure A and racemization damping structure B,
Wherein flap-type buffer structure A is as shown in Figure 2 and Figure 3, including buffering body the 1st, Hookean spring damper the 2nd, flap-type structure
4 and arrive level sensor 5,
Buffering body 1 is tray type structure, and it is connected to the external world and arrests on shaft bar, arranges in the center of buffering body 1
Have a center drum 8, as shown in Figure 4, the two ends of Hookean spring damper 2 respectively be arranged on flap-type structure 4 inwall and center circle
Ball pivot mounting seat on cylinder 8 connects；
When flap-type buffer structure A and target satellite engine nozzle contact internal walls, flap-type structure 4 can be according to Impact direction
Adjust and engine nozzle inwall snubber contact；
It is arranged on the top of center drum 8 to level sensor 5 near the position of corresponding flap-type structure 4, right to judge
Whether the flap-type structure 4 answered contacts with target satellite engine nozzle inwall；
Racemization damping structure B as it is shown in figure 5, include that the 10th, racemization body rotates driving disk the 11st, electric rotating machine 12,
Described racemization body 10 is sleeved on the external world and arrests on shaft bar, and racemization main body 10 one end connects firmly with buffering body 1, separately
One end connects firmly with rotating driving disk 11；Rotate driving disk 11 and electric rotating machine 12 be all sleeved on the external world and arrest on shaft bar,
Electric rotating machine 12 drives rotation driving disk 11 to rotate, and then drives flap-type buffer structure A to revolve together with racemization damping structure B
Turn.
In the present invention, in order to realize to weak shock in extraterrestrial target capture process, provide and be arranged on multi-clove type guiding resistance
The active racemization damping mechanism (B in Fig. 1) at Buddhist nun's device rear.In servicing aircraft with target satellite docking operation, many lobes
Formula guides damping unit first contact target satellite apogee engine nozzle inner walls, under two star residual speed effects, arrests
Mechanism slips into along engine nozzle inwall, and actively racemization damping mechanism can drive multi-clove type guiding damping unit to rotate together,
Reduce the friction between engine nozzle inwall, make capture process more steady.
As it is shown on figure 3, each flap-type structure 4 is arranged on buffering body 1 by corresponding damper assembly.In order to realize leading
Purpose to damping, on the one hand, the entirety after multiple flap-type textural associations is tapered in shape, and the radian of this taper should be bigger
Radian in target satellite engine nozzle inwall to be docked, in order in docking operation, one of multiple flap-type structures 4
Or two lobed structures can first contact target satellite engine nozzle inwall to be docked.In the present invention, each flap-type structure
Concrete shape according to the shape of target satellite engine nozzle inwall to be docked depending on.
Additionally, each flap-type structure 4 is connected to buffer the outer wall of body 1, and often group damping by one group of damper assembly
Assembly includes at least one Hookean spring damper 2 and is arranged on the ball pivot 3 at each Hookean spring damper 2 two ends.Such as
In preferred embodiment described in Fig. 3, the quantity of flap-type structure 4 is three, often organizes damper assembly and includes three Hookean spring dampings
Device 2, and the distribution triangular in shape of three Hookean spring dampers 2.
Buffering body 1 is sleeved on arresting on shaft bar and being fixed to the shell of space cone linkage of space cone linkage.
Multiple quantity to level sensor 5 are consistent with the quantity of multiple flap-type structures 4, and each is arranged on to level sensor 5 arrests bar and prop up
The top of frame is near the position of corresponding flap-type structure 4, and each is bored in linkage to level sensor 5 with being arranged on space
The control system in portion connects.When flap-type structure 4 is during pyramidal structure to be docked contacts, corresponding to level sensor 5
Send corresponding signal to control system.Additionally, the inwall of each flap-type structure 4 is provided with the second ball pivot mounting seat 6.Corresponding
, the outer wall of center drum 8 is mounted with the first ball pivot mounting seat 9.
Preferably, racemization body 10 outer surface is taper, close with target satellite apogee engine nozzle inner walls shape,
Ensure that in two star contact processes, serving satellite attitudes vibration is little, it prevents attitude from significantly deflecting two satellite bodies causing
Interfere and damage.
Preferably, flap-type buffer structure A and racemization damping mechanism B utilizes racemization body 10 to connect firmly so that flap-type buffering knot
Structure A can carry out racemization and deceleration simultaneously, makes capture process more smooth.
Preferably, flap-type buffer structure A and racemization damping mechanism B uses airflow design, and flap-type buffer structure A radian is relatively
Greatly, ensure that device contacts steadily with nozzle inner walls.
Buffering racemization damping unit in the present invention is designed as flap-type buffer structure, and this structure is designed as taper, and one
Aspect makes target satellite engine nozzle inwall little with the contact quality of buffering racemization damping unit impact moment, and momentum is more rapid
It is buffered racemization damping mechanism to absorb；On the other hand more fit with engine nozzle inwall, can effectively reduce and rotate against
Impact on buffering racemization damping unit, improves the racemization efficiency of buffering racemization damping unit.
The foregoing is only the preferred embodiments of the present invention, be not used for limiting the scope of the invention.For ability
For the technical staff in territory, on the premise of not paying creative work, some modifications and replacement can be made to the present invention,
All such modifications and replacement all should be covered within protection scope of the present invention.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (10)
1. the buffering racemization damping unit for satellites coupling, it is characterised in that include flap-type buffer structure (A) and racemization
Damping structure (B),
Flap-type buffer structure (A) includes buffering body (1), Hookean spring damper (2), flap-type structure (4) and the sensing that puts in place
Device (5),
Buffering body (1) is tray type structure, and it is connected to the external world and arrests on shaft bar, arranges in the center of buffering body (1)
Have center drum (8), the two ends of Hookean spring damper (2) respectively be arranged on flap-type structure (4) inwall and center drum (8)
On ball pivot mounting seat connect；
When flap-type buffer structure (A) and target satellite engine nozzle contact internal walls, flap-type structure (4) can be according to Impact direction
Adjust and engine nozzle inwall snubber contact；
It is arranged on the top of center drum (8) to level sensor (5) near the position of corresponding flap-type structure (4), to judge
Whether corresponding flap-type structure (4) contacts with target satellite engine nozzle inwall；
Racemization damping structure (B) includes racemization body (10), rotates driving disk (11), electric rotating machine (12),
Described racemization body (10) is sleeved on the external world and arrests on shaft bar, and racemization main body (10) one end connects firmly with buffering body (1),
The other end connects firmly with rotating driving disk (11)；Rotate driving disk (11) and electric rotating machine (12) is all sleeved on the external world and arrests bar
On support, electric rotating machine (12) drives and rotates driving disk (11) rotation, and then drives flap-type buffer structure (A) and racemization damping
Structure (B) rotates together.
2. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: with each lobe
The Hookean spring damper (2) that formula structure (4) connects at least one.
3. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: flap-type structure
(4) at least three, after multiple flap-type textural associations, monnolithic case is tapered, and the radian of this taper is more than target satellite engine
The radian of nozzle inner walls, it is ensured that in docking operation, one of multiple flap-type structures or two flap-type structures can first contact
Treat target satellite engine nozzle inwall.
4. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: put in place sensing
The quantity of device (5) is consistent with the quantity of flap-type structure (4).
5. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: racemization damps
Structure (B) also includes photoelectric in-place sensor (13), and photoelectric in-place sensor (13) is installed on electric rotating machine (12) zero-bit side,
To confirm the turn-taked number of electric rotating machine (12).
6. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 2, it is characterised in that: each flap-type
Structure (4) connects three Hookean spring dampers (2).
7. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 6, it is characterised in that: three are linear
Spring-damper (2) distribution triangular in shape.
8. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: put in place sensing
Device (5) is microswitch.
9. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: photoelectric in-place
Sensor (13) is slot type photoelectric sensor.
10. a kind of buffering racemization damping unit for satellites coupling as claimed in claim 1, it is characterised in that: each arrives
Level sensor (5) is connected with control system, during flap-type structure (4) with target satellite engine nozzle contact internal walls,
Send corresponding signal to level sensor (5) to control system accordingly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610520873.4A CN106143952B (en) | 2016-07-05 | 2016-07-05 | A kind of buffering racemization damping unit for satellites coupling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610520873.4A CN106143952B (en) | 2016-07-05 | 2016-07-05 | A kind of buffering racemization damping unit for satellites coupling |
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| CN106143952B CN106143952B (en) | 2019-05-24 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001648A (en) * | 2017-12-20 | 2018-05-08 | 西北工业大学 | A kind of submarine navigation device docking facilities |
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN108860665A (en) * | 2018-09-11 | 2018-11-23 | 上海宇航***工程研究所 | It is a kind of to damp controllable docking mechanism transmission buffer system |
| CN109466807A (en) * | 2018-12-13 | 2019-03-15 | 中国空间技术研究院 | Ball-type suitable for high rail Satellite General cone bar capture mechanism is oriented to damping mechanism |
| CN113002806A (en) * | 2021-03-02 | 2021-06-22 | 南京航空航天大学 | Service satellite structure for space non-cooperative target in-orbit control |
| CN115092426A (en) * | 2022-07-18 | 2022-09-23 | 哈尔滨工业大学 | Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets |
| CN115493867A (en) * | 2022-11-17 | 2022-12-20 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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| CN104494846A (en) * | 2014-12-16 | 2015-04-08 | 中国空间技术研究院 | Universal weak-impact capture mechanism applicable to high-orbit satellites |
| CN104536449A (en) * | 2014-12-03 | 2015-04-22 | 中国空间技术研究院 | Real-time measurement method of relative pose of universal capture mechanism of high-orbit satellite |
| CN104590590A (en) * | 2014-12-16 | 2015-05-06 | 中国空间技术研究院 | Multi-segment-type guiding and damping device applicable to space conical rod mechanism |
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| US3715092A (en) * | 1970-05-28 | 1973-02-06 | Nasa | Delayed simultaneous release mechanism |
| CN103935530A (en) * | 2014-04-29 | 2014-07-23 | 西北工业大学 | Satellite rotation eliminating device using scroll winding mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN108001648A (en) * | 2017-12-20 | 2018-05-08 | 西北工业大学 | A kind of submarine navigation device docking facilities |
| CN108860665A (en) * | 2018-09-11 | 2018-11-23 | 上海宇航***工程研究所 | It is a kind of to damp controllable docking mechanism transmission buffer system |
| CN108860665B (en) * | 2018-09-11 | 2021-08-17 | 上海宇航***工程研究所 | Controllable docking mechanism transmission buffer system of damping |
| CN109466807A (en) * | 2018-12-13 | 2019-03-15 | 中国空间技术研究院 | Ball-type suitable for high rail Satellite General cone bar capture mechanism is oriented to damping mechanism |
| CN109466807B (en) * | 2018-12-13 | 2020-07-14 | 中国空间技术研究院 | Ball type guiding damping mechanism suitable for high-orbit satellite universal taper rod capturing mechanism |
| CN113002806A (en) * | 2021-03-02 | 2021-06-22 | 南京航空航天大学 | Service satellite structure for space non-cooperative target in-orbit control |
| CN115092426A (en) * | 2022-07-18 | 2022-09-23 | 哈尔滨工业大学 | Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets |
| CN115092426B (en) * | 2022-07-18 | 2023-01-24 | 哈尔滨工业大学 | Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets |
| CN115493867A (en) * | 2022-11-17 | 2022-12-20 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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| CN106143952B (en) | 2019-05-24 |
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