CN113911406A - Lasso formula space capture device - Google Patents
Lasso formula space capture device Download PDFInfo
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- CN113911406A CN113911406A CN202111182363.8A CN202111182363A CN113911406A CN 113911406 A CN113911406 A CN 113911406A CN 202111182363 A CN202111182363 A CN 202111182363A CN 113911406 A CN113911406 A CN 113911406A
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Abstract
The invention discloses a lasso type space capturing device which comprises a support and a lasso capturing mechanism arranged on the support, wherein a rope fixing assembly in the lasso capturing mechanism enables two ends of a capturing rope to be respectively connected to an inner capturing ring and an outer fixing ring, when the inner capturing ring rotates relative to the outer fixing ring, a plurality of capturing ropes are folded inwards, the folded capturing ropes form a capturing rope ring, and when the diameter of an inscribed circle of the rope ring is not larger than the outer diameter of a target capturing object, the target capturing object can be captured. The device is particularly suitable for capturing the inverted cone-shaped object, has larger capturing tolerance, can improve the capturing reliability by simultaneously capturing the lasso capturing mechanisms which are arranged in parallel in the axial direction, and can correct the posture of the captured object.
Description
Technical Field
The invention belongs to the technical field of spacecraft capture, and particularly relates to a lasso type space capture device.
Background
The spacecraft capture means that a capture mechanism of the mission aircraft establishes a mechanical connection relation with a target aircraft flying in a space orbit, so that the mission aircraft can control the attitude of the target aircraft and operate on orbit. Therefore, the spacecraft capture technology is a precondition and basis for realizing the operation of cleaning off-orbit, on-orbit service, on-orbit maintenance and the like of the spacecraft. The current commonly used spacecraft capture technologies include robot capture (CN200910073300.1), rope net capture (CN201310503724.3), and engine throat capture (CN201510789544.5), however, these methods all have certain problems: the manipulator capturing mode has high operation precision requirement, poor capturing tolerance capability and high attitude and orbit control precision of the aircraft; the space fly net capture cannot be used repeatedly, the cost is high, and rigid connection cannot be established after the capture; engine throat capture is only useful for capturing the engine nozzle and may result in losses to the engine nozzle that are detrimental to subsequent use of the engine.
Disclosure of Invention
The invention aims to overcome the defects and provides a lasso type space capturing device which comprises a bracket and a lasso capturing mechanism arranged on the bracket, wherein two ends of capturing ropes are respectively connected to an inner capturing ring and an outer fixing ring through a rope fixing component in the lasso capturing mechanism, when the inner capturing ring rotates relative to the outer fixing ring, a plurality of capturing ropes are folded inwards, the folded capturing ropes form a capturing rope ring, and when the diameter of an inscribed circle of the rope ring is not larger than the outer diameter of a target capturing object, the target capturing object can be captured. The device is particularly suitable for capturing the outer side of an inverted cone-shaped object, has large capturing tolerance, prevents two space flyers from colliding before capturing, can improve the capturing reliability by using two axially parallel-mounted lasso capturing mechanisms for simultaneously capturing, and can correct the posture of the captured object.
In order to achieve the above purpose, the invention provides the following technical scheme:
a lasso type space capture device comprises a bracket and a lasso capture mechanism;
the bracket is provided with a cylindrical cavity with two open ends, and the axis of the cavity is superposed with the axis of the lasso capturing mechanism; the bracket is fixedly connected with the external unfolding and folding mechanism and moves to a capturing position through the unfolding and folding mechanism;
the lasso capturing mechanism comprises an inner capturing ring, an outer fixing ring, a driving mechanism, a capturing rope and a rope fixing component; the inner capturing ring and the outer fixing ring are both of circular ring structures, the outer fixing ring is fixedly arranged in a cavity arranged on the bracket, the inner capturing ring is rotatably arranged on the inner side of the outer fixing ring and is coaxial with the outer fixing ring, and the driving mechanism is used for driving the inner capturing ring to rotate around the axis direction relative to the outer fixing ring;
the number of the rope fixing assemblies is larger than or equal to 3, each rope fixing assembly comprises an inner ring fixing piece arranged on the inner capturing ring and an outer ring fixing piece arranged on the outer fixing ring, the first end of each capturing rope is fixedly connected with the inner capturing ring through the inner ring fixing piece, the second end of each capturing rope is fixedly connected with the outer fixing ring through the outer ring fixing piece, the first end of each capturing rope is driven by the rotation of the inner capturing ring relative to the outer fixing ring to move relative to the second end, and the capturing ropes are alternately surrounded to form a rope ring for capturing a target object.
Furthermore, the inner wall of the outer fixing ring is provided with an annular groove matched with the inner capturing ring, the inner capturing ring is arranged in the groove through a bearing, and the size of the annular groove in the axial direction is smaller than that of the outer fixing ring in the axial direction;
the inner ring fixing piece is fixedly arranged on the inner wall of the inner capturing ring, the outer ring fixing piece is fixedly arranged on the inner wall of the outer fixing ring in a region without an annular groove, and the inner diameter of the region without the annular groove of the outer fixing ring is equal to the inner diameter of the inner capturing ring.
Further, the lasso capturing mechanisms are more than or equal to 2, the lasso capturing mechanisms are coaxial and are arranged at intervals along the axis direction, and the lasso capturing mechanisms respectively form rope loops used for capturing different parts of the target object to correct the position and the posture of the target object.
Furthermore, the lasso type space capturing device further comprises a limiting baffle, wherein the limiting baffle is disc-shaped and coaxial with the lasso capturing mechanism, and the limiting baffle is fixedly arranged on the support and used for limiting the position of a target object entering the rope loop.
Further, outer ring fixing pieces in the rope fixing assembly are uniformly arranged along the outer fixing ring, and inner ring fixing pieces are uniformly arranged along the inner capturing ring.
Further, the driving mechanism comprises a motor, a motor bracket, a transmission gear and a sector gear; sector gear installs on interior capture circles, and the motor passes through motor support fixed mounting on outer retainer plate, drive gear and motor output shaft fixed connection, and drive gear and sector gear mesh, the motor drives sector gear's motion through drive gear, and then makes interior capture circle carry out the rotation around the axis direction relatively outer retainer plate.
Furthermore, an outer ring fixing piece and an inner ring fixing piece in the rope fixing assembly have the same structure and respectively comprise a mounting seat, a ball head and a return spring; the mounting seat in the outer ring fixing piece is fixedly mounted on the outer fixing ring, and the mounting seat in the inner ring fixing piece is fixedly mounted on the inner capturing ring; the ball head is arranged on the ball head of the mounting seat through a return spring, and the elastic force of the return spring enables the ball head to be tightly attached to the mounting seat, so that the capturing rope is tightly attached to the inner wall of the inner capturing ring or the outer fixing ring; when the inner capturing ring rotates relative to the outer fixing ring, the generated tension overcomes the elastic force of the return spring, so that the capturing rope moves away from the inner wall of the inner capturing ring or the outer fixing ring of the ball head.
Furthermore, the capturing rope is a steel wire rope, and the length of the capturing rope is larger than or equal to the diameter of the inner capturing ring.
Further, the lasso-type space capture device further comprises a flexible sleeve, and the flexible sleeve is sleeved outside the capture rope; the flexible sleeve is made of rubber materials.
Furthermore, the inner capturing ring and the outer fixing ring are provided with continuous spiral grooves, the number of the spiral grooves is equal to that of the capturing ropes, and when the inner capturing ring does not rotate relative to the outer fixing ring, the capturing ropes are located in the spiral grooves.
Furthermore, the space capturing device further comprises 2 limit switches arranged on the outer fixing ring, and the number of the limit switches corresponds to the initial position of the inner capturing ring and the limit position of the inner capturing ring relative to the outer fixing ring.
Furthermore, the support comprises support arms along the axial direction of the lasso capturing mechanism, the support arms are more than or equal to 3 and are arranged in a circular ring shape, and a cylindrical cavity with two open ends is defined.
Compared with the prior art, the invention has the following beneficial effects:
(1) the lasso type space capturing device skillfully designs the specific structure of the lasso capturing mechanism, so that the two ends of the capturing ropes are respectively connected to the inner capturing ring and the outer fixing ring, when the inner capturing ring rotates relative to the outer fixing ring, the capturing ropes are folded inwards to form the capturing rope ring, the lasso type space capturing device is particularly suitable for capturing the outer side of an inverted cone-shaped object, has larger capturing tolerance, and simultaneously, a capturing inscribed circle formed by the capturing ropes has larger contact area with a target capturing object, so that better capturing stability is realized;
(2) according to the lasso type space capturing device, a plurality of lasso capturing mechanisms can be axially installed, the lasso capturing mechanisms can be mutually backed up to provide the reliability of capturing operation, and can form a plurality of rope loops through capturing ropes in the lasso capturing mechanisms to further form a plurality of capturing inscribed circles to correct the position and the posture of a target capturing object, so that the axial position and the angle deviation between the axis of the target capturing object and the axis of the lasso capturing mechanisms are reduced, and the subsequent butt joint locking operation of the target capturing object is facilitated;
(3) the lasso type space capturing device is provided with the structure and the arrangement mode of a rope fixing assembly in the lasso capturing mechanism, in addition, a spiral groove for accommodating a capturing rope in an initial state is designed in the lasso capturing mechanism, the capturing inscribed circle of an initial rope ring can be maximized, the capturing rope positioned in the spiral groove cannot interfere a target capturing object to enter the lasso capturing mechanism, and the target capturing object is prevented from entering between the capturing rope and an inner capturing ring and cannot be captured;
(4) according to the lasso type space capturing device, the inner capturing ring rotates relative to the outer fixing ring by utilizing the meshing between the gears, the transmission process is stable and efficient, and in addition, the limit switch is designed, so that the movement process of the inner capturing ring is conveniently controlled;
(5) according to the lasso type space capturing device, the flexible sleeve is sleeved outside the capturing rope, so that friction generated when the capturing rope captures a target capturing object can be reduced, damage to a coating on the contact surface of the target capturing object is reduced, and contact stress between the capturing rope and the target object can also be reduced;
(6) the limiting baffle in the lasso type space capturing device can limit the position of a captured object.
Drawings
FIG. 1 is a schematic axial view of the overall structure of a lasso-type space capture device of the present invention;
FIG. 2 is a schematic view of a cord securing assembly of the present invention;
FIG. 3 is a partial structural view of a lasso-type space capture device of the present invention;
fig. 4 is a schematic diagram of a lasso-type space capture device of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention relates to a lasso type space capturing device which is suitable for capturing a target object, in particular to a structure body with an inverted cone-shaped revolving body structure or a revolving groove on the outer surface.
Referring to fig. 1, the lasso type space catching device of the present invention comprises a bracket 1 and a lasso catching mechanism 2, wherein at least one group of lasso catching mechanisms 2 are arranged on the bracket 1, the lasso catching mechanism 2 comprises an inner catching ring 3, an outer fixing ring 4, a driving mechanism 5, catching ropes 6 and a rope fixing component 7, the inner catching ring 3 and the outer fixing ring 4 can rotate relatively, the driving mechanism 5 provides power for the relative rotation of the inner catching ring 3 and the outer fixing ring 4, one end of each catching rope 6 is connected with the inner catching ring 3 through a mounting seat 13 in the rope fixing component 7, the other end of each catching rope 6 is connected with the outer fixing ring 4 through a mounting seat 13 in the same rope fixing component 7, at least three catching ropes 6 are arranged between the inner catching ring 3 and the outer fixing ring 4, referring to fig. 4, when the inner catching ring 3 rotates relative to the outer fixing ring 4, the catching ropes 6 are folded inwards, the collected capturing rope forms a capturing rope ring, the inner tangent circle of the rope ring changes along with the relative rotation degree between the inner capturing ring 3 and the outer fixing ring 4, and when the diameter of the capturing inner tangent circle is not more than the outer diameter of the target capturing object, the target capturing object can be captured.
Preferably, the number of noose catches 2 is exactly two, and two noose catches 2 are arranged at intervals in the axial direction thereof. During working, the double-noose capturing mechanism 2 captures a target capturing object at the same time, the two noose capturing mechanisms 2 can be used as backups for each other, the reliability of capturing operation is provided, and two rope loops formed by the capturing ropes 6 in the two noose capturing mechanisms 2 can be used for forming two capturing inscribed circles to correct the position and the posture of the target capturing object, so that the axial position and the angle deviation between the axis of the target capturing object and the axis position and the angle deviation of the noose capturing mechanism 2 are reduced, and the subsequent butt joint locking operation of the target capturing object is facilitated.
Preferably, the number of the capturing ropes 6 is exactly three, the three capturing ropes are fixedly arranged on the same lasso capturing mechanism 2 through three pairs of rope fixing assemblies 7, outer ring fixing pieces in the three pairs of rope fixing assemblies 7 are uniformly arranged along the outer fixing ring 4, and inner ring fixing pieces are uniformly arranged along the inner capturing ring 3.
Preferably, as shown in fig. 3, the inner capturing ring 3 and the outer fixing ring 4 are provided with a plurality of spiral grooves 17, the number of the spiral grooves 17 is the same as that of the capturing ropes 6, and the capturing ropes 6 are positioned in the spiral grooves 17 in the initial state.
Preferably, the driving mechanism 5 comprises a motor 9, a motor bracket 10, a transmission gear 11 and a sector gear 12, the sector gear 12 is fixedly arranged on the inner capturing ring 3, the motor 9 is arranged on the outer fixing ring 4 through the motor bracket 10, and the transmission gear 11 is fixedly arranged on an output shaft of the motor 9 and meshed with the sector gear 12.
Preferably, two limit switches 20 are arranged on the outer fixing ring 4, and the two limit switches 20 are respectively arranged at the rotating limit positions of the sector gear 12.
Preferably, as shown in fig. 2, the rope fixing assembly 7 includes a mounting seat 13, a ball 14 and a return spring 15, the mounting seat 13 is mounted on the inner capturing ring 3 or the outer fixing ring 4, the ball 14 is rotatably mounted on the mounting seat 13, the return spring 15 is mounted between the ball 14 and the mounting seat 13, and the ball 14 is attached to the mounting seat 13 by the elastic force of the return spring 15. The return spring 15 causes the capture cable 6 to be initially positioned in the helical groove 17 of the inner wall of the inner capture ring and the outer retaining ring, such that
Preferably, a bearing 8 is provided between the inner race 3 and the outer race 4.
Preferably, the capturing rope 6 is a steel wire rope.
Preferably, a flexible sleeve 19 is provided outside the capturing cable 6. The flexible sleeve 19 mounted on the outside of the capturing cable 6 can reduce the friction between the capturing cable 6 and the target capturing object, reduce the damage to the coating of the contact surface of the target capturing object, and reduce the contact stress between the capturing cable 6 and the target object.
Example (b):
as shown in fig. 1 and 2, the lasso type space capturing device of the invention comprises a bracket 1 and a mounting lasso capturing mechanism 2; FIG. 1 shows a stent; 2 is a lasso catching mechanism; 3 is an inner capture ring; 4 is an outer fixing ring; 5 is a driving mechanism; 6 is a capture rope; 7 is a rope fixing component; 8 is a bearing; 9 is a motor; 10 is a motor bracket; 11 is a transmission gear; 12 is a sector gear; 13 is a mounting seat; 14 is a ball head; 15 is a return spring; 18 is a capture inscribed circle; 17 is a spiral groove; 19 is a flexible sleeve; 20 is a limit switch; and 21 is a limit baffle.
In one embodiment, the bracket 1 is cylindrical, the lower side of the bracket 1 is fixed on a stretching and contracting mechanism or a mechanical arm, the device is moved to a capturing position by an unfolding and folding mechanism or a mechanical arm during capturing operation, the noose trap mechanism 2 is fixedly mounted in the bracket 1, and in order to reduce the weight of the bracket 1 in a particular embodiment, it is also possible to make the bracket 1 comprise three separate support arms, at least one set of noose catching means 2, in one embodiment exactly two noose catching means 2, are mounted on the bracket 1, two noose catching means 2 being arranged at intervals in the axial direction thereof, in one embodiment the mounting holes in the bracket 1 for fixedly attaching the noose catching means 2 are provided in a plurality of sets, therefore, the axial installation height difference of the two lasso capturing mechanisms 2 on the bracket 1 can be adjusted, and the adaptability to targets with different shapes and sizes is improved.
The lasso capturing mechanism 2 comprises an inner capturing ring 3, an outer fixing ring 4, a driving mechanism 5, a capturing rope 6 and a rope fixing component 7, wherein the inner capturing ring 3 and the outer fixing ring 4 are both in a circular ring shape, the inner capturing ring 3 is installed on the inner side of the outer fixing ring 4, the inner capturing ring 3 can rotate relative to the outer fixing ring 4, in one specific embodiment, a bearing 8 is installed on the outer fixing ring 4 between the inner capturing rings 3, and in a more specific embodiment, the bearing 8 used is a thin-wall bearing which is light in weight and can improve the flexibility of relative rotation between the inner capturing ring 3 and the outer fixing ring 4. Drive mechanism 5 includes motor 9, motor support 10, drive gear 11 and sector gear 12, sector gear 12 catches 3 downside of circle including through fastener fixed mounting, sector gear 12's tooth exposes outside the outside of retainer plate 4, motor 9 passes through fastener fixed mounting on motor support 10, motor support 10 passes through fastener fixed mounting on outer retainer plate 4, drive gear 11 passes through the key-type connection on the output shaft of motor 9, drive gear 11 meshes with sector gear 12 mutually, when motor 9 gets the electricity and rotates, drive sector gear 12 through pinion 11 and rotate, thereby make the interior 3 relative outer retainer plates 4 rotations of circle of catching.
The rope fixing assembly 7 is provided with a plurality of pairs, each pair comprises an inner ring fixing piece arranged on the inner capturing ring 3 and an outer ring fixing piece arranged on the outer fixing ring 4, in a specific embodiment, three inner ring fixing pieces and three outer ring fixing pieces are respectively and uniformly arranged on the inner capturing ring 3 and the outer fixing ring 4, the fixing pieces comprise a mounting seat 13, a ball head 14 and a return spring 15, the mounting seat 13 is fixedly arranged on the inner capturing ring 3 or the outer fixing ring 4, the ball head 14 is movably arranged on the mounting seat 13, the ball head 14 can rotate around the center of a sphere relatively, the return spring 15 is arranged on the ball head 14, an elastic structure on the return spring 15 is positioned between the mounting seat 13 and the outer fixing ring 4 or the inner capturing ring 3, and the ball head 14 is tightly attached to the mounting seat 13 in an initial state through the elastic force of the return spring 15. The capture rope 6 is fixedly connected between the inner ring fixture and the ball head 14 of the outer ring fixture of the group of rope fixing assemblies 7, and in an initial state, the relative positions of the inner capture ring 3 and the outer fixing ring 4 are in a relative position for tightly attaching the capture rope 6 to the inner wall of the inner capture ring 3 or the outer fixing ring 4. As shown in fig. 4, in a specific embodiment, three capturing ropes 6 are respectively connected to one noose capturing mechanism 2 through 3 pairs of rope fixing assemblies 7, when the three capturing ropes 6 rotate in the same direction relative to the mounting points on the outer fixing ring 4, a rope loop is formed, a capturing inscribed circle 18 is formed in the rope loop, when the diameter of the capturing inscribed circle 18 is not larger than the outer diameter of the target capturing object, the target capturing object can be captured, in another embodiment, four, five or six capturing ropes 6 can be further connected to one noose capturing mechanism 2, and the capturing inscribed circle 18 formed by a plurality of capturing ropes 6 has a larger contact area with the target capturing object, so that better capturing stability is achieved. In a particular embodiment, the length of the capturing cable 6 is not less than the diameter of the inner capturing loop 3, in a more particular embodiment the length of the capturing cable 6 is exactly equal to the diameter of the inner capturing loop 3, and when the inner and outer ring fixings fixed to the same capturing cable 6 are rotated to the same diameter position, the capturing inner circle diameter is zero. In one embodiment, the capturing rope 6 is a steel wire rope, a circle of flexible sleeve 19 is sleeved on the outer side of the steel wire rope, and in one embodiment, the flexible sleeve 19 is made of a rubber material, so that the sleeve can reduce friction generated when the capturing rope 6 captures a target capturing object, damage to a contact surface coating of the target capturing object and contact stress of the capturing rope 6 and the target object. The inner capturing ring 3 and the outer fixing ring 4 are both provided with a plurality of sections of spiral grooves 17, the number of the spiral grooves 17 is the same as that of the capturing ropes 6, and the capturing ropes 6 are bent in the spiral grooves 17 in an initial state. The outer fixing ring 4 is fixedly provided with two limit switches 20 through fasteners, and the two limit switches 20 are respectively arranged at the rotating limit positions of the sector gear 12 and respectively correspond to the initial position of the inner capturing ring 3 and the rotating limit position of the inner capturing ring 3 relative to the outer fixing ring 4. The limit switch 20 can limit the rotation angle of the sector gear 12, and also limit the relative rotation degree between the inner capturing ring 3 and the outer fixing ring 4, and also facilitate the control of returning the inner capturing ring 3 to the initial position. A limit stop 21 can be further installed on the bracket 1, and the limit stop 21 limits the position of the captured target capture object.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (12)
1. A lasso type space capturing device is characterized by comprising a bracket (1) and a lasso capturing mechanism (2);
the bracket (1) is provided with a cylindrical cavity with two open ends, and the axis of the cavity is superposed with the axis of the lasso capturing mechanism (2); the bracket (1) is fixedly connected with an external unfolding and folding mechanism and moves to a capturing position through the unfolding and folding mechanism;
the lasso capturing mechanism (2) comprises an inner capturing ring (3), an outer fixing ring (4), a driving mechanism (5), a capturing rope (6) and a rope fixing component (7); the inner capturing ring (3) and the outer fixing ring (4) are both of circular ring structures, the outer fixing ring (4) is fixedly installed inside a cavity arranged on the support (1), the inner capturing ring (3) is rotatably installed on the inner side of the outer fixing ring (4) and is coaxial with the outer fixing ring (4), and the driving mechanism (5) is used for driving the inner capturing ring (3) to rotate around the axis direction relative to the outer fixing ring (4);
the number of the rope fixing assemblies (7) is larger than or equal to 3, the rope fixing assemblies (7) comprise inner ring fixing pieces arranged on the inner capturing ring (3) and outer ring fixing pieces arranged on the outer fixing ring (4), the first ends of the capturing ropes (6) are fixedly connected with the inner capturing ring (3) through the inner ring fixing pieces, the second ends of the capturing ropes are fixedly connected with the outer fixing ring (4) through the outer ring fixing pieces, the first ends of the capturing ropes (6) are driven to move relative to the second ends by the rotation of the inner capturing ring (3) relative to the outer fixing ring (4), and the capturing ropes (6) are crossed to form a rope ring for capturing a target object.
2. A lasso-type spatial entrapment device according to claim 1, wherein the inner wall of the outer retainer ring (4) is provided with an annular groove for cooperation with the inner retainer ring (3), the inner retainer ring (3) is mounted in the groove by a bearing (8), and the size of the annular groove in the axial direction is smaller than that of the outer retainer ring (4);
the inner ring fixing piece is fixedly arranged on the inner wall of the inner capturing ring (3), the outer ring fixing piece is fixedly arranged on the inner wall of the outer fixing ring (4) in a region without an annular groove, and the inner diameter of the region without the annular groove of the outer fixing ring (4) is equal to the inner diameter of the inner capturing ring (3).
3. The lasso type space catching device according to claim 1 characterized in that the lasso catching means (2) is not less than 2, each lasso catching means (2) is coaxial and arranged along the axial direction at intervals, each lasso catching means (2) forms a loop for catching different parts of the target object, and the position and posture of the target object are corrected.
4. A lasso-type space trap as in claim 1, further comprising a limit stop (21), wherein the limit stop (21) is disc-shaped and coaxial with the lasso trapping mechanism (2), the limit stop (21) being fixedly mounted on the bracket (1) for defining the position of the target object entering the loop.
5. A lasso-type space catching device according to claim 1, characterized by the fact that the outer ring of the rope fixing assembly (7) is evenly arranged along the outer ring (4) and the inner ring of the rope fixing assembly is evenly arranged along the inner catching ring (3).
6. A lasso-type space catching device according to claim 1, characterized by the fact that the driving mechanism (5) comprises a motor (9), a motor bracket (10), a transmission gear (11) and a sector gear (12); sector gear (12) is installed on interior capture circle (3), and motor (9) pass through motor support (10) fixed mounting on outer retainer plate (4), drive gear (11) and motor (9) output shaft fixed connection, and drive gear (11) and sector gear (12) meshing, motor (9) drive the motion of sector gear (12) through drive gear (11), and then make interior capture circle (3) carry out the rotation around the axis direction relatively outer retainer plate (4).
7. A lasso-type space capture device according to claim 1, characterized in that the outer and inner ring mounts of the rope mount assembly (7) are of the same construction, each comprising a mount (13), a ball (14), and a return spring (15); the mounting seat (13) in the outer ring fixing piece is fixedly mounted on the outer fixing ring (4), and the mounting seat (13) in the inner ring fixing piece is fixedly mounted on the inner capturing ring (3); the ball head (14) is mounted on the ball head of the mounting seat (13) through a return spring (15), the ball head (14) is tightly attached to the mounting seat (13) through the elastic force of the return spring (15), and the capturing rope (6) is tightly attached to the inner wall of the inner capturing ring (3) or the outer fixing ring (4); when the inner capturing ring (3) rotates relative to the outer fixing ring (4), the generated tension overcomes the elastic force of the return spring (15), so that the capturing rope (6) moves away from the inner wall of the ball head inner capturing ring (3) or the outer fixing ring (4).
8. A lasso-type space catching device according to claim 1 or 2, characterized in that the catching rope (6) is a steel wire rope, the length of the catching rope (6) being larger than or equal to the diameter of the inner catching ring (3).
9. A lasso-type space trap according to claim 1, further comprising a flexible sleeve (19), said flexible sleeve (19) being sleeved outside the trapping rope (6); the flexible sleeve (19) is made of rubber materials.
10. A lasso-type space catching device according to claim 1 or 2, characterized in that the inner catching ring (3) and the outer securing ring (4) are provided with a continuous spiral groove (17), said spiral groove (17) being equal in number to the catching lines (6), the catching lines (6) being located in the spiral groove (17) when the inner catching ring (3) is not rotated in relation to the outer securing ring (4).
11. A lasso-type space catching device according to claim 1, characterized in that it further comprises 2 limit switches (20) on the outer retainer ring (4), corresponding to the initial position of the inner catching ring (3) and the extreme position of the inner catching ring (3) in rotation with respect to the outer retainer ring (4).
12. The lasso-type space capturing device as claimed in claim 1, wherein the bracket (1) comprises support arms along the axial direction of the lasso capturing mechanism (2), the support arms are more than or equal to 3 and are arranged in a circular ring shape to enclose a cylindrical cavity with two open ends.
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| CN202111182363.8A CN113911406A (en) | 2021-10-11 | 2021-10-11 | Lasso formula space capture device |
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| CN202111182363.8A CN113911406A (en) | 2021-10-11 | 2021-10-11 | Lasso formula space capture device |
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