CN114408228B - Spacecraft operation control system and method - Google Patents

Abstract

The present invention relates to the technical field of manipulators, in particular to a program-controlled manipulator, and in particular to an electrical program-controlled manipulator featuring a component structure or featuring a manipulator element positioning device, to a control or regulating system in general and in particular to a computer control system, and to a control system featuring a positioned control device. The invention provides a control system and a control method, wherein the control system at least comprises a multi-degree-of-freedom mechanical arm and a capturing mechanical claw arm, and the method at least comprises the following steps: when the two central processing units communicate with each other, the two central processing units respectively use the image acquisition equipment to shoot images of the cabin body of the mechanical claw arm on the opposite equipment body; after the two central processing units carry out data transmission and commonly know an adjustment strategy, the two central processing units respectively send a regulating instruction to the corresponding multi-degree-of-freedom mechanical arm; and the multi-degree-of-freedom mechanical arm regulates and controls the pose of the capturing mechanical gripper arm according to the regulating and controlling instruction.

Description

Spacecraft operation control system and method

Technical Field

The invention relates to the technical field of manipulators, in particular to a program-controlled manipulator, in particular to an electric program-controlled manipulator characterized by a component structure or by a manipulator element positioning device, a general control or regulating system, in particular to a computer control system, a control system characterized by a positioned control device, and a spacecraft operation control system and method.

Background

With the development of space robot technology, on-orbit service of robots is expected to play an increasingly important role in repairing failed spacecraft/aircraft in the future. In an in-orbit maintenance task, it is often necessary for the service spacecraft/aircraft to capture and dock the second equipment body with a robotic arm to form a stable assembly. For example, a method for collaborative capturing of multiple independent super-redundant mechanical arms for a large-scale fault spacecraft is also proposed in the prior art as a patent document with publication number CN112847359a, which includes: s100: carrying out structural analysis on the large-scale fault spacecraft; s200: screening a corresponding number of safety arrestable features according to the number of the super-redundant mechanical arms, and taking the safety arrestable features as objects to be arrested by each super-redundant mechanical arm; s300: distributing the screened safety arrestable features; s400: the spacecraft carrying the super-redundant mechanical arm approaches the corresponding safe capturable feature and is synchronous with the orbital motion of the corresponding safe capturable feature; s500: respectively planning a capturing path of each super-redundant mechanical arm to realize winding capturing of the corresponding safe capturable characteristic; s600: and combining the capture paths of each super-redundant mechanical arm obtained through planning together for collaborative capture. In the specific capturing process, the method can realize the reliable capturing of the large-scale fault spacecraft through the cooperation of a plurality of spacecraft. The patent document only proposes a technical solution for controlling the action of the mechanical arm outside the cabin by analyzing the capturing feature on the second equipment body, and does not disclose a structure of the mechanical arm and a capturing method for realizing capturing specifically.

In the prior art, for example, a method for performing double-arm collaborative flexible dragging and butting inverse operation on an out-of-cabin robot is proposed in the patent document with the publication number of CN111390872A, the problem that a mechanical arm drags a body to a target adapter position through a closed mode to finish the butting operation of the body adapter and the target adapter is solved, a double-arm alternate active and passive control mode is adopted, namely, one arm is actively controlled, the other arm is controlled in a following manner, the other arm is controlled as an active arm, the previous active arm is changed into a passive arm, the left arm and the right arm are alternately actively and passively controlled, flexible dragging and butting under a form closed state and a force closed state are realized in this way, and the scheme of the patent document provides a new scheme for double-arm dragging for the out-of-cabin robot of a space station, so that effective butting is realized.

According to the technical scheme, the mechanical arm is required to accurately grasp the target adapter with smaller volume outside the bulkhead, the grasping difficulty is high, the mechanical arm is required to be stretched for a longer arm length to grasp, and the mechanical arm is required to be stretched for grasping in order to avoid damage to the second equipment body due to overlarge rigidity of the mechanical arm, so that the mechanical arm with larger flexibility is configured, the grasping reliability is reduced while the protection of the second equipment body is improved, and longer time or more accurate calculation is required to realize grasping.

Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.

Disclosure of Invention

Aiming at the technical scheme of cooperative flexible dragging and butting inverse operation of the double arms of the out-cabin robot proposed in the patent document with the publication number of CN111390872A in the prior art, the proposed mechanical arm is required to grasp a target adapter with smaller volume and positioned outside a bulkhead more accurately, the grasping difficulty is higher, the proposed mechanical arm is required to stretch longer arm length to grasp, and the second equipment body is prevented from being damaged due to overlarge rigidity of the mechanical arm, so that the mechanical arm with larger flexibility is configured, grasping reliability is reduced while protection of the second equipment body is improved, and longer time or more accurate calculation is required to realize grasping.

In this regard, the present application proposes a spacecraft operation control system. The system comprises a multi-degree-of-freedom mechanical arm and a capturing mechanical claw arm. The multi-degree-of-freedom mechanical arm and the capturing mechanical claw arm can be sunk into the equipment cabin body as an integral device, and can be stretched out when needed. The multi-degree-of-freedom mechanical arm has freedom degrees in the length direction and the circumferential direction, and pose parameters such as the forward extension, the backward extension or the rotation angle of the capturing mechanical arm can be regulated and controlled. In the system, the mechanical arms originally arranged on two sides of the cabin are arranged at the position of the equipment body adapter, on one hand, the rough positioning of the target is realized by utilizing the larger opening and closing range of the intelligent mechanical claw, and the intelligent mechanical claw is not easy to touch the second equipment body due to the larger opening and closing range, so that the problem that the mechanical claw and the mechanical arm can only be configured into an excessive flexible structure capable of reducing the grabbing reliability is avoided, and meanwhile, the intelligent mechanical claw can better capture the target pose by utilizing the multiple degrees of freedom of the multiple degrees of freedom mechanical arm. On the other hand, the intelligent mechanical claw is used for capturing the second equipment body in a manner of controlling the opening and closing of the claw body, and then the first equipment body and the second equipment body can be close to each other through the operations of retreating the multi-degree-of-freedom mechanical arm and the like, so that the butt joint of the first equipment body and the second equipment body is realized under the alignment posture.

The application also provides a spacecraft operation control method, which utilizes the spacecraft operation control system, wherein the system at least comprises a multi-degree-of-freedom mechanical arm, a capturing mechanical claw arm and two central processing units which are respectively arranged on the two equipment bodies. The method comprises at least one of the following steps: when the two central processing units communicate with each other, the two central processing units respectively use the image acquisition equipment to shoot images of the cabin body of the mechanical claw arm on the opposite equipment body; the image acquisition equipment captures images of mechanical gripper arms on the equipment body and generates corresponding target pose data; the two central processing units transmit the respective obtained target pose data, and generate adjustment strategies corresponding to the capture type mechanical gripper arms and the trigger type mechanical gripper arms according to the target pose and the pose data combined with a preset target; after the two central processing units carry out data transmission and commonly know an adjustment strategy, the two central processing units respectively send a regulating instruction to the corresponding multi-degree-of-freedom mechanical arm; and the multi-degree-of-freedom mechanical arm regulates and controls the pose of the capturing mechanical gripper arm according to the regulating and controlling instruction.

The capture type mechanical claw arm is arranged on the first equipment body cabin body through the multi-degree-of-freedom mechanical arm and is provided with a lower base and a plurality of capture arms which are sequentially arranged around the circumference of the lower base. The plurality of capturing arms respectively maintain a first included angle formed between the capturing arms and the lower base under the action of a first external force, and the free ends of the plate bodies are limited together to form a first capturing gesture. The multi-degree-of-freedom mechanical arm responds to the regulation and control instruction to convert the grabbing gesture of the capture type mechanical gripper arm. The capture gripper arm applies a second external force to the capture arm by switching in a non-continuous current and/or reversing the first external force in response to the regulation command. The plurality of capturing arms subjected to the second external force are converted from the first capturing posture to the second capturing posture.

According to a preferred embodiment, the trap gripper arms have a first magnetic portion formed on the lower base and a plurality of second magnetic portions formed on each trap arm. When the first magnetic part is electrified by the capturing mechanical claw arm in response to the regulation command, the first magnetic part generates magnetism opposite to that of the second magnetic part. The plurality of capturing arms which are originally kept under the first included angle by the first external force are respectively moved towards the direction away from the lower base or the direction for increasing the included angle between the capturing arms and the upper base under the action of magnetic force repulsive interaction.

According to a preferred embodiment, in the catch-type gripper arm in the first gripping position, the free ends of the free plate bodies are bent in the direction of approach to the lower base such that several free plate bodies together form the gripping end face of the catch-type gripper arm.

According to a preferred embodiment, the free plate has a first plate body and a second plate body which are formed to extend continuously with each other. The first plate body is bent toward a direction approaching a central axis where the lower base is located. The second plate body extends continuously along the outer edge of the first plate body and is reversely bent in a direction away from the central axis of the guide rod.

According to a preferred embodiment, the free end of the capturing cavity, which is open, is turned inwards towards the inner wall of the capturing cavity to form a locking part. The capturing arm is provided with a free plate body which is formed by extending towards the direction away from the upper base and has a shape memory effect. Wherein, the free board can be with catching the arm and butt to the capture cavity that is in the heating state and inwards overturn along the fore shaft portion and form the snatch gesture that cooperates with the fore shaft portion.

According to a preferred embodiment, the system further comprises a trigger-type gripper arm. The trigger type mechanical claw arm is arranged on the first equipment body through a multi-degree-of-freedom mechanical arm and is provided with a capturing cavity with one end open. The multi-degree-of-freedom mechanical arm responds to the regulation and control instruction to convert the grabbing gesture of the trigger type mechanical gripper arm. The capturing cavity is provided with a first positioning surface, a second positioning surface, a third positioning surface and a fourth positioning surface which respectively extend continuously along the circumferential direction of the trigger type mechanical gripper arm and are sequentially connected with each other in the extending direction of the two ends of the trigger type mechanical gripper arm. The second positioning surface, the third positioning surface and the fourth positioning surface jointly form the locking part.

According to a preferred embodiment, the fourth positioning surface is an arcuate surface extending along the outer edge of the third positioning surface toward the interior of the space defined by the second and third positioning surfaces.

According to a preferred embodiment, the first device body further has a safety shield jaw arm disposed inside the capture cavity. The safety shield jaw arm is configured at a position that is capable of abutting the capture jaw arm when the capture jaw arm is moved toward the trigger-type jaw arm into the capture cavity. The safety shield jaw arm is capable of gradually exiting the capture cavity in a capture direction in response to a thrust action exerted thereon by the capture jaw arm to mitigate an impact action of the capture jaw arm.

The application also provides a spacecraft operation control method, and the spacecraft operation control system is utilized and at least comprises the multi-degree-of-freedom mechanical arm. The system includes at least a captured robotic arm. The capture type mechanical claw arm is arranged on the first equipment body cabin body through the multi-degree-of-freedom mechanical arm and is provided with a lower base and a plurality of capture arms which are sequentially arranged around the circumference of the lower base. The plurality of capturing arms respectively maintain a first included angle formed between the capturing arms and the lower base under the action of a first external force, and the free ends of the plate bodies are limited together to form a first capturing gesture.

The method comprises at least one of the following steps: the multi-degree-of-freedom mechanical arm responds to the regulation and control instruction to convert the grabbing gesture of the capture type mechanical gripper arm; the capture type mechanical claw arm responds to the regulation and control instruction and applies a second external force action to the capture arm in a mode of switching in non-continuous current and/or reversing the first external force action; the plurality of capturing arms subjected to the second external force are converted from the first capturing posture to the second capturing posture.

According to a preferred embodiment, the method further comprises: forming a first magnetic part on the lower base; forming a plurality of second magnetic portions on each of the capturing arms; when the first magnetic part is electrified by the capture mechanical claw arm in response to the regulation and control instruction, the first magnetic part generates magnetism opposite to that of the second magnetic part, so that a plurality of capture arms which are originally kept under a first included angle through the action of a first external force are subjected to magnetic repulsion action to move towards a direction away from the lower base or a direction for increasing the included angle between the capture arms and the upper base respectively.

The application also provides a spacecraft operation control method, and the spacecraft operation control system is utilized. The method comprises at least one of the following steps: the multi-degree-of-freedom mechanical arm can change the pose of the capturing mechanical arm by adjusting the states of all joints of the mechanical arm; shooting an image of a cabin where the trigger type mechanical claw arm is located on the second equipment body by using image acquisition equipment; capturing images of the trigger type mechanical gripper arms on the second equipment body; the image recognition processing obtains a target pose of the trigger type mechanical gripper arm, and transmits a regulating and controlling instruction generated according to the target pose to the multi-degree-of-freedom mechanical arm; and the multi-degree-of-freedom mechanical arm regulates and controls the pose of the capturing mechanical gripper arm according to the regulating and controlling instruction.

The application provides a spacecraft operation control system, which at least comprises a first equipment body and a second equipment body to be docked. The spacecraft operation control system further comprises: the trigger type mechanical claw arm is arranged on the second equipment body and provided with a capturing cavity with one end open. The spacecraft operation control system further comprises a capturing mechanical claw arm which is arranged on the first equipment body through a multi-degree-of-freedom mechanical arm and is provided with a lower base and a plurality of capturing arms which are sequentially arranged around the circumference of the lower base. The plurality of capturing arms respectively maintain a first included angle formed between the capturing arms and the lower base under the action of a first external force, and the free ends of the plate bodies limit the capturing end faces of the capturing mechanical gripper arms together. When the capture type mechanical gripper arm is driven to move towards the triggering type mechanical gripper arm by regulating and controlling the gesture of the mechanical arm with multiple degrees of freedom, a grabbing end face formed by the capture type mechanical gripper arm under the action of first external force enters the capture cavity. The capture gripper arm may apply a second external force to the capture arm by switching in a non-continuous current and/or reversing the first external force in response to the regulation command. The plurality of capturing arms subjected to the second external force move towards the inner wall of the capturing cavity respectively in a mode of expanding the capturing end face, and capture of the triggering type mechanical claw arms by the capturing mechanical claw arms is realized by means of the abutting relation between the capturing arms and the capturing cavity under the movement.

The first external force action may be the elastic action of springs with two ends fixed on the upper base and the lower base respectively. The first external force action can also be the shaping action of a spring with shape memory effect, the two ends of which are respectively fixed on the upper base and the lower base, at a lower temperature. The second external force action can be a repulsive force generated by exciting the first magnetic part and the second magnetic part when non-continuous current is connected. The second external force action may also refer to a deformation action caused by exciting the shape memory effect of the spring by heat conduction, and the direction of the force action caused by the deformation action on the capturing arm is opposite to the direction of the force action limiting the movement of the capturing arm. The second external force may be a force generated by overlapping a repulsive force generated by exciting the first magnetic portion and the second magnetic portion when a non-continuous current is applied to the spring by exciting the shape memory effect of the spring by heat conduction. The capturing of the trigger type mechanical gripper arm by the capture mechanical gripper arm is realized by means of the abutting relation between the capture mechanical gripper arm and the capture cavity under the movement, which can mean that the capture arm with the shape memory effect abuts against the capture cavity in the heating state to excite the capture arm to deform, so that the deformed capture arm can capture the capture cavity or be captured by the capture cavity.

The spacecraft operation control system improves the structures of the capture type mechanical claw arms and the directional heads, so that the capture type mechanical claw arms and the trigger type mechanical claw arms can be guided to grab or capture through discontinuous current with short access time, the magnetic field effect is small, the action time is short, the normal operation of parts such as antenna array and the like sensitive to magnetic field change on the spacecraft is facilitated to be maintained, and the connection relation between the capture type mechanical claw arms and the trigger type mechanical claw arms is independent of the magnetic force effect generated by electrifying, so that the connection impact caused by the magnetic force effect can be effectively avoided.

According to a preferred embodiment, the trap gripper arms have a first magnetic portion formed on the lower base and a plurality of second magnetic portions formed on each trap arm. When the first magnetic part is electrified by the capture mechanical claw arm in response to the regulation and control instruction, the first magnetic part generates magnetism opposite to that of the second magnetic part, so that the capture arms which are originally kept under the first included angle by the first external force effect are respectively moved towards a direction away from the lower base or a direction for increasing the included angle between the capture arms and the upper base by magnetic repulsion.

According to a preferred embodiment, the free end of the capturing cavity, which is open, is turned inwards towards the inner wall of the capturing cavity to form a locking part. The capturing arm is provided with a free plate body which is formed by extending towards the direction away from the upper base and has a shape memory effect. Wherein, the free board can be with catching the arm and butt to the capture cavity that is in the heating state and inwards overturn along the fore shaft portion and form the snatch gesture that cooperates with the fore shaft portion.

According to a preferred embodiment, in the catch-type gripper arm in the first gripping position, the free ends of the free plate bodies are bent in the direction of approach to the lower base such that several free plate bodies together form the gripping end face of the catch-type gripper arm.

According to a preferred embodiment, the free plate has a first plate body and a second plate body which are formed to extend continuously with each other. The first plate body is bent toward a direction approaching a central axis where the lower base is located. The second plate body extends continuously along the outer edge of the first plate body and is reversely bent in a direction away from the central axis of the guide rod.

According to a preferred embodiment, the second device body further has a safety shield jaw arm disposed inside the capture cavity. The safety shield jaw arm is configured at a position that is capable of abutting the capture jaw arm when the capture jaw arm is moved toward the trigger-type jaw arm into the capture cavity. The safety shield jaw arm is capable of gradually exiting the capture cavity in a capture direction in response to a thrust action exerted thereon by the capture jaw arm to mitigate an impact action of the capture jaw arm.

The application also provides a control method for the spacecraft operation control system, which comprises at least one of the following steps: when the capture type mechanical gripper arm is driven to move towards the triggering type mechanical gripper arm by regulating and controlling the gesture of the mechanical arm with multiple degrees of freedom, the free ends of a plurality of capture arms of the capture type mechanical gripper arm, which respectively keep a first included angle formed between the capture type mechanical gripper arm and the lower base under the action of a first external force, limit the formed capture end face to enter the capture cavity together. A second external force is applied to the capture arm by applying a non-continuous current to the capture gripper arm and/or reversing the first external force. The plurality of capturing arms subjected to the second external force move toward the inner wall of the capturing cavity in a manner of expanding the capturing end faces. The plurality of capturing arms move into abutment with the capturing cavity. The capture gripper arms grasp the trigger gripper arms by means of an abutting relationship between the plurality of capture arms and the capture cavity.

According to a preferred embodiment, the method further comprises: when the first magnetic part is electrified by the capturing mechanical claw arm in response to the regulation command, the first magnetic part generates magnetism opposite to that of the second magnetic part. The plurality of capturing arms are magnetically repelled to move in a direction away from the lower base or in a direction to increase an included angle between the capturing arms and the upper base.

According to a preferred embodiment, the method further comprises: when the capturing arm is abutted to the capturing cavity in the heating state, the free plate body is turned inwards along the locking port portion to form a capturing posture matched with the locking port portion.

According to a preferred embodiment, the method further comprises: when the capturing type mechanical claw arm enters the capturing cavity towards the triggering type mechanical claw arm, the safety protection claw arm is located at a position capable of being abutted with the capturing type mechanical claw arm. When the capturing mechanical claw arm is abutted to the safety protection claw arm and exerts pushing force on the safety protection claw arm, the safety protection claw arm gradually withdraws from the capturing cavity along the capturing direction so as to slow down the impact action of the capturing mechanical claw arm.

Drawings

FIG. 1 is a simplified block diagram of a system according to the present invention;

FIG. 2 is a simplified schematic diagram of a safety shield pawl arm provided by the present invention;

fig. 3 is a simplified schematic view of a gripper arm according to the present invention.

List of reference numerals

1: a capture gripper arm; 2: a trigger-type gripper arm; 3: a capture cavity; 4: an upper base; 5: a capture arm; 6: a first end; 7: a lower base; 8: a first bracket; 9: a spring; 10: a first magnetic part; 11: a second magnetic part; 12: a guide rod; 13: a locking part; 14: a free plate body; 15: safety protection claw arms; 16: a movable base; 17: a protection plate; 18: a fixed base; 19: a second bracket; 20: a first-stage damping telescopic rod; 21: a secondary damping telescopic rod; 22: a photoelectric sensor; 23: a thermoluminescent section; 24: a central processing unit; 25: a multi-degree-of-freedom mechanical arm.

Detailed Description

The following detailed description refers to the accompanying drawings.

The spacecraft operation control system for the equipment body group at least comprises a capturing type mechanical claw arm 1 and/or a triggering type mechanical claw arm 2. The cabin wall of the spacecraft can be provided with a capturing type mechanical claw arm 1 and a triggering type mechanical claw arm 2 simultaneously or separately. The capturing type mechanical claw arm 1 and the triggering type mechanical claw arm 2 which are arranged at the same time can be arranged at different positions on the cabin.

The catching type gripper arm 1 may be disposed inside a first body adapter for realizing the docking of a spacecraft, and the triggering type gripper arm 2 may be disposed inside a second body adapter for docking with the first body adapter. The capturing gripper arm 1 and the triggering gripper arm 2 can alternately and actively capture or capture each other under a regulation command. The alternating process may refer to a process including alternating actions, in which after one of the gripper arms acts, the other gripper arm is triggered to perform a corresponding action. The system includes at least a central processing unit 24 for processing data and issuing regulatory instructions. The first equipment body and the second equipment body are respectively provided with a central processing unit 24, and when a certain distance is reached between the first equipment body and the second equipment body, the two central processing units 24 can communicate with each other so as to cooperatively control the mechanical arm and/or the body adapter.

The case where the first apparatus body includes the catching type gripper arm 1 and/or the first body adaptor and the second apparatus body includes the trigger type gripper arm 2 and/or the second body adaptor will be described below. The capturing type mechanical gripper arm 1 and the triggering type mechanical gripper arm 2 are respectively positioned on the corresponding equipment bodies through the mechanical arms 25 with multiple degrees of freedom.

When the two central processing units 24 communicate with each other, the two central processing units 24 respectively use the image acquisition equipment to shoot images of the cabin body where the mechanical claw arm is located on the opposite equipment body. The image acquisition equipment captures images of the mechanical gripper arms on the equipment body and generates corresponding target pose data. The two central processing units 24 perform data transmission on the respective obtained target pose data, and generate adjustment strategies corresponding to the capturing type mechanical gripper arm 1 and the triggering type mechanical gripper arm 2 according to the target pose and the pose data of a preset target. The adjustment strategy is determined by taking the minimum sum of the pose adjustment amount of the capture type mechanical gripper arm 1 and the pose adjustment amount of the trigger type mechanical gripper arm 2 as a constraint condition, and at least comprises adjustment data for indicating the pose adjustment amounts of the capture type mechanical gripper arm 1 and the trigger type mechanical gripper arm 2. After the two central processing units 24 perform data transmission and commonly recognize the adjustment strategy, the two central processing units 24 respectively issue the adjustment and control instructions to the multi-degree-of-freedom mechanical arms 25 corresponding to the adjustment and control instructions. A consensus is reached when the adjustment strategies of the two cpus 24 are the same; when the two adjustment strategies are different, adding a judgment condition that the pose adjustment amount corresponding to the heavy person in the two equipment bodies is smaller, selecting the adjustment strategy with the pose adjustment amount corresponding to the heavy person in the two smaller equipment bodies, and transmitting data of the judgment result, namely, achieving consensus. The multi-degree-of-freedom mechanical arm 25 regulates the pose of the capturing mechanical gripper arm according to the regulating command.

The trigger gripper arm 2 has a catch cavity 3 that is open at one end and that allows the catch gripper arm 1 to pass in an aligned or misaligned manner.

In the case of gripping, the first end 6 of the capturing gripper arm 1 can be excited by a non-continuous current to switch from a first gripping position to a second gripping position having a gripping end face that is larger than the first gripping position. The first end 6 entering the capturing cavity 3 in the condition that the trigger-type gripper arm 2 is in a heated state is excited by heat conduction in such a way that it abuts against the inner wall of the capturing cavity 3 to deform along the shape of the inner wall of the capturing cavity 3. The capturing gripper arm 1 is switched from the second capturing posture to the third capturing posture which is captured by the trigger gripper arm 2 to restrict the relative displacement thereof.

Preferably, the first device body further comprises a first body adapter, and the second device body further comprises a second body adapter. The first body adapter can be connected with the second body adapter to ensure the relative fixation of the equipment body group after connection. The capturing mechanical gripper arm 1 is arranged at the middle position of the second body adapter and protrudes outwards from the first body adapter, so that the capturing mechanical gripper arm 1 is connected with the triggering mechanical gripper arm 2 before the first body adapter, and connection impact between the first body adapter and the second body adapter is reduced. Likewise, the trigger-type gripper arms 2 protrude outwards from the second body adapter.

To achieve the conversion of the first gripping posture to the second gripping posture, the capturing gripper arm 1 has an upper base 4 and a plurality of capturing arms 5 provided at intervals from each other in the circumferential direction of the upper base 4. The plurality of capturing arms 5 are each capable of rotating with respect to the upper base 4. The angle formed by the several capturing arms 5 with respect to the upper base 4 before gripping is limited to a first angle. At this time in the first grasping posture. When the gripper is gripping, the plurality of capturing arms 5 can be driven to rotate relative to the upper base 4 under the action of external force, so that the angle formed by the capturing arms relative to the upper base 4 can be at least increased to a second included angle which can be abutted against the capturing cavity 3 of the trigger type mechanical gripper arm 2, and the first end part 6 is converted into a second gripping posture. In this arrangement, the catch gripper arm 1 enters the trigger gripper arm 2 with a smaller gripping end face.

To achieve stabilization before gripping, the first end 6 of the catching gripper arm 1 has a lower base 7 formed in a space surrounded by several catching arms 5 and springs 9 connected at both ends to the upper base 4 and the lower base 7, respectively. The lower base 7 is provided with first brackets 8 in the circumferential direction, which correspond to the different capturing arms 5, respectively. The springs 9 exert a pressing force to move the upper base 4 and the lower base 7 in a direction away from each other in such a manner that they are compressed, respectively. Both ends of the first bracket 8 are rotatably connected to the lower base 7 and the capturing arm 5, respectively, such that a change in the distance between the lower base 7 and the upper base 4 will cause a change in the angle formed by the capturing arm 5 relative to the upper base 4. In this arrangement, the spring force of the spring 9 keeps the plurality of catch arms 5 in a position close to each other before gripping, ensuring that the catch gripper arm 1 enters the trigger gripper arm 2 with a small gripping end surface.

To achieve the conversion of the gripping posture, the first end portion 6 of the capturing type gripper arm 1 has a first magnetic portion 10 formed on the lower base 7 and a plurality of second magnetic portions 11 formed on each capturing arm 5. When the first magnetic part 10 is energized by the capturing gripper arm in response to the regulation command, the first magnetic part 10 will generate magnetism opposite to that of the second magnetic part 11, so that the capturing arms 5, which were otherwise held in the first capturing posture by the springs 9, are magnetically repelled to move in a direction away from the lower base 7 or in a direction to increase the angle between them and the upper base 4, respectively. The non-continuous current referred to in this application may refer to an instantaneous current or a short-time current that is passed to the first magnetic portion 10. The electromagnetic effect at the moment or at the short time has little influence on the operation of the antenna. Preferably, the second magnetic portion 11 is provided on the capturing arm 5 facing the plate surface of the space where the lower base 7 is located. On the one hand, the second magnetic part 11 is made to be closer to the first magnetic part 10, the obtained magnetic repulsion effect is larger, and on the other hand, the second magnetic part 11 does not influence the abutting between the capturing arm 5 and the inner wall of the capturing cavity 3.

Preferably, both ends of the first bracket 8 are rotatably connected to the inner end surface of the catch arm 5 and the lower base 7, respectively. The end of the first bracket 8 connected to the catch arm 5 is closer to the upper base 4 than the other end thereof connected to the lower base 7. Preferably, the catch gripper arm 1 has a guide bar 12 for guiding the spring 9.

Preferably, one end of the guide rod 12 is fixed to the lower base 7, and the other end thereof penetrates the lower base 7 to be fixed to the first apparatus body by the multi-degree-of-freedom mechanical arm 25. The extending direction of the guide rod 12 is the extending direction of the rod body thereof. The multi-degree-of-freedom mechanical arm 25 can move the guide rod 12 to a position where grabbing is needed, or adjust one or several motion parameters of the extension length, the spatial position and/or the rotation angle of the guide rod 12 according to the position of the target to be captured in real time.

As another preferred embodiment, one end of the guide rod 12 is fixed to the lower base 7, and the other end thereof penetrates the upper base 4 to be fixed to the first apparatus body. The extending direction of the guide bar 12 is the grasping direction of the first apparatus body. The spring 9 can drive the upper base 4 to move along the guide rod 12.

In order to realize the conversion from the second grabbing posture to the third grabbing posture, the free end of the capturing cavity 3, which is open, is turned inwards towards the inner wall of the capturing cavity 3 to form a locking part 13. The catch arm 5 has a free plate 14 formed extending away from the upper base 4 and having a shape memory effect. The free plate 14 is turned inwardly along the notch portion 13 in such a manner that the catch arm 5 is switched to the second catch posture to abut against the catch cavity 3 in the heated state to form a third catch posture that is mated with the notch portion 13.

Preferably, the free plate 14 has a shape memory effect. Preferably, the free plate 14 has a one-way shape memory effect, and the shape of the free plate 14 is relatively fixed at relatively low temperatures. At relatively high temperatures, the free plate 14 actively flexes and deforms. Preferably, the free plate 14 has a two-way shape memory effect.

Preferably, before gripping, the free ends of the free plates 14 are bent toward the central axis of the guide bar 12 so that the plurality of free plates 14 together form a bud-like structure with a smaller gripping end face. So that the catching type gripper arm 1 can enter the trigger type gripper arm 2 more quickly.

Preferably, to enable repeated gripping use of the captured robotic arm 1, the spring 9 has a shape memory effect responsive to temperature actuation, and may be particularly a two-way shape memory effect responsive to temperature actuation. The spring 9 is in a stretched state at a relatively low temperature and the spring 9 is in a compressed state at a relatively high temperature. Under the two-way shape memory effect, the spring 9 actively switches from a compressed state to an extended state during the decrease from a relatively high temperature to a relatively low temperature; conversely, the spring 9 actively switches from the stretched state to the compressed state. Preferably, a spring 9 with a lower response temperature is selected. When the first end 6 of the capturing gripper arm 1 enters the capturing chamber 3, the spring 9 is able to switch towards the compressed state by activating its shape memory effect under heat conduction of the capturing chamber 3 in the condition that the trigger gripper arm 2 is in the heated state, so that the capturing arm 5 can rotate freely. In the event of a temperature drop of the trigger gripper arm 2 or withdrawal of the first end 6 from the capturing cavity 3, the spring 9 is able to initiate its shape memory effect at a relatively low heat transfer temperature to switch towards the stretched state, so that the capturing arm 5 is collapsed into the first capturing position.

Preferably, when the capturing gripper arm 1 is converted from the first capturing posture to the second capturing posture, the device body group can be converted from the non-aligned posture to the aligned posture by means of a low impact action formed between the capturing arm 5 and the capturing chamber 3 during the movement of the plurality of capturing arms 5 at a certain speed after the angular restriction is released and abutting to the capturing chamber 3.

Preferably, the end of the capturing arm 5 connected to the upper base 4 is provided with a sensor for detecting an angle formed by the capturing arm 5 with respect to the upper base 4. In the case where the equipment body group or the docking equipment group is in a non-aligned posture, or in the case where the capturing gripper arm 1 and the trigger gripper arm 2 are in a non-aligned posture, and/or when the capturing arm 5 of the capturing gripper arm 1 is released from its angular restriction within the capturing cavity 3 of the trigger gripper arm 2, the multi-degree-of-freedom gripper arm 25 may make posture adjustment based on the sensed data detected by the several sensors and a preset threshold range. And ending the posture adjustment when the sensing data detected by the plurality of sensors are all within a preset threshold range. The preset threshold range may be obtained by processing image data obtained by the multi-degree-of-freedom mechanical arm 25 through image acquisition and recognition of the trigger type mechanical gripper arm 2 by the image acquisition device. According to the image data, the current relative position relation between the trigger type mechanical gripper arm 2 and the capture type mechanical gripper arm 1 can be determined, and the preset threshold range for posture adjustment can be determined by combining the relative position relation corresponding to the alignment posture. The image acquisition device may be provided on the outer wall of the cabin, or in the lower base 7, or on the first body adapter or the second body adapter. The sensor may be an angle sensor or a force sensor. The first device body of the capturing type gripper arm is deformed according to a predetermined shape due to the shape memory effect of the free plate 14, and the free plate 14 can be brought into contact with the notch portion 13 so as to be actively adjusted to the aligned posture.

Preferably, a second end portion of the trap type gripper arm 1 opposite to the first end portion 6 is fixed to the first apparatus body, and the first body adaptor is interlocked with the trap type gripper arm 1 in such a manner that it does not restrict the posture switching of the trap type gripper arm 1 but can relatively rotate with the rotation of the trap type gripper arm 1, so that when the relative positional relationship between the trap type gripper arm 1 and the trigger type gripper arm 2 is obtained by the trap type gripper arm 1, the first body adaptor can relatively rotate with the trap type gripper arm 1 with respect to the trigger type gripper arm 2 based on the relative positional relationship, and the first body adaptor is directionally moved to be docked to the second body adaptor in a state where the relative positional relationship is satisfied with the second body adaptor. Under this arrangement, particularly for the case where the first body adaptor and the second body adaptor need to be completely docked under a certain relative positional relationship, in the prior art, hard docking is generally adopted, that is, the first body adaptor is docked to the second body adaptor with a certain angle deviation depending on a strong impact force during docking, and the deviation angle is corrected by shaking relative to the second body adaptor under the impact force. The impact force under the butt joint mode is large, so that the gesture of the spacecraft is changed greatly, larger impact load and local deformation are generated at certain contact positions of the spacecraft, the structure is damaged due to too large load, and the mechanism cannot be separated due to too large deformation or plastic deformation. In this regard, the system proposed in the present application adopts flexible capturing, captures and grabs with the locking notch portion 13 through the way that capturing arm 5 warp, because locking notch portion 13 turns inwards and makes the capturing arm 5 of deformation along with it can be limited in the fore-and-aft displacement in the direction of grabbing, has buffered the impact effect on the one hand, on the other hand provides the auxiliary role for the butt joint of equipment body group.

Preferably, the free end of the free plate 14 is provided with a photosensor 22. The inner wall surface of the lock portion 13 is provided with a thermoluminescent portion 23. When the trigger type gripper arm 2 is heated to be in a heating state, the thermoluminescent part 23 positioned in the locking part 13 converts the heating into light energy so that the free end of the free plate body 14 extending inwards along the turning direction of the locking part 13 can collect the light signal emitted by the thermoluminescent part 23 through the photoelectric sensor 22 and convert the light signal into an electric signal used for representing the position of the free plate body 14. Preferably, the inside of the notch portion 13 is made to have a varying luminous intensity in the circumferential direction along the capturing type gripper arm 1 by arranging the thermoluminescent portion 23 located inside the notch portion 13. Preferably, the thermoluminescent sections 23 within the locking section 13 may be arranged by regulating the thickness, the number, or the method of selecting the thermoluminescent sections 23 having different luminous intensities. Preferably, to increase the sensitivity of the photoelectric sensor 22 to the luminous intensity, the inside of the locking portion 13 has a luminous intensity that varies periodically in the circumferential direction along the capturing type gripper arm 1. Periodic variations are distinguished from continuous variations, and the variation in the intensity of the emitted light can be increased in a single period, thus enabling the photosensor 22 to be more sensitive to its location. For a given periodically varying luminous intensity, the thermoluminescent portion 23 may be arranged in such a way that it can direct the position inside the latch portion 13.

Preferably, the multiple degree of freedom robotic arm 25 or the first body adapter may determine the relative pose error between it and the second body adapter by comparing the photoelectric signals acquired by the plurality of photosensors 22 with a preset luminous intensity arrangement. The multi-degree of freedom mechanical arm 25 allows the first body adapter to be relatively rotated or pose adjusted based on the relative pose error, so that the first body adapter can be accurately docked to the second body adapter along the grabbing direction in a preset pose. Preferably, since the second apparatus body and the first apparatus body are each provided with the multiple degree of freedom robot arm 25. The pose adjustment amounts corresponding to the two multi-degree-of-freedom mechanical arms 25 are determined by taking the least pose adjustment amounts of the two multi-degree-of-freedom mechanical arms 25 as constraint conditions. The two multiple degree of freedom robotic arms 25 simultaneously perform pose adjustment to achieve the target pose faster. In the prior art, a ring-type interval repeated structure is generally adopted for butt joint, the structure does not need to be completely butt-jointed at 360 degrees, and accurate butt joint is generally required only at an angle corresponding to the interval of the repeated structure, namely, the two can realize head-groove butt joint only by rotating a small-amplitude angle. In the application, the two to be butted can relatively rotate before grabbing, so that small relative pose errors between the two are eliminated, the butting process is smooth, and the butting impact is further reduced.

Preferably, the trigger type gripper arm 2 has a first positioning surface, a second positioning surface, a third positioning surface, and a fourth positioning surface, which extend continuously in the circumferential direction of the trigger type gripper arm 2, respectively, and are connected to each other in order in the extending direction of both ends of the trigger type gripper arm 2. The first positioning surface extends from the end of the locking notch 13 on the trigger type mechanical gripper arm 2 to the other end of the trigger type mechanical gripper arm 2 and has a gradually narrowing trend. The second positioning surface is an arc-shaped surface formed along the side of the first positioning surface near the locking portion 13 and turned inward toward the inside of the capturing cavity 3. The arc length of the second positioning surface corresponds to an angle smaller than 360 degrees. The third positioning surface is an end surface formed by continuing to extend along the outer edge of the second positioning surface towards the direction approaching the first positioning surface. The outer edge of the third positioning surface is at a distance from the first positioning surface. The third locating surface may be a planar or arcuate surface. The fourth locating surface is an arc-shaped surface which is formed by continuously extending along the outer edge of the third locating surface towards the space inside which is formed by the second locating surface and the third locating surface in a jointly surrounded mode. The fourth and/or third positioning surface is adapted to abut against the outer wall of the capturing arm 5 entering the capturing cavity 3. The trigger type mechanical claw arm 2 at least comprises a third positioning surface and a fourth positioning surface which are made of heat conducting materials. The second positioning surface, the third positioning surface and the fourth positioning surface together form the locking notch portion 13.

Preferably, to ensure that the captured robotic arm 1 better abuts against the notch portion 13 for heat conduction after deployment. The side surface, close to the capturing cavity, of the second positioning surface is provided with an elastic part. The free plate 14 moves towards the second positioning surface and abuts against the elastic portion when the capturing arm 5 entering the capturing cavity 3 is deployed. So that the elastic portion is deformed by the pressure to a shape conforming to the free plate body 14. Preferably, the elastic portion is a heat conductive material.

Preferably, after the task is completed, the temperature of the trigger-type gripper arm 2 is removed so that the capturing gripper arm 1 is kept in the third gripping posture. Preferably, the free plate 14 has a two-way shape memory effect, and after the first body adapter is docked with the second body adapter, the temperature of the trigger-type gripper arm 2 is removed so that the capture gripper arm 1 exits the lock portion 13 outwardly in a manner that resumes the first gripping attitude before gripping.

Preferably, the second device body also has a safety shield jaw arm 15 provided inside the capturing cavity 3. The safety shield pawl arm 15 is positioned on the second apparatus body in such a manner that it can move back and forth relative to the second apparatus body in the gripping direction. And at a position that can abut against the trap-type gripper arm 1 when the trap-type gripper arm 1 enters the trap chamber 3 toward the trigger-type gripper arm 2. So that it gradually exits the capturing chamber 3 in the capturing direction in response to the pushing force applied thereto by the capturing type gripper arm 1 to slow down the impact action of the capturing type gripper arm 1.

Preferably, the free plate 14 has a first plate body formed to extend continuously with each other and a second plate body formed to form a free end of the free plate 14 before gripping. The first plate body is bent in a direction approaching the central axis where the guide bar 12 is located, and the second plate body is continuously extended along the first plate body and is deviated from the central axis to be bent in a direction away from the central axis where the guide bar 12 is located. In this arrangement, the plurality of free plate bodies 14 together form a bud-like structure having a small gripping end face and a curved gripping end face. The grabbing end surface is curved so that the capturing type mechanical gripper arm 1 has a certain capturing flexibility. When the gripping end face of the catching type gripper arm 1 abuts against the safety protection gripper arm 15, the impact thereof can be effectively slowed down while the structures of the catching type gripper arm 1 and the safety protection gripper arm 15 are protected from being damaged. In addition, the free plate 14 has a certain outward turning structure trend before grabbing, so that the free plate can be better guided to interact with the locking notch 13.

Preferably, the guide bar 12 is positioned on the first apparatus body in such a manner that it can move back and forth in the gripping direction with respect to the first apparatus body. After the first body adapter and the second body adapter are docked stably, the catch type gripper arm 1 and the trigger type gripper arm 2 can be disconnected from each other.

Preferably, the safety shield arm 15 has a movable base 16 and a plurality of shield plates 17 disposed around the circumference of the movable base 16, the plurality of shield plates 17 being linked with the movable base 16 so as to be movable toward a direction approaching the center axis of the movable base 16 when the movable base 16 is relatively displaced by the thrust of the capturing type gripper arm 1, so that the plurality of shield plates 17 can guide the moving direction of the capturing type gripper arm 1 to the grasping direction thereof aligned with the trigger type gripper arm 2 in such a manner that they abut on the outer wall of the capturing type gripper arm 1.

Preferably, the safety shield jaw arm 15 has a fixed base 18, a second bracket 19 and a primary damping telescopic rod 20. The plurality of protection plates 17 are disposed at intervals around the circumference of the fixed base 18 in such a manner that one ends of the protection plates are rotatably connected to the fixed base 18. The second support 19 is rotatably coupled to the shielding plate 17 and the movable base 16 at both ends thereof, respectively, and allows the shielding plate 17 to be folded inwardly to a position close to the fixed base 18 with a reduced distance between the fixed base 18 and the movable base 16.

Preferably, the end of the second bracket 19 connected to the movable base 16 is closer to the fixed base 18 than the other end thereof. So that the shielding plate 17 has a portion of the plate body extending beyond the movable base 16. The shield plate 17 can be better abutted to the outer wall of the trap type gripper arm 1.

Preferably, one end of the second bracket 19 connected to the shielding plate 17 is closer to the fixing base 18 than the other end thereof. Thus, the movable base 16 has a longer moving range and can play a better role in buffering.

Preferably, the distance between the fixed base 18 and the movable base 16 is adjusted by telescoping the primary damping telescoping rod 20. Two ends of the primary damping telescopic rod 20 are respectively connected to the fixed base 18 and the movable base 16. By designing the damping strength or the damping strength variation of the primary damping telescopic rod 20, the safety protection claw arm 15 can provide buffering effects with different sizes.

Preferably, the angle formed between the plurality of protection plates 17 and the fixed base 18 is large enough to receive the capturing gripper arm 1 before gripping. During gripping, the capturing gripper arm 1 pushes against the movable base 16 to compress the primary damping telescopic rod 20 backward. Preferably, the safety shield jaw arm 15 is positioned on the second apparatus body by a secondary damping telescopic rod 21. Two ends of the secondary damping telescopic rod 21 are connected to the fixed base 18 and the second apparatus body, respectively. It is further preferred that when the safety shield jaw 15 is subjected to an external force, the external force is damped by compressing the secondary damping telescopic rod 21. Further preferably, the second device body can regulate the secondary damping telescopic rod 21 to actively retract to withdraw the safety shield jaw arm 15 from the capture type gripper arm 1, so that the capture type gripper arm 1 is exposed within the capture cavity 3 and can expand the capture arm 5 to abut against the trigger type gripper arm 2 in a heated state.

Preferably, the catching gripper arm 1 is moved inwardly into the catching chamber 3 in such a way that it is surrounded by the safety gripper arm 15, so that a safety gripper arm 15 is spaced between the catching gripper arm 1 and the triggering gripper arm 2 in the heated state. When an external force is applied to the safety shield jaw arm 15 to withdraw the safety shield jaw arm 15 from the catching type mechanical jaw arm 1, the thrust applied to the upper base 4 of the safety shield jaw arm 15 by the catching type mechanical jaw arm 1 is withdrawn to spread out the shielding plates 17 of the safety shield jaw arm 15. The capturing gripper arm 1 can be converted to the third gripping posture in such a manner that the capturing arm 5 is unfolded.

Preferably, the shielding plates 17 may be made of a heat insulating material, so as to avoid premature deformation of the capturing arm 5 due to temperature change caused by direct contact with the locking portion 13 after the capturing gripper arm 1 enters the capturing cavity 3. Meanwhile, the problem that the capture type mechanical gripper arm 1 cannot be grabbed or captured with the trigger type mechanical gripper arm 2 due to the fact that part of the capture arm 5 is bent by heating is avoided.

Preferably, the capturing gripper arm 1 may be deployed after being captured by the safety shield gripper arm 15 with the capturing arm 5. The catch arm 1 may be deployed after being released by the safety shield arm 15.

Preferably, the trigger type gripper arm 2 has a wall surface with a gradual narrowing trend extending from the end where the self-locking mouth 13 is located to the other end, so that the safety protection gripper arm 15 pushed out of the capturing cavity 3 by the end of the trigger type gripper arm 2 can be forced to draw the protection plate 17 inwards under the limitation of the gradual narrowing wall surface on the trigger type gripper arm 2. After the task is finished or the capturing type mechanical gripper arm 1 exits the triggering type mechanical gripper arm 2, the second equipment body can relatively fix a plurality of protection plates 17 in the folded posture by adjusting and controlling the primary damping telescopic rod 20 to increase damping, and drives the secondary damping telescopic rod 21 to extend so that the safety protection gripper arm 15 moves towards the end where the locking part 13 is located. The primary damping telescopic rod 20 is regulated and controlled to reduce damping when the protection plates 17 move to the side of the locking port 13 or extend out of the end where the locking port 13 is located, so that a plurality of protection plates 17 can be respectively unfolded towards the locking port 13. Under this setting, the single grabbing or capturing process does not destroy the structures of the trigger type gripper arm 2 and the safety protection gripper arm 15, and the safety protection gripper arm 15 can be restored to the posture before grabbing, so as to facilitate the realization of repeated grabbing.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention encompasses multiple inventive concepts, such as "preferably," "according to a preferred embodiment," or "optionally," all means that the corresponding paragraph discloses a separate concept, and that the applicant reserves the right to filed a divisional application according to each inventive concept. Throughout this document, the word "preferably" is used in a generic sense to mean only one alternative, and not to be construed as necessarily required, so that the applicant reserves the right to forego or delete the relevant preferred feature at any time.

Claims (10)

1. A spacecraft operation control system, comprising at least:

a multi-degree-of-freedom mechanical arm (25); and

the capture mechanical gripper arm (1) is arranged on the cabin of the first equipment body through the mechanical gripper arm (25) with multiple degrees of freedom and is provided with a lower base (7) and a plurality of capture arms (5) which are sequentially arranged around the circumference of the lower base (7), the plurality of capture arms (5) respectively maintain a first included angle formed between the capture arms and the lower base (7) under the action of a first external force, the free ends of a plurality of free plate bodies (14) which are arranged on the capture arms (5) and extend towards the direction far away from the upper base (4) are limited together to form a first grabbing gesture,

Wherein the multi-degree-of-freedom mechanical arm (25) responds to the regulation command to convert the grabbing gesture of the capturing mechanical arm (1), the capturing mechanical arm (1) responds to the regulation command to apply a second external force to the capturing arm (5) by switching in a non-continuous current and/or reversing the action of a first external force, a plurality of capturing arms (5) which are subjected to the second external force are converted from the first grabbing gesture to the second grabbing gesture,

the capture type mechanical gripper arm (1) is arranged in the first body adapter, the trigger type mechanical gripper arm (2) is arranged in the second body adapter, the capture type mechanical gripper arm and the second body adapter can alternately and actively grab or capture each other under a regulation and control instruction, the capture type mechanical gripper arm and the second body adapter are respectively positioned on corresponding equipment bodies through the multi-degree-of-freedom mechanical arms (25), and when the two central processing units (24) communicate with each other, the two central processing units (24) respectively utilize the image acquisition equipment to shoot images of a cabin where the mechanical gripper arm is located on the opposite equipment bodies.

2. The system according to claim 1, characterized in that the capturing gripper arm (1) has a first magnetic part (10) formed on the lower base (7) and a plurality of second magnetic parts (11) formed on each capturing arm (5),

when the first magnetic part (10) is electrified by the capture mechanical claw arm (1) in response to a regulation command, the first magnetic part (10) generates magnetism opposite to that of the second magnetic part (11), so that a plurality of capture arms (5) which are originally kept under a first included angle through the action of a first external force are subjected to magnetic repulsion action to move towards a direction away from the lower base (7) or towards a direction for increasing the included angle between the capture arms and the upper base (4).

3. A system according to claim 2, characterized in that in the capturing gripper arm (1) in the first gripping position, the free ends of the free plate bodies (14) are bent towards the direction of approach to the lower base (7) such that several free plate bodies (14) together form the gripping end face of the capturing gripper arm (1).

4. A system according to claim 3, characterized in that the free plate (14) has a first plate body and a second plate body formed extending continuously with each other, the first plate body being bent in a direction close to the central axis where the lower base (7) is located, the second plate body being bent along the outer edge of the first plate body in a direction extending continuously and being bent in a direction away from the central axis where the guide bar (12) is located.

5. The system according to claim 4, characterized in that the free end of the catch chamber (3) which is open is turned inwards towards the inner wall of the catch chamber (3) to form a locking opening (13), the catch arm (5) has a free plate body (14) which is formed by extending away from the upper base (4) and has a shape memory effect, wherein the free plate body (14) can be turned inwards along the locking opening (13) to form a gripping position which is matched with the locking opening (13) in such a way that the catch arm (5) abuts against the catch chamber (3) in a heated state.

6. The system according to claim 5, further comprising a trigger-type gripper arm (2) provided on the first device body by means of a multi-degree-of-freedom robot arm (25) and having a capturing cavity (3) open at one end,

the multi-degree-of-freedom mechanical arm (25) responds to a regulation and control instruction to convert the grabbing gesture of the trigger type mechanical gripper arm (2), the capturing cavity (3) is provided with a first positioning surface, a second positioning surface, a third positioning surface and a fourth positioning surface which respectively extend continuously along the circumferential direction of the trigger type mechanical gripper arm (2) and are sequentially connected with each other in the extending directions of two ends of the trigger type mechanical gripper arm (2), and the second positioning surface, the third positioning surface and the fourth positioning surface jointly form the locking port part (13).

7. The system of claim 6, wherein the fourth locating surface is an arcuate surface extending along an outer edge of the third locating surface toward an interior of a space defined by the second locating surface and the third locating surface.

8. A spacecraft operation control method, characterized in that a spacecraft operation control system according to claims 1-7 is utilized, said system comprising at least:

A multi-degree-of-freedom mechanical arm (25); and

the capture mechanical gripper arm (1) is arranged on the cabin of the first equipment body through the mechanical gripper arm (25) with multiple degrees of freedom and is provided with a lower base (7) and a plurality of capture arms (5) which are sequentially arranged around the circumference of the lower base (7), the plurality of capture arms (5) respectively maintain a first included angle formed between the capture arms and the lower base (7) under the action of a first external force, the free ends of a plurality of free plate bodies (14) which are arranged on the capture arms (5) and extend towards the direction far away from the upper base (4) are limited together to form a first grabbing gesture,

the capturing mechanical gripper arm (1) is arranged in the first body adapter, the triggering mechanical gripper arm (2) is arranged in the second body adapter, the capturing mechanical gripper arm and the second body adapter can alternately and actively grasp or capture each other under the regulation and control instruction, the capturing mechanical gripper arm and the second body adapter are respectively positioned on the corresponding equipment bodies through the mechanical gripper arms (25), when the two central processing units (24) communicate with each other, the two central processing units (24) respectively utilize the image acquisition equipment to shoot images of a cabin body where the mechanical gripper arm is positioned on the opposite equipment body,

the method comprises at least one of the following steps:

the multi-degree-of-freedom mechanical arm (25) responds to the regulation and control instruction to convert the grabbing gesture of the capturing mechanical gripper arm (1);

The capture mechanical gripper arm (1) responds to the regulation command to apply a second external force action to the capture arm (5) by switching in a non-continuous current and/or reversing the first external force action;

the plurality of capturing arms (5) subjected to the second external force are converted from the first capturing posture to the second capturing posture.

9. A spacecraft operation control method, characterized in that a spacecraft operation control system according to claims 1-7 is utilized, said system comprising at least:

a multi-degree-of-freedom mechanical arm (25); and

the capture mechanical gripper arm (1) is arranged on the cabin of the first equipment body through the mechanical gripper arm (25) with multiple degrees of freedom and is provided with a lower base (7) and a plurality of capture arms (5) which are sequentially arranged around the circumference of the lower base (7), the plurality of capture arms (5) respectively maintain a first included angle formed between the capture arms and the lower base (7) under the action of a first external force, the free ends of a plurality of free plate bodies (14) which are arranged on the capture arms (5) and extend towards the direction far away from the upper base (4) are limited together to form a first grabbing gesture,

the capturing mechanical gripper arm (1) is arranged in the first body adapter, the triggering mechanical gripper arm (2) is arranged in the second body adapter, the capturing mechanical gripper arm and the second body adapter can alternately and actively grasp or capture each other under the regulation and control instruction, the capturing mechanical gripper arm and the second body adapter are respectively positioned on the corresponding equipment bodies through the mechanical gripper arms (25), when the two central processing units (24) communicate with each other, the two central processing units (24) respectively utilize the image acquisition equipment to shoot images of a cabin body where the mechanical gripper arm is positioned on the opposite equipment body,

The method comprises at least one of the following steps:

the multi-degree-of-freedom mechanical arm (25) can change the pose of the capturing mechanical claw arm (1) by adjusting the states of all joints of the mechanical arm;

shooting an image of a cabin where the trigger type mechanical claw arm (2) is located on the second equipment body by using image acquisition equipment;

capturing an image of a trigger type mechanical gripper arm (2) on the second equipment body;

the image recognition processing obtains the target pose of the trigger type mechanical gripper arm (2), and transmits a regulating and controlling instruction generated according to the target pose to the multi-degree-of-freedom mechanical arm (25);

and the multi-degree-of-freedom mechanical arm (25) regulates and controls the pose of the capturing mechanical gripper arm (1) according to the regulating and controlling instruction.

10. A spacecraft operation control method, characterized in that a spacecraft operation control system according to claims 1-7 is utilized, said system comprising at least:

a multi-degree-of-freedom mechanical arm (25);

the capture mechanical gripper arm (1) is arranged on the first equipment body cabin through the multi-degree-of-freedom mechanical arm (25) and is provided with a lower base (7) and a plurality of capture arms (5) which are sequentially arranged around the circumference of the lower base (7), the plurality of capture arms (5) respectively maintain a first included angle formed between the capture arms and the lower base (7) under the action of a first external force, and the free ends of a plurality of free plate bodies (14) which are arranged on the capture arms (5) and extend towards the direction far away from the upper base (4) are limited together to form a first capturing gesture; and

Two central processing units (24) respectively arranged on the two equipment bodies,

the method comprises at least one of the following steps:

when the two central processing units (24) communicate with each other, the two central processing units (24) respectively use the image acquisition equipment to shoot images of the cabin body of the mechanical claw arm on the opposite equipment body;

the image acquisition equipment captures images of mechanical gripper arms on the equipment body and generates corresponding target pose data;

the two central processing units (24) transmit the respective obtained target pose data, and generate adjustment strategies corresponding to the capturing type mechanical gripper arm (1) and the triggering type mechanical gripper arm (2) according to the target pose and the pose data for the preset target;

after the two central processing units (24) carry out data transmission and commonly know an adjustment strategy, the two central processing units (24) respectively send the regulation and control instructions to the corresponding multi-degree-of-freedom mechanical arms (25);

and the multi-degree-of-freedom mechanical arm (25) regulates and controls the pose of the capturing mechanical gripper arm (1) according to the regulating and controlling instruction.