CN115092426B - A capture and cleanup system and capture and cleanup method for non-cooperative rollover targets - Google Patents

Abstract

A capture and cleanup system and a capture and cleanup method for non-cooperative rollover targets belong to the technical field of spacecraft on-orbit service. In order to solve the problem of how to ensure that the capture mechanism does not cause excessive disturbance to the attitude of the serving satellite when the target is captured and derotated when facing non-cooperative rolling targets of different shapes and sizes. The invention includes a ground control unit, a service satellite, a vision guidance unit, a foldable mechanical arm, a force sensor, a contact derotation mechanism and a foldable soft capture mechanism; the ground control unit is used to control the service satellite; the vision guidance unit is installed on the service satellite One end of the foldable mechanical arm is installed on the side end surface of the service satellite, the other end of the foldable mechanical arm is fixedly connected to one end of the force sensor, and the other end of the force sensor is fixedly connected to one end of the contact derotation mechanism. The other end of the derotation mechanism is fixedly connected with the driving end of the collapsible soft capture mechanism. The invention is mainly used for catching non-cooperative targets in space.

Description

A capture and cleanup system and capture and cleanup method for non-cooperative rolling targets

technical field

The invention belongs to the technical field of spacecraft on-orbit service, and in particular relates to a capture and cleaning system and a capture and cleaning method for non-cooperative rolling targets.

Background technique

Since the Soviet Union launched the first artificial satellite in the last century, the space orbit has been occupied by millions of payloads. In addition to the normally working in-orbit equipment, invalid satellites and various derivatives of collision and disintegration constitute a huge amount of space junk, and space debris is a non-cooperative target. On-orbit equipment is always in danger of colliding with non-cooperative targets. According to relevant studies, even if no spacecraft are launched from now on, according to the Kessler theory, only considering the collisions between existing failed satellites will still lead to a substantial increase in the number of space debris.

In response to the urgent need for non-cooperative target clearing technology, countries around the world have proposed research plans to approach the target through service satellites, and use the terminal capture mechanism to capture and detach the target. There are mainly the following methods: 1 Flexible method: European space Flying nets and flying claws in the ROGERRObotic GEostationary orbit Restorer program, harpoons in the e.Deorbit program, etc.; 2 Rigid methods: US FRENDFrontend Robotics Enabling Near-term Demonstration, Germany DEOSDEutsche Orbitale Servicing, ESA rigid capture concept; 3 New capture methods: gecko foot bionic material claws, retractable claws facing the rocket load docking ring, inflatable deployment capture mechanism, etc. In the face of the cleaning of non-cooperative targets, the rigid method has a small capture range and requires high accuracy of the attitude control of the service satellite. The gripper captures the characteristic parts such as the docking ring hard, which will introduce a large attitude disturbance to the service satellite. There is a certain risk of collision; although the flexible method has a large capture range and a large capture tolerance, it cannot eliminate the spin motion of space debris, and there is still uncertainty after the capture is completed; the new capture method can only target particles of a specific shape or material. Fragmentation, poor adaptability to captured objects. Therefore, there is a need for a capture and cleanup system and a capture and cleanup method for non-cooperative rolling targets.

Contents of the invention

The technical problem to be solved in the present invention is: when facing non-cooperative rolling targets of different shapes and sizes, how to ensure that the capture mechanism does not cause excessive disturbance to the attitude of the serving satellite when the target is captured and derotated. Disturbance problem; this application provides a capture and clean-up system and capture and clean-up method for non-cooperative tumbling targets, aiming to solve the problem of high-speed tumbling targets being difficult to be safely and reliably captured, thereby providing new solutions for alleviating problems such as earth orbit congestion and collisions .

The technical scheme that the present invention adopts for solving the problems of the technologies described above is:

A capture and cleaning system for non-cooperative rollover targets, which includes a ground control unit, a service satellite, a visual guidance unit, a foldable mechanical arm, a force sensor, a derotation locking mechanism and a foldable soft capture mechanism; the ground control The unit is used to control the service satellite; the vision guidance unit is installed on the top of the service satellite to obtain the geometric characteristics and motion state of the target and transmit them to the ground control unit; one end of the foldable robotic arm is installed on the top of the service satellite On the side end face, the other end of the foldable mechanical arm is fixedly connected to one end of the force sensor, the other end of the force sensor is fixedly connected to one end of the derotation locking mechanism, and the other end of the derotation locking mechanism is connected to the end of the foldable soft capture mechanism. The drive end is fixed;

The derotation locking mechanism includes a supporting shell, an upper friction disc, a lower friction disc, a hollow shaft, two pairs of bearings, a top cover, several guide posts, several first compression springs, a slip ring assembly and a compression ring; The above-mentioned upper friction disc, lower friction disc and supporting shell are set axially from top to bottom outside the hollow rotating shaft; They are sequentially arranged on the top of the upper friction disc, and the two are connected by bolts. The pressure ring is slidably connected with the upper port of the hollow rotating shaft, and limits the axial displacement of the upper friction disc; the support shell is connected by two For the rotational connection between the bearing and the hollow rotating shaft, the slip ring assembly is arranged axially in the hollow rotating shaft, and an encapsulating disk is arranged at the port at the bottom of the supporting shell, and the encapsulating disc encapsulates the slip ring assembly in the hollow rotating shaft; The rotating end of the slip ring assembly is connected to the pressure ring and the upper friction plate through a key, and the fixed end of the slip ring assembly is fixedly connected to the packaging disc at the bottom of the supporting shell; the outer peripheral surfaces of the upper and lower ends of the supporting shell are Each ring is provided with a plurality of through holes on the upper end of the supporting shell, the inner diameter of which is larger than the outer diameter of the first compression spring; There are several connection holes in the circumferential direction of the lower friction disc; the lower end of the guide post is provided with external threads, and the lower end of the guide post passes through the connection holes on the lower friction disc, the through hole on the support shell and Screwed in the threaded through hole on the support shell; the first compression spring is sleeved on the guide column, and one end of the first compression spring abuts on the upper surface of the ring at the lower end of the support shell, and the first compression spring The other end of the upper friction disc abuts against the lower surface of the lower friction disc, and provides pre-tightening force for the lower friction disc; the friction surface of the upper friction disc and the friction surface of the lower friction disc are connected in contact, and the upper friction disc and the The driving end of the foldable soft capture mechanism is fixedly connected, and the support shell is connected with the force sensor.

A capture and cleanup method for a non-cooperative tumbling target, the specific capture and cleanup process is as follows:

Step 1, the ground control unit controls the service satellite to approach the target;

Step 2, the visual guidance unit detects the state of the target in real time and sends it to the ground control unit;

Step 3, the ground control unit sends instructions to the service satellite, and the service satellite controls the extension of the foldable robotic arm and drives the foldable soft capture mechanism to approach the target;

Step 4: The drive unit in the foldable soft capture mechanism controls the opening of each soft capture finger through the transmission unit. When multiple soft capture fingers are stretched to the maximum, the soft capture fingers will automatically pop open and form a soft capture claw. Enveloping the target, the drive unit in the foldable soft capture mechanism controls each soft capture finger to gather inwards and capture the target through the transmission unit;

Step 5, the foldable soft capture mechanism rotates under the drive of the target, and the derotation locking mechanism provides frictional torque, which is transmitted to the force sensor. The state of the received target is sent to the ground control unit. The ground control unit sends the calculated control command to the service satellite through the trajectory planning algorithm, adjusts the attitude of the service satellite and adjusts the action of the foldable robotic arm to eliminate the rolling motion of the target. Until the target and the service satellite are relatively stationary, lock the derotation locking mechanism through the locking component;

Step 6, the foldable robotic arm retracts, and the service satellite pushes the target into the graveyard orbit or other designated orbits for destruction.

The beneficial effect that the present invention produces compared with prior art is:

1. The collapsible soft capture mechanism in the present invention adopts a cage structure. Before the target is captured, the collapsible soft capture mechanism is in a flexible and foldable state, which is convenient for its transportation and launch; when the target is captured, the collapsible soft capture mechanism is in the The rigid unfolded state can be applied to targets of different shapes and sizes. When the envelope is captured in the face of rolling targets, it solves the problems of large disturbance to the service satellite by the rigid capture method, poor controllability and limited use times of the flexible method.

2. The anti-rotation locking mechanism in the present invention adopts a serial passive friction pair to eliminate the rolling motion of the target, and eliminates the rotational motion of the target spindle direction through the friction torque between the dynamic and static friction plates, and can use no power source The real-time adjustment of the friction pair clearance can be realized in the form of the real-time adjustment, which can effectively eliminate the three-dimensional rolling motion of the target.

3. Through the locking pin in the locking assembly, the locking of the rotor and the stator is realized, and then the locking between the upper friction disc and the lower friction disc is realized, which solves the problem that the slip ring and the derotation mechanism cannot be automatically locked in the existing method. Locks, problems that affect system stability.

4. Through the slip ring assembly in the derotation locking mechanism, the winding of the cable can be prevented.

5. The present invention reduces the calculation burden of the ground control unit and the service satellite operation control system to a great extent by coordinating the measurement of the target state through the visual guidance mechanism and the force sensor.

6. In the present invention, the long-distance safe and reliable capture of the target is realized by the foldable mechanical arm, which effectively isolates the attitude disturbance of the target to the serving satellite, reduces the propellant consumption of the satellite approaching the target, and on the other hand, ensures that the target is captured The stage is always located within the field of view of the vision system, which solves the limitation that traditional methods can only detect objects locally.

Description of drawings

The accompanying drawings, as a part of this application, are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, but do not constitute improper limitations to the present invention.

Fig. 1 is the state schematic diagram that the present invention is in initial contraction;

Fig. 2 is a schematic diagram of the present invention in a state close to the target;

Fig. 3 is a schematic diagram of the state of the present invention in the pre-capture target;

Fig. 4 is a schematic diagram of the state of the present invention in capturing a target;

Fig. 5 is the schematic diagram of the state after the present invention is caught;

Fig. 6 is a structural schematic diagram of a foldable robotic arm;

Fig. 7 is a schematic diagram of the collapsible soft capture mechanism in a contracted state;

Fig. 8 is a partial enlarged view of place C in Fig. 7;

Fig. 9 is a schematic diagram of the foldable soft capture mechanism in an unfolded state;

Figure 10 is a partial enlarged view at D in Figure 9;

Figure 11 is a schematic diagram of the foldable soft capture mechanism in an unfolded state;

Fig. 12 is a partial enlarged view of place B in Fig. 11;

Fig. 13 is a schematic structural view of the derotation locking mechanism;

Fig. 14 is a partial enlarged view of A in Fig. 13; Fig. 15 is an axonometric view of a torsion spring hinge;

Fig. 16 is a structural schematic diagram of a torsion spring hinge;

Fig. 17 is a schematic diagram of the state before the limit locking mechanism is locked;

Fig. 18 is a schematic diagram of the state of the limit locking mechanism after it is locked;

Fig. 19 is a flowchart of the target acquisition method in the present invention.

In the figure: 1-ground control unit; 2-service satellite; 3-visual guidance unit; 5-force sensor; 8-target;

4-foldable mechanical arm: 4-1-installation panel; 4-2-drive assembly; 4-2-1-drive base; 4-2-2-first drive motor; 4-2-3-second Ball screw; 4-2-4-second screw nut; 4-2-5-first gear; 4-2-6-second gear; 4-2-7-first hinged column; 4-2 -8-second hinged column; 4-3-scissor link; 4-4-extensible rod;

6-The anti-rotation locking mechanism: 6-1-support shell; 6-2-upper friction disc; 6-3-lower friction disc; 6-4-hollow shaft; 6-5-top cover; 6-6-bearing ;6-7-guide column; 6-8-the first compression spring; 6-9-slip ring assembly; 6-10-pressure ring; 6-11-rotor; 6-11-1-the first through hole; 6 -12-stator; 6-12-1-second through hole; 6-13-locking assembly; 6-13-1-locking motor; 6-13-2-first ball screw; 6-13- 3-the first lead screw nut; 6-13-4-transmission connecting rod; 6-13-5-locking pin;

7-foldable soft capture mechanism: 7-1-housing; 7-2-second drive motor; 7-3-primary transmission gear; 7-4-ring gear; 7-5-first bevel gear: 7- 6-support frame; 7-7-second bevel gear; 7-8-third bevel gear shaft; 7-9-fourth bevel gear; 7-10-connecting rod; 7-11-wire rope; 7-11- 1-spherical slider; 7-12-hinge seat; 7-13-torsion spring hinge; 7-13-1-outside turret; 7-13-2-inside fixed frame; 7-13-3-rotation shaft; 7-13-4-flat key; 7-13-5-inner abutment ring; 7-13-6-deep groove ball bearing; 7-13-7-end cover; 7-13-8-top column; 7 -13-9-torsion spring; 7-13-10-torsion spring fixed shaft; 7-13-11-connection; 7-13-12-second compression spring; 7-13-13-screw; 7 -14-wire rope fixing block; 7-14-1-strip groove; 7-14-2-circular groove.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention , but not to limit the scope of the present invention.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer" and the like are based on the orientation or positional relationship shown in the accompanying drawings, and are only for It is convenient to describe the present invention and simplify the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Referring to Figures 1 to 18, the embodiment of the present application provides a capture and cleaning system for non-cooperative rolling targets, which includes a ground control unit 1, a service satellite 2, a visual guidance unit 3, a foldable robotic arm 4, and a force sensor 5. The derotation locking mechanism 6 and the foldable soft capture mechanism 7; the ground control unit 1 is used to receive and issue detection signals and control instructions to realize the entire system, eliminating the hardware burden caused by on-board calculation; The service satellite 2 described above provides power signals for the foldable manipulator 4, the force sensor 5 and the foldable soft capture mechanism 7; the signal emitted by the force sensor 5 can be directly transmitted through the cable or wireless transmission function arranged inside the foldable manipulator 4 To the service satellite 2, a signal transmission module is installed inside the service satellite 2, which can transmit the signal to the ground control unit 1; the vision guidance unit 3 is installed on the top of the service satellite 2 for obtaining the geometric characteristics and motion of the target 8 state, and transmit the acquired information of the target 8 to the ground control unit 1; the foldable robotic arm 4 is used to push the foldable soft capture mechanism 7 to the vicinity of the target 8, and the force sensor 5 is used to monitor The friction torque of the anti-rotation locking mechanism 6, the anti-rotation locking mechanism 6 is used to eliminate the rotation of the target 8, and the foldable soft capture mechanism 7 is used for capturing the target 8.

One end of the foldable mechanical arm 4 is installed on the side end surface of the service satellite 2, the other end of the foldable mechanical arm 4 is fixedly connected to one end of the force sensor 5, and the other end of the force sensor 5 is connected to the end of the derotation locking mechanism 6. One end is affixed, and the other end of the derotation locking mechanism 6 is affixed to the driving end of the foldable soft capture mechanism 7;

The derotation locking mechanism 6 includes a supporting shell 6-1, an upper friction disc 6-2, a lower friction disc 6-3, a hollow shaft 6-4, two pairs of bearings 6-6, a top cover 6-5, several A guide column 6-7, several first compression springs 6-8, a slip ring assembly 6-9 and a pressure ring 6-10; the upper friction disc 6-2, the lower friction disc 6-3 and the supporting shell 6 -1 is fitted axially from top to bottom outside the hollow shaft 6-4; the upper friction disc 6-2 is connected to the upper end of the hollow shaft 6-4 through a key, and the top cover 6-5 is connected to the pressure ring 6-10 are arranged on the top of the upper friction disc 6-2 in sequence in the axial direction, and the two are connected by bolts. The pressure ring 6-10 is slidingly connected with the upper port of the hollow rotating shaft 6-4, and limits the upper The axial displacement of the friction disc 6-2; the support shell 6-1 is rotationally connected with the hollow shaft 6-4 through two pairs of bearings 6-6, and the slip ring assembly 6-9 is axially arranged on the hollow shaft 6 -4, an encapsulation disc 6-1-1 is provided at the port at the bottom of the support shell 6-1, and the encapsulation disc 6-1-1 encapsulates the slip ring assembly 6-9 in the hollow shaft 6-4 ; The rotating end of the slip ring assembly 6-9 is connected with the pressure ring 6-10 and the upper friction disc 6-2 by a key, and the fixed end of the slip ring assembly 6-9 is connected to the packaging circle at the bottom of the support shell 6-1 The disk 6-1-1 is fixedly connected; a circular ring is arranged on the outer peripheral surface of the upper end and the lower end of the supporting shell 6-1, and several through holes are opened in the circumferential direction of the circular ring at the upper end of the supporting shell 6-1. The inner diameter of the through hole is larger than the outer diameter of the first compression spring 6-8; there are several threaded through holes in the circumferential direction of the ring at the lower end of the support shell 6-1; there are several threaded through holes in the circumferential direction of the lower friction disc 6-3. Connecting hole; the lower end of the guide post 6-7 has an external thread, and the lower end of the guide post 6-7 passes through the connecting hole on the lower friction disc 6-3, the through hole on the support shell 6-1 and is screwed In the threaded through hole on the support shell 6-1; the first compression spring 6-8 is sleeved on the guide column 6-7, and one end of the first compression spring 6-8 abuts against the support shell 6-1 On the upper surface of the ring at the lower end, the other end of the first compression spring 6-8 abuts against the lower surface of the lower friction disc 6-3, and provides pre-tightening force for the lower friction disc 6-3; the upper friction disc The friction surface of 6-2 and the friction surface of the lower friction disc 6-3 are connected in contact, the upper friction disc 6-2 is fixedly connected to the driving end of the foldable soft capture mechanism 7, and the support shell 6- 1 is connected with force sensor 5.

In this embodiment, as shown in Figure 1, after the ground control unit 1 controls the service satellite 2 to approach the target 8, the visual guidance unit 3 monitors the state of the target 8 in real time, and sends it to the ground control unit 1, and the ground control unit 1 Send instructions to the service satellite 2, and adjust the position and orientation of the service satellite 2 to be basically consistent with the target 8; The target 8 is approaching, and when the visual guidance unit 3 monitors that the target 8 is relatively close to the capture range of the foldable soft capture mechanism 7, the visual guidance unit 3 sends a signal to the ground control unit 1; as shown in Figure 3, the service satellite 2 can control the The foldable soft capture mechanism 7 is unfolded, and the service satellite 2 controls the foldable mechanical arm 4 to continue to extend until the foldable soft capture mechanism 7 envelops the target 8 and captures the target 8, as shown in Figure 5; The foldable soft capture mechanism 7 rotates under the traction of the target 8; the foldable soft capture mechanism 7 is connected with the upper friction disc 6-2, because the upper friction disc 6-2 is connected by a key with the hollow rotating shaft 6-4, and in Under the action of the top cover 6-5 and the pressure ring 6-10, the upper friction disc 6-2 can move a certain distance along the axial direction of the hollow shaft 6-4 without affecting the co-rotation between the two, so the upper friction disc 6-2 rotates together under the drive of the foldable soft capture mechanism 7 and may produce a certain outward displacement, the upper friction plate 6-2 and the lower friction plate 6-3 are in a separated state; when the target 8 is in the foldable soft capture mechanism When the movement of the mechanism 7 and the upper friction disc 6-2 is relatively regular, the service satellite 2 controls the foldable mechanical arm 4 to continue to extend to ensure that the lower friction disc 6-3 is in contact with the upper friction disc 6-2, while the lower friction disc 6-3 is connected to the force sensor 5 through the shell 6-1, so the lower friction disc 6-3 is relatively stationary, and the lower friction disc 6-3 is connected to the upper friction disc 6-3 under the action of the foldable mechanical arm 4 and the first compression spring 6-8. The friction surfaces of the friction disc 6-2 are in close contact, and there is a friction torque between the two. Under the friction torque provided by the derotation locking mechanism 6, the foldable soft capture mechanism 7 and the target 8 gradually weaken their rotation and are opposite to the service satellite 2 Static; the derotation locking mechanism 6 transmits this frictional torque to the force sensor 5, and the force sensor 5 estimates the derotation feedback force in real time, and sends it to the ground together with the state of the target 8 captured by the vision guidance unit 3 The control unit 1 and the ground control unit 1 send the calculated control command to the service satellite 2 through the trajectory planning algorithm, and the service satellite 2 controls the contraction and extension of the foldable mechanical arm 4 to eliminate the rolling motion of the target 8;

In this embodiment, when the target 8 and the service satellite 2 are relatively stationary, the service satellite 2 controls the foldable mechanical arm 4 to be in a contracted state, and the target is captured by the force sensor 5, the derotation locking mechanism 6 and the foldable soft capture mechanism 7. 8 is drawn towards the service satellite 2, and during the retraction process of the foldable mechanical arm 4, the foldable mechanical arm 4 pulls the force sensor 5 to move towards the service satellite 2, and the force sensor 5 pulls the supporting shell 6 in the derotation locking mechanism 6- 1 and the lower friction disc 6-3 connected to the support shell 6-1 also move towards the service satellite 2, the hollow shaft 6-4 moves towards the service satellite 2 together with it under the restriction of the support shell 6-1, and the upper friction Under the reaction force of the collapsible soft capture mechanism 7 and the target 8, the friction surface of the upper friction disk 6-2 is separated from the friction surface of the lower friction disk 6-3, and no friction torque is generated between the two. Reduce the loss of the friction surface of the upper friction disc 6-2 or the lower friction disc 6-3, and at the same time reduce the mutual disturbance between the target 8 and the service satellite 2 when the service satellite 2 is dragging the target 8; The target 8 and the service satellite 2 are relatively stationary, so even if there is no friction torque between the upper friction disc 6-2 and the lower friction disc 6-3, the target 8 will not have any influence on the service satellite 2.

In this embodiment, the separation of the upper friction disc 6-2 and the lower friction disc 6-3 in the derotation locking mechanism 6 isolates the irregular rolling motion of the service satellite 2 and the target 8, and when the target 8 is on the upper friction disc 6-2 and the collapsible soft capture mechanism 7, when there is only one direction of tumbling motion, and then through the contact between the upper friction disc 6-2 and the lower friction disc 6-3, the target 8 is completely derotated, and the target 8 and the The service satellite 2 is relatively stationary, and the service satellite 2 and the target 8 form a new combination. At this time, the service satellite 2 controls the foldable mechanical arm 4 to shrink, so that the center of mass and inertia of the service satellite 2 change, so as to stabilize the service satellite 2 and the target 8. A new combination formed by the target 8; if the upper friction disc 6-2 and the lower friction disc 6-3 are always in contact without separation, the irregular rollover of the target 8 may cause the bending and deformation of the foldable mechanical arm 4 and Compared with the rigid acquisition method, the attitude disturbance of the service satellite 2 greatly reduces the risk of system failure caused by the rolling motion of the target. At the same time, the contact derotation method eliminates the need for motors and control systems, greatly reduces the weight of the mechanism, and improves system reliability.

In this embodiment, since the whole set of capture and removal system needs to be sent to the predetermined orbit by the carrier rocket, but the volume of the rocket is limited, so the load volume that can be put into the rocket is also limited. 8 It is in a folded configuration state before capture, which facilitates the transportation of the capture and removal system, and effectively solves the problem of the limited volume of the rocket launch load.

In this embodiment, the mechanical arm is configured in a foldable form, which effectively avoids close contact between the rolling target 8 and the service satellite 2 and ensures the safety of the capture operation.

In this embodiment, the force sensor 5 is a six-dimensional force sensor.

In this embodiment, the slip ring assembly 6-9 can prevent the wires drawn from the service satellite 2 from rotating together with the foldable soft capture mechanism 7 to cause the wires to be entangled.

In a possible embodiment, the slip ring assembly 6-9 includes a cylindrical rotor 6-11 and a cylindrical stator 6-12, the fixed end of the rotor 6-11 is connected to the pressure ring 6 -10 and the upper friction disc 6-2 are connected by a key, the connecting end of the rotor 6-11 is sleeved on the connecting end of the stator 6-12, and the fixed end of the stator 6-12 is connected to the packaging circle at the bottom of the supporting shell 6-1. The disk 6-1-1 is connected by bolts; the cable drawn from the service satellite 2 end is connected to the stator 6-12, and the cable drawn from the foldable soft capture mechanism 7 end is connected to the rotor 6-11; the rotor 6 The connecting end of -11 has several first through holes 6-11-1 in the circumferential direction, and the connecting end of the stator 6-12 has several second through holes 6-12-1 in the circumferential direction. The first through holes 6 -11-1 can communicate with the second through hole 6-12-1;

The derotation locking mechanism 6 also includes a locking assembly 6-13, and the locking assembly 6-13 includes a locking motor 6-13-1, a first ball screw 6-13-2, a first Lead screw nut 6-13-3, multiple transmission connecting rods 6-13-4 and multiple locking pins 6-13-5; the locking motor 6-13-1 is fixedly connected to the stator 6-12 ; One end of the first ball screw 6-13-2 is connected to the driving end of the locking motor 6-13-1, and the first screw nut 6-13-3 is screwed to the first ball screw 6- 13-2, a locking pin 6-13-5 is inserted in each second through hole 6-12-1 on the stator 6-12, and the locking pin 6-13-5 can be inserted along the The axial direction of the second through hole 6-12-1 moves, and each transmission connecting rod 6-13-4 corresponds to a locking pin 6-13-5, and one end of the transmission connecting rod 6-13-4 is hinged. On the first lead screw nut 6-13-3, the other end of the transmission link 6-13-4 is hingedly connected to the end of the locking pin 6-13-5.

In this embodiment, the output shaft of the locking motor 6-13-1 drives the first ball screw 6-13-2 to rotate, and the first screw nut 6-13-3 is on the transmission link 6-13-4 and lock pin 6-13-5 to move along the axis direction of the first ball screw 6-13-2, and the first screw nut 6-13-3 drives the lock through the transmission connecting rod 6-13-4 The tight pin 6-13-5 translates along the axial direction of the second through hole 6-12-1. When the rolling target 8 is close to stationary relative to the serving satellite 2, since the rotor 6-11 and the stator 6-12 are provided with sensors, according to the preset relative position program between the rotor 6-11 and the stator 6-12, the two The position between them is adjusted. When the first through hole 6-11-1 communicates with the second through hole 6-12-1, the screw nut 6-13-3 is locked under the action of the locking motor 6-13-1. Moving upward, the transmission connecting rod 6-13-4 pushes the locking pin 6-13-5 to be inserted into the first through hole 6-11-1 of the rotor 6-11 under the action of the lead screw nut 6-13-3 , the rotor 6-11 and the stator 6-12 cannot rotate each other under the positioning of the locking pin 6-13-5, because the rotor 6-11 is connected with the pressure ring 6-10 and the upper friction plate 6-2 through a key, When the rotor 6-11 cannot rotate, the pressure ring 6-10 and the upper friction disc 6-2 cannot rotate, and the locking of the derotation locking mechanism 6 is realized; when the locking motor 6-13-1 rotates in the opposite direction , the locking pin 6-13-5 is pulled out from the first through hole 6-11-1 of the rotor 6-11, and the derotation locking mechanism 6 is unlocked.

In a possible embodiment, as shown in FIG. 6 , the foldable mechanical arm 4 includes two installation panels 4-1, four sets of drive assemblies 4-2 and multiple scissor links 4-3; Each scissor link 4-3 is uniformly provided with three through holes along its length direction, every two scissor link 4-3 is a group, and the middle positions of the two scissor link 4-3 are hinged on the Together, and form an X-shaped link unit, the two opposite legs between two adjacent X-shaped link units are connected together by a pin hinge, and multiple X-shaped link units are arranged side by side to form a telescopic Rod 4-4; a long strip-shaped through hole is opened in the middle of each installation panel 4-1, wherein two sets of drive assemblies 4-2 are arranged side by side on the inner end surface of one of the installation panels 4-1, in addition Two sets of drive assemblies 4-2 are arranged side by side on the inner end surface of another installation panel 4-1, and the two sets of drive assemblies 4-2 are respectively located on both sides of the elongated through hole; the two installation panels 4-1 Relatively set, one end of the telescopic rod 4-4 is inserted into the elongated through hole of one of the installation panels 4-1 and connected with the two groups of drive assemblies 4-2, the telescopic rod 4- The other end of 4 is inserted into the elongated through hole of the other installation panel 4-1 and connected with the other two groups of drive assemblies 4-2.

In this embodiment, the two installation panels 4 - 1 are respectively connected to the service satellite 2 and one side of the force sensor 5 .

In a possible embodiment, as shown in FIG. 6 , each set of drive assemblies 4-2 includes a drive base 4-2-1, a first drive motor 4-2-2, a second ball screw 4-2 -3 and the second lead screw nut 4-2-4; the two ends of the second ball screw 4-2-3 are rotatably connected to the mounting seats on both sides of the drive base 4-2-1, and the first drive The drive shaft of the motor 4-2-2 drives the second ball screw 4-2-3 to rotate; the second screw nut 4-2-4 is screwed on the second ball screw 4-2-3; One of the second lead screw nuts 4-2-4 in one of the drive assemblies 4-2 on each installation panel 4-1 and one of the feet at the end of the telescopic rod 4-4 pass through the first hinged column 4- 2-7 hinge connection; the second lead screw nut 4-2-4 in another set of drive assembly 4-2 on each mounting panel 4-1 and the other end of the telescopic rod 4-4 The legs are hinged through the second hinged column 4-2-8; the outer ends of the first hinged column 4-2-7 are on both sides of the driving base 4-2-1 in the other group of driving components 4-2 between the mounting seats; the outer end of the second hinge column 4-2-8 is between the mounting seats on both sides of the driving base 4-2-1 in one of the driving assemblies 4-2.

A first gear 4-2-5 is installed on the drive shaft of the first drive motor 4-2-2, and a second gear 4-2-6 is installed at one end of the second ball screw 4-2-3, so The first gear 4-2-5 is meshed with the second gear 4-2-6.

In this embodiment, in this embodiment, when the service satellite 2 controls the foldable mechanical arm 4 to be in the extended state, the first drive motor 4-2-2 drives the second ball screw 4-2-3 to rotate , the second screw nut 4-2-4 screwed on the second ball screw 4-2-3 moves along the axis direction of the second ball screw 4-2-3, and the two drive assemblies 4-2 The second lead screw nut 4-2-4 in the middle moves towards each other, and the distance between the two legs on one side of the X-shaped linkage unit becomes smaller, thereby making the whole body longer and driving the foldable soft capture mechanism 7 to approach the target 8; when When the service satellite 2 controls the retraction of the foldable mechanical arm 4, the first drive motor 4-2-2 rotates in the opposite direction, and the second lead screw nut 4-2-4 in the two drive assemblies 4-2 moves backwards, X-type The distance between the two legs on one side of the connecting rod unit becomes larger, so that the whole becomes shorter, and drives the foldable soft capture mechanism 7 to approach the service satellite 2 .

In a possible embodiment, as shown in FIG. 7 to FIG. 12, the foldable soft capture mechanism 7 includes a housing 7-1, a drive unit, multiple transmission units and multiple soft capture fingers. The driving unit is installed in the shell 7-1, and the plurality of transmission units and the soft capture fingers are evenly installed on the top of the shell 7-1 in the circumferential direction respectively, and the transmission units and the soft capture fingers are arranged radially from the inside to the outside. One-to-one correspondence arrangement, the multiple transmission units and the multiple soft capture fingers are respectively rotationally connected with the housing 7-1; the multiple soft capture fingers form soft capture claws;

The drive unit includes a second drive motor 7-2, a primary transmission gear 7-3, a ring gear 7-4 and a first bevel gear 7-5; the first bevel gear 7-5 and the ring gear 7 -4 is axially installed in the casing 7-1 through the bearing, the bottom end of the first bevel gear 7-5 is fixedly connected with the top end of the ring gear 7-4, and the second drive motor 7-2 is eccentrically arranged in the casing 7 -1, the primary transmission gear 7-3 is set on the drive shaft of the second drive motor 7-2, and the external teeth of the primary transmission gear 7-3 mesh with the internal teeth of the ring gear 7-4; the transmission One end of the unit meshes with the first bevel gear 7-5, and the other end of the transmission unit drives the soft catching fingers to expand or gather outward around the central axis of the housing 7-1.

In a possible embodiment, each transmission unit includes a support frame 7-6, a second bevel gear 7-7 and a third bevel gear shaft 7-8, and the support frame 7-6 is installed on the housing 7- 1, the third bevel gear shaft 7-8 is rotatably connected to the support frame 7-6, and the second bevel gear 7-7 is sleeved on the third bevel gear shaft 7-8 away from the bevel gear One end, and meshes with the first bevel gear 7-5; The connection end of described soft capture finger is provided with the 4th bevel gear 7-9, and the bevel gear on the 3rd bevel gear shaft 7-8 is connected with the 4th bevel gear 7-9 meshed.

In this embodiment, the second drive motor 7-2 drives the primary transmission gear 7-3 to rotate, the primary transmission gear 7-3 drives the ring gear 7-4 meshed with it to rotate, and the ring gear 7-4 drives it to rotate The connected first bevel gear 7-5 rotates, the first bevel gear 7-5 drives the second bevel gear 7-7 in each transmission unit to rotate, and the second bevel gear 7-7 drives the third bevel gear shaft 7-8 Rotate, the third bevel gear shaft 7-8 drives the fourth bevel gear 7-9 to rotate, and the rotation of the fourth bevel gear 7-9 drives the soft catch finger to spread out or gather around the central axis of the shell 7-1.

In a possible embodiment, as shown in Figure 8 and Figure 10, each soft capture finger includes a hinged seat 7-12, a wire rope fixing block 7-14, a multi-section connecting rod 7-10, and a plurality of torsion springs Hinge 7-13 and a steel wire rope 7-11; There is a threading hole 7-10-1 on every connecting rod 7-10, and described multi-section connecting rod 7-10 is arranged axially successively, adjacent two The connecting rods 7-10 are connected by a torsion spring hinge 7-13, and the two adjacent torsion spring hinges 7-13 are arranged positively and negatively; the outer end of the first connecting rod 7-10 is connected to the second The four-bevel gear 7-9 is fixedly connected by a rotating shaft, and the rotating shaft is connected to the hinged seat 7-12; The top has an elongated groove 7-14-1, and the side end of the wire rope fixed block 7-14 has a circular groove 7-14-2, and the elongated groove 7-14-1 is connected with the circle The circular groove 7-14-2 is connected, and the inner diameter of the circular groove 7-14-2 is greater than the inner diameter of the elongated groove 7-14-1; one end of the steel wire rope 7-11 has a spherical slider 7 -11-1, wire rope 7-11 has one end of spherical slide block 7-11-1 to be slidably connected in the elongated groove 7-14-1 of wire rope fixed block 7-14, the other end of wire rope 7-11 Pass through the threading holes 7-10-1 on the connecting rods 7-10 in turn and be fixedly connected on the last connecting rod 7-10, the outer diameter of the spherical slider 7-11-1 is smaller than the connecting rod 7-10 The inner diameter of the threading hole 7-10-1.

In this embodiment, when the soft capture finger is in the state shown in Figure 7, the spherical slider 7-11-1 at the end of the wire rope 7-11 is inside the elongated groove 7-14-1, when the drive unit drives the soft capture When the finger is opened and in the state in Fig. 9, the soft catch finger drives the wire rope 7-11 to move outwards, and the spherical slider 7-11-1 at the end of the wire rope 7-11 moves along the elongated groove 7-14- 1 Move to the position of the circular groove 7-14-2, the spherical slider 7-11-1 breaks away from the steel wire rope fixing block 7-14 from the circular groove 7-14-2, and passes through the connecting rod 7 in turn The threading hole 7-10-1 of -10, multi-section connecting rod 7-10 stretches under the effect of torsion spring hinge 7-13.

In a possible embodiment, as shown in FIGS. 15 to 18, each torsion spring hinge 7-13 includes two outer rotating frames 7-13-1, an inner fixed frame 7-13-2, and a rotating shaft 7. -13-3, flat key 7-13-4, two inner abutment rings 7-13-5, two deep groove ball bearings 7-13-6, two end covers 7-13-7, two twist Reed 7-13-9, torsion spring fixed shaft 7-13-10 and two connecting parts 7-13-11; the middle position of the rotating shaft 7-13-3 is provided with an integral annular protrusion; The inner fixed frame 7-13-2 is sleeved on the annular protrusion of the rotating shaft 7-13-3, and passes through the flat key 7-13 with the annular protrusion on the rotating shaft 7-13-3. -4 for key connection; the two inner abutment rings 7-13-5 are respectively sleeved on the rotating shaft 7-13-3 and are on both sides of the circular protrusion of the rotating shaft 7-13-3. The two outer turrets 7-13-1 described above are respectively sleeved on the two ends of the rotating shaft 7-13-3 through two deep groove ball bearings 7-13-6, and are respectively located in the inner abutment ring 7-13-5 The outer side of the inner abutment ring 7-13-5 abuts on the inner ring of the deep groove ball bearing 7-13-6 toward the side of the deep groove ball bearing 7-13-6; the end cover 7-13-7 includes a ring and a disk, the ring is sleeved on the disk; the two end caps 7-13-7 are respectively located on the sides of the two outer turrets 7-13-1 The two sides are respectively connected to the outer end surface of the outer turret 7-13-1 by a plurality of bolts, and the side of the end cover 7-13-7 facing the outer turret 7-13-1 abuts against the deep groove On the outer ring of the ball bearing 7-13-6; one end of one of the connecting parts 7-13-11 is fixedly connected to the inner fixed frame 7-13-2, and the other end is connected to one end of the connecting rod 7-10 ; One end of the other connecting portion 7-13-11 is connected to the two outer turrets 7-13-1, and the other end is connected to the other end of the connecting rod 7-10; the torsion spring is fixed The shaft 7-13-10 is transversely connected to one of the connecting parts 7-13-11; one end of the two torsion springs 7-13-9 is respectively connected to the outer rings of the two end caps 7-13-7 On the surface, the other ends of the two torsion springs 7-13-9 are respectively flexibly wound on the opposite ends of the torsion spring fixed shaft 7-13-10.

In this embodiment, when the soft catching finger is in a folded state under the action of the steel wire rope 7-11, the torsion spring hinge 7-13 and the torsion spring leaf 7-13-9 in the torsion spring hinge 7-13 are in a bent state, The torsion reed 7-13-9 has a certain elastic potential energy; when the wire rope 7-11 does not restrict the soft capture finger, the torsion reed 7-13-9 opens and releases the elastic potential energy, and the torsion reed 7-13-9 Drive the two outer turrets 7-13-1 connected with it to rotate relative to the inner fixed frame 7-13-2, and the torsion spring hinge 7-13 is in an extended state under the effect of the torsion spring 7-13-9, so that Multi-joint connecting rod 7-10 is in the state among Fig. 11, and this moment soft catch finger can still be in flexible state owing to the effect of torsion spring hinge 7-13.

In a possible embodiment, as shown in Figure 17 and Figure 18, each of the torsion spring hinges 7-13 further includes two limit lock mechanisms, and the two limit lock mechanisms are respectively arranged opposite to each other. On the two outer turrets 7-13-1; each limit locking mechanism includes a stud 7-13-13, a second compression spring 7-13-12 and a top post 7-13-8 arranged in sequence in the axial direction ; The top column 7-13-8 and the stud 7-13-13 are connected through the second compression spring 7-13-12; the tip of the top column 7-13-8 is an arc surface; the A cylindrical groove is respectively arranged on the opposite two side end faces of the inner fixed frame 7-13-2, and a threaded through hole is provided on each outer turret 7-13-1, and the two outer turrets 7-13-1 The threaded through holes on 1 are relatively arranged; the stud 7-13-13 is screwed into the threaded through hole on the outer turret 7-13-1, and the arc surface of the top post 7-13-8 Abut against the side end surface of the inner fixed frame 7-13-2.

In this embodiment, when the torsion spring hinge 7-13 is in the extended state, the two outer turrets 7-13-1 and the inner fixed frame 7-13-2 rotate relatively, and the outer turret 7-13-1 drives the connection The limit lock mechanism of the limit lock mechanism rotates, and the top column 7-13-8 in the limit lock mechanism slides along the end face of the inner fixed frame 7-13-2. When the torsion spring hinge 7-13 is fully in the extended state, this When the limit locking mechanism is facing the cylindrical groove on the side end surface of the inner fixed mount 7-13-2, the top post 7-13-8 in the limit locking mechanism acts on the second compression spring 7-13-12. ejected, and inserted into the cylindrical groove of the inner fixed frame 7-13-2, the two outer turrets 7-13-1 and the inner fixed frame 7-13-2 cannot Turning, achieves a soft capture finger in a rigid state.

Referring to Figure 19, the embodiment of the present application provides a capture and cleanup method for non-cooperative tumbling targets. The specific capture and cleanup process is as follows:

Step 1, the ground control unit 1 controls the service satellite 2 to approach the target 8;

Step 2, the visual guidance unit 3 detects the state of the target 8 in real time and sends it to the ground control unit 1;

Step 3, the ground control unit 1 sends an instruction to the service satellite 2, and the service satellite 2 controls the extension of the foldable robotic arm 4, and drives the foldable soft capture mechanism 7 to approach the target 8;

Step 4, the drive unit in the foldable soft capture mechanism 7 controls the opening of each soft capture finger through the transmission unit. When multiple soft capture fingers are stretched to the maximum, the soft capture fingers will automatically pop open and form soft capture claws. At the same time, the target 8 is enveloped, and the drive unit in the foldable soft capture mechanism 7 controls each soft capture finger to gather inwards and capture the target 8 through the transmission unit;

Step 5, the foldable soft capture mechanism 7 rotates under the drive of the target 8, the derotation locking mechanism 6 provides friction torque, and transmits this torque to the force sensor 5, and the force sensor 5 estimates the derotation feedback force in real time, and communicates with The state of the target 8 captured by the visual guidance unit 3 is jointly sent to the ground control unit 1, and the ground control unit 1 sends the calculated control command to the service satellite 2 through the trajectory planning algorithm to adjust the attitude of the service satellite 2 and adjust the foldable The action of the mechanical arm 4 eliminates the tumbling motion of the target 8 until the target 8 and the service satellite 2 are relatively stationary, and the derotation locking mechanism is locked by the locking component;

Step 6, the foldable robotic arm 4 retracts, and the service satellite 2 pushes the target 8 into the graveyard orbit or other designated orbits for destruction.

Although the invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It is therefore to be understood that numerous modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the invention as defined by the appended claims. It shall be understood that different dependent claims and features described herein may be combined in a different way than that described in the original claims. It will also be appreciated that features described in connection with individual embodiments can be used in other described embodiments.

Claims (10)

1. A capture and cleaning system for non-cooperative rolling targets, characterized in that: it includes a ground control unit (1), a service satellite (2), a visual guidance unit (3), a foldable mechanical arm (4), a force sensor (5), derotation locking mechanism (6) and foldable soft capture mechanism (7); the ground control unit (1) is used to control the service satellite (2); the vision guidance unit (3) is installed To the top of the service satellite (2), used to obtain the geometric characteristics and motion state of the target (8) and transmit it to the ground control unit (1); one end of the foldable mechanical arm (4) is installed on the service satellite (2) The other end of the foldable mechanical arm (4) is affixed to one end of the force sensor (5), and the other end of the force sensor (5) is affixed to one end of the derotation locking mechanism (6). The other end of the locking mechanism (6) is affixed to the driving end of the foldable soft capture mechanism (7); The derotation locking mechanism (6) includes a supporting shell (6-1), an upper friction disc (6-2), a lower friction disc (6-3), a hollow rotating shaft (6-4), two pairs of bearings ( 6-6), top cover (6-5), several guide columns (6-7), several first compression springs (6-8), slip ring assembly (6-9) and pressure ring (6-10 ); the upper friction disc (6-2), the lower friction disc (6-3) and the supporting shell (6-1) are set axially and sequentially on the outside of the hollow shaft (6-4) from top to bottom; the The upper friction disc (6-2) is connected with the upper end of the hollow rotating shaft (6-4) through a key, and the top cover (6-5) and the pressure ring (6-10) are arranged axially on the upper friction disc ( 6-2), and the two are connected by bolts, the pressure ring (6-10) is slidingly connected with the upper end port of the hollow shaft (6-4), and limits the upper friction disc (6-2 ) axial displacement; the support housing (6-1) is rotationally connected with the hollow shaft (6-4) through two pairs of bearings (6-6), and the slip ring assembly (6-9) is axially arranged In the hollow rotating shaft (6-4), an encapsulation disc (6-1-1) is provided at the port at the bottom of the support shell (6-1), and the encapsulation disc (6-1-1) connects the slip ring The component (6-9) is encapsulated in the hollow shaft (6-4); the rotating end of the slip ring component (6-9) passes through the pressure ring (6-10) and the upper friction disc (6-2) Keyed connection, the fixed end of the slip ring assembly (6-9) is fixedly connected to the package disc (6-1-1) at the bottom of the support shell (6-1); the upper and lower ends of the support shell (6-1) An annular ring is respectively arranged on the outer peripheral surface, and several through holes are opened on the upper end of the annular ring at the upper end of the supporting shell (6-1), and the inner diameter of the through holes is larger than the outer diameter of the first compression spring (6-8); There are several threaded through holes in the circumferential direction of the ring at the lower end of the supporting shell (6-1); several connecting holes are opened in the circumferential direction of the lower friction disc (6-3); the guide post (6-7) The lower end of the guide post (6-7) passes through the connection hole on the lower friction disc (6-3) and the through hole on the support shell (6-1) in sequence and is screwed on the support shell ( 6-1) in the threaded through hole; the first compression spring (6-8) is sleeved on the guide post (6-7), and one end of the first compression spring (6-8) abuts against the support On the upper surface of the ring at the lower end of the housing (6-1), the other end of the first compression spring (6-8) abuts against the lower surface of the lower friction disc (6-3), and is the lower friction disc (6-3). 3) Provide pre-tightening force; the friction surface of the upper friction disc (6-2) and the friction surface of the lower friction disc (6-3) are connected in contact, and the upper friction disc (6-2) can be connected with the The driving end of the folding soft capture mechanism (7) is affixed, and the support shell (6-1) is connected with the force sensor (5). 2. A system for capturing and cleaning non-cooperative rolling targets according to claim 1, characterized in that: said slip ring assembly (6-9) includes a cylindrical rotor (6-11) and a cylinder shaped stator (6-12), the fixed end of the rotor (6-11) is connected with the pressure ring (6-10) and the upper friction disc (6-2) by a key, and the rotor (6-11) The connection end is sleeved on the connection end of the stator (6-12), and the fixed end of the stator (6-12) is connected with the package disc (6-1-1) at the bottom of the support shell (6-1) through bolts; The cable drawn from the service satellite (2) end is connected to the stator (6-12), and the cable drawn from the end of the foldable soft capture mechanism (7) is connected to the rotor (6-11); the rotor (6-11) The connecting end of the stator (6-12) has several first through holes (6-11-1) in the circumferential direction, and the connecting end of the stator (6-12) has several second through holes (6-12-1) in the circumferential direction. One through hole (6-11-1) communicates with the second through hole (6-12-1); The derotation locking mechanism (6) also includes a locking assembly (6-13), and the locking assembly (6-13) includes a locking motor (6-13-1), a first ball screw (6-13-2), the first lead screw nut (6-13-3), multiple transmission connecting rods (6-13-4) and multiple locking pins (6-13-5); the described The locking motor (6-13-1) is fixed axially on the stator (6-12); one end of the first ball screw (6-13-2) is connected to the locking motor (6-13-1 ) on the driving end, the first lead screw nut (6-13-3) is screwed on the first ball screw (6-13-2), and each second through hole on the stator (6-12) ( A locking pin (6-13-5) is inserted in 6-12-1), and the locking pin (6-13-5) can be inserted along the second through hole (6-12-1) Move in the axial direction, each transmission link (6-13-4) is set corresponding to a locking pin (6-13-5), and one end of the transmission link (6-13-4) is hinged on the first wire On the lever nut (6-13-3), the other end of the transmission link (6-13-4) is hingedly connected to the end of the locking pin (6-13-5). 3. A system for capturing and cleaning non-cooperative tumbling targets according to claim 1, characterized in that: the foldable robotic arm (4) includes two installation panels (4-1), four sets of drive components (4-2) and a plurality of scissor connecting rods (4-3); each scissor connecting rod (4-3) has three through holes evenly along its length direction, and every two scissor connecting rods (4- 3) As a group, the middle positions of the two scissor linkages (4-3) are hinged together by pins to form an X-shaped linkage unit, and the opposite two adjacent X-shaped linkage units The four legs are connected together by pin hinges, and a plurality of X-shaped linkage units are arranged side by side to form a telescopic rod (4-4); a strip is formed in the middle of each installation panel (4-1) Shaped through holes, wherein two sets of drive assemblies (4-2) are arranged side by side on the inner end surface of one of the installation panels (4-1), and the other two sets of drive assemblies (4-2) are arranged side by side on the other installation panel (4 -1) on the inner end face, two sets of drive assemblies (4-2) are located on both sides of the elongated through hole; 4) is inserted into the elongated through-hole of one of the installation panels (4-1) and connected with the two sets of drive assemblies (4-2), the telescopic rod (4-4) The other end is inserted into the elongated through hole of the other installation panel (4-1) and connected with the other two groups of drive assemblies (4-2). 4. A kind of system for capturing and cleaning non-cooperative rolling targets according to claim 3, characterized in that: each group of drive assemblies (4-2) includes a drive base (4-2-1), a first drive motor (4-2-2), the second ball screw (4-2-3) and the second screw nut (4-2-4); the two of the second ball screw (4-2-3) The ends are rotatably connected to the mounting seats on both sides of the drive base (4-2-1), and the drive shaft of the first drive motor (4-2-2) drives the second ball screw (4-2-3) to rotate; The second lead screw nut (4-2-4) is screwed on the second ball screw (4-2-3); one of the drive assemblies (4) on each mounting panel (4-1) -2) the second lead screw nut (4-2-4) is hinged with one of the legs at the end of the telescopic rod (4-4) through the first hinge column (4-2-7); each The second lead screw nut (4-2-4) in another set of drive assembly (4-2) on the installation panel (4-1) and the other end of the telescopic rod (4-4) The legs are hinged through the second hinged column (4-2-8); the outer end of the first hinged column (4-2-7) is in the driving base ( 4-2-1) Between the mounting seats on both sides; the outer end of the second hinged column (4-2-8) is in the driving base (4- 2-1) Between the mounts on both sides. 5. A capture and cleaning system for non-cooperative tumbling targets according to claim 1, characterized in that: the foldable soft capture mechanism (7) includes a housing (7-1), a drive unit, a plurality of transmission unit and a plurality of soft capture fingers, the drive unit is installed in the housing (7-1), and the multiple transmission units and multiple soft capture fingers are evenly installed on the top of the housing (7-1) in the circumferential direction , the transmission unit and the soft capture fingers are provided in one-to-one correspondence from the inner to the outer radial direction, and the multiple transmission units and the multiple soft capture fingers are respectively connected to the shell (7-1) in rotation; the multiple soft capture fingers are respectively connected in rotation; Capture fingers to form soft capture claws; The drive unit includes a second drive motor (7-2), a primary transmission gear (7-3), a ring gear (7-4) and a first bevel gear (7-5); the first bevel gear The gear (7-5) and the ring gear (7-4) are axially installed in the casing (7-1) through the bearing, and the bottom end of the first bevel gear (7-5) and the top end of the ring gear (7-4) Fixed connection, the second driving motor (7-2) is eccentrically arranged in the casing (7-1), and the primary transmission gear (7-3) is sleeved on the driving shaft of the second driving motor (7-2) , the external teeth of the primary transmission gear (7-3) mesh with the internal teeth of the ring gear (7-4); one end of the transmission unit meshes with the first bevel gear (7-5), and the other end of the transmission unit Drive the soft capture fingers to spread out or gather around the central axis of the shell (7-1). 6. A system for capturing and cleaning non-cooperative rolling targets according to claim 5, characterized in that: each transmission unit includes a support frame (7-6), a second bevel gear (7-7) and a third The bevel gear shaft (7-8), the support frame (7-6) is installed on the top of the casing (7-1), and the third bevel gear shaft (7-8) is rotatably connected to the support frame (7-1). -6), the second bevel gear (7-7) is sleeved on the third bevel gear shaft (7-8) away from the end of the bevel gear, and meshed with the first bevel gear (7-5); A fourth bevel gear (7-9) is provided at the connecting end of the soft catching finger, and the bevel teeth on the third bevel gear shaft (7-8) mesh with the fourth bevel gear (7-9). 7. A system for catching and cleaning non-cooperative tumbling targets according to claim 6, characterized in that: each soft catching finger includes a hinged seat (7-12), a wire rope fixing block (7-14), multiple joint connecting rod (7-10), multiple torsion spring hinges (7-13) and a steel wire rope (7-11); a threading hole (7-10-1 ), the multi-section connecting rods (7-10) are arranged in sequence in the axial direction, and two adjacent connecting rods (7-10) are connected by a torsion spring hinge (7-13). Two torsion spring hinges (7-13) are positively and negatively arranged; the outer end of the first link (7-10) is fixedly connected with the fourth bevel gear (7-9) through a rotating shaft, and the rotating shaft rotates Be connected on the hinged seat (7-12); The wire rope fixing block (7-14) is installed on the top of the casing (7-1), and the top of the wire rope fixing block (7-14) has a strip groove (7-14-1), and the wire rope fixing block ( 7-14) has a circular groove (7-14-2) on the side end, and the elongated groove (7-14-1) communicates with the circular groove (7-14-2) , the inner diameter of the circular groove (7-14-2) is greater than the inner diameter of the elongated groove (7-14-1); one end of the steel wire rope (7-11) has a spherical slider (7-11- 1), the end of the steel wire rope (7-11) with the spherical slider (7-11-1) is slidably connected in the elongated groove (7-14-1) of the wire rope fixing block (7-14), and the wire rope The other end of (7-11) passes through the threading holes (7-10-1) on each connecting rod (7-10) successively and is fixedly connected on the last connecting rod (7-10), and the spherical slider The outer diameter of (7-11-1) is less than the inner diameter of threading hole (7-10-1) on the connecting rod (7-10). 8. A system for capturing and cleaning non-cooperative rolling targets according to claim 7, characterized in that: each torsion spring hinge (7-13) comprises two outer turrets (7-13-1), an inner Fixed frame (7-13-2), rotating shaft (7-13-3), flat key (7-13-4), two inner abutment rings (7-13-5), two deep groove ball bearings (7-13-6), two end caps (7-13-7), two torsion springs (7-13-9), torsion spring fixed shaft (7-13-10) and two connecting parts ( 7-13-11); the middle position of the rotating shaft (7-13-3) is provided with an integral annular protrusion; the inner fixed frame (7-13-2) is sleeved on the rotating shaft (7 -13-3) on the ring-shaped protrusion, and carry out key connection with the ring-shaped protrusion on the rotating shaft (7-13-3) through the flat key (7-13-4); The inner abutment ring (7-13-5) is respectively sleeved on the rotating shaft (7-13-3) and is located on both sides of the circular protrusion of the rotating shaft (7-13-3), and the two outer sides The turret (7-13-1) is respectively sleeved on both ends of the rotating shaft (7-13-3) through two deep groove ball bearings (7-13-6), and is respectively located in the inner abutment ring (7-13 -5) outside, the inner abutment ring (7-13-5) abuts against the side of the deep groove ball bearing (7-13-6) facing the deep groove ball bearing (7-13-6) On the inner ring; the end cap (7-13-7) includes a ring and a disc, and the ring is set on the disc; the two end caps (7-13-7) They are respectively located on both sides of the two outer turrets (7-13-1), and are respectively connected to the outer end surfaces of the outer turrets (7-13-1) by a plurality of bolts. The end caps (7-13- 7) The side facing the outer turret (7-13-1) abuts against the outer ring of the deep groove ball bearing (7-13-6); one end of one of the connecting parts (7-13-11) is fixedly connected On the inner fixed frame (7-13-2), the other end is connected to one end of one of the connecting rods (7-10); one end of the other connecting part (7-13-11) is connected to the two outer On the turret (7-13-1), the other end is connected to one end of the connecting rod (7-10) adjacent to one of the connecting rods (7-10); the torsion spring is fixed The shaft (7-13-10) is transversely connected to one of the connecting parts (7-13-11); one end of the two torsion springs (7-13-9) is respectively connected to the two end caps (7- 13-7) on the outer torus, the other ends of the two torsion springs (7-13-9) are respectively flexibly wound on the opposite ends of the torsion spring fixed shaft (7-13-10). 9. A system for capturing and cleaning non-cooperative rolling targets according to claim 8, characterized in that: each of said torsion spring hinges (7-13) also includes two limit locking mechanisms, two The limit locking mechanism is respectively arranged on the two outer turrets (7-13-1) oppositely; each limit locking mechanism includes a stud (7-13-13) arranged in sequence in the axial direction, a second compression spring (7-13-12) and top post (7-13-8); said top post (7-13-8) and stud (7-13-13) pass through the second compression spring (7-13- 12) to connect; the tip of the top column (7-13-8) is an arc surface; a cylindrical groove is respectively opened on the opposite side end faces of the inner fixing frame (7-13-2), Each outer turret (7-13-1) has a threaded through hole, and the threaded through holes on the two outer turrets (7-13-1) are set oppositely; the studs (7-13- 13) Screwed into the threaded through hole on the outer turret (7-13-1), the arc surface of the top column (7-13-8) abuts against the inner fixed frame (7-13-2) on the side face. 10. Utilize the capture cleaning method of the capture cleaning system described in claim 9, it is characterized in that: concrete capture cleaning process is as follows: Step 1, the ground control unit (1) controls the service satellite (2) to approach the target (8); Step 2, the visual guidance unit (3) detects the state of the target (8) in real time, and sends it to the ground control unit (1); Step 3, the ground control unit (1) sends instructions to the service satellite (2), and the service satellite (2) controls the extension of the foldable robotic arm (4) and drives the foldable soft capture mechanism (7) to approach the target (8) ; Step 4. The drive unit in the foldable soft capture mechanism (7) controls the opening of each soft capture finger through the transmission unit. When multiple soft capture fingers are stretched to the maximum, the soft capture fingers automatically pop open and form a soft capture The claws envelop the target (8) at the same time, and the drive unit in the foldable soft capture mechanism (7) controls each soft capture finger to gather inwards and capture the target (8) through the transmission unit; Step 5, the foldable soft capture mechanism (7) rotates under the drive of the target (8), the derotation locking mechanism (6) provides frictional torque, and transmits this torque to the force sensor (5), and the force sensor (5) The derotation feedback force is estimated in real time, and sent to the ground control unit (1) together with the state of the target (8) captured by the vision guidance unit (3), and the ground control unit (1) uses the trajectory planning algorithm to calculate the The control command is sent to the service satellite (2), the attitude of the service satellite (2) is adjusted and the action of the foldable mechanical arm (4) is adjusted, and the rolling motion of the target (8) is eliminated until the target (8) and the service satellite (2) After being relatively stationary, lock the anti-rotation locking mechanism through the locking component; Step 6, the foldable mechanical arm (4) retracts, and the service satellite (2) pushes the target (8) into the graveyard orbit or other designated orbits for destruction.

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