CN115092426B - Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets - Google Patents
Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets Download PDFInfo
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- CN115092426B CN115092426B CN202210842401.6A CN202210842401A CN115092426B CN 115092426 B CN115092426 B CN 115092426B CN 202210842401 A CN202210842401 A CN 202210842401A CN 115092426 B CN115092426 B CN 115092426B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
A capturing and cleaning system and a capturing and cleaning method for a non-cooperative rolling target belong to the technical field of spacecraft on-orbit service. The problem that when the non-cooperative rolling targets with different shapes and sizes are faced, the situation that when the capture mechanism captures and despin the targets, the attitude of the service satellite cannot be greatly disturbed is solved. The invention comprises a ground control unit, a service satellite, a visual guide unit, a foldable mechanical arm, a force sensor, a contact type despinning mechanism and a foldable soft capturing mechanism; the ground control unit is used for controlling the service satellite; the visual guide unit is installed at the top of the service satellite, one end of the foldable mechanical arm is installed on the side end face of the service satellite, the other end of the foldable mechanical arm is fixedly connected with one end of the force sensor, the other end of the force sensor is fixedly connected with one end of the contact despin mechanism, and the other end of the contact despin mechanism is fixedly connected with the driving end of the foldable soft capture mechanism. The invention is mainly used for catching the non-cooperative target in the space.
Description
Technical Field
The invention belongs to the technical field of on-orbit service of spacecrafts, and particularly relates to a capturing and cleaning system and a capturing and cleaning method for non-cooperative rolling targets.
Background
Since the first satellite launched in the soviet union of the last century, the orbit of space has been occupied by millions of loads. Besides the normal working on-orbit equipment, the invalid satellite and various collision disintegration derivatives form a huge number of space garbage, and space debris belongs to a non-cooperative target. The on-track device is at any time in the threat of colliding with the non-cooperative target. It has been shown from relevant studies that even if no spacecraft were launched from now on, according to Kessler's theory, only the mutual collision between existing failed satellites was taken into account, which would still result in a substantial increase in the number of space fragments.
Aiming at the urgent need of non-cooperative target cleaning technology, various countries in the world have proposed a research plan, approach a target through a service satellite, and capture and lift the target by using a terminal capture mechanism, which is mainly divided into the following methods: 1, a flexible method: fly nets and fly claws in the European administration ROGERROGEBOTIC GEOSTATION ORBIT REStorer plan, and fishing forks in the e.Deorbit plan; 2, a rigid method: the concept of rigid capture by the European space, the American FRENDSTRENTED cavities Near-term monitoring, DEOSDEutsche Orbitale serving, germany; 3 novel capture method: the device comprises a gecko foot bionic material paw, a telescopic paw facing a rocket load butt joint ring, an inflation expansion capturing mechanism and the like. In the face of cleaning of a non-cooperative target, the rigid method is small in capture range and high in requirement on position and attitude control precision of the service satellite, the clamp is used for hard capture of the connection ring and other characteristic parts, large attitude disturbance can be introduced to the service satellite, and certain collision risk exists; although the flexible method has a large capture range and a large capture tolerance, the spinning motion of space debris cannot be eliminated, and uncertainty still exists after the capture is finished; the novel capturing method only aims at fragments with specific shapes or materials, and has poor adaptability to captured objects. Therefore, a capturing and cleaning system and a capturing and cleaning method for non-cooperative rolling targets are needed.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: when non-cooperative rolling targets with different shapes and sizes are faced, the problem that the attitude of a service satellite cannot be greatly disturbed when a capturing mechanism captures and racemizes the targets is solved; the application provides a capturing and cleaning system and a capturing and cleaning method for non-cooperative rolling targets, and aims to solve the problem that high-speed rolling targets are difficult to be captured safely and reliably, so that a new solution is provided for relieving the problems of earth orbit congestion, collision and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a capturing and cleaning system for non-cooperative rolling targets comprises a ground control unit, a service satellite, a visual guide unit, a foldable mechanical arm, a force sensor, a despinning mechanism and a foldable soft capturing mechanism; the ground control unit is used for controlling the service satellite; the visual guide unit is arranged at the top of the service satellite and used for acquiring the geometric characteristics and the motion state of the target and transmitting the geometric characteristics and the motion state to the ground control unit; one end of the foldable mechanical arm is installed on the side end face of the service satellite, the other end of the foldable mechanical arm is fixedly connected with one end of the force sensor, the other end of the force sensor is fixedly connected with one end of the despinning mechanism, and the other end of the despinning mechanism is fixedly connected with the driving end of the foldable soft capturing mechanism;
the despin locking mechanism comprises a support shell, an upper friction disc, a lower friction disc, a hollow rotating shaft, two pairs of bearings, a top cover, a plurality of guide columns, a plurality of first compression springs, a slip ring assembly and a compression ring; the upper friction disc, the lower friction disc and the support shell are sequentially sleeved outside the hollow rotating shaft from top to bottom in an axial direction; the upper friction disc is connected with the upper end of the hollow rotating shaft through a key, the top cover and the pressing ring are axially and sequentially arranged at the top of the upper friction disc and are connected through a bolt, and the pressing ring is connected with the upper end port of the hollow rotating shaft in a sliding mode and limits the axial displacement of the upper friction disc; the supporting shell is rotationally connected with the hollow rotating shaft through two pairs of bearings, the slip ring assembly is axially arranged in the hollow rotating shaft, an encapsulating disc is arranged at the port of 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 with the pressure ring and the upper friction disc through a key, and the fixed end of the slip ring assembly is fixedly connected with the packaging disc at the bottom of the supporting shell; the outer circumferential surfaces of the upper end and the lower end of the supporting shell are respectively provided with a circular ring, a plurality of through holes are formed in the circumferential direction of the circular ring at the upper end of the supporting shell, and the inner diameter of each through hole is larger than the outer diameter of the first compression spring; a plurality of threaded through holes are formed in the circumferential direction of the circular ring at the lower end of the supporting shell; a plurality of connecting holes are formed in the circumferential direction of the lower friction disc; the lower end of the guide post is provided with an external thread, and the lower end of the guide post sequentially penetrates through a connecting hole in the lower friction disc and a through hole in the support shell and is in threaded connection with the threaded through hole in the support shell; the first compression spring is sleeved on the guide post, one end of the first compression spring abuts against the upper surface of the circular ring at the lower end of the support shell, and the other end of the first compression spring abuts against the lower surface of the lower friction disc and provides pretightening force for the lower friction disc; the friction surface of the upper friction disc is in contact connection with the friction surface of the lower friction disc, the upper friction disc is fixedly connected with the driving end of the foldable soft capture mechanism, and the supporting shell is connected with the force sensor.
A capturing and cleaning method for a non-cooperative rolling target comprises the following specific capturing and cleaning processes:
and 6, retracting the foldable mechanical arm, and pushing the target into the grave track or other designated tracks to be destroyed by the service satellite.
Compared with the prior art, the invention has the following beneficial effects:
1. the foldable soft capturing mechanism adopts a cage structure, and is in a flexible and foldable state before a target is captured, so that the target is convenient to transport and launch; when a target is caught, the foldable soft catching mechanism is in a rigid unfolding state, the foldable soft catching mechanism can be suitable for targets with different shapes and sizes, and when the rolling target is subjected to envelope catching, the problems that a rigid catching method has large disturbance on a service satellite, a flexible method is poor in controllability and limited in use times are solved.
2. The racemization locking mechanism adopts the serial passive friction pair to eliminate the rolling motion of the target, eliminates the rotating motion of the target in the main shaft direction through the friction torque between the dynamic and static friction plates, can realize the real-time adjustment of the friction pair clearance in a power-source-free mode, and can efficiently eliminate the three-dimensional rolling motion of the target.
3. The locking of the rotor and the stator is realized through the locking pin in the locking assembly, so that the locking between the upper friction disc and the lower friction disc is realized, and the problems that the self-locking of the slip ring and the despin mechanism cannot be realized and the stability of a system is influenced in the existing method are solved.
4. The cable can be prevented from winding through a slip ring component in the despin locking mechanism.
5. According to the invention, the vision guide mechanism and the force sensor are used for cooperatively measuring the target state, so that the calculation burden of a ground control unit and a service satellite operation control system is greatly reduced.
6. According to the invention, the foldable mechanical arm is used for realizing the long-distance safe and reliable capture of the target, the attitude disturbance of the target to the service satellite is effectively isolated, the propellant consumption of the satellite approaching the target is reduced, on the other hand, the target is ensured to be always positioned in the field of view of a visual system in the capture stage, and the limitation that the traditional method can only carry out local detection on the target is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form.
FIG. 1 is a schematic view of the present invention in an initial contracted state;
FIG. 2 is a schematic view of the present invention in a state approaching a target;
FIG. 3 is a schematic diagram of the present invention in a pre-capture target state;
FIG. 4 is a schematic diagram of the present invention in a state of catching a target;
FIG. 5 is a schematic view of the present invention after the capture is completed;
FIG. 6 is a schematic diagram of a foldable robotic arm;
FIG. 7 is a schematic view of the collapsible soft catch mechanism in a collapsed state;
FIG. 8 is an enlarged view of a portion of FIG. 7 at C;
FIG. 9 is a schematic view of the collapsible soft trap mechanism in an expanded state;
FIG. 10 is an enlarged view of a portion of FIG. 9 at D;
FIG. 11 is a schematic view of the collapsible soft trap mechanism in an expanded state;
FIG. 12 is a partial enlarged view of FIG. 11 at B;
FIG. 13 is a schematic structural view of a racemic locking mechanism;
FIG. 14 is an enlarged view of a portion of FIG. 13 at A; FIG. 15 is an isometric view of a torsion spring hinge;
FIG. 16 is a schematic view of a torsion spring hinge;
FIG. 17 is a schematic view of the limit lock mechanism before locking;
FIG. 18 is a schematic view of the position limiting deadlocking mechanism after deadlocking;
FIG. 19 is a flow chart of a target capture method of the present invention.
In the figure: 1-a ground control unit; 2-a service satellite; 3-a visual guidance unit; 5-a force sensor; 8-target;
4-foldable mechanical arm: 4-1-installing a panel; 4-2-drive assembly; 4-2-1-a drive base; 4-2-2-a first drive motor; 4-2-3-a second ball screw; 4-2-4-a second lead screw nut; 4-2-5-first gear; 4-2-6-second gear; 4-2-7-a first hinge column; 4-2-8-a second articulating column; 4-3-scissor linkage; 4-4-telescoping rod member;
6-despin locking mechanism: 6-1-a support housing; 6-2-upper friction disk; 6-3-lower friction disc; 6-4-hollow rotating shaft; 6-5-top cover; 6-6-bearing; 6-7-a guide post; 6-8-a first compression spring; 6-9-slip ring assembly; 6-10-compression ring; 6-11-rotor; 6-11-1-first via; 6-12-stator; 6-12-1-second via; 6-13-a locking assembly; 6-13-1-locking the motor; 6-13-2-a first ball screw; 6-13-3-a first lead screw nut; 6-13-4-a transmission connecting rod; 6-13-5-locking pin;
7-foldable soft capture mechanism: 7-1-shell; 7-2-a second drive motor; 7-3-primary transmission gear; 7-4-gear ring; 7-5-first bevel gear: 7-6-a support frame; 7-7-second bevel gear; 7-8-a third bevel gear shaft; 7-9-fourth bevel gear; 7-10-connecting rod; 7-11-steel wire rope; 7-11-1-spherical slider; 7-12-hinged seats; 7-13-torsion spring hinge; 7-13-1-outer rotating frame; 7-13-2-inner side fixing frame; 7-13-3-rotating shaft; 7-13-4-parallel bond; 7-13-5-inner abutment ring; 7-13-6-deep groove ball bearing; 7-13-7-end cap; 7-13-8-top column; 7-13-9-twisted spring piece; 7-13-10-torsion spring fixing shaft; 7-13-11-linker; 7-13-12-a second compression spring; 7-13-13-stud; 7-14-fixing the steel wire rope; 7-14-1-strip-shaped groove; 7-14-2-circular groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, 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 explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 18, the present application provides a capturing 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 mechanical arm 4, a force sensor 5, a despin locking mechanism 6, and a foldable soft capturing mechanism 7; the ground control unit 1 is used for receiving and sending a detection signal and a control instruction for realizing the whole set of system, so that the hardware burden caused by satellite-borne calculation is avoided; the service satellite 2 provides electric power signals for the foldable mechanical arm 4, the force sensor 5 and the foldable soft capture mechanism 7; the signal transmitted by the force sensor 5 can be directly transmitted to the service satellite 2 through a cable or wireless transmission function arranged in the foldable mechanical arm 4, and a signal transmission module is arranged in the service satellite 2 and can transmit the signal to the ground control unit 1; the visual guide unit 3 is arranged on the top of the service satellite 2 and used for acquiring the geometric characteristics and the motion state of the target 8 and transmitting the acquired information of the target 8 to the ground control unit 1; the foldable mechanical arm 4 is used for pushing the foldable soft capture mechanism 7 to the vicinity of a target 8, the force sensor 5 is used for monitoring the friction torque of the despin locking mechanism 6, the despin locking mechanism 6 is used for eliminating 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 face of the service satellite 2, the other end of the foldable mechanical arm 4 is fixedly connected with one end of the force sensor 5, the other end of the force sensor 5 is fixedly connected with one end of the despinning locking mechanism 6, and the other end of the despinning locking mechanism 6 is fixedly connected with the driving end of the foldable soft capturing mechanism 7;
the despin locking mechanism 6 comprises 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, a top cover 6-5, a plurality of guide columns 6-7, a plurality of first compression springs 6-8, a slip ring assembly 6-9 and a compression ring 6-10; the upper friction disc 6-2, the lower friction disc 6-3 and the support shell 6-1 are axially sleeved outside the hollow rotating shaft 6-4 from top to bottom in sequence; the upper friction disc 6-2 is connected with the upper end of the hollow rotating shaft 6-4 through a key, the top cover 6-5 and the pressure ring 6-10 are axially and sequentially arranged at the top of the upper friction disc 6-2 and are connected through a bolt, and the pressure ring 6-10 is connected with the upper end port of the hollow rotating shaft 6-4 in a sliding mode and limits axial displacement of the upper friction disc 6-2; the supporting shell 6-1 is rotatably connected with the hollow rotating shaft 6-4 through two pairs of bearings 6-6, the slip ring assembly 6-9 is axially arranged in the hollow rotating shaft 6-4, an encapsulating disc 6-1-1 is arranged at a port at the bottom of the supporting shell 6-1, and the slip ring assembly 6-9 is encapsulated in the hollow rotating shaft 6-4 by the encapsulating disc 6-1-1; 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 through a key, and the fixed end of the slip ring assembly 6-9 is fixedly connected with the packaging disc 6-1-1 at the bottom of the supporting shell 6-1; the outer circumferential surfaces of the upper end and the lower end of the supporting shell 6-1 are respectively provided with a circular ring, a plurality of through holes are formed in the circumferential direction of the circular ring at the upper end of the supporting shell 6-1, and the inner diameter of each through hole is larger than the outer diameter of the first compression spring 6-8; a plurality of threaded through holes are formed in the circumferential direction of the circular ring at the lower end of the supporting shell 6-1; a plurality of connecting holes are formed in the circumferential direction of the lower friction disc 6-3; the lower end of the guide post 6-7 is provided with an external thread, and the lower end of the guide post 6-7 sequentially passes through a connecting hole on the lower friction disc 6-3 and a through hole on the support shell 6-1 and is in threaded connection with a threaded through hole on the support shell 6-1; the first compression spring 6-8 is sleeved on the guide post 6-7, one end of the first compression spring 6-8 is abutted against the upper surface of the circular ring at the lower end of the support shell 6-1, and the other end of the first compression spring 6-8 is abutted against the lower surface of the lower friction disc 6-3 and provides pretightening force for the lower friction disc 6-3; the friction surface of the upper friction disc 6-2 is in contact connection with the friction surface of the lower friction disc 6-3, the upper friction disc 6-2 is fixedly connected with the driving end of the foldable soft capture mechanism 7, and the support shell 6-1 is connected with the force sensor 5.
In this embodiment, as shown in fig. 1, after the ground control unit 1 controls the service satellite 2 to approach the target 8, the vision guiding unit 3 monitors the state of the target 8 in real time and sends the state to the ground control unit 1, the ground control unit 1 sends an instruction to the service satellite 2, and the pose of the service satellite 2 is adjusted to be substantially consistent with the target 8; as shown in fig. 2, the service satellite 2 controls the foldable mechanical arm 4 to be in an extended state and drives the foldable soft capture mechanism 7 to approach the target 8, and when the target 8 is monitored to be closer to the capture range of the foldable soft capture mechanism 7 through the visual guidance unit 3, the visual guidance unit 3 transmits a signal to the ground control unit 1; as shown in fig. 3, the service satellite 2 controls the foldable soft capture mechanism 7 to unfold, 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 fig. 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, the upper friction disc 6-2 is connected with the hollow rotating shaft 6-4 through a key, and under the action of the top cover 6-5 and the pressure ring 6-10, the upper friction disc 6-2 can move for a certain distance along the axial direction of the hollow rotating shaft 6-4 without influencing the rotation of the upper friction disc and the hollow rotating shaft, so that the upper friction disc 6-2 rotates together under the drive of the foldable soft capture mechanism 7 and can generate a certain outward displacement, and the upper friction disc 6-2 and the lower friction disc 6-3 are in a separated state; when the target 8 moves regularly under the action of the foldable soft capture mechanism 7 and the upper friction disc 6-2, the service satellite 2 controls the foldable mechanical arm 4 to extend continuously, the lower friction disc 6-3 is ensured to be in contact with the upper friction disc 6-2, the lower friction disc 6-3 is connected with the force sensor 5 through the shell 6-1, so that the lower friction disc 6-3 is relatively fixed, the lower friction disc 6-3 is in close contact with the friction surface of the upper friction disc 6-2 under the action of the foldable mechanical arm 4 and the first compression spring 6-8, friction torque exists between the foldable soft capture mechanism 7 and the target 8, and the foldable soft capture mechanism 7 and the target 8 rotate gradually weakened and are relatively static with the service satellite 2 under the friction torque provided by the despinning mechanism 6; the despin locking mechanism 6 transmits the friction torque to the force sensor 5, the force sensor 5 estimates the despin feedback force in real time and sends the estimated despin feedback force and the state of the target 8 captured by the visual guidance unit 3 to the ground control unit 1, the ground control unit 1 sends a calculated control instruction to the service satellite 2 through a trajectory planning algorithm, and the service satellite 2 controls the contraction and the extension of the foldable mechanical arm 4 to eliminate the rolling motion of the target 8;
in the embodiment, after the target 8 and the service satellite 2 are relatively static, the service satellite 2 controls the foldable mechanical arm 4 to be in a contraction state, and the target 8 is pulled towards the service satellite 2 through the force sensor 5, the despin locking mechanism 6 and the foldable soft capture mechanism 7, during the contraction process of the foldable mechanical arm 4, the foldable mechanical arm 4 pulls the force sensor 5 to move towards the service satellite 2, the force sensor 5 pulls the support shell 6-1 in the despin locking mechanism 6 and the lower friction disc 6-3 connected to the support shell 6-1 to also move towards the service satellite 2, the hollow rotating shaft 6-4 moves towards the service satellite 2 together with the support shell 6-1 under the restriction of the support shell 6-1, the upper friction disc 6-2 is separated from the friction surface of the lower friction disc 6-3 under the reaction force of the foldable soft capture mechanism 7 and the target 8, no friction torque is generated between the upper friction disc 6-2 and the lower friction disc 6-3, the loss of the upper friction disc 6-2 or the lower friction disc 6-3 is reduced, and the disturbance between the target 8 and the service satellite 2 is reduced during the operation process of the service satellite; since the target 8 and the service satellite 2 are stationary at this time, the target 8 does not have any influence on the service satellite 2 even if there is no friction torque between the upper friction disk 6-2 and the lower friction disk 6-3.
In the embodiment, the separation of the upper friction disc 6-2 and the lower friction disc 6-3 in the racemization locking mechanism 6 isolates the irregular rolling motion of the service satellite 2 and the target 8, when the target 8 only has rolling motion in one direction under the action of the upper friction disc 6-2 and the foldable soft capturing mechanism 7, the complete racemization is generated on the target 8 through the contact of the upper friction disc 6-2 and the lower friction disc 6-3, the target 8 and the service satellite 2 are relatively static, the service satellite 2 and the target 8 form a new combination, and at the moment, the service satellite 2 controls the foldable mechanical arm 4 to contract, so that the centroid and inertia of the service satellite 2 are changed, and the new combination formed by the service satellite 2 and the target 8 is stabilized; if the upper friction disc 6-2 and the lower friction disc 6-3 are in contact with each other all the time and are not separated from each other, the irregular rolling target 8 may cause bending deformation of the foldable mechanical arm 4 and posture disturbance of the service satellite 2, the risk of system failure caused by rolling motion of the target is greatly reduced compared with a rigid capturing method, and meanwhile, a motor and a control system are omitted due to the contact despinning mode, the weight of the mechanism is greatly reduced, and the reliability of the system is improved.
In the embodiment, the whole set of capturing and clearing system needs to be sent to the preset orbit through the carrier rocket, but the rocket is limited in size, so that the load size capable of being put into the rocket is limited, the foldable mechanical arm 4 and the foldable soft capturing mechanism 7 are in a folded configuration state before capturing the target 8, the transportation of the capturing and clearing system is facilitated, and the problem that the rocket launching load size is limited is effectively solved.
In the embodiment, the mechanical arm is arranged in a foldable form, so that the close contact between the rolling target 8 and the service satellite 2 is effectively avoided, and the safety of the capturing operation is ensured.
In this embodiment, the force sensor 5 is a six-dimensional force sensor.
In this embodiment, the slip ring assemblies 6-9 prevent the line from being twisted when the line from the service satellite 2 rotates with the foldable soft capture mechanism 7.
In a possible embodiment, the slip ring assembly 6-9 comprises a cylindrical rotor 6-11 and a cylindrical stator 6-12, wherein the fixed end of the rotor 6-11 is connected with the pressure ring 6-10 and the upper friction disc 6-2 through 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 with the packaging disc 6-1-1 at the bottom of the supporting shell 6-1 through a bolt; the cable led out from the service satellite 2 end is connected to the stator 6-12, and the cable led out from the foldable soft capture mechanism 7 end is connected to the rotor 6-11; a plurality of first through holes 6-11-1 are circumferentially formed in the connecting end of the rotor 6-11, a plurality of second through holes 6-12-1 are circumferentially formed in the connecting end of the stator 6-12, and the first through holes 6-11-1 can be communicated with the second through holes 6-12-1;
the despinning locking mechanism 6 further comprises locking components 6-13, and the locking components 6-13 comprise locking motors 6-13-1, first ball screws 6-13-2, first screw nuts 6-13-3, a plurality of transmission connecting rods 6-13-4 and a plurality of 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 a driving end of the locking motor 6-13-1, the first screw nut 6-13-3 is screwed on the first ball screw 6-13-2, a locking pin 6-13-5 is inserted into each second through hole 6-12-1 on the stator 6-12, the locking pin 6-13-5 can move along the axial direction of the second through hole 6-12-1, each transmission connecting rod 6-13-4 is arranged corresponding to one locking pin 6-13-5, one end of each transmission connecting rod 6-13-4 is hinged on the first screw nut 6-13-3, and the other end of each transmission connecting rod 6-13-4 is connected to the end of the corresponding hinge locking pin 6-13-5.
In the embodiment, an output shaft of the locking motor 6-13-1 drives the first ball screw 6-13-2 to rotate, the first screw nut 6-13-3 moves along the axis direction of the first ball screw 6-13-2 under the restriction of the transmission connecting rod 6-13-4 and the locking pin 6-13-5, and the first screw nut 6-13-3 drives the locking pin 6-13-5 to translate along the axis direction of the second through hole 6-12-1 through the transmission connecting rod 6-13-4. When the rolling target 8 is close to be static relative to the service satellite 2, because sensors are arranged in the rotor 6-11 and the stator 6-12, the positions of the rotor 6-11 and the stator 6-12 are adjusted according to a preset relative position program between the rotor 6-11 and the stator 6-12, when the first through hole 6-11-1 is communicated with the second through hole 6-12-1, the screw nut 6-13-3 moves axially upwards under the action of the locking motor 6-13-1, 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 screw nut 6-13-3, the rotor 6-11 and the stator 6-12 cannot rotate mutually under the positioning of the locking pin 6-13-5, and because the rotor 6-11 is in key connection with the pressure ring 6-10 and the upper friction disc 6-2, the pressure ring 6-10 and the upper friction disc 6-2 cannot rotate under the condition that the rotor 6-11 cannot rotate, the locking of the racemization locking mechanism 6 is realized; when the locking motor 6-13-1 rotates reversely, the locking pin 6-13-5 is drawn out from the first through hole 6-11-1 of the rotor 6-11, and the despin locking mechanism 6 is unlocked.
In one possible embodiment, as shown in FIG. 6, the foldable robotic arm 4 comprises two mounting panels 4-1, four sets of drive assemblies 4-2 and a plurality of scissor linkages 4-3; each scissor connecting rod 4-3 is uniformly provided with three through holes along the length direction, every two scissor connecting rods 4-3 form a group, the middle positions of the two scissor connecting rods 4-3 are hinged together through pins to form an X-shaped connecting rod unit, two opposite support legs between two adjacent X-shaped connecting rod units are hinged together through pins, and a plurality of X-shaped connecting rod units are arranged side by side to form a telescopic rod piece 4-4; a strip-shaped through hole is formed in the middle of each mounting panel 4-1, two groups of driving assemblies 4-2 are arranged on the inner end face of one mounting panel 4-1 side by side, the other two groups of driving assemblies 4-2 are arranged on the inner end face of the other mounting panel 4-1 side by side, and the two groups of driving assemblies 4-2 are respectively positioned on two sides of the strip-shaped through hole; the two mounting panels 4-1 are oppositely arranged, one end of a telescopic rod 4-4 is inserted into the long strip-shaped through hole of one mounting panel 4-1 and is connected with the two groups of driving assemblies 4-2, and the other end of the telescopic rod 4-4 is inserted into the long strip-shaped through hole of the other mounting panel 4-1 and is connected with the other two groups of driving assemblies 4-2.
In this embodiment, the two mounting panels 4-1 are connected to the service satellite 2 and to one side of the force sensor 5, respectively.
In one 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 a second screw nut 4-2-4; two ends of the second ball screw 4-2-3 are rotatably connected to the mounting seats on two sides of the driving base 4-2-1, and a driving shaft of the first driving motor 4-2-2 drives the second ball screw 4-2-3 to rotate; the second lead screw nut 4-2-4 is in threaded connection with the second ball screw 4-2-3; the second lead screw nut 4-2-4 in one group of driving assemblies 4-2 on each mounting panel 4-1 is hinged with one support leg at the end part of the telescopic rod piece 4-4 through a first hinge column 4-2-7; a second lead screw nut 4-2-4 in the other group of driving assemblies 4-2 on each mounting panel 4-1 is hinged with the other support leg at the end part of the telescopic rod piece 4-4 through a second hinge column 4-2-8; the outer end of the first hinge column 4-2-7 is positioned between the mounting seats at the two sides of the driving base 4-2-1 in the other group of driving assemblies 4-2; the outer end of the second hinge post 4-2-8 is located between the mounts on both sides of the drive base 4-2-1 in one of the sets of drive assemblies 4-2.
A first gear 4-2-5 is arranged on a driving shaft of the first driving motor 4-2-2, a second gear 4-2-6 is arranged at one end of the second ball screw 4-2-3, and the first gear 4-2-5 is meshed with the second gear 4-2-6.
In this embodiment, in the embodiment, when the service satellite 2 controls the foldable mechanical arm 4 to be in the extended state, the first driving 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 axial direction of the second ball screw 4-2-3, the second screw nuts 4-2-4 in the two driving assemblies 4-2 move towards each other, and the distance between the two legs on one side of the X-shaped link unit is reduced, so that the whole body is lengthened, and the foldable soft capturing mechanism 7 is driven to approach to the target 8; when the service satellite 2 controls the foldable mechanical arm 4 to contract, the first driving motor 4-2-2 rotates reversely, the second lead screw nuts 4-2-4 in the two driving assemblies 4-2 move backwards, the distance between the two support legs at one side of the X-shaped connecting rod unit is increased, so that the whole body is shortened, and the foldable soft capturing mechanism 7 is driven to approach the service satellite 2.
In a possible embodiment, as shown in fig. 7 to 12, the foldable soft capture mechanism 7 includes a housing 7-1, a driving unit, a plurality of transmission units and a plurality of soft capture fingers, the driving unit is installed in the housing 7-1, the plurality of transmission units and the plurality of soft capture fingers are respectively and uniformly installed at the top end of the housing 7-1 in the circumferential direction, the transmission units and the soft capture fingers are radially arranged in a one-to-one correspondence from inside to outside, and the plurality of transmission units and the plurality of soft capture fingers are respectively and rotatably connected with the housing 7-1; the soft capturing fingers form a soft capturing claw;
the driving unit comprises a second driving motor 7-2, a primary transmission gear 7-3, a gear ring 7-4 and a first bevel gear 7-5; the first bevel gear 7-5 and the gear ring 7-4 are axially installed in the shell 7-1 through a bearing, the bottom end of the first bevel gear 7-5 is fixedly connected with the top end of the gear ring 7-4, the second driving motor 7-2 is eccentrically arranged in the shell 7-1, the primary transmission gear 7-3 is sleeved on a driving shaft of the second driving motor 7-2, and the outer teeth of the primary transmission gear 7-3 are meshed with the inner teeth of the gear ring 7-4; one end of the transmission unit is meshed with the first bevel gear 7-5, and the other end of the transmission unit drives the soft capture fingers to open outwards or gather together by taking the central axis of the shell 7-1 as the center.
In a possible embodiment, each transmission unit comprises a support frame 7-6, a second bevel gear 7-7 and a third bevel gear shaft 7-8, the support frame 7-6 is arranged at the top end of the shell 7-1, the third bevel gear shaft 7-8 is rotatably connected to the support frame 7-6, the second bevel gear 7-7 is sleeved on one end, far away from the bevel gear, of the third bevel gear shaft 7-8 and is meshed with the first bevel gear 7-5; and a fourth bevel gear 7-9 is arranged at the connecting end of the soft capturing finger, and bevel teeth on a third bevel gear shaft 7-8 are meshed with the fourth bevel gear 7-9.
In the embodiment, the second driving motor 7-2 drives the first-stage transmission gear 7-3 to rotate, the first-stage transmission gear 7-3 drives the gear ring 7-4 meshed with the first-stage transmission gear to rotate, the gear ring 7-4 drives the first bevel gear 7-5 connected with the gear ring to rotate, the first bevel gear 7-5 drives the second bevel gear 7-7 in each transmission unit to rotate, the second bevel gear 7-7 drives the third bevel gear shaft 7-8 to 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 capture fingers to outwards open or gather by taking the central axis of the shell 7-1 as a center.
In one possible embodiment, as shown in fig. 8 and 10, each soft catching finger comprises an articulated seat 7-12, a wire rope fixing block 7-14, a multi-section connecting rod 7-10, a plurality of torsion spring hinges 7-13 and a wire rope 7-11; each connecting rod 7-10 is provided with a threading hole 7-10-1, the connecting rods 7-10 are sequentially arranged in the axial direction, two adjacent connecting rods 7-10 are connected through a torsion spring hinge 7-13, and two adjacent torsion spring hinges 7-13 are arranged in a positive and negative mode; the end part of the outer end of the first section of connecting rod 7-10 is fixedly connected with a fourth bevel gear 7-9 through a rotating shaft, and the rotating shaft is rotatably connected to a hinge seat 7-12; the steel wire rope fixing block 7-14 is installed at the top end of the shell 7-1, a long strip-shaped groove 7-14-1 is formed in the top end of the steel wire rope fixing block 7-14, a round groove 7-14-2 is formed in the side end of the steel wire rope fixing block 7-14, the long strip-shaped groove 7-14-1 is communicated with the round groove 7-14-2, and the inner diameter of the round groove 7-14-2 is larger than that of the long strip-shaped groove 7-14-1; one end of the steel wire rope 7-11 is provided with a spherical sliding block 7-11-1, one end of the steel wire rope 7-11, which is provided with the spherical sliding block 7-11-1, is connected in a sliding mode in a long strip-shaped groove 7-14-1 of the steel wire rope fixing block 7-14, the other end of the steel wire rope 7-11 sequentially penetrates through threading holes 7-10-1 in each connecting rod 7-10 and is fixedly connected to the last connecting rod 7-10, and the outer diameter of the spherical sliding block 7-11-1 is smaller than the inner diameter of the threading holes 7-10-1 in the connecting rods 7-10.
In the embodiment, when the soft capture finger is in the state shown in fig. 7, the spherical sliding block 7-11-1 at the end of the steel wire rope 7-11 is located on the inner side of the long strip-shaped groove 7-14-1, when the driving unit drives the soft capture finger to be opened and is in the state shown in fig. 9, the soft capture finger drives the steel wire rope 7-11 to move outwards, the spherical sliding block 7-11-1 at the end of the steel wire rope 7-11 moves to the position of the circular groove 7-14-2 along the long strip-shaped groove 7-14-1, the spherical sliding block 7-11-1 is separated from the steel wire rope fixing block 7-14-2 from the circular groove 7-14-2 and sequentially penetrates through the threading hole 7-10-1 of the connecting rod 7-10, and the multi-section connecting rod 7-10 stretches and unfolds under the action of the torsion spring hinge 7-13.
In one possible embodiment, as shown in fig. 15 to 18, each torsion spring hinge 7-13 comprises two outer rotating frames 7-13-1, an inner fixed frame 7-13-2, a rotating shaft 7-13-3, a flat key 7-13-4, two inner abutting rings 7-13-5, two deep groove ball bearings 7-13-6, two end covers 7-13-7, two torsion spring pieces 7-13-9, a torsion spring fixing shaft 7-13-10 and two connecting parts 7-13-11; an integrated annular bulge is arranged at the middle position of the rotating shaft 7-13-3; the inner side fixing frame 7-13-2 is sleeved on the circular bulge of the rotating shaft 7-13-3 and is connected with the circular bulge on the rotating shaft 7-13-3 through a flat key 7-13-4 in a key mode; the two inner abutting rings 7-13-5 are respectively sleeved on the rotating shaft 7-13-3 and positioned at two sides of the circular ring-shaped bulge of the rotating shaft 7-13-3, the two outer side rotating frames 7-13-1 are respectively sleeved at two ends of the rotating shaft 7-13-3 through the two deep groove ball bearings 7-13-6 and are respectively positioned at the outer sides of the inner abutting rings 7-13-5, and one side of the inner abutting ring 7-13-5, which faces the deep groove ball bearing 7-13-6, abuts against the inner ring of the deep groove ball bearing 7-13-6; the end cover 7-13-7 comprises a circular ring and a disc, and the circular ring is sleeved on the disc; the two end covers 7-13-7 are respectively positioned at two sides of the two outer side rotating frames 7-13-1 and are respectively connected to the outer end surfaces of the outer side rotating frames 7-13-1 through a plurality of bolts, and one side, facing the outer side rotating frame 7-13-1, of each end cover 7-13-7 is abutted against the outer ring of the deep groove ball bearing 7-13-6; one end of one connecting part 7-13-11 is fixedly connected to the inner side fixing frame 7-13-2, and the other end is connected to one end part of the connecting rod 7-10; one end of the other connecting part 7-13-11 is connected to the two outer side rotating frames 7-13-1, and the other end of the other connecting part is connected to the end part of the other end of the connecting rod 7-10; the torsion spring fixing shaft 7-13-10 is transversely connected to one of the connecting parts 7-13-11; one end of each of the two torsion spring pieces 7-13-9 is respectively connected to the outer annular surface of each of the two end covers 7-13-7, and the other end of each of the two torsion spring pieces 7-13-9 is respectively and flexibly wound on the two ends of the corresponding torsion spring fixing shaft 7-13-10.
In the embodiment, when the soft capture finger is in a folded state under the action of the steel wire rope 7-11, the torsion spring pieces 7-13 and 7-13-9 in the torsion spring hinges 7-13 are in a bent state, and certain elastic potential energy exists in the torsion spring pieces 7-13-9; when the steel wire rope 7-11 does not restrict the soft capture finger, the torsion spring piece 7-13-9 is opened and releases elastic potential energy, the torsion spring piece 7-13-9 drives the two outer rotating frames 7-13-1 connected with the torsion spring piece and the inner fixed frame 7-13-2 to rotate relatively, and the torsion spring hinge 7-13 is in an extension state under the action of the torsion spring piece 7-13-9, so that the multi-section connecting rod 7-10 is in a state in the figure 11, and the soft capture finger can still be in a flexible state under the action of the torsion spring hinge 7-13.
In a possible embodiment, as shown in fig. 17 and 18, each torsion spring hinge 7-13 further comprises two limit locking mechanisms, which are respectively oppositely arranged on the two outer rotating frames 7-13-1; each limiting locking mechanism comprises a stud 7-13-13, a second compression spring 7-13-12 and a top column 7-13-8 which are axially arranged in sequence; the top column 7-13-8 and the stud 7-13-13 are connected through a second compression spring 7-13-12; the tip of the top column 7-13-8 is an arc surface; the two opposite side end surfaces of the inner side fixing frame 7-13-2 are respectively provided with a cylindrical groove, each outer side rotating frame 7-13-1 is provided with a threaded through hole, and the threaded through holes on the two outer side rotating frames 7-13-1 are oppositely arranged; the stud 7-13-13 is screwed in the threaded through hole on the outer rotating frame 7-13-1, and the arc surface of the top column 7-13-8 is abutted against the side end surface of the inner fixing frame 7-13-2.
In the embodiment, when the torsion spring hinge 7-13 is in an extending state, the two outer rotating frames 7-13-1 and the inner fixed frame 7-13-2 rotate relatively, the outer rotating frame 7-13-1 drives the limiting locking mechanism connected with the outer rotating frame to rotate, the top column 7-13-8 in the limiting locking mechanism slides along the end face of the inner fixed frame 7-13-2, when the torsion spring hinge 7-13 is completely in the extending state, the limiting locking mechanism directly faces a cylindrical groove on the end face of the inner fixed frame 7-13-2, the top column 7-13-8 in the limiting locking mechanism is ejected out under the action of the second compression spring 7-13-12 and inserted into the cylindrical groove of the inner fixed frame 7-13-2, and the two outer rotating frames 7-13-1 and the inner fixed frame 7-13-2 cannot rotate under the action of the limiting locking mechanism, so that the soft capture is in a rigid state of fingers.
Referring to fig. 19, an embodiment of the present application provides a capture cleaning method for a non-cooperative tumbling object, and a specific capture cleaning process is as follows:
at step 6, the foldable robotic arm 4 retracts and the service satellite 2 pushes the target 8 into the tomb orbit or other designated orbit for destruction.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A capture cleaning system for non-cooperative tumbling objects, comprising: the device comprises a ground control unit (1), a service satellite (2), a visual guide unit (3), a foldable mechanical arm (4), a force sensor (5), a despinning mechanism (6) and a foldable soft capture mechanism (7); the ground control unit (1) is used for controlling the service satellite (2); the visual guide unit (3) is arranged on the top of the service satellite (2) and is used for acquiring the geometric characteristics and the motion state of the target (8) and transmitting the geometric characteristics and the motion state to the ground control unit (1); one end of the foldable mechanical arm (4) is installed on the side end face of the service satellite (2), the other end of the foldable mechanical arm (4) is fixedly connected with one end of the force sensor (5), the other end of the force sensor (5) is fixedly connected with one end of the despinning locking mechanism (6), and the other end of the despinning locking mechanism (6) is fixedly connected with the driving end of the foldable soft capturing mechanism (7);
the despin locking mechanism (6) comprises 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), a top cover (6-5), a plurality of guide posts (6-7), a plurality of first compression springs (6-8), a slip ring assembly (6-9) and a compression ring (6-10); the upper friction disc (6-2), the lower friction disc (6-3) and the support shell (6-1) are axially sleeved outside the hollow rotating shaft (6-4) from top to bottom in sequence; the upper friction disc (6-2) is connected with the upper end of the hollow rotating shaft (6-4) through a key, the top cover (6-5) and the pressure ring (6-10) are axially and sequentially arranged at the top of the upper friction disc (6-2) and are connected through a bolt, and the pressure ring (6-10) is connected with the upper end port of the hollow rotating shaft (6-4) in a sliding manner and limits the axial displacement of the upper friction disc (6-2); the supporting shell (6-1) is rotatably connected with the hollow rotating shaft (6-4) through two pairs of bearings (6-6), the slip ring assembly (6-9) is axially arranged in the hollow rotating shaft (6-4), an encapsulating disc (6-1-1) is arranged at the port of the bottom of the supporting shell (6-1), and the slip ring assembly (6-9) is encapsulated in the hollow rotating shaft (6-4) through the encapsulating disc (6-1-1); 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) through a key, and the fixed end of the slip ring assembly (6-9) is fixedly connected with the packaging disc (6-1-1) at the bottom of the supporting shell (6-1); the outer circumferential surfaces of the upper end and the lower end of the supporting shell (6-1) are respectively provided with a circular ring, the circular ring at the upper end of the supporting shell (6-1) is circumferentially provided with a plurality of through holes, and the inner diameter of each through hole is larger than the outer diameter of the first compression spring (6-8); a plurality of threaded through holes are formed in the circumferential direction of the circular ring at the lower end of the supporting shell (6-1); a plurality of connecting holes are formed in the circumferential direction of the lower friction disc (6-3); the lower end of the guide post (6-7) is provided with an external thread, and the lower end of the guide post (6-7) sequentially passes through a connecting hole on the lower friction disc (6-3) and a through hole on the support shell (6-1) and is screwed in a threaded through hole on the support shell (6-1); the first compression spring (6-8) is sleeved on the guide post (6-7), one end of the first compression spring (6-8) abuts against the upper surface of the circular ring at the lower end of the support shell (6-1), and 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 friction surface of the upper friction disc (6-2) is in contact connection with the friction surface of the lower friction disc (6-3), the upper friction disc (6-2) is fixedly connected with the driving end of the foldable soft capturing mechanism (7), and the supporting shell (6-1) is connected with the force sensor (5).
2. The capture cleaning system for non-cooperative tumbling objects as claimed in claim 1, wherein: the slip ring assembly (6-9) comprises a cylindrical rotor (6-11) and a cylindrical 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) through 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 with the packaging disc (6-1-1) at the bottom of the supporting shell (6-1) through a bolt; the cable led out from the service satellite (2) end is connected to the stator (6-12), and the cable led out from the foldable soft capturing mechanism (7) end is connected to the rotor (6-11); a plurality of first through holes (6-11-1) are circumferentially formed in the connecting end of the rotor (6-11), a plurality of second through holes (6-12-1) are circumferentially formed in the connecting end of the stator (6-12), and the first through holes (6-11-1) are communicated with the second through holes (6-12-1);
the despin locking mechanism (6) further comprises a locking assembly (6-13), wherein the locking assembly (6-13) comprises a locking motor (6-13-1), a first ball screw (6-13-2), a first screw nut (6-13-3), a plurality of transmission connecting rods (6-13-4) and a plurality of locking pins (6-13-5); the locking motor (6-13-1) is axially and 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), the first screw nut (6-13-3) is in threaded connection with the first ball screw (6-13-2), a locking pin (6-13-5) is inserted into each second through hole (6-12-1) in the stator (6-12), the locking pins (6-13-5) can move along the axial direction of the second through holes (6-12-1), each transmission connecting rod (6-13-4) is arranged corresponding to one locking pin (6-13-5), one end of each transmission connecting rod (6-13-4) is hinged to the first screw nut (6-13-3), and the other end of each transmission connecting rod (6-13-4) is hinged to the end of the locking pin (6-13-5).
3. The capture cleaning system for non-cooperative tumbling objects as claimed in claim 1, wherein: the foldable mechanical arm (4) comprises two mounting panels (4-1), four groups of driving components (4-2) and a plurality of scissor connecting rods (4-3); each scissor connecting rod (4-3) is uniformly provided with three through holes along the length direction, every two scissor connecting rods (4-3) form a group, the middle positions of the two scissor connecting rods (4-3) are hinged together through pins to form an X-shaped connecting rod unit, two opposite support legs between every two adjacent X-shaped connecting rod units are hinged together through pins, and a plurality of X-shaped connecting rod units are arranged side by side to form a telescopic rod piece (4-4); a strip-shaped through hole is formed in the middle of each mounting panel (4-1), two groups of driving assemblies (4-2) are arranged on the inner end face of one mounting panel (4-1) side by side, the other two groups of driving assemblies (4-2) are arranged on the inner end face of the other mounting panel (4-1) side by side, and the two groups of driving assemblies (4-2) are respectively positioned on two sides of the strip-shaped through hole; the two mounting panels (4-1) are arranged oppositely, one end of a telescopic rod piece (4-4) is inserted into the long-strip-shaped through hole of one mounting panel (4-1) and is connected with the two groups of driving assemblies (4-2), and the other end of the telescopic rod piece (4-4) is inserted into the long-strip-shaped through hole of the other mounting panel (4-1) and is connected with the other two groups of driving assemblies (4-2).
4. A capture cleaning system for non-cooperative tumbling objects as claimed in claim 3, wherein: each group of driving components (4-2) comprises a driving base (4-2-1), a first driving motor (4-2-2), a second ball screw (4-2-3) and a second screw nut (4-2-4); two ends of the second ball screw (4-2-3) are rotatably connected to the mounting seats on two sides of the driving base (4-2-1), and a driving shaft of the first driving 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); a second lead screw nut (4-2-4) in one group of driving assemblies (4-2) on each mounting panel (4-1) is hinged with one support leg at the end part of the telescopic rod piece (4-4) through a first hinge column (4-2-7); a second lead screw nut (4-2-4) in the other group of driving assemblies (4-2) on each mounting panel (4-1) is hinged with the other support leg at the end part of the telescopic rod piece (4-4) through a second hinge column (4-2-8); the outer end of the first hinge column (4-2-7) is positioned between the mounting seats at two sides of the driving base (4-2-1) in the other group of driving assemblies (4-2); the outer end of the second hinge column (4-2-8) is positioned between the mounting seats at two sides of the driving base (4-2-1) in one group of the driving assemblies (4-2).
5. A capture cleaning system for non-cooperative tumbling objects as claimed in claim 1, wherein: the foldable soft capturing mechanism (7) comprises a shell (7-1), a driving unit, a plurality of transmission units and a plurality of soft capturing fingers, wherein the driving unit is installed in the shell (7-1), the transmission units and the soft capturing fingers are respectively and uniformly installed at the top end of the shell (7-1) in the circumferential direction, the transmission units and the soft capturing fingers are radially arranged in a one-to-one correspondence manner from inside to outside, and the transmission units and the soft capturing fingers are respectively and rotatably connected with the shell (7-1); the soft capturing fingers form a soft capturing claw;
the driving unit comprises a second driving motor (7-2), a primary transmission gear (7-3), a gear ring (7-4) and a first bevel gear (7-5); the first bevel gear (7-5) and the gear ring (7-4) are axially arranged in the shell (7-1) through a bearing, the bottom end of the first bevel gear (7-5) is fixedly connected with the top end of the gear ring (7-4), the second driving motor (7-2) is eccentrically arranged in the shell (7-1), the first-stage transmission gear (7-3) is sleeved on a driving shaft of the second driving motor (7-2), and the outer teeth of the first-stage transmission gear (7-3) are meshed with the inner teeth of the gear ring (7-4); one end of the transmission unit is meshed with the first bevel gear (7-5), and the other end of the transmission unit drives the soft capture fingers to outwards open or gather by taking the central axis of the shell (7-1) as a center.
6. A capture cleaning system for non-cooperative tumbling objects as claimed in claim 5, wherein: each transmission unit comprises a support frame (7-6), a second bevel gear (7-7) and a third bevel gear shaft (7-8), the support frame (7-6) is installed at the top end of the shell (7-1), the third bevel gear shaft (7-8) is rotatably connected to the support frame (7-6), the second bevel gear (7-7) is sleeved on one end, far away from the bevel gear, of the third bevel gear shaft (7-8) and meshed with the first bevel gear (7-5); the connecting end of the soft capturing finger is provided with a fourth bevel gear (7-9), and bevel teeth on a third bevel gear shaft (7-8) are meshed with the fourth bevel gear (7-9).
7. A capture cleaning system for non-cooperative tumbling objects as claimed in claim 6, wherein: each soft capturing finger comprises a hinge seat (7-12), a steel wire rope fixing block (7-14), a multi-section connecting rod (7-10), a plurality of torsion spring hinges (7-13) and a steel wire rope (7-11); each section of connecting rod (7-10) is provided with a threading hole (7-10-1), the sections of connecting rods (7-10) are axially arranged in sequence, two adjacent sections of connecting rods (7-10) are connected through a torsion spring hinge (7-13), and two adjacent torsion spring hinges (7-13) are arranged in a positive and negative mode; the end part of the outer end of the first section of connecting rod (7-10) is fixedly connected with a fourth bevel gear (7-9) through a rotating shaft, and the rotating shaft is rotatably connected to a hinge seat (7-12);
the steel wire rope fixing block (7-14) is installed at the top end of the shell (7-1), a long-strip-shaped groove (7-14-1) is formed in the top end of the steel wire rope fixing block (7-14), a round groove (7-14-2) is formed in the side end of the steel wire rope fixing block (7-14), the long-strip-shaped groove (7-14-1) is communicated with the round groove (7-14-2), and the inner diameter of the round groove (7-14-2) is larger than that of the long-strip-shaped groove (7-14-1); one end of the steel wire rope (7-11) is provided with a spherical sliding block (7-11-1), one end of the steel wire rope (7-11) provided with the spherical sliding block (7-11-1) is connected in a long strip-shaped groove (7-14-1) of the steel wire rope fixing block (7-14) in a sliding mode, the other end of the steel wire rope (7-11) sequentially penetrates through threading holes (7-10-1) in all sections of connecting rods (7-10) and is fixedly connected to the last section of connecting rod (7-10), and the outer diameter of the spherical sliding block (7-11-1) is smaller than the inner diameter of the threading holes (7-10-1) in the connecting rods (7-10).
8. The capture cleaning system for non-cooperative tumbling objects as claimed in claim 7, wherein: each torsion spring hinge (7-13) comprises two outer side rotating frames (7-13-1), an inner side fixing frame (7-13-2), a rotating shaft (7-13-3), a flat key (7-13-4), two inner abutting rings (7-13-5), two deep groove ball bearings (7-13-6), two end covers (7-13-7), two torsion spring pieces (7-13-9), a torsion spring fixing shaft (7-13-10) and two connecting parts (7-13-11); an integrated circular bulge is arranged in the middle of the rotating shaft (7-13-3); the inner side fixing frame (7-13-2) is sleeved on the circular protrusion of the rotating shaft (7-13-3) and is connected with the circular protrusion of the rotating shaft (7-13-3) through a flat key (7-13-4) in a key mode; the two inner abutting rings (7-13-5) are respectively sleeved on the rotating shaft (7-13-3) and positioned on two sides of the circular bulge of the rotating shaft (7-13-3), the two outer side rotating frames (7-13-1) are respectively sleeved at two ends of the rotating shaft (7-13-3) through two deep groove ball bearings (7-13-6) and respectively positioned on the outer sides of the inner abutting rings (7-13-5), and one sides of the inner abutting rings (7-13-5) facing the deep groove ball bearings (7-13-6) are abutted to the inner rings of the deep groove ball bearings (7-13-6); the end cover (7-13-7) comprises a circular ring and a disc, and the circular ring is sleeved on the disc; the two end covers (7-13-7) are respectively positioned at two sides of the two outer side rotating frames (7-13-1) and are respectively connected to the outer end surfaces of the outer side rotating frames (7-13-1) through a plurality of bolts, and one side, facing the outer side rotating frames (7-13-1), of each end cover (7-13-7) is abutted against the outer ring of the deep groove ball bearing (7-13-6); one end of one connecting part (7-13-11) is fixedly connected to the inner side fixing frame (7-13-2), and the other end of the connecting part is connected to one end part of one connecting rod (7-10); one end of the other connecting part (7-13-11) is connected to the two outer rotating frames (7-13-1), and the other end is connected to one end part of the connecting rod (7-10) adjacent to one connecting rod (7-10); the torsion spring fixing shaft (7-13-10) is transversely connected to one of the connecting parts (7-13-11); one end of each of the two torsion spring pieces (7-13-9) is respectively connected to the outer annular surface of each of the two end covers (7-13-7), and the other end of each of the two torsion spring pieces (7-13-9) is respectively and flexibly wound on the two ends of the torsion spring fixing shaft (7-13-10) opposite to the torsion spring fixing shaft.
9. The capture cleaning system for non-cooperative tumbling objects as claimed in claim 8, wherein: each torsion spring hinge (7-13) also comprises two limiting locking mechanisms which are respectively and oppositely arranged on the two outer rotating frames (7-13-1); each limiting locking mechanism comprises a stud (7-13-13), a second compression spring (7-13-12) and a top column (7-13-8) which are axially arranged in sequence; the top column (7-13-8) and the stud (7-13-13) are connected through a second compression spring (7-13-12); the tip of the top column (7-13-8) is an arc surface; two opposite side end faces of the inner side fixing frame (7-13-2) are respectively provided with a cylindrical groove, each outer side rotating frame (7-13-1) is provided with a threaded through hole, and the threaded through holes on the two outer side rotating frames (7-13-1) are oppositely arranged; the stud (7-13-13) is screwed in a threaded through hole on the outer rotating frame (7-13-1), and the arc surface of the top column (7-13-8) is abutted against the side end surface of the inner fixing frame (7-13-2).
10. The entrapment cleaning method using the entrapment cleaning system of claim 9, wherein: the specific capture cleaning process is as follows:
step 1, a ground control unit (1) controls a service satellite (2) to approach a target (8);
step 2, the vision guiding unit (3) detects the state of the target (8) in real time and sends the state 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 foldable mechanical arm (4) to extend and drives the foldable soft capturing mechanism (7) to approach to the target (8);
step 4, a driving unit in the foldable soft capturing mechanism (7) controls the opening of each soft capturing finger through a transmission unit, when the plurality of soft capturing fingers are opened to the maximum, the soft capturing fingers automatically bounce and form a soft capturing claw, a target (8) is enveloped, and the driving unit in the foldable soft capturing mechanism (7) controls each soft capturing finger to inwards gather and capture the target (8) through the transmission unit;
step 5, the foldable soft capturing mechanism (7) rotates under the driving of a target (8), the rotation-elimination locking mechanism (6) provides friction torque and transmits the torque to the force sensor (5), the force sensor (5) estimates the rotation-elimination feedback force in real time and sends the friction torque and the state of the target (8) captured by the visual guide unit (3) to the ground control unit (1), the ground control unit (1) sends a calculated control command to the service satellite (2) through a track planning algorithm, the posture of the service satellite (2) is adjusted, the action of the foldable mechanical arm (4) is adjusted, the rolling motion of the target (8) is eliminated, and the rotation-elimination locking mechanism is locked through the locking assembly until the target (8) and the service satellite (2) are relatively static;
and 6, retracting the foldable mechanical arm (4), and pushing the target (8) into the tomb orbit or other designated orbits by the service satellite (2) to be destroyed.
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