CN116812178A - Space target capturing device with high applicability - Google Patents
Space target capturing device with high applicability Download PDFInfo
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- CN116812178A CN116812178A CN202310505527.9A CN202310505527A CN116812178A CN 116812178 A CN116812178 A CN 116812178A CN 202310505527 A CN202310505527 A CN 202310505527A CN 116812178 A CN116812178 A CN 116812178A
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 239000007921 spray Substances 0.000 claims abstract description 50
- 210000000078 claw Anatomy 0.000 claims abstract description 19
- 230000006340 racemization Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000010884 ion-beam technique Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Aviation & Aerospace Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a space target capturing device with high applicability, which comprises: the device comprises a satellite base platform, an outer wall locking mechanism for grabbing the outer surface of a captured target, a spray pipe outer contour locking mechanism for fixing a spray pipe on the captured target, and a spray pipe throat locking mechanism. For a target object with a tail spray pipe, the target object can be fixed through a spray pipe outer contour locking mechanism or/and a spray pipe throat locking mechanism, for a target object with a larger volume, a telescopic rotating mechanical arm can be adjusted, the target object is fixed through a mechanical claw, synchronous rotation of the rotating target object and the target object can be realized through the mechanical arm, then the capturing is carried out, racemization is carried out after the capturing of the target object is completed, the capturing difficulty is reduced, and compared with a single locking capturing mode, the device adopts a multistage locking mechanism to cooperatively cooperate, the capturing process is high in stability, and targets with different volumes, different quality, different appearances, rotation and non-rotation can be captured, and the application range is wide, and the capturing efficiency is high.
Description
Technical Field
The invention relates to the technical field of space garbage capture, in particular to a space target capture device with high applicability.
Background
With the development of aerospace industry of various countries in the world, a large number of non-cooperative targets such as out-of-control, rolling and discarding occur in space, the targets occupy limited orbit space, and under the action of residual angular momentum and space shooting moment, the non-cooperative target spacecraft mostly presents a spin rolling state, and even has resistant behavior during capturing. Currently, the actual on-orbit operation of each country and the on-orbit spacecraft of an on-ground model are not specially designed to accept the capture handle and the measurement marker (the luminous marker or the angle reflector) of the on-orbit service, namely are non-cooperative, so that the on-orbit capture technology based on the cooperative targets cannot be used for the non-cooperative targets.
For butt joint/capture of non-cooperative targets, the control performance requirement and development cost of the traditional method are high, the motion of the whole spacecraft needs to be controlled to be synchronous with the targets, and the control divergence or capture failure is extremely easy to cause under the condition that the targets have resisting moment. While the adaptability of the mechanical arm capable of effectively grabbing the non-cooperative target to the spin state, the appearance and the quality of the non-cooperative target is not enough in design research, and more attention is paid to the translational motion of the mechanical arm in space. For example, the task DEOS (Deutsche Orbital Servicing Mission) in germany is based on an international space station robot assembly, wherein a gripping device is arranged at the tail end of a mechanical arm, and the gripping is realized by closing a gripping target handle through a hand claw, wherein an illumination system and a camera are arranged on the hand claw for assisting the ground to observe the state of the target. When the mechanism catches, firstly, a target is tracked remotely, when the distance between a to-be-served spacecraft and the target spacecraft is 300-5000 m, the to-be-served spacecraft gradually approaches the target spacecraft, the two are separated by a few meters to finish close-range intersection, and finally, a mechanical arm is used for carrying a grabbing device to approach a butt joint handle, and a claw of the grabbing device is closed and locked to finish catching; after the combination is stable, the service spacecraft drives the target spacecraft to perform off-orbit. When the mechanism is adopted for capturing, as the target handle is locked by the closed claw to capture, the mechanism has low applicability and is difficult to adapt to capturing of various targets and targets with different movement forms; in addition, the mechanism only uses a single mechanical arm for capturing and fixing, has low stability, and is easy to capture and not firm in the face of a large non-cooperative target; after the mechanism is used for capturing, the assembly is required to be stabilized, and then the service spacecraft drives the target spacecraft to perform off-orbit capturing, so that the capturing efficiency is low and the time is long.
And as the European SMART-OLEV (Smart Orbital Life Extension Vehicle) plan, the capturing device designed by the plan is equivalent to a space tug, the telescopic arm of the capturing device is a spindle-shaped mechanism and is made of rigid metal, the capturing device is arranged at the front end of the mechanical arm, capturing of the engine jet pipe at the far site of the target satellite is realized through a capturing tool at the tail end of the telescopic arm, and the capturing tool consists of 1 locking mechanism, 1 sensor at the tail end, 2 sensing sensors and 2 laser sensors. When the mechanism is used for capturing, the mechanism is firstly inserted into the satellite engine spray pipe under the driving of the telescopic arm, the tail end locking mechanism is inserted into the throat part of the spray pipe, the expansion mechanism is further opened, the throat part of the spray pipe is finally locked, capturing is finally completed, and the sensor is used for sensing collision with the target spray pipe and sensing whether the locking mechanism reaches the locking position. The distance which can be acted when the mechanism is adopted to capture the target satellite is 0.7m, the acting distance is short, and the mechanism cannot be widely applied to targets other than communication satellites; secondly, the tail end locking mechanism needs to extend into the throat part of the engine spray pipe to complete locking, so that the requirement on the shape and the size of the tail spray pipe is high, if the tail end locking mechanism cannot lock up after the throat part of the engine spray pipe is smaller than the tail end mechanism or the tail spray pipe is oversized, the tail end locking mechanism cannot capture the tail end of the engine spray pipe, and the tail end locking mechanism is single in capture mode and insufficient in stability.
In 2018 Europe, satellites are launched, and the possibility of cleaning and recycling space garbage is tested, namely a removebrils task, in which larger space garbage is crushed by using a space fish fork, and the crushed garbage enters the atmosphere through a garbage collection net and a derailment device to be incinerated. The space harpoon is provided with a barb, the barb penetrates through the target after being pushed by the platform, the barb is opened to prevent the harpoon from falling off, the tail of the harpoon is connected with the platform through a tether, and the massive target is towed and controlled. The use of the "space harpoon" device to remove the target inevitably damages the target and creates new debris, and the target cannot be racemized, which makes it difficult to control the attitude of the target during drag control.
The methods of instrument arm, tentacle, net capturing, ion beam guiding, etc. adopted in the e.disallowing program of the european aerospace agency (European Space Agency, ESA) are more focused on whether capturing is successful or not, and have shortcomings in the aspects of stability and high efficiency of the capturing process; the MDA capturing mechanism, the ADRexp project and the Restore-L capturing mechanism are fixedly connected in a butt joint mode in a locking butt joint ring, the OHB capturing mechanism directly captures the target, but the target spacecraft is controlled to be stable after capturing is completed, and the process is not efficient and rapid.
Disclosure of Invention
The invention provides a space target capturing device with high applicability, which solves the problem of poor applicability of the existing capturing device.
A high-applicability space target capture device comprising: the device comprises a satellite base platform, an outer wall locking mechanism for grabbing the outer surface of a captured target, and a spray pipe outer contour locking mechanism and a spray pipe throat locking mechanism for fixing a spray pipe on the captured target;
the outer wall locking mechanism comprises a first telescopic rod and telescopic rotating mechanical arms, and a plurality of telescopic rotating mechanical arms are connected to the first telescopic rod;
the spray pipe outer contour locking mechanism comprises a second telescopic rod and a claw, and the claw is movably connected to the second telescopic rod;
the spray pipe throat locking mechanism comprises a third telescopic rod and a throat locking piece, wherein the throat locking piece is arranged at the end part of the third telescopic rod and is matched with the spray pipe;
the first telescopic rod, the second telescopic rod and the third telescopic rod are sequentially and coaxially arranged from outside to inside, the second telescopic rod is nested in the first telescopic rod, and the third telescopic rod is nested in the second telescopic rod.
Further, the telescopic rotating mechanical arm comprises a telescopic rotating horizontal section and a vertical section hinged on the horizontal section, and a mechanical claw is arranged at the end part of the vertical section.
Further, the clamping jaw is of a multi-curve arc structure, one end of the clamping jaw is rotatably connected to the outer side wall of the second telescopic rod, the other end of the clamping jaw is connected with the outer wall of the spray pipe, and the clamping jaws are connected through the contraction bracket.
Further, the shrinkage bracket is of an annular structure, sleeved on the outer wall of the third telescopic rod and connected with the clamping jaw through the electric shrinkage rod.
Further, a pull rod is arranged in the throat locking piece, an expansion head is fixed at the top end of the throat locking piece, and the expansion head is connected with the pull rod and controls the expansion size through the pull rod.
Further, a plurality of groups of attitude adjustment engines are arranged on the outer wall of the satellite basic platform.
Further, the satellite base platform is connected with the first telescopic rod through a torque motor.
The invention has the following beneficial effects:
(1) The device is provided with three locking mechanisms which are matched with each other, and can be used for capturing space floating targets with different volumes and different forms; for a target object with a tail spray pipe, the target object can be fixed through the spray pipe outer contour locking mechanism or/and the spray pipe throat locking mechanism, and for a target object with a larger volume, the telescopic rotating mechanical arm can be adjusted and the target object is fixed through the mechanical claw, racemization is carried out after the capture of the target object is completed, the capture difficulty is reduced, and the damage to the target object is reduced.
(2) The device adopts the cooperation of the multi-stage locking mechanisms, has high stability in the capturing process compared with a single locking capturing mode, can capture large-volume and large-mass targets, and has wide application range.
(3) The device provided by the invention has the advantages of high space object capturing speed and high capturing efficiency.
Drawings
FIG. 1 is a schematic perspective view of the device of the present invention;
FIG. 2 is a schematic view of the outer contour locking mechanism of the spray pipe of the present invention;
FIG. 3 is a schematic view of the locking mechanism of the outer contour of the spout of the present invention locking the spout;
FIG. 4 is a schematic view of the structure of the throat locking device of the present invention;
FIG. 5 is a schematic view of a spout throat locking mechanism of the spout of the present invention locking the spout;
FIG. 6 is a schematic view of the outer wall locking mechanism of the present invention;
FIG. 7 is a schematic diagram of an apparatus of the present invention after acquisition of a target satellite;
fig. 8 is an enlarged view of a portion of the outer wall locking mechanism of the present invention locking a target satellite.
In the figure: 10-a satellite base platform; 101-attitude adjustment engine; 102-a torque motor; 20-an outer wall locking mechanism; 201-a first telescopic rod; 202-a telescopic rotating mechanical arm; 2021-horizontal section; 2022-vertical section; 203-a gripper; 30-a spray pipe outer contour locking mechanism; 301-a second telescopic rod; 302-claw; 303-a shrink stent; 40-a spray pipe throat locking mechanism; 401-a third telescopic rod; 402-throat lock; 50-capturing a target; 501-spray pipe.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1, 7 and 8, the present invention provides a space target capturing device with high applicability, comprising: the satellite base platform 10, the outer wall locking mechanism 20 used for grabbing the outer surface of the capture object 50, the spray pipe outer contour locking mechanism 30 used for fixing the spray pipe 501 on the capture object 50 and the spray pipe throat locking mechanism 40;
the satellite base platform 10 is used for powering the whole device, simultaneously tracking the captured target 50 to be captured and collecting related parameters, and completing statistics of the parameters and transmission of information with the ground.
The satellite base platform 10 is in an eight-prism structure, and a plurality of groups of attitude adjustment engines 101 are uniformly arranged on the outer wall of the side face and used for adjusting the on-orbit running attitude of the capturing device so as to prepare for locking the capturing target 50 in the next step.
The outer wall locking mechanism 20, the spray pipe outer contour locking mechanism 30 and the spray pipe throat locking mechanism 40 are all arranged on the bottom surface of the satellite foundation platform 10.
The outer wall locking mechanism 20 comprises a first telescopic rod 201 and telescopic rotating mechanical arms 202, and four telescopic rotating mechanical arms 202 are connected to the outer side wall of the first telescopic rod 201 at equal intervals.
Referring to fig. 6, the telescopic rotary robot arm 202 includes a telescopic rotary horizontal section 2021 and a vertical section 2022 hinged to the horizontal section 2021; the horizontal section 2021 is generally formed by rotationally connecting two sections of telescopic rods through a bearing, a protection shaft sleeve is arranged outside the bearing connection, one end of the connected horizontal section 2021 is connected with the first telescopic rod 201, the other end of the connected horizontal section is hinged with the vertical section 2022, and the vertical section 2022 can rotate at the end part of the horizontal section 2021; the vertical section 2022 can be provided with a plurality of sections of telescopic rods according to the requirement, every two adjacent sections of telescopic rods are connected in a rotating way through bearings, the top of the vertical section 2022 is provided with a mechanical claw 203, and grabbing and locking can be carried out on grabbing sites such as an attitude adjusting engine for capturing the target 50, a connecting position of a solar sailboard and a satellite through the mechanical claw 203. Since the horizontal section 2021 of the telescopic rotating mechanical arm 202 can be telescopic rotated in the direction perpendicular to the first telescopic rod 201, the vertical section 2022 can be telescopic rotated in the direction parallel to the first telescopic rod 201, and the outer wall locking mechanism 20 can lock the capturing targets 50 with different volumes and different profiles.
Referring to fig. 2 and 3, the nozzle outer profile locking mechanism 30 includes a second telescopic rod 301 and claws 302, and four identical claws 302 are rotatably connected to an outer wall surface of the second telescopic rod 301. The outer wall surface of the second telescopic rod 301 is provided with a hinged support, one end of the clamping jaw 302 is hinged with the hinged support, the clamping jaw 302 is in a multi-curve arc structure and is used for capturing the spray pipe 501 on the capturing target 50, and the inner sides of the four clamping jaws 302 are provided with the shrinkage brackets 303 and are connected through the shrinkage brackets 303.
The shrinkage bracket 303 is of an annular structure, is sleeved on the outer wall of the third telescopic rod 401 and is connected with the clamping jaw 302 through an electric shrinkage rod, when the clamping jaw 302 is required to grab and lock the spray pipe 501, the electric shrinkage rod is firstly stretched to enable the distance between the clamping jaws 302 to be increased, the spray pipe 501 is convenient to enter the multi-curved inner side of the clamping jaw 302, and after the spray pipe 501 enters a proper position of the inner side of the clamping jaw 302, the electric shrinkage rod starts to shrink, so that the clamping jaw 302 is clamped on the outer wall of the spray pipe 501. The electric pinch bar is in telecommunication connection with the satellite base platform 10, the power of the electric pinch bar is provided by the satellite base platform 10, and the action of the electric pinch bar is controlled by the satellite base platform 10.
Referring to fig. 4 and 5, the spout throat locking mechanism 40 includes a third telescopic rod 401 and a throat locking member 402, the throat locking member 402 is disposed at an end of the third telescopic rod 401, and the throat locking member 402 is adapted to the spout 501 for being inserted into the interior of the spout 501 and locking the capturing object 50 in cooperation with the spout outer contour locking mechanism 30.
The shape of the throat locking member 402 is matched with the shape of the inner wall of the nozzle 501, so that the throat locking member 402 can be smoothly inserted into the nozzle 501, and the nozzle 501 can be locked. The inside of spout throat retaining member 402 is equipped with the pull rod, and the top of spout throat retaining member 402 is fixed with the expansion head, and the expansion head is connected with the pull rod and through the expansion size of pull rod control. The expansion head is made of high-temperature-resistant rubber, is ellipsoidal and hollow, and has the same axial line as the third telescopic rod 401 in the long axis, and is contracted in the long axis direction and expanded in the short axis direction when the pull rod is pulled, so that the expansion head is clamped in the spray pipe 501. The pull rod is in telecommunication connection with the satellite base platform 10, the power of the pull rod is provided by the satellite base platform 10, and the stretching of the pull rod is controlled by the satellite base platform 10.
The nozzle 501 is generally flared, with a small end opening connected to the capture object 50 and a large end opening facing outward, and the internal structure is also arcuate with a larger inner diameter at the ends of the opening and a smaller inner diameter in the middle.
The acquisition target 50 in this embodiment is typically a satellite, a non-cooperative target, also referred to simply as a target.
The first telescopic rod 201, the second telescopic rod 301 and the third telescopic rod 401 are coaxially and collinearly arranged in sequence from outside to inside, the second telescopic rod 301 is nested in the first telescopic rod 201, and the third telescopic rod 401 is nested in the second telescopic rod 301; the movements of the individual telescopic links are independent of each other to accommodate the cooperative engagement between the locking mechanisms when gripping different capture objects 50.
The torque motor 102 is installed on the bottom surface of the satellite base platform 10, an output shaft of the torque motor 102 is connected with the first telescopic rod 201, and the torque motor 102 can drive the outer wall locking mechanism 20 to rotate, so that racemization of the capture target 50 is realized.
It should be noted that the multi-stage locking mechanism can simultaneously lock the capturing target 50 with larger volume and mass, has better locking effect, and greatly improves the stability of the racemization stage.
The capturing process using the capturing device of the invention is as follows:
(1) Approaching and reaching the preliminary catch position: when the radar of the satellite base platform 10 detects the captured target 50, the satellite base platform 10 approaches the captured target 50, and adjusts the motor 101 to reach the preliminary capturing position by means of the attitude, which is a position on the side of the nozzle 501 that is collinear with the rotation axis of the captured target 50 and approaches the captured target 50.
(2) Preliminary determination of the operating parameters and profile parameters of the capture object 50: when the satellite base platform 10 moves to the preliminary capturing position, the satellite base platform 10 obtains the magnitude and direction of the spin angular velocity of the capturing target 50 through measurement modes such as vision and radar, and performs preliminary judgment on the volume and mass of the capturing target 50, and generally three situations are:
case one: the mass and the volume of the capture object 50 are small, and the spray pipe 501 is not embedded;
and a second case: the mass and the volume of the capture object 50 are small, and the spray pipe 501 is embedded;
and a third case: the volume of the capture object 50 is large.
(3) Rotating the telescopic rotating mechanical arm 202 obtains an angular velocity: after obtaining the spin angular velocity of the acquisition target 50, the satellite base platform 10 provides an axial rotation torque to the locking mechanism via the torque motor 102, so that the locking mechanism obtains the same angular velocity as the acquisition target 50.
(4) The locking mechanism extends into contact with the capture object 50 and locks: in the first case, when the mass and volume of the capturing object 50 are small and the nozzle 501 is not embedded, that is, the nozzle 501 is exposed outside the satellite as a whole, the second telescopic rod 301 is extended, and the claw 302 grabs the entire nozzle 501 of the capturing object 50 and applies pressure to lock the capturing object.
In the second case, when the mass and volume of the capturing target 50 are smaller and the nozzle 501 is embedded, i.e. the nozzle 501 is not exposed outside the satellite as a whole, the second telescopic rod 301 is extended, and the third telescopic rod 401 nested in the second telescopic rod 301 is extended, so that the throat locking member 402 extends into the nozzle 501, and after passing through the throat of the nozzle 501, the throat locking member 402 expands the expansion head through the pull rod, and the throat locking member 402 is clamped in the nozzle 501; simultaneously, the first telescopic rod 201 is retracted, the throat locking piece 402 in the throat has supporting force pointing to the satellite basic platform 10 on the capturing target 50, the claw 302 on the second telescopic rod 301 has supporting force deviating from the satellite basic platform 10 on the capturing target 50, and the two opposite supporting forces have locking effect on the capturing target 50.
In the third case, when the volume of the capturing target 50 is large, the locking schemes of the first case or the second case are respectively corresponding to whether the spray pipe 501 is embedded; meanwhile, because the capturing target 50 is large in size, on the basis of the first-case and second-case locking scheme, the first telescopic rod 201 stretches, the telescopic rotating mechanical arm 202 stretches and rotates, the mechanical claw 203 is enabled to grab the outer wall of the capturing target 50, locking is achieved, and grabbing sites are generally the joints of the attitude engine or the satellite on the surface of the capturing target 50 and the solar sailboard.
(5) Racemization is performed by torque motor 102: the locking mechanism and the capturing target 50 are connected into a combined body, the satellite base platform 10 provides a racemization moment in the opposite direction for the moment motor 102 through the rotating shaft, so that the rotation angular velocity of the combined body is gradually reduced to zero, and racemization is completed.
(6) The catching is successful: after racemization is completed, the capturing target 50 is recovered through the telescopic rod, and the capturing task is finished.
After the motion state data of the captured target 50 are acquired, the device only adjusts the posture of the locking mechanism and the rotation angular velocity of the tail end, and then carries out the next capturing racemization, thereby greatly reducing the technical difficulty, reducing the damage to the captured target 50, ensuring that the capturing process is more stable and the application range is wider.
The foregoing is merely a preferred embodiment of the invention, which is not representative of all possible forms of the invention, and the scope of the invention is not limited to such specific statements and embodiments. Various other modifications and improvements can be made in light of the teachings of the present disclosure without departing from the spirit and scope of the invention.
Claims (7)
1. A high-applicability space target capture device, comprising: the device comprises a satellite base platform (10), an outer wall locking mechanism (20) for grabbing the outer surface of a capture object (50), and a spray pipe outer contour locking mechanism (30) and a spray pipe throat locking mechanism (40) for fixing a spray pipe (501) on the capture object (50);
the outer wall locking mechanism (20) comprises a first telescopic rod (201) and telescopic rotating mechanical arms (202), and a plurality of telescopic rotating mechanical arms (202) are connected to the first telescopic rod (201);
the spray pipe outer contour locking mechanism (30) comprises a second telescopic rod (301) and a claw (302), and the claw (302) is movably connected to the second telescopic rod (301);
the spray pipe throat locking mechanism (40) comprises a third telescopic rod (401) and a throat locking piece (402), the throat locking piece (402) is arranged at the end part of the third telescopic rod (401), and the throat locking piece (402) is matched with the spray pipe (501);
the first telescopic rod (201), the second telescopic rod (301) and the third telescopic rod (401) are sequentially coaxially arranged from outside to inside, the second telescopic rod (301) is nested in the first telescopic rod (201), and the third telescopic rod (401) is nested in the second telescopic rod (301).
2. A high applicability space object capturing device according to claim 1, wherein: the telescopic rotating mechanical arm (202) comprises a telescopic rotating horizontal section (2021) and a vertical section (2022) hinged on the horizontal section (2021), and a mechanical claw (203) is arranged at the end part of the vertical section (2022).
3. A high applicability space object capturing device according to claim 1, wherein: the clamping jaws (302) are of multi-curve arc-shaped structures, one end of each clamping jaw is rotatably connected to the outer side wall of the second telescopic rod (301), the other end of each clamping jaw is connected with the outer wall of the spray pipe (501), and a plurality of clamping jaws (302) are connected through the telescopic support (303).
4. A high applicability space object capturing device according to claim 3, wherein: the shrinkage bracket (303) is of an annular structure, sleeved on the outer wall of the third telescopic rod (401) and connected with the clamping jaw (302) through an electric shrinkage rod.
5. A high applicability space object capturing device according to claim 1, wherein: the inside pull rod that is equipped with of throat retaining member (402), the top of throat retaining member (402) is fixed with the expansion head, the expansion head is connected with the pull rod and controls the inflation size through the pull rod.
6. A high applicability space object capturing apparatus according to any of claims 1 to 5, wherein: and a plurality of groups of attitude adjustment engines (101) are arranged on the outer wall of the satellite base platform (10).
7. A high applicability space object capturing apparatus according to claim 6, wherein: the satellite base platform (10) is connected with the first telescopic rod (201) through a torque motor (102).
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| CN202310505527.9A CN116812178A (en) | 2023-05-06 | 2023-05-06 | Space target capturing device with high applicability |
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