Multi-size adaptive space flexible capturing and docking mechanism and capturing method

Abstract

The invention relates to a multi-size adaptive space flexible capturing and docking mechanism and a capturing method. The capturing and docking mechanism comprises a fixed platform, a plane scaling mechanism, three connecting rod branched chains and three tail end capturing hand modules, wherein one end of the three connecting rod branched chains is hinged to the fixed platform through hooke hinges and can rotate in two perpendicular directions relative to the fixed platform, the other ends of the three connecting rod branched chains are connected with one side of the plane scaling mechanism through equivalent ball joints and can rotate in three directions relative to the plane scaling mechanism, and the other side of the plane scaling mechanism is connected with the tail end capturing hand modules. Before capturing is performed, the plane scaling mechanism deforms in one plane, so that the relative position relation of the tail end capturing hand modules is changed, and a target is flexibly captured by virtue of the tail end capturing hand modules; and after capturing is completed, the plane scaling mechanism deforms again, so that rigidity locking is realized, and the capturing and docking of the target are completed. According to the multi-size adaptive space flexible capturing and docking mechanism, the problem of low adaptability to the angle, the position and the size ofthe captured target in a capturing process is solved.

Description

technical field [0001] The invention relates to a multi-size self-adaptive space flexible capture docking mechanism and a capture method, belonging to the technical field of space actuators. Background technique [0002] For the capture of space cooperation targets or specific targets, a lot of research has been carried out at home and abroad. There are three main forms of design schemes for on-orbit capture mechanisms: using a robotic arm or tentacles with a terminal gripper tool to grab a specific position of a space vehicle (such as a space vehicle); Arrow docking rings or preset handles, etc.); using telescopic rods to capture the engine nozzles of target satellites; using rope net capture systems or flying claw capture devices to capture target spacecraft, and using microsatellite rope net formations to capture space target rope nets. With the continuous upgrading of the way of space capture and the capture target, it is impossible to meet the capture requirements if on...

AI Technical Summary

Problems solved by technology

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to overcome the deficiencies of the prior art, to propose a multi-size self-adaptive space flexible capture docking mechanism and capture method, and to solve the problem of angle, position and capture in the capture process. The problem of poor adaptability of target size

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