A satellite docking capture mechanism and a space separation, release, docking and locking mechanism

Abstract

The present invention provides a satellite docking and capturing mechanism, which includes an annular main base, a guiding and capturing ring, a guide rail, a main support rod, a guiding slider, a main spring, a lifting limiter and a locking mechanism; a plurality of guide rails are arranged along the radial direction of the annular main base, the guiding and capturing ring is coaxial with the annular main base, and the radial dimension of the guiding and capturing ring is smaller than the radial dimension of the annular main base; the guiding slider is arranged on the guide rail and can move along the length direction of the guide rail; both ends of the main support rod are respectively hinged to the guiding slider and the outer wall of the guiding and capturing ring; the main spring is sleeved on the guide rail and is located between the annular main base and the guiding slider. The satellite docking and capturing mechanism of the present invention arranges the guiding and capturing ring on the annular main base through the guide rail, the support rod, the guiding slider and the spring, has a simple structure, a small size and a small docking impact force, and can be used for the on-orbit docking, capturing and recovery of the satellite of a reusable carrier. On this basis, the present invention further provides a space separation, release and docking locking mechanism.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular, to a satellite docking capture mechanism and a space separation release and docking locking mechanism. Background Art

[0002] Currently, the space docking and separation mechanisms applied in orbit are mainly large docking structures between two spacecrafts or between large payload devices and space stations, which can achieve the transmission of resources such as machinery, electricity, heat, and fluids. The peripheral docking mechanisms of the same structure for different bodies and the cone-bar docking mechanisms are the most widely used, and mostly adopt active and active driving. The mechanisms are relatively complex, have large sizes, and large docking impacts, and the separation and release capabilities are relatively weak. The small and medium-sized docking and locking mechanisms for space are mainly used for the docking of the space station and small and medium-sized payloads outside the cabin, and are the "bridge" between the space station and the test payloads, realizing the transmission of space station resources to the test payloads. The miniaturization and lightweight of the space docking mechanism have been carried out. The docking process is mainly participated by the robotic arm, and other small docking and separation mechanisms mainly adopt the cone-bar type, claw type, etc., and the separation and release capabilities are relatively weak or basically non-existent. Currently, there is no satellite on-orbit separation release and docking capture and recovery mechanism based on a reusable launch vehicle. Summary of the Invention

[0003] The purpose of the present invention is to provide a satellite docking capture mechanism and a space separation release and docking locking mechanism, which helps to solve the above technical problems.

[0004] The present invention is implemented as follows:

[0005] A satellite docking capture mechanism includes an annular main base, and a guiding capture ring, a guide rail, a main support rod, a guiding slider, a main spring, a lifting limiter and a locking mechanism arranged thereon; a plurality of the guide rails are arranged along the radial direction of the annular main base, the guiding capture ring is coaxial with the annular main base, and the radial dimension of the guiding capture ring is smaller than the radial dimension of the annular main base; the guiding slider is arranged on the guide rail and can move along the length direction of the guide rail; two ends of the main support rod are respectively hinged to the guiding slider and the outer wall of the guiding capture ring; the main spring is sleeved on the guide rail and is located between the annular main base and the guiding slider; the lifting limiter is used to limit the movement of the guiding capture ring relative to the annular main base along the axis of the annular main base; the locking mechanism is used to fix the satellite to the guiding capture ring.

[0006] Further, a plurality of V-shaped guiding grooves are provided on the guiding capture ring, the openings of the V-shaped guiding grooves face away from the annular main base, and the plurality of V-shaped guiding grooves are evenly distributed along the circumferential direction of the guiding capture ring; the locking mechanism includes a locking gripper, and the locking gripper is elastically hinged on the annular main base and is used for clamping the satellite structure that is snapped into the V-shaped guiding groove.

[0007] Further, a rotation limit disk, a rotation limiter and a rotation driving assembly are further provided on the annular main base; the rotation limit disk is coaxially arranged with the annular main base, a plurality of limit bosses are arranged on the outer ring surface of the rotation limit disk, the limit bosses face the guiding slider, and the limit bosses are used for blocking the guiding slider from moving towards the center of the annular main base; the rotation driving assembly is used for driving the rotation limit disk to rotate, and the rotation limiter is used for limiting the rotation of the rotation limit disk.

[0008] Further, a plurality of locking pin hooks are further provided on the outer ring surface of the rotation limit disk, and locking pin holes corresponding to the locking pin hooks are provided on the guiding slider; after the locking pin hooks are inserted into the locking pin holes, the guiding slider cannot move along the length direction of the guide rail.

[0009] Further, a rotation stopping boss is further provided on the guiding capture ring; when the distance between the guiding capture ring and the annular main base is less than a predetermined value, the rotation stopping boss can prevent the locking gripper from rotating under its own elastic force.

[0010] Further, a capture monitor is further provided on the guiding capture ring, and the capture monitor is used for monitoring whether a satellite structure is snapped into the V-shaped guiding groove.

[0011] Further, a docking target is further provided on the annular main base, and the docking target is used for the satellite to identify the docking pose.

[0012] Further, a main shock absorber is further provided on the annular main base, and the main shock absorber is located on the side of the annular main base away from the guiding capture ring.

[0013] Further, a docking bracket is further included; a V-shaped guiding head corresponding to the V-shaped guiding groove is provided on the docking bracket, and a convex block that is clamped with the locking gripper is provided on the V-shaped guiding head; the side of the docking bracket facing away from the V-shaped guiding head is used for being fixedly connected with the satellite.

[0014] A space separation release and docking locking mechanism includes a locking and releasing mechanism and the above-mentioned satellite docking capture mechanism. The locking and releasing mechanism includes a fixed base, a separation component, a transfer plate, a locking component, and an unlocking trigger. The locking component and the separation component are arranged between the fixed base and the transfer plate. The locking component is used to lock the transfer plate on the fixed base, and the separation component is used to push the transfer plate away from the fixed base. The unlocking trigger is arranged on the locking component. The fixed base is connected to the annular main base.

[0015] The beneficial effects of the present invention are:

[0016] For the satellite docking capture mechanism and the space separation release and docking locking mechanism of the present invention, the guiding capture ring is arranged on the annular main base through a guide rail, a support rod, a guiding slider, and a spring, with a simple structure, small size, and small docking impact force, and can be used for the on-orbit separation release, docking capture, and recovery of satellites of a reusable carrier vehicle. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the first perspective after the satellite docking capture mechanism provided by the present invention is installed;

[0019] Figure 2 It is a schematic structural diagram of the second perspective after the satellite docking capture mechanism provided by the present invention is installed;

[0020] Figure 3 It is a three-dimensional structural diagram of the satellite docking capture mechanism provided by the present invention;

[0021] Figure 4 For Figure 3 the top view in

[0022] Figure 5 It is a schematic structural diagram of the cooperation connection between the guiding capture ring and the docking bracket in the satellite docking capture mechanism provided by the present invention;

[0023] Figure 6 It is a schematic structural diagram of the space separation release and docking locking mechanism provided by the present invention;

[0024] Figure 7 It is a schematic structural diagram of the locking and releasing mechanism in the space separation release and docking locking mechanism provided by the present invention.

[0025] Icons: 1 - Launch vehicle; 2 - Satellite; 100 - Ring-shaped main base; 110 - Guiding and capturing ring; 1101 - V-shaped guiding groove; 1102 - Anti-rotation boss; 1103 - Capture monitor; 120 - Guide rail; 130 - Main support rod; 140 - Guide slider; 150 - Main spring; 160 - Lifting limiter; 170 - Locking gripper; 181 - Rotation limiting disc; 1811 - Limiting boss; 1812 - Locking pin hook; 182 - Rotation limiter; 183 - Rotation drive assembly; 190 - Docking target; 200 - Main shock absorber; 210 - Docking bracket; 211 - V-shaped guiding head; 212 - Bump; 300 - Fixed base; 400 - Separation assembly; 500 - Adapter plate; 600 - Locking assembly; 700 - Unlock trigger; 800 - Separation state monitor; 900 - Auxiliary shock absorber. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. The components of the embodiments of the present invention described and labeled in the accompanying drawings can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0028] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0030] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0031] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0032] The following will describe in detail some embodiments of the present invention with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0033] Figure 1 It is a schematic diagram of the first perspective structure of the satellite 2 docking capture mechanism provided by the present invention after installation; Figure 2 It is a schematic diagram of the second perspective structure of the satellite 2 docking capture mechanism provided by the present invention after installation; Figure 3 It is a three-dimensional structure schematic diagram of the satellite 2 docking capture mechanism provided by the present invention; Figure 4 is Figure 3 the top view in Figure 5 It is a schematic diagram of the cooperating connection structure between the guiding capture ring 110 and the docking bracket 210 in the satellite 2 docking capture mechanism provided by the present invention. Please refer to Figures 1 to 5 In this embodiment, a satellite 2 docking capture mechanism is provided, including an annular main base 100 and a guiding capture ring 110, a guide rail 120, a main support rod 130, a guiding slider 140, a main spring 150, a lifting limiter 160 and a locking mechanism arranged thereon; a plurality of guide rails 120 are arranged along the radial direction of the annular main base 100, the guiding capture ring 110 is coaxial with the annular main base 100, and the radial dimension of the guiding capture ring 110 is smaller than the radial dimension of the annular main base 100; the guiding slider 140 is arranged on the guide rail 120 and can move along the length direction of the guide rail 120; both ends of the main support rod 130 are hinged to the outer wall of the guiding capture ring 110 and the guiding slider 140 respectively; the main spring 150 is sleeved on the guide rail 120 and is located between the annular main base 100 and the guiding slider 140; the lifting limiter 160 is used to limit the movement of the guiding capture ring 110 relative to the annular main base 100 along the axis of the annular main base 100; the locking mechanism is used to fix the satellite 2 to the guiding capture ring 110.

[0034] In the above structure, the annular main base 100 is installed on the reciprocating carrier 1, and the guiding and capturing ring 110 is used for the docking and capturing of the satellite 2, and can of course also be used for separating and releasing the satellite 2 and other on-orbit spacecraft.

[0035] Among them, the number of the guide rails 120 can be three, four or even more. Similarly, one guide rail 120 is configured with one main support rod 130, one guiding slider 140 and one main spring 150.

[0036] Among them, the guide rail 120 is preferably a spline linear guide rail 120.

[0037] In at least one preferred embodiment, further, as Figure 3 、 Figure 5 shown, a plurality of V-shaped guiding grooves 1101 are provided on the guiding and capturing ring 110, the openings of the V-shaped guiding grooves 1101 face away from the annular main base 100, and the plurality of V-shaped guiding grooves 1101 are evenly distributed along the circumferential direction of the guiding and capturing ring 110; the locking mechanism includes a locking gripper 170, and the locking gripper 170 is elastically hinged on the annular main base 100 and is used for clamping the structure of the satellite 2 that is snapped into the V-shaped guiding groove 1101. Among them, preferably 4 V-shaped guiding grooves 1101 are provided, which correspond to the structure on the satellite 2. The number of the locking grippers 170 is equal to the number of the V-shaped guiding grooves 1101. The setting of the V-shaped guiding grooves 1101 improves the fault tolerance rate of the docking measurement, so that the satellite 2 and the carrier 1 can achieve docking and capturing under a large alignment error.

[0038] In at least one preferred embodiment, further, as Figure 3 、 Figure 4 shown, a rotation limiting disk 181, a rotation limiter 182 and a rotation driving assembly 183 are further provided on the annular main base 100; the rotation limiting disk 181 is coaxially arranged with the annular main base 100, and a plurality of limiting bosses 1811 are provided on the outer ring surface of the rotation limiting disk 181, the limiting bosses 1811 face the guiding slider 140, and the limiting bosses 1811 are used for blocking the guiding slider 140 from moving towards the center of the annular main base 100; the rotation driving assembly 183 is used for driving the rotation limiting disk 181 to rotate, and the rotation limiter 182 is used for limiting the rotation of the rotation limiting disk 181. Among them, the rotation driving assembly 183 can be a compression spring, or can be set as a spring piece or other coil springs. The setting of the limiting bosses 1811 divides the displacement of the guiding and capturing ring 110 into two stages, one is the docking and capturing stage, and the other is the docking and locking stage.

[0039] In at least one preferred embodiment, further, as Figure 3 、 Figure 4As shown, a plurality of locking pin hooks 1812 are further provided on the outer ring surface of the rotation limiting disc 181, and locking pin holes corresponding to the locking pin hooks 1812 are provided on the guiding slider 140; after the locking pin hooks 1812 are inserted into the locking pin holes, the guiding slider 140 cannot move along the length direction of the guide rail 120. Among them, after the locking pin hooks 1812 are inserted into the locking pin holes, the guiding slider 140 cannot move, resulting in the main support rod 130 no longer swinging, and then the guiding capture ring 110 is firmly locked.

[0040] In at least one preferred embodiment, further, as Figure 3 、 Figure 4 shown, a rotation stopping boss 1102 is further provided on the guiding capture ring 110; when the distance between the guiding capture ring 110 and the annular main base 100 is less than a predetermined value, the rotation stopping boss 1102 can prevent the locking gripper 170 from rotating under its own elastic force. Among them, the function of the rotation stopping boss 1102 is to prevent the locking gripper 170 from popping out freely when the guiding capture ring 110 is in the stored position.

[0041] In at least one preferred embodiment, further, as Figure 3 、 Figure 4 shown, a capture monitor 1103 is further provided on the guiding capture ring 110, and the capture monitor 1103 is used to monitor whether the satellite 2 structure is caught in the V-shaped guiding groove 1101. After the capture monitor 1103 completes the capture of the satellite 2 structure in each V-shaped guiding groove 1101, it transmits this information to the control unit to timely control the locking.

[0042] In at least one preferred embodiment, further, as Figure 3 、 Figure 4 shown, a docking target 190 is further provided on the annular main base 100, and the docking target 190 is used for the satellite 2 to identify the docking pose. Among them, the satellite 2 detects and identifies the docking target 190 through its own pose detection sensor, and calculates the relative pose information between the satellite 2 and the satellite 2 docking capture mechanism during docking.

[0043] In at least one preferred embodiment, further, as Figure 3 、 Figure 4 shown, a main shock absorber 200 is further provided on the annular main base 100, and the main shock absorber 200 is located on the side of the annular main base 100 away from the guiding capture ring 110.

[0044] In at least one preferred embodiment, further, as Figures 1 to 4As shown, it also includes a docking bracket 210; the docking bracket 210 is provided with a V-shaped guide head 211 corresponding to the V-shaped guide groove 1101, and the V-shaped guide head 211 is provided with a protrusion 212 that is engaged with the locking grip 170; the side of the docking bracket 210 away from the V-shaped guide head 211 is used for fixed connection with the satellite 2.

[0045] Figure 6 A schematic diagram of the structure of the space separation release and docking locking mechanism provided by the present invention; Figure 7 This is a schematic diagram of the structure of the locking and releasing mechanism in the space separation release and docking locking mechanism provided by the present invention. Figure 6 , Figure 7 The present embodiment further provides a space separation release and docking locking mechanism, including a locking release mechanism and the satellite 2 docking capture mechanism of any of the above-mentioned embodiments, the locking release mechanism including a fixed base 300, a separation assembly 400, an adapter plate 500, a locking assembly 600 and an unlocking trigger 700; a locking assembly 600 and a separation assembly 400 are arranged between the fixed base 300 and the adapter plate 500, the locking assembly 600 is used to lock the adapter plate 500 on the fixed base 300, the separation assembly 400 is used to push the adapter plate 500 away from the fixed base 300, and an unlocking trigger 700 is arranged on the locking assembly 600; the fixed base 300 is connected to the annular main base 100.

[0046] Furthermore, a separation state monitor 800 and an auxiliary shock absorber 900 are also provided on the locking and releasing mechanism. The separation state monitor 800 is used to monitor the separation state in real time, and the auxiliary shock absorber 900 can reduce the vibration between different components.

[0047] To summarize, the working process of the space separation release and docking locking mechanism of this embodiment is divided into six steps: locking state, separation release, capture preparation, docking approach, guided capture, and docking locking. The locking and release mechanism participates in the first two steps, and the docking capture mechanism of Satellite 2 participates in the last four steps.

[0048] Step 1 (locked state): The locking release mechanism realizes the locking between satellite 2 and carrier 1, and the docking capture mechanism of satellite 2 is in the initial locked storage state. At this time, the lifting limiter 160 is in the locked limit state, the position of the guide capture ring 110 is locked, and the locking grip 170 is restricted by the anti-rotation boss 1102 on the guide capture ring 110 and is in the storage position.

[0049] Step 2 (separation and release): The unlocking trigger 700 of the locking and releasing mechanism unlocks the locking assembly 600. Under the action of the separation assembly 400, the satellite 2 is separated from the carrier 1. The docking and capture mechanism of the satellite 2 is still in the initial locked and stored state and does not participate in the locking and separation and release of the satellite 2.

[0050] Step 3 (Capture Preparation): The lifting limiter 160 of the docking capture mechanism of Satellite 2 releases the position locking effect on the guiding capture ring 110. The four main support rods 130 move along the guide rail 120 under the push of the main spring 150 and stop at the position of the limiting boss 1811 of the rotation limiting disc 181, pushing the guiding capture ring 110 to lift by a certain height as a whole, so that there is a height difference between the docking working surface of the docking capture mechanism of Satellite 2 and the separation release surface of the locking and release mechanism, avoiding interference with the relevant structures of the locking and release mechanism during the docking capture process. As the guiding capture ring 110 is lifted as a whole, the limiting constraint on the locking gripper 170 is released, putting the locking gripper 170 in the docking capture preparation state.

[0051] Step 4 (Docking Approach): Satellite 2 uses the docking pose sensors installed on itself or externally to detect and identify the docking target 190, calculates the docking attitude information, and slowly guides Satellite 2 to gradually approach the docking capture mechanism of Satellite 2.

[0052] Step 5 (Capture Guidance): Under the active attitude control of Satellite 2, it slowly approaches. The four V-shaped guiding heads 211 of the docking rod installed on Satellite 2 gradually approach the capture guiding frame. The guiding capture ring 110 passively adapts and adjusts its pose to match the pose state of the docking support 210 under the combined action of the main spring 150, the guiding slider 140, and the main support rod 130. The locking gripper 170 adaptively adjusts its two-axis attitude to adapt to the attitude of the guiding capture ring 110. Under the guidance of the four V-shaped guiding grooves 1101 corresponding to the guiding capture ring 110, it pushes open the locking claws and enters the bottom of the V-shaped guiding groove 1101. The main spring 150 on the main support rod 130 absorbs the impact energy of Satellite 2 during docking capture.

[0053] Step 6 (Docking Locking): After the capture guidance is completed, the rotation limiter 182 of the docking capture mechanism of Satellite 2 is triggered to unlock. The rotation limiting disc 181 rotates around the axis under the action of the rotation drive assembly 183, and under the combined action of the main spring 150 of the main support rod 130 and the compression spring of the rotation drive assembly 183, it raises the height of the guiding capture ring 110. At the same time, the locking pin hook 1812 on the rotation limiting disc 181 synchronously engages with the locking pin hole of the guiding slider 140, realizing the tensioning and locking of the locking claws and the four bumps 212 on the docking support 210, so that the docking capture mechanism of Satellite 2 is completely locked with Satellite 2, ensuring the stability of the overall state when the carrier 1 carries Satellite 2 into the atmosphere and returns to the ground.

[0054] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A satellite docking and capturing mechanism, characterized in that, it includes an annular main base, and a guiding and capturing ring, a guide rail, a main support rod, a guiding slider, a main spring, a lifting limiter and a locking mechanism provided thereon; A plurality of the guide rails are arranged along the radial direction of the annular main base. The guiding and capturing ring is coaxial with the annular main base, and the radial dimension of the guiding and capturing ring is smaller than the radial dimension of the annular main base. The guiding slider is arranged on the guide rail and can move along the length direction of the guide rail. Both ends of the main support rod are hinged to the guiding slider and the outer wall of the guiding and capturing ring respectively. The main spring is sleeved on the guide rail and is located between the annular main base and the guiding slider; The lifting limiter is used to limit the movement of the guiding and capturing ring relative to the annular main base along the axis of the annular main base; The locking mechanism is used to fix the satellite to the guiding and capturing ring; The locking mechanism includes a locking gripper, and a rotation stopping boss is also arranged on the guiding and capturing ring. When the distance between the guiding and capturing ring and the annular main base is less than a predetermined value, the rotation stopping boss can prevent the locking gripper from rotating under its own elastic force.

2. The satellite docking and capturing mechanism according to claim 1, characterized in that, A plurality of V-shaped guiding grooves are arranged on the guiding and capturing ring. The openings of the V-shaped guiding grooves face away from the annular main base, and the plurality of V-shaped guiding grooves are evenly distributed along the circumferential direction of the guiding and capturing ring; The locking gripper is elastically hinged on the annular main base and is used to buckle the satellite structure that is snapped into the V-shaped guiding groove.

3. The satellite docking and capturing mechanism according to claim 1, characterized in that, A rotation limiting disk, a rotation limiter and a rotation driving component are also arranged on the annular main base. The rotation limiting disk is coaxially arranged with the annular main base. A plurality of limiting bosses are arranged on the outer ring surface of the rotation limiting disk. The limiting bosses face the guiding slider, and the limiting bosses are used to block the guiding slider from moving towards the center of the annular main base; The rotation driving component is used to drive the rotation limiting disk to rotate, and the rotation limiter is used to limit the rotation of the rotation limiting disk.

4. The satellite docking and capturing mechanism according to claim 3, characterized in that, A plurality of locking pin hooks are also arranged on the outer ring surface of the rotation limiting disk, and locking pin holes corresponding to the locking pin hooks are arranged on the guiding slider. After the locking pin hooks are inserted into the locking pin holes, the guiding slider cannot move along the length direction of the guide rail.

5. The satellite docking and capturing mechanism according to claim 2, characterized in that, A capturing monitor is also arranged on the guiding and capturing ring, and the capturing monitor is used to monitor whether a satellite structure is snapped into the V-shaped guiding groove.

6. The satellite docking and capturing mechanism according to claim 1, characterized in that, A docking target is also arranged on the annular main base, and the docking target is used for the satellite to identify the docking pose.

7. The satellite docking and capturing mechanism according to claim 1, characterized in that, A main vibration damper is also arranged on the annular main base, and the main vibration damper is located on a side of the annular main base away from the guide and capture ring.

8. The satellite docking and capturing mechanism according to claim 2, It is characterized in that It also includes a docking bracket; the docking bracket is provided with a V-shaped guide head corresponding to the V-shaped guide groove, and the V-shaped guide head is provided with a protrusion that is engaged with the locking and grasping clamp; the side of the docking bracket away from the V-shaped guide head is used for fixed connection with the satellite.

9. A space separation release and docking locking mechanism, It is characterized in that The invention comprises a locking and releasing mechanism and a satellite docking and capturing mechanism according to any one of claims 1 to 8, wherein the locking and releasing mechanism comprises a fixed base, a separation component, an adapter plate, a locking component and an unlocking trigger; the locking component and the separation component are arranged between the fixed base and the adapter plate, the locking component is used to lock the adapter plate on the fixed base, the separation component is used to push the adapter plate away from the fixed base, and the unlocking trigger is arranged on the locking component; The fixed base is connected to the annular main base.

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