Space tongs for racemic capture and manipulation of space objects

Abstract

The application provides a space chopstick tool for space target despinning capture and smart control, and belongs to the technical field of space despinning mechanisms.The application solves the problem of space operation of a high-speed rolling non-cooperative target under complex unknown state conditions in the prior art.The base of the mechanical arm structure is connected with a satellite base, the chopstick mechanism is connected with the end of the mechanical arm structure, the chopstick mechanism is connected with the mechanical arm structure through a symmetric fulcrum adjustment variable stiffness joint with two directions of pitch and yaw, the chopstick mechanism comprises a resistance rod section, a telescopic sleeve section and a brush section, the resistance rod section and the sleeve section are connected through a folding joint, telescopic movement is generated between the sleeve section and the brush section, the chopstick mechanism adjusts the length and configuration according to the contact force to adapt to different non-cooperative target shapes, the brush section is a flexible structure, the contact stiffness is low, and the brush section is used for despinning and dechapterization.The application uses a chopstick type mechanism with flexible hair, and has the characteristics of light weight, telescopic, high controllability, flexible operation and the like.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space despinning mechanisms, and particularly relates to a space chopstick tool for despinning capture and control of space targets. BACKGROUND

[0002] A space non-cooperative target gradually loses stability due to the influence of solar radiation pressure, gravity gradient and residual angular momentum in a long-term uncontrolled state, and finally presents a free tumbling state. Prior information such as the mass, center of mass position and geometric shape of the tumbling target is unknown, and the motion law is extremely complex, so it is very difficult to implement on-orbit capture. Therefore, it is necessary to study an active despinning device for a space complex and fast rotating non-cooperative target to provide necessary conditions for subsequent on-orbit capture tasks.

[0003] Traditional despinning methods include mechanical arm contact, tether fixing, foam spraying and flexible brush contact, but these methods have problems such as small application range, insufficient reliability, low efficiency, insufficient safety guarantee and the like, and are difficult to cope with high-speed tumbling non-cooperative targets in a complex space environment. The mechanism is a multi-degree-of-freedom target space chopstick despinning device with variable pitch and yaw joints, which adopts point, line, surface and body operation modes, has characteristics such as light weight, scalability, flexible bristle end, high controllability and flexible contact and collision despinning capability. It can be applied to space operation tasks under complex unknown state conditions of high-speed tumbling non-cooperative targets, and the mechanism is optimized to meet the adaptability of a general satellite carrier. SUMMARY

[0004] Therefore, in order to solve the problem of space operation under complex unknown state conditions of high-speed tumbling non-cooperative targets in the prior art, the application provides a space chopstick tool for despinning capture and control of space targets.

[0005] To achieve the above object, the application adopts the following technical scheme: a space chopstick tool for despinning capture and control of space targets, comprising a satellite base body, a plurality of mechanical arm structures and a plurality of chopstick mechanisms, the plurality of mechanical arm structures are connected to the base of the satellite base body, the chopstick mechanisms are connected to the ends of the mechanical arm structures, the chopstick mechanisms are connected to the mechanical arm structures through variable stiffness joints with symmetric fulcrums in pitch and yaw directions, the chopstick mechanisms comprise a resistance rod segment, a telescopic sleeve segment and a brush segment, the resistance rod segment and the sleeve segment are connected through a folding joint, the sleeve segment and the brush segment can produce telescopic motion, the chopstick mechanism can adjust the length and configuration according to the contact force to adapt to different non-cooperative target shapes, and the brush segment is a flexible structure with low contact stiffness and is used for despinning.

[0006] Further, the satellite base body is connected to two mechanical arm structures, and each mechanical arm structure is connected to two chopstick mechanisms.

[0007] Further, one end of the mechanical arm structure is connected with the satellite base body, and the other end is connected with the variable stiffness joint.

[0008] Further, the mechanical arm structure comprises six mechanical arm links and seven mechanical arm joints, and the six mechanical arm links are connected through the seven mechanical arm joints.

[0009] Further, the chopstick mechanism comprises a chopstick resistance rod, a folding joint, a chopstick telescopic sleeve and a flexible brush, the chopstick resistance rod and the chopstick telescopic sleeve are connected through the folding joint, the chopstick telescopic sleeve and the flexible brush can have telescopic motion, and each chopstick mechanism is connected with the mechanical arm through two variable stiffness joints of pitching and yawing.

[0010] Further, each chopstick mechanism has four degrees of freedom, and the total degrees of freedom are 16, which can be actively controlled.

[0011] Further, the variable stiffness joint is driven by the corresponding joint motor, the folding joint is driven by the swing control motor at the joint, and the telescopic motion of the flexible brush is driven by the telescopic control motor integrated at the folding joint.

[0012] Compared with the prior art, the space chopstick tool for the space target despinning capture and operation has the beneficial effects that:

[0013] (1) The chopstick mechanism with flexible hair is used, and has the characteristics of light weight, telescopic, high controllability, flexible operation and the like.

[0014] (2) The symmetrical fulcrum adjusting variable stiffness joint is adopted, and has the characteristics of passive stiffness, large adjustable range, low collision impact, modularity, compact structure and good operability.

[0015] (3) The space chopstick tool can adopt four different modes of point contact, line contact, surface contact and body contact for the different motion states of the non-cooperative target. DETAILED DESCRIPTION

[0016] The drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0017] Figure 1 is the overall structure schematic view of the space chopstick tool for the space target despinning capture and operation;

[0018] Figure 2 is the structure schematic view of the seven degrees of freedom mechanical arm;

[0019] Figure 3is the structural diagram of resistance bar and variable stiffness joint;

[0020] Figure 4 is the local structure diagram of folding joint;

[0021] Figure 5 is the local structure diagram of variable stiffness joint;

[0022] Figure 6 is the combination mode diagram of variable stiffness joint;

[0023] Figure 7 is the structural diagram of different contact modes; wherein (a) represents point contact, (b) represents line contact, (c) represents surface contact, and (d) represents body contact.

[0024] In the figure: 1-satellite base, 2-solar panel, 3-mechanical arm link, 4-mechanical arm joint, 5-variable stiffness joint, 6-resistance bar, 7-folding joint, 8-telescopic sleeve, 9-flexible brush, 10-chain, 11-large gear, 12-chain wheel, 13-small gear, 14-telescopic control motor, 15-oscillation control motor, 16-brake disc, 17-main shaft, 18-spring, 19-electromagnet, 20-joint base, 21-joint output, 22-output shaft, 23-harmonic reducer, 24-rigidity adjustment motor, 25-joint driving module, 26-variable stiffness module, 27-yaw joint, 28-pitch joint. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present application, but not all the embodiments.

[0026] I. Specific implementation mode one, see Figures 1-4 It is explained that the space chopstick tool for capturing and manipulating space target is described in the embodiment, which comprises a satellite base 1, a plurality of mechanical arm structures and a plurality of chopstick mechanisms, the plurality of mechanical arm structures are connected with the base of the satellite base 1, the chopstick mechanism is connected with the end of the mechanical arm structure, the chopstick mechanism is connected with the mechanical arm structure through the symmetrical fulcrum adjustment variable stiffness joint 5 in the pitch and yaw directions, the chopstick mechanism comprises a resistance bar segment 6, a telescopic sleeve segment 8 and a brush segment 9, the resistance bar segment 6 and the sleeve segment 8 are connected through the folding joint 7, the telescopic motion can be generated between the sleeve segment 8 and the brush segment 9, the chopstick mechanism can adjust the length and the configuration according to the contact force to adapt to different non-cooperative target shapes, the brush segment is a flexible structure, the contact stiffness is low, and is used for despinning.

[0027] The satellite base in the application connects two mechanical arms, and two chopstick mechanisms are connected to the end of each mechanical arm, and a total of four chopstick mechanisms are connected. Each chopstick mechanism is connected with the mechanical arm through two variable stiffness joints in the pitch and yaw directions, and the chopstick has one folding degree of freedom, and the end brush has one telescopic degree of freedom, and each chopstick mechanism has four degrees of freedom. In addition to the base and the mechanical arm, the space chopstick despinning device has a total of 16 degrees of freedom, which can be actively controlled. Table 1 is a list of main components.

[0028] Table 1 List of main components

[0029]

[0030] The working principle of the space chopstick tool for despinning and capturing and operating the space target is as follows:

[0031] Motion principle: The variable stiffness joint 5 is driven by the corresponding joint motor, the folding joint 7 is driven by the swing control motor, and the brush telescoping is driven by the telescoping control motor integrated at the folding joint 7.

[0032] Despinning principle: The flexible brush 9 directly contacts the non-cooperative target, and the contact force is used for despinning, the variable stiffness joint 5 can improve the flexibility in the contact despinning process, and the folding degree of freedom can further change the device configuration, and can adapt to different target shapes.

[0033] Figure 1 The space chopstick despinning device in the application includes a 7-degree-of-freedom dual-arm cooperative mechanical arm for complex task cooperation, and the system active degrees of freedom include the variable stiffness joint 5 between the mechanical arm and the chopstick resistance rod 6, the chopstick folding joint 7 and the brush 9 telescoping multiple degrees of freedom, and the rod end flexible brush mechanism has a despinning function.

[0034] Figure 2 The 7-degree-of-freedom mechanical arm structure in the application includes a mechanical arm link 3 and a mechanical arm joint 4, and each mechanical arm has six mechanical arm links and seven mechanical arm joints 4. One end of the mechanical arm structure is connected with the satellite base, and the other end is connected with the chopstick mechanism through the variable stiffness joint 5.

[0035] Figure 3 The chopstick mechanism in the application includes a chopstick resistance rod 6, a folding joint 7, a chopstick telescoping sleeve 8 and a flexible brush 9. The chopstick resistance rod 6 and the chopstick telescoping sleeve 8 are connected through the folding joint 7, and the chopstick telescoping sleeve 8 and the flexible brush 9 can produce telescoping motion. The flexible brush 9 belongs to a flexible structure and has low contact stiffness, and is used for contact despinning of a non-cooperative target. The chopstick mechanism is connected with the mechanical arm through the variable stiffness joint 5.

[0036] Figure 4Figure 7 is a partial structure diagram of the folding joint 7, mainly including a swing control motor and a telescopic control motor, wherein the telescopic control motor is used for controlling the telescopic movement of the flexible brush 9, and the swing control motor is used for controlling the folding of the chopstick mechanism, and the motor transmission is realized by gear and chain mechanisms.

[0037] Figure 5 Figure 5 is a partial structure diagram of the variable stiffness joint 5, the variable stiffness joint (VSJ) mainly consists of a joint driving module 25 and a variable stiffness module 26, and the two modules are connected by screws and can work independently. The joint driving module 25 consists of a main driving mechanism and a brake mechanism: the main driving mechanism mainly includes a joint base 20, a main shaft 17, etc., the joint base 20 is fixed in the last section, the main shaft 17 is driven to rotate by a motor, and drives the output shaft 22 to move; the brake mechanism mainly includes an electromagnet 19, a spring 18, etc., and can buffer the impact of external torque by magnetic field and spring deformation, and protect the variable stiffness joint.

[0038] The variable stiffness module 26 mainly includes a harmonic reducer 23, a stiffness adjusting motor 24, etc., the stiffness adjusting motor 24 can drive the movement of the joint output fulcrum through the harmonic reducer 23, and the stiffness is adjusted by the approach and departure of the fulcrum.

[0039] Figure 6 Figure 5 is a combination mode diagram of the variable stiffness joint 5, each chopstick mechanism is connected with the mechanical arm through two variable stiffness joints, the rotation shafts of the two joints are perpendicular, and correspond to two degrees of freedom of pitch and yaw respectively.

[0040] Figure 7 The contact modes in the device include point contact (a), line contact (b), surface contact (c) and body contact (d), the device can switch the contact modes under multiple rotation speeds, according to the target actual state and state characteristics, the point clamp corresponds to the unknown identification of the complex target, the line corresponds to the highest speed reduction, the surface corresponds to the low speed elimination chapter, and the body corresponds to the relative static state, and the device has a safe and efficient spin elimination mode under multiple modes.

[0041] The above disclosed embodiments of the application are only used to help explain the application. The embodiments do not describe all the details, nor limit the application to the specific implementation. According to the content of the specification, many modifications and changes can be made. The specification selects and describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application.

Claims

1. A space chopstick tool for racemic capture and manipulation of a space target, characterized by: The application relates to a satellite base (1), a plurality of mechanical arm structures and a plurality of chopstick mechanisms, the mechanical arm structures are connected with the base of the satellite base (1), the chopstick mechanisms are connected with the ends of the mechanical arm structures, the chopstick mechanisms are connected with the mechanical arm structures through symmetric fulcrums with two directions of pitching and yawing, the chopstick mechanisms adjust lengths and configurations according to contact forces to adapt to different non-cooperative target shapes. The chopstick mechanism comprises a chopstick resistance rod (6), a chopstick telescopic sleeve (8) and a flexible brush (9), the chopstick resistance rod (6) and the chopstick telescopic sleeve (8) are connected through a folding joint (7), the chopstick telescopic sleeve (8) and the flexible brush (9) can produce telescopic motion, and the flexible brush (9) is a flexible structure and is used for eliminating chapters and rotating. The satellite base (1) is connected with two mechanical arm structures, each mechanical arm structure is connected with two chopstick mechanisms. One end of the mechanical arm structure is connected with the satellite base (1), and the other end is connected with a variable stiffness joint (5). The mechanical arm structure comprises six mechanical arm links (3) and seven mechanical arm joints (4), and the six mechanical arm links (3) are connected through the seven mechanical arm joints (4). The chopstick mechanism comprises a chopstick resistance rod (6), a folding joint (7), a chopstick telescopic sleeve (8) and a flexible brush (9), the chopstick resistance rod (6) and the chopstick telescopic sleeve (8) are connected through the folding joint (7), the chopstick telescopic sleeve (8) and the flexible brush (9) can produce telescopic motion, and each chopstick mechanism is connected with a mechanical arm through two variable stiffness joints (5) of pitching and yawing.

2. The space-tweezers tool for racemic capture and manipulation of space targets of claim 1, wherein: Each chopstick mechanism has four degrees of freedom, and the total degrees of freedom are 16, which can be actively controlled.

3. The space-tweezers tool for racemic capture and manipulation of space targets of claim 1, wherein: The variable stiffness joint (5) is driven by a corresponding joint motor.

4. The space-tweezers tool for racemic capture and manipulation of space targets of claim 1, wherein: The folding joint (7) comprises a swing control motor (15) and a telescopic control motor (14), wherein the telescopic control motor (14) is used for controlling the telescopic motion of the flexible brush (9), the swing control motor (15) is used for controlling the folding of the chopstick mechanism, and transmission is realized by gears and chains.

5. The space-tweezers tool for racemic capture and manipulation of space targets of claim 1, wherein: The variable stiffness joint (5) comprises a joint driving module (25) and a variable stiffness module (26), the two modules are connected through screws and can independently work.

6. The space-tweezers tool for racemic capture and manipulation of space targets of claim 5, wherein: The joint driving module (25) comprises a main driving mechanism and a brake mechanism, the main driving mechanism comprises a joint base (20), a main shaft (17) and an output shaft (22), the joint base (20) is fixed on the previous section, the main shaft (17) is driven to rotate by a motor and drives the output shaft (22) to move.

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