Flexible bistable space target capture device and method based on contact collision

Abstract

The present invention provides a flexible bistable space target capture device and method based on contact collision. The device includes a touch mechanism, a capture actuator, a loading mechanism, and a limiting mechanism. In the touch mechanism, a bionic adhesive microstructure array is bonded to a touch plate; a guide tube is fixedly connected to the touch plate and moves together. In the capture actuator, a curved shell is evenly distributed on the periphery of a fixed component, is made of a bistable composite material, and can be deformed from an unfolded state to a curled state; the fixed component fixes the first end of the curved shell, one end of a connecting rope is connected to the second end of the curved shell, and the other end is connected to the touch mechanism. In the loading mechanism, a double-layer sleeve passes through the middle of the fixed component; a spring is located in an annular cavity of the sleeve, and the guide tube contacts the spring in the cavity. The limiting mechanism is mounted on the sleeve and can engage with the limiting hole on the guide tube. The present invention has a simple structure, no power device, and does not require additional power input. Objects can be captured only through the kinetic energy generated by contact with the target and the inherent deformation characteristics of the bistable composite material curved shell.

Description

Technical Field

[0001] The present invention belongs to the technical field of space debris capture, and in particular relates to a flexible bistable space target capture device based on contact collision and a space target capture method using the capture device. Background Art

[0002] The increasing frequency of human space exploration has led to a rapid increase in the amount of debris in low-Earth orbit. This not only consumes a significant amount of space orbital resources but also poses a serious threat to the safety and service life of space stations, spacecraft, and satellites in orbit, and even affects the progress of human space exploration. Space debris travels at extremely high speeds, and even a small fragment striking a spacecraft or satellite in orbit can have devastating consequences. my country's space station has already performed multiple maneuvers to avoid impact with space debris.

[0003] In response to the serious threat posed by space debris to space activities, a space cleanup plan has been proposed and research on various types of space capture agencies has been carried out.

[0004] The existing arrest methods and arrest agencies are mainly divided into the following categories:

[0005] 1. Space rigid capture mechanism. This typically consists of a robotic arm and gripper to maintain relative position stability and rigidity. Chinese patent publication number CN112518795B discloses a space capture robot and its capture mechanism using this mechanical structure. These robots are often used to capture satellites and other cooperative targets. However, since space debris lacks attitude control, the capture risk is high and challenging. Furthermore, the capture device is costly, heavy, and bulky, and its complex structure makes it difficult to carry and transport, significantly increasing the difficulty of the task.

[0006] 2. Flying net flexible capture mechanism. This primarily utilizes an expandable net structure that is thrown or launched to cover and capture targets. Chinese patent publication number CN102991731A proposes a flying net ejection capture device for capturing abandoned spacecraft. This device is suitable for capturing targets over a wide area, but not for small debris with low density and small volume. It requires high precision capture and is easily affected by environmental factors. Furthermore, the vibrations caused by ejection place high demands on the capture mechanism's posture control.

[0007] 3. Harpoon-type capture mechanism. This mechanism, similar to a harpoon, can capture a target through a firing or retracting mechanism. Chinese Patent Publication No. CN110198893A discloses a space debris capture device and a space debris removal device. This space debris capture device can accurately capture a target at a certain distance, making it suitable for scenarios requiring long-distance operation. However, it has certain requirements for adaptability to the target's shape and motion, making it unsuitable for targets with unusual shapes or high-speed motion.

[0008] 4. Flying claw type capture mechanisms. These typically include mechanical claws, clamps, and other structures, using a robotic arm or other drive mechanism for capture. Chinese patent publication number CN109677643B describes a net-flying claw assembly. While highly flexible and adaptable to targets of various shapes and sizes, they are less efficient against high-speed moving targets or when wide coverage is required.

[0009] In summary, the existing types of space target capture mechanisms have problems such as complex structure, restrictions on the shape, size and movement speed of space debris, and high control difficulty. Summary of the Invention

[0010] The purpose of the present invention is to solve the shortcomings of existing space target capture mechanisms, such as complex structure, restrictions on the shape, size and movement speed of space debris, and high control difficulty. It provides a flexible bistable space target capture device based on contact collision and a space target capture method using the capture device. It does not require additional power input and can capture the target object only through contact with the space target object and the inherent deformation characteristics of the bistable composite material curved shell. It can adapt to space debris of different shapes, sizes and movement speeds, and has the characteristics of simple structure, low energy consumption, easy control and light weight.

[0011] To achieve the above objectives, the technical solutions provided by the present invention are:

[0012] A flexible bistable space target capture device based on contact collision, which is special in that it includes a touch mechanism, a capture actuator, a loading mechanism and a limit mechanism;

[0013] The touch mechanism includes a bionic adhesive microstructure array, a touch plate and a guide cylinder.

[0014] The biomimetic adhesive microstructure array is used to contact the space target object and adhere to the touch panel.

[0015] The guide tube is fixedly connected to the touch plate so as to move together when the space target object contacts and collides with the bionic adhesive microstructure array. A limiting hole is provided on the outer wall of the guide tube near the touch plate.

[0016] The capture actuator includes a plurality of curved shells, a fixed assembly, and connecting ropes arranged one by one with the curved shells. The curved shells are evenly distributed around the periphery of the fixed assembly. Each curved shell is made of a bistable composite material and can be deformed from an initial unfolded state to a curled state. The first end and the second end are provided.

[0017] The fixing assembly is used to fix the first end of the curved shell, one end of the connecting rope is connected to the second end of the curved shell, and the other end is connected to the touch mechanism. The connecting rope is in a relaxed state when the curved shell is in the unfolded state, and can be tightened when the touch mechanism moves to pull the curved shell, so that the curved shell is transformed into its curled state.

[0018] The loading mechanism consists of a double sleeve and a spring.

[0019] The double-layer sleeve includes an inner sleeve and an outer sleeve. The double-layer sleeve passes through the middle of the fixing assembly and is fixed to the fixing assembly, so that the bottom end and the open end of the double-layer sleeve are respectively located on both sides of the fixing assembly, and the bottom end is used to be installed on the satellite shell.

[0020] The spring is used to buffer the impact load of the space target object and is installed in the annular cavity between the inner cylinder and the outer cylinder of the double-layer sleeve to the bottom end of the belt. The guide cylinder is inserted into the annular cavity and contacts the spring, and can move from the open end of the double-layer sleeve to the bottom end of the belt to compress the spring.

[0021] The limiting mechanism is used to limit the rebound of the spring after compression and push the guide cylinder in the opposite direction, and is installed on the outer side of the circumferential wall of the outer cylinder of the double-layer sleeve near the open end surface. The limiting mechanism can engage with the limiting hole on the guide cylinder to limit the displacement of the guide cylinder.

[0022] Furthermore, the fixing assembly includes a first pressing plate, a second pressing plate and a plurality of screws, and the first end portion of the curved shell is clamped between the first pressing plate and the second pressing plate by the screws.

[0023] Furthermore, the guide sleeve includes two slide rails symmetrically protruding radially outward from the wall portion, and a slideway cooperating with the slide rails is provided on the inner side of the wall of the inner sleeve of the double-layer sleeve.

[0024] Furthermore, the limiting mechanism has two groups symmetrically arranged about the axis of the double-layer sleeve, and each group includes a support, a limiter, a torsion spring and a rotating shaft; the support is fixed to the outer side surface of the circumferential wall of the outer cylinder of the double-layer sleeve, the rotating shaft is connected to the support, the limiter and the torsion spring are sleeved on the rotating shaft, and the limiter can rotate around the rotating shaft relative to the support under the action of the torsion spring; the limiter includes a protrusion, which can slide along the guide cylinder and be inserted into the limiting hole on the guide cylinder.

[0025] Furthermore, the curved shell is made of carbon material or epoxy resin material.

[0026] Furthermore, the touch panel is disc-shaped, and the bionic adhesion microstructure array is evenly distributed on the touch panel along the circumferential direction and the radial direction.

[0027] Furthermore, the cross-sections of the first pressing plate and the second pressing plate are square, and the number of the curved shells is four, which are arranged in a one-to-one correspondence with the four sides of the first pressing plate and the second pressing plate.

[0028] Furthermore, the limiting hole on the guide cylinder is a cross-shaped hole for the protrusion to slide into.

[0029] A method for capturing a space target using the above-mentioned capture device is characterized in that it comprises the following steps:

[0030] Step 1: A camera on a satellite carrying a capture device identifies the motion, posture, shape, and size characteristics of a space target object;

[0031] Step 2: Based on the motion, posture, and shape and size characteristics of the space target object obtained in Step 1, the capture device is controlled to move toward the space target object, and to contact and collide with the space target object at a certain speed, so that the space target object is adsorbed on the bionic adhesive microstructure array;

[0032] Step 3: The contact plate and the guide cylinder move together toward the bottom end of the double-layer sleeve, compressing the spring and causing the connecting rope to deform from its relaxed state.

[0033] Step 4: The connecting rope is transformed into a tensioned state. When the tension of the connecting rope reaches a certain level, the curved shell is triggered to deform into its curled state, wrapping the space target object inside the curved shell.

[0034] Step 5: The guide cylinder moves to a position where its limiting hole is aligned with the limiting mechanism, and the limiting mechanism engages with the limiting hole, thereby limiting the reverse displacement of the guide cylinder under the action of the spring, thereby completing the capture of the space target object.

[0035] The advantages of the present invention are:

[0036] 1. The present invention utilizes the inevitable contact collision loads during the capture of a space target object to cause the touch plate and guide cylinder to move together within a double-layer sleeve. This tensions the connecting rope, pulling the curved shell made of a bistable composite material into a curled state. The impact load on the guide cylinder during movement is mitigated by a spring at the bottom of the double-layer sleeve. After the curved shell curls and captures the target object, a limiting mechanism engages with a limiting hole on the guide cylinder to prevent the spring from rebounding, triggering the curved shell to deploy, and causing the capture mission to fail. Therefore, the present invention has a simple and compact structure, requires no power device, and requires no additional power input. The target object can be captured solely through the kinetic energy generated by contact with the target object and the inherent deformation characteristics of the bistable composite curved shell structure. It can adapt to space debris of different shapes, sizes, and speeds, and has strong adaptability, low energy consumption, and ease of control.

[0037] 2. The touch panel is bonded with a bionic adhesive microstructure array, which can perform secondary constraints on the target object through its strong adhesive properties, thereby improving the reliability of capture and broadening the application range of the capture device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The features and advantages of the present invention will become more readily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and in which some features are exaggerated or minimized to show details of particular components.

[0039] Figure 1 is a perspective view of the capture device of the present invention before capturing a target object;

[0040] Figure 2 is a perspective view of the capture device of the present invention during the capture process;

[0041] Figure 3 is a perspective view of the capture device of the present invention after capturing a target object;

[0042] Figure 4 is a perspective view of a touch mechanism in a capture device of the present invention;

[0043] Figure 5 is a perspective view of a loading mechanism and a limiting mechanism in a capture device of the present invention;

[0044] Figure 6 It is a three-dimensional diagram of the limiting mechanism in the capture device of the present invention.

[0045] In the picture:

[0046] 11-bionic adhesion microstructure array, 12-touch panel, 13-guide cylinder, 131-limiting hole, 132-slide rail;

[0047] 21- curved shell, 211- first end, 212- second end, 22- fixing assembly, 221- first pressing plate, 222- second pressing plate, 223- screw, 23- connecting rope;

[0048] 31-double-layer sleeve, 311-inner cylinder, 312-outer cylinder, 313-flange, 314-slideway, 32-spring;

[0049] 41-limiting mechanism, 411-support member, 412-limiter, 4121-protrusion, 413-torsion spring, 414-rotating shaft. DETAILED DESCRIPTION

[0050] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration and is not intended to limit the present invention.

[0051] First, the flexible bistable space target capture device based on contact collision provided by the present invention is described. The capture device of the present invention can be installed inside a satellite shell to be carried on the satellite to capture a space target object.

[0052] Reference Figures 1 to 3 As an exemplary embodiment of the present invention, a flexible bistable space target capture device based on contact collision includes a touch mechanism, a capture actuator, a loading mechanism and a limiting mechanism. The touch mechanism is used to contact and collide with the space target object, the capture actuator is used to wrap the space target object under the action of the collision load, the loading mechanism is used to provide support and loading for the capture actuator, and the limiting mechanism is used to limit the target object after the capture actuator captures the target object.

[0053] The touch mechanism includes a biomimetic adhesive microstructure array 11, a touch panel 12, and a guide cylinder 13. The biomimetic adhesive microstructure array 11 is used to contact a target object in space and adhere to the touch panel 12. The biomimetic adhesive microstructure array 11 has strong adhesion and can establish good contact with the object under positive pressure and generate strong adsorption force. When in contact with the target object, the object is adsorbed to the array surface due to surface van der Waals forces. The array thus constrains the object and prevents it from rebounding due to collision.

[0054] In an exemplary embodiment of the present invention, the touch panel 12 may be disc-shaped to provide a larger collision area, and the biomimetic adhesion microstructure array 11 is evenly distributed circumferentially and radially on the touch panel 12. It should be understood that the spacing between the biomimetic adhesion microstructure array 11 on the touch panel 12 can be adjusted based on the shape and size of the space debris.

[0055] The guide cylinder 13 is fixedly connected to the touch panel 12, specifically to the side of the touch panel 12 opposite the biomimetic adhesion microstructure array 11. It can be connected to the middle of the touch panel 12 to move together when a spatial target object comes into contact with or collides with the biomimetic adhesion microstructure array 11. The guide cylinder 13 can also be integrally formed with the touch panel 12.

[0056] Combine Figure 4 The guide tube 13 may be cylindrical in shape, with a limiting hole 131 provided on its outer circumferential wall near the touch plate 12 for cooperating with a limiting mechanism to limit the guide tube 13, which will be described below. The limiting hole 131 on the guide tube 13 is preferably a cross-shaped hole that facilitates the sliding entry of the limiting mechanism's limiter. This prevents the limiter from slightly deviating during movement, which could cause it to fail to retain its position within the hole. In some embodiments, the guide tube 13 includes two slide rails 132 that symmetrically protrude radially outward from the wall. The slide rails 132 extend along the entire axial length of the guide tube 13 to guide the axial movement of the guide tube 13 and prevent it from deflecting.

[0057] Return to reference Figures 1 to 3 The capture actuator includes a plurality of curved shells 21 , a fixing assembly 22 , and a connecting rope 23 corresponding to each of the curved shells 21 .

[0058] The curved shell 21 is used to wrap the target object and is evenly distributed around the outer periphery of the fixed component 22. The curved shell 21 includes a first end 211 and a second end 212. Each curved shell 21 is made of a bistable composite material, particularly a carbon material or an epoxy resin material, so the curved shell 21 is lightweight. The curved shell 21 can automatically deform from an initial unfolded state to a curled state when a trigger force is applied. The curved shell 21 made of a bistable composite material has two stable states: Figure 1 The expanded state shown in FIG, ie the first stable state, and Figure 3 In the curled state shown in FIG, i.e., the second stable state, the multiple curved shells 21 form a closed loop in their curled state to capture an object. The curved shells 21 can be generally thin rectangular plates when laid flat, and can be made to be slightly warped in a direction perpendicular to the curling direction to better capture the object.

[0059] The fixing assembly 22 is used to fix the first end 211 of the curved shell 21. One end of the connecting rope 23 is connected to the second end 212 of the curved shell 21, and the other end is connected to the touch mechanism. The connecting rope 23 is in a relaxed state when the curved shell 21 is in the unfolded state, and can be tightened and pulled when the touch mechanism moves to make the curved shell 21 transition to its curled state. Figure 2 The connecting rope 23 is shown in a tensioned state, at which point it provides a deformation triggering force to the curved housing 21 .

[0060] As in Figure 2 As shown in FIG, in an optional embodiment, the fixing assembly 22 includes a first pressing plate 221, a second pressing plate 222, and a plurality of screws 223. The first end 211 of the curved shell 21 is clamped between the first and second pressing plates 221, 222 by the screws 223. Specifically, the edge of the first end 211 is sandwiched between the first and second pressing plates 221, 222, and the screws 223 pass through the first pressing plate 221, the first end 211, and the second pressing plate 222 in sequence. These screws 223 are evenly distributed circumferentially around the two pressing plates. Each curved shell 21 can be fixed by two or three screws 223, for example. It should be noted that this structure of the fixing assembly 22 is not intended to limit the present invention; it can take any other form as long as it can fix the edge of the curved shell 21.

[0061] Specifically, as shown, the first and second compression plates 221, 222 have square cross-sections, and there are four curved shells 21, one corresponding to each of the four sides of the first and second compression plates 221, 222. This structure facilitates securing the curved shells 21 while also allowing the curved shells 21 to effectively capture the target object in their curled state. However, those skilled in the art will appreciate that the shapes of the two compression plates are not particularly limited, and their cross-sections may also be circular, etc.

[0062] Continue to refer to Figures 1 to 3 , and combined with Figure 5 The loading mechanism includes a double-layer sleeve 31 and a spring 32. The double-layer sleeve 31 is used to load and guide the guide cylinder 13, and the spring 13 is used to reduce the impact load of the target object.

[0063] The double-layer sleeve 31 includes an inner cylinder 311 and an outer cylinder 312. The inner cylinder 311 and the outer cylinder 312 are connected to each other at one end to form a bottom end, which is used to be installed on the satellite shell. Optionally, a flange 313 protruding radially outward from the outer cylinder 312 can be provided on the outer periphery of the end. The flange 313 is used to connect to the satellite shell. The inner cylinder 311 and the outer cylinder 312 form an open end at the other end, and an annular cavity is formed between the inner cylinder 311 and the outer cylinder 312. The guide sleeve 13 is inserted from the open end and can be accommodated in the annular cavity, and can move from the bottom end to the open end in the annular cavity. The double-layer sleeve 31 passes through the middle of the fixing assembly 22 and is fixed to the fixing assembly 22, especially can be welded to the fixing assembly 22, so that the bottom end and the open end of the double-layer sleeve 31 are respectively located on both sides of the fixing assembly 22.

[0064] When the guide cylinder 13 is provided with a slide rail 132, a slideway 314 is provided on the inner side of the wall of the inner cylinder 311 of the double-layer sleeve 31 to cooperate with the slide rail 132. The shapes of the slide rail 132 and the slideway 314 are complementary, so that the slide rail 132 can slide in the slideway 314, thereby allowing the guide cylinder 13 to move more smoothly in the double-layer sleeve 31. Alternatively, the slideway can be provided on the guide cylinder 13, and a matching slide rail can be provided on the inner cylinder 311.

[0065] The spring 32 is designed to mitigate the impact force generated by the target object's contact and collision with the capture device. Located within the annular cavity between the inner and outer tubes 311, 312 of the double-layered sleeve 31, one end of the spring 32 is attached to the bottom of the belt, while the other end contacts the guide tube 13. As the guide tube 13 moves from the open end of the double-layered sleeve 31 toward the bottom of the belt, it compresses the spring 32, cushioning the impact load of the target object. This prevents the guide tube 13 from moving rapidly and colliding with the double-layered sleeve 31, which could exert force on the space target and deflect it.

[0066] exist Figure 1 In the initial state of the capture device shown, the spring 32 is in its natural original length state, and only a portion of the guide cylinder 13 is located in the double-layer sleeve 31. When an object collides with the device, as shown in FIG. Figure 2 As shown, the guide cylinder 13 starts to move from the open end of the double-layer sleeve 31 to the bottom end of the belt and squeezes the spring 32 at the same time. At this time, the spring 32 is in a compressed state, and the portion of the guide cylinder 13 located in the double-layer sleeve 31 becomes larger. Figure 3 In the captured state, the compression amount of the spring 32 is the largest, and the guide sleeve 13 is also located in the double-layer sleeve 31 to the greatest extent.

[0067] Refer again Figures 1 to 3 , and combined with Figure 6 The limiting mechanism 41 is used to limit the rebound of the compressed spring 32, which could push the guide cylinder 13 in the opposite direction. This prevents the spring 32's restoring force from pushing the guide cylinder 13 from the bottom end of the double-layer sleeve 31 toward the open end, thereby triggering the deployment of the curved shell 21 and causing the capture mission to fail. The limiting mechanism 41 is installed on the outer surface of the circumferential wall of the outer cylinder 312 of the double-layer sleeve 31, near the open end. The limiting mechanism 41 is capable of engaging with the limiting hole 131 in the guide cylinder 13 to limit the displacement of the guide cylinder 13. In other words, the limiting mechanism 41 engages with the limiting hole 131 when the spring 32 is compressed to a certain extent, particularly when the compression is maximum.

[0068] In a specific embodiment of the present invention, two groups of limiting mechanisms 41 are symmetrically arranged about the axis of the double-layer sleeve 31 , and each group includes a support member 411 , a limiter 412 , a torsion spring 413 and a rotating shaft 414 .

[0069] The support member 411 is fixedly attached to the outer circumferential wall of the outer cylinder 312 of the double-layered sleeve 31. The support member 411 can optionally be an integral part of the outer cylinder 312, namely, it includes two lugs protruding radially outward from the outer cylinder 312. A rotating shaft 414 is connected to the support member 411, with its ends respectively inserted into the lugs. A limiter 412 and a torsion spring 413 are mounted on the rotating shaft 414. One end of the torsion spring 413 abuts the double-layered sleeve 31, and the other end abuts the limiter 412, thereby limiting the axial movement of the limiter 412 along the rotating shaft.

[0070] The limiter 412 is capable of rotating relative to the support member 411 about the rotation axis 414 under the action of the torsion spring 413. The limiter 412 includes a protrusion 4121, which is capable of sliding along the guide cylinder 13 and being inserted into the limiting hole 131 on the guide cylinder 13. In the initial state of the capture device, the torsion spring 413 is preloaded, and the limiter 412 is subjected to the preload force of the torsion spring 413. The protrusion 4121 contacts the guide cylinder 13. When the guide cylinder 13 moves under an impact load, the protrusion 4121 slides along the guide cylinder 13. The sliding friction between the guide cylinder 13 and the limiter 412 also dissipates energy, acting as a buffer, further preventing the guide cylinder 13 from moving rapidly. As mentioned above, when the limiter 412 encounters the limiting hole 131 on the guide cylinder 13, the limiter 412 rotates toward the guide cylinder 13 under the action of the restoring force of the torsion spring 413, and the protrusion 4121 slides into the limiting hole 131, thereby limiting the guide cylinder 13, preventing the guide cylinder 13 from moving away from the bottom end of the double-layer sleeve 31 due to the rebound of the spring 32, thereby preventing capture failure.

[0071] Next, the space target capture method using the capture device provided by the present invention is described.

[0072] Reference Figures 1 to 3, the method comprises the following steps:

[0073] Step 1: The camera on the satellite carrying the capture device identifies the motion, posture and shape and size characteristics of the space target object. At this time, the capture device is in Figure 1 The initial state shown;

[0074] Step 2: Based on the motion, posture, and shape and size characteristics of the space target object obtained in step 1, after determining the capture target, the satellite adjusts its posture, controls the capture device to move toward the space target object, and contacts and collides with the space target object at a certain speed, so that the space target object is adsorbed on the bionic adhesive microstructure array 11;

[0075] Step 3: The touch plate 12 and the guide cylinder 13 move together toward the bottom end of the double-layer sleeve 31, compressing the spring 32 and causing the connecting rope 23 to deform from its relaxed state. When the guide cylinder 13 moves to a certain position, the target object completely enters the capture area of ​​the curved shell 21.

[0076] Step 4: The connecting rope 23 is changed to a tensioned state, at which time the capture device is in a state such as Figure 2 In the state shown, when the tension of the connecting rope 23 reaches a certain level, the curved shell 21 is triggered to automatically deform to its curled state, wrapping the space target object in the curved shell 21;

[0077] Step 5: The guide cylinder 13 moves to a position where its limiting hole 131 is aligned with the limiting mechanism 41. At this time, the capture device is in Figure 3 In the captured state shown, the limiting mechanism 41 is engaged with the limiting hole 131, thereby limiting the reverse displacement of the guide cylinder 13 under the action of the spring 32, thereby completing the capture of the space target object.

[0078] As described above, the present invention has a simple and compact structure, is unpowered, and requires no additional power input. It can capture a target object solely through the kinetic energy generated by contact with the target object and the inherent deformation characteristics of the bistable composite curved shell structure. It is adaptable to space debris of different shapes, sizes, and speeds, has strong adaptability, low energy consumption, and is easy to control. Furthermore, the present invention utilizes a lightweight curved shell to capture the target object, and the simple structure of the device makes the entire device relatively lightweight. Furthermore, a bionic adhesive microstructure array is bonded to the touch panel, and its strong adhesive properties allow for secondary constraint of the target object, improving the reliability of capture and broadening the application range of the capture device.

[0079] The features mentioned and / or illustrated in the above description of the exemplary embodiments of the present invention may be incorporated into one or more other embodiments in the same or similar manner, combined with the features in other embodiments, or substituted for the corresponding features in other embodiments. The technical solutions obtained by such combination or substitution shall also be deemed to be included in the scope of protection of the present invention.

Claims

1. A flexible bistable space target capture device based on contact collision, characterized by: It includes a touch mechanism, a capture actuator, a loading mechanism and a limit mechanism; The touch mechanism includes a bionic adhesive microstructure array, a touch plate and a guide cylinder. The bionic adhesion microstructure array is used to contact the space target object and adhere to the touch panel, The guide tube is fixedly connected to the touch panel so as to move together when a space target object contacts or collides with the bionic adhesive microstructure array, and a limiting hole is provided on the outer peripheral wall of the guide tube at a position close to the touch panel; The capture actuator includes a plurality of curved shells, a fixing assembly, and connecting ropes corresponding to the curved shells. The curved shells are evenly distributed around the periphery of the fixed assembly, each curved shell is made of a bistable composite material and can be deformed from an initial unfolded state to a curled state, and includes a first end and a second end. The fixing assembly is used to fix the first end of the curved shell, one end of the connecting rope is connected to the second end of the curved shell, and the other end is connected to the touch mechanism. The connecting rope is in a relaxed state when the curved shell is in the unfolded state, and can be tightened when the touch mechanism moves to pull the curved shell, so that the curved shell is transformed into its curled state. The loading mechanism includes a double-layer sleeve and a spring. The double-layer sleeve includes an inner sleeve and an outer sleeve. The double-layer sleeve passes through the middle of the fixing assembly and is fixed to the fixing assembly, so that the bottom end and the open end of the double-layer sleeve are respectively located on both sides of the fixing assembly, and the bottom end is used to be installed on the satellite shell. The spring is used to buffer the impact load of the space target object and is installed in the annular cavity between the inner cylinder and the outer cylinder of the double-layer sleeve to the bottom end of the belt. The guide cylinder is inserted into the annular cavity and contacts the spring, and can move from the open end of the double-layer sleeve to the bottom end of the belt to compress the spring. The limiting mechanism is used to limit the rebound of the spring after compression and push the guide cylinder in the opposite direction, and is installed on the outer side of the circumferential wall of the outer cylinder of the double-layer sleeve at a position close to the open end surface. The limiting mechanism can engage with the limiting hole on the guide cylinder to limit the displacement of the guide cylinder.

2. The flexible bistable space target capture device based on contact collision according to claim 1, characterized in that: The fixing assembly includes a first pressing plate, a second pressing plate and a plurality of screws, and the first end portion of the curved shell is clamped between the first pressing plate and the second pressing plate by the screws.

3. The flexible bistable space target capture device based on contact collision according to claim 1 or 2, characterized in that: The guide cylinder comprises two slide rails symmetrically protruding radially outward from the wall portion, and a slideway cooperating with the slide rails is provided on the inner side of the wall of the inner cylinder of the double-layer sleeve.

4. The flexible bistable space target capture device based on contact collision according to claim 1 or 2, characterized in that: The limiting mechanism is symmetrically arranged in two groups about the axis of the double-layer sleeve, and each group includes a support member, a limiter, a torsion spring and a rotating shaft; The support member is fixedly connected to the outer side surface of the circumferential wall of the outer cylinder of the double-layer sleeve, the rotating shaft is connected to the support member, the limiter and the torsion spring are sleeved on the rotating shaft, and the limiter can rotate around the rotating shaft relative to the support member under the action of the torsion spring; The limiter includes a protrusion, and the protrusion can slide along the guide cylinder and be inserted into the limiting hole on the guide cylinder.

5. The flexible bistable space target capture device based on contact collision according to claim 1 or 2, characterized in that: The curved shell is made of carbon material or epoxy resin material.

6. The flexible bistable space target capture device based on contact collision according to claim 1 or 2, characterized in that: The touch panel is in a disc shape, and the bionic adhesion microstructure array is evenly distributed on the touch panel along the circumferential direction and the radial direction.

7. The flexible bistable space target capture device based on contact collision according to claim 2, characterized in that: The cross-sections of the first pressing plate and the second pressing plate are square, and the number of the curved shells is four, which are arranged in a one-to-one correspondence with the four sides of the first pressing plate and the second pressing plate.

8. The flexible bistable space target capture device based on contact collision according to claim 4, characterized in that: The limiting hole on the guide cylinder is a cross-shaped hole for the protrusion to slide into.

9. A method for capturing a space target using the capture device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: A camera on a satellite carrying the capture device identifies the motion, posture, shape and size characteristics of a space target object; Step 2: Based on the motion, posture, and shape and size characteristics of the space target object obtained in Step 1, controlling the capture device to move toward the space target object and to contact and collide with the space target object at a certain speed, so that the space target object is adsorbed on the bionic adhesion microstructure array; Step 3: The contact plate and the guide sleeve move together toward the bottom end of the double-layer sleeve to compress the spring and simultaneously cause the connecting rope to deform from its relaxed state; Step 4: The connecting rope is changed into a tensioned state. When the tension of the connecting rope reaches a certain level, the curved shell is triggered to deform into its curled state, thereby wrapping the space target object in the curved shell. In step 5, the guide cylinder moves to a position where its limiting hole is aligned with the limiting mechanism, and the limiting mechanism engages with the limiting hole, thereby limiting the reverse displacement of the guide cylinder under the action of the spring, thereby completing the capture of the space target object.

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