Large-tolerance docking device for non-cooperative target satellites

Abstract

The invention relates to a non-cooperative target satellite large-tolerance docking device, and belongs to the field of satellite on-orbit service docking. Comprising a target satellite bottom plate, three mechanical arm capturing units, three locking units and a docking device mounting plate, wherein the butt joint device mounting plate is of a horizontally-arranged circular plate-shaped structure; the three mechanical arm capturing units and the three locking units are mounted on the upper surface of the docking device mounting plate; the target satellite bottom plate is located above the mechanical arm capturing unit and the locking unit; the target satellite bottom plate is grabbed through the three mechanical arm capturing units, and the target satellite bottom plate is dragged to a locking position; the target satellite bottom plate is locked through the three locking units; the functions of capturing, locking and separating a space non-cooperative target satellite and the like are realized, so that on-orbit services such as maintenance and refueling of a non-cooperative target are facilitated.

Description

Technical Field

[0001] The invention belongs to the field of satellite on-orbit service docking and relates to a large-tolerance docking device for a non-cooperative target satellite. Background Art

[0002] In recent years, as human beings' exploration of space has continued to deepen, the number of satellites launched into the Earth's orbit has continued to increase. These satellites are occupying the Earth's orbital resources. Coupled with the space debris caused by rocket wreckage and space accidents, the Earth's orbital resources are becoming increasingly tight. Therefore, how to use limited orbital resources to make greater benefits has become a major issue that all countries are thinking about.

[0003] Currently, there are two main research directions for orbital resource cleaning. One is to use it for on-orbit services of spacecraft to extend the service life of spacecraft; the other is to use it for cleaning up space debris in order to free up as much Earth orbital resources occupied by space debris as possible.

[0004] On-orbit servicing refers to reducing the avoidable costs of space technology by enabling the target spacecraft to continue operating when it fails (such as the failure of solar panels and communication antennas to deploy) or runs out of fuel but other components still work normally or require maintenance and replacement of components. A key technology for on-orbit servicing is space non-cooperative target capture technology.

[0005] Non-cooperative space targets refer to space targets that are not equipped with communication transponders or other sensors, and other spacecraft cannot identify or locate such targets by transmitting signals, etc. Non-cooperative targets generally include satellites without cooperative components installed, satellites with cooperative components installed but exhausted or malfunctioning, space debris, and non-friendly spacecraft.

[0006] Existing non-cooperative target capture and docking mechanisms mainly consist of rigid capture devices consisting of a robotic arm and its end effector, as well as flying ropes, flying nets, flying spears, and bionic flexible capture devices. Flexible capture devices can reduce the collision force during capture and docking, but the flexible components themselves lack controllability, so they are mostly used for space debris cleaning and deorbiting of failed spacecraft; while rigid capture devices have the problem of relatively large collision force and no buffering. Summary of the invention

[0007] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and propose a large-tolerance docking device for a non-cooperative target satellite, which realizes the functions of capturing, locking and separating the non-cooperative target satellite in space, so as to facilitate the in-orbit services such as maintenance and refueling of the non-cooperative target.

[0008] The solution of the present invention is:

[0009] A large tolerance docking device for a non-cooperative target satellite comprises a target satellite base plate, three mechanical arm capture units, three locking units and a docking device mounting plate;

[0010] Among them, the docking device mounting plate is a horizontally arranged circular plate structure; three robotic arm capture units and three locking units are installed on the upper surface of the docking device mounting plate; the target satellite base plate is located above the robotic arm capture unit and the locking unit; the target satellite base plate is grabbed by the three robotic arm capture units and dragged to the locking position; the target satellite base plate is locked by the three locking units.

[0011] In the above-mentioned non-cooperative target satellite large tolerance docking device, the three robotic arm capture units and the three locking units are arranged crosswise with each other; the three robotic arm capture units and the three locking units are evenly distributed along the circumferential direction at the outer edge of the upper surface of the docking device mounting plate.

[0012] In the above-mentioned non-cooperative target satellite large tolerance docking device, when it is necessary to release the target satellite base plate, the three locking units are unlocked, and after the three robotic arm capture units drag the target satellite base plate to the release position, the three robotic arm capture units release the target satellite base plate.

[0013] In the above-mentioned non-cooperative target satellite large tolerance docking device, the robotic arm capture unit includes two fingers, two four-bar mechanisms, an incomplete gear, a fifth joint, a fourth robotic arm rod, a fourth joint, a third robotic arm rod, a third joint, a second robotic arm rod, a second joint, a first robotic arm rod, a first joint and a robotic arm base;

[0014] Among them, the robot base is horizontally installed on the upper surface of the docking device mounting plate; the bottom end of the first robot arm rod is rotationally connected to the robot base through the first joint; the top end of the first robot arm rod is rotationally connected to the bottom end of the second robot arm rod through the second joint; the top end of the second robot arm rod is rotationally connected to the bottom end of the third robot arm rod through the third joint; the top end of the third robot arm rod is rotationally connected to the bottom end of the fourth robot arm rod through the fourth joint; the top end of the fourth robot arm rod is rotationally connected to the bottom of the incomplete gear through the fifth joint; two four-bar mechanisms are symmetrically arranged on the top of the incomplete gear; the four-bar mechanism is rotationally connected to the incomplete gear; and one of the two fingers is installed on the top of each four-bar mechanism.

[0015] In the above-mentioned non-cooperative target satellite large tolerance docking device, when the robotic arm capture unit is in a retracted state, the fourth robotic arm arm, the third robotic arm arm, the second robotic arm arm and the first robotic arm arm are folded and retracted in a W shape; when it is necessary to grasp the target satellite base plate, the fourth robotic arm arm, the third robotic arm arm, the second robotic arm arm and the first robotic arm arm are rotated open to each other to extend both fingers.

[0016] In the above-mentioned non-cooperative target satellite large tolerance docking device, the working process of the robotic arm capture unit is as follows:

[0017] When receiving the grasping command, the incomplete gear meshes and rotates, driving the two four-bar mechanisms to drive the two fingers of the double fingers to fully open; the fourth robotic arm arm, the third robotic arm arm, the second robotic arm arm and the first robotic arm arm rotate and unfold through the coordinated rotation of each joint, so that the double fingers approach the target satellite base plate;

[0018] After the two fingers are aligned with the target satellite base plate, the incomplete gear rotates in the opposite direction, driving the two four-bar mechanisms to rotate in the opposite direction, so that the two fingers grab the docking device on the target satellite base plate; the fourth robotic arm arm, the third robotic arm arm, the second robotic arm arm and the first robotic arm arm rotate and fold in coordination through each joint to drag the target satellite base plate to the locking position; after the three locking units lock the target satellite base plate, the incomplete gear meshes and rotates, driving the two four-bar mechanisms to drive the two fingers of the two fingers to fully open, and the capture is completed.

[0019] In the above-mentioned non-cooperative target satellite large tolerance docking device, the locking unit includes a main locking hook, a self-locking rod, an intermediate rod, a motor, a lead screw, a base, a lead screw gear bearing group, a micro switch, a lifting rod, a limit rod, two cylindrical elastic sleeves, a secondary locking hook and a nut;

[0020] The torque output by the motor is transmitted to the lead screw through the lead screw gear bearing group; the lead screw is fixed to the base through the bearing and can only rotate axially; the nut is sleeved on the outer wall of the lead screw, and the nut and the lead screw thread cooperate; the main lock hook and the auxiliary lock hook are symmetrically installed on both sides of the nut; torsion springs are installed between the main lock hook and the nut, and between the auxiliary lock hook and the nut; the nut is driven to move up and down in the vertical direction by the rotation of the lead screw, and the main lock hook and the auxiliary lock hook are rotated outward under the action of the torsion spring;

[0021] The lifting rod is installed on one side of the base body in parallel with the lead screw; the middle rod is installed on the upper part of the base body on the same side of the lifting rod; a limit rod is installed above the middle rod; the middle rod can only rotate, and the lifting rod and the limit rod can only move up and down; the self-locking rod is installed on the upper part of the base body on the left side of the limit rod; the self-locking rod is rotated clockwise by the reset spring; the micro switch is installed on the base body, on the side of the lifting rod in the middle; when the lifting rod moves up and down, the motor stops rotating by triggering the micro switch, and the target star base plate is locked at this time; 2 cylindrical elastic sleeves are installed on the base body, one of which is connected to the main locking hook; the other cylindrical elastic sleeve is connected to the auxiliary locking hook.

[0022] In the above-mentioned non-cooperative target satellite large tolerance docking device, the intermediate rod is tangentially matched with the lifting rod; the intermediate rod is tangentially matched with the limit rod; one cylindrical elastic sleeve is vertically connected to the main locking hook; and the other cylindrical elastic sleeve is vertically connected to the auxiliary locking hook.

[0023] In the above-mentioned non-cooperative target satellite large tolerance docking device, the locking process of the locking unit is as follows:

[0024] When the target star base plate reaches the predetermined capture position, the motor drives the lead screw to drive the nut to move downward; the nut drives the main locking hook and the auxiliary locking hook to start closing and capturing the target star base plate; under the action of the main locking hook and the auxiliary locking hook, the target star base plate completes the initial correction; the motor drives the lead screw to make the nut continue to move downward; the two conical bosses at the bottom of the target star base plate cooperate with the conical recessed holes in the two cylindrical elastic sleeves, and the posture of the target star base plate is corrected; the motor drives the lead screw to make the nut continue to move downward, the target star base plate moves downward in a straight line, and the nut triggers the boss to contact the lifting rod; the middle rod is in a horizontal position, the vertical plane of the self-locking rod is in contact with the vertical plane of the limit rod, and the self-locking rod is in a vertical state; under the action of the inclined surface of the self-locking rod, the locking force of the target star base plate remains unchanged.

[0025] In the above-mentioned non-cooperative target satellite large tolerance docking device, the working process of unlocking the locking unit is: when receiving the locking contact command, the main locking hook and the auxiliary locking hook move upward, and the nut moves upward, contacting the protruding part of the upper end of the lifting rod; under the action of the upward force of the nut, the lifting rod moves upward, driving the intermediate rod to rotate clockwise; the intermediate rod drives the limit rod to move downward, and at this time the self-locking rod rotates clockwise under the action of the reset spring, realizing instant separation of the target satellite base plate; at the same time, the two cylindrical elastic sleeves generate a reaction force on the target satellite base plate due to deformation, and the target satellite base plate is ejected out for further separation.

[0026] The beneficial effects of the present invention compared with the prior art are:

[0027] (1) The non-cooperative target satellite large tolerance docking device of the present invention realizes the functions of capturing, locking and separating the non-cooperative target satellite in space, so as to facilitate the on-orbit services such as maintenance and refueling of the non-cooperative target;

[0028] (2) The present invention uses three robotic arm capture units and three locking units to achieve capture, locking and ejection separation of captured targets in the area. It can capture and lock non-cooperative target satellites according to different mission requirements. It has the characteristics of repeatability, large tolerance and high reliability, and provides a docking solution for on-orbit service missions.

[0029] (3) The present invention has a large tolerance capability in the initial stage of docking; and utilizes the foldability of the mechanical arm to reduce the volume of the cabin occupied by the mechanism. At the same time, the docking position of the target satellite can be automatically adjusted and the deviation can be corrected by utilizing the mechanical arm's retraction process after capture;

[0030] (4) The robot arm unit of the present invention is independently driven by a motor, and the grasping mechanism has very high flexibility. At the same time, the harmonic reducer has good self-locking performance, which can ensure that the position of the robot arm is fixed in the folded state. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is an overall schematic diagram of the non-cooperative target satellite large tolerance docking device of the present invention;

[0032] Figure 2 This is a schematic diagram of the distribution of the capture unit and the locking unit of the robot arm of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the robotic arm capture unit of the present invention;

[0034] Figure 4 It is a side view of the locking unit of the present invention;

[0035] Figure 5 A top view of the locking unit of the present invention;

[0036] Figure 6 This is a front view of the locking unit of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the embodiments.

[0038] The present invention provides a large tolerance docking device for a non-cooperative target satellite, which realizes the functions of capturing, locking and separating the non-cooperative target satellite in space, so as to facilitate on-orbit services such as maintenance and refueling of the non-cooperative target.

[0039] Non-cooperative target satellite large tolerance docking device, such as Figure 1 As shown, it specifically includes a target satellite base plate 101, three mechanical arm capture units 102, three locking units 103 and a docking device mounting plate 104. The docking device mounting plate 104 is a horizontally arranged circular plate-shaped structure; the three mechanical arm capture units 102 and the three locking units 103 are installed on the upper surface of the docking device mounting plate 104; the target satellite base plate 101 is located above the mechanical arm capture units 102 and the locking units 103; the target satellite base plate 101 is grasped by the three mechanical arm capture units 102, and the target satellite base plate 101 is dragged to the locking position; the target satellite base plate 101 is locked by the three locking units 103.

[0040] The distribution rules of the robot arm capture unit 102 and the locking unit 103 are as follows: Figure 2 As shown, three robot arm capturing units 102 and three locking units 103 are arranged crosswise with each other; the three robot arm capturing units 102 and the three locking units 103 are evenly distributed along the circumferential direction at the outer edge of the upper surface of the docking device mounting plate 104.

[0041] When the target satellite base plate 101 needs to be released, the three locking units 103 are unlocked, and after the three robotic arm capture units 102 drag the target satellite base plate 101 to the release position, the three robotic arm capture units 102 release the target satellite base plate 101 .

[0042] like Figure 3 As shown, the robotic arm capture unit 102 includes two fingers 201, two four-bar mechanisms 202, an incomplete gear 203, a fifth joint 204, a fourth robotic arm rod 205, a fourth joint 206, a third robotic arm rod 207, a third joint 208, a second robotic arm rod 209, a second joint 210, a first robotic arm rod 211, a first joint 212 and a robotic arm base 213. Among them, the robot base 213 is horizontally installed on the upper surface of the docking device mounting plate 104; the bottom end of the first robot arm rod 211 is rotationally connected to the robot base 213 through the first joint 212; the top of the first robot arm rod 211 is rotationally connected to the bottom end of the second robot arm rod 209 through the second joint 210; the top of the second robot arm rod 209 is rotationally connected to the bottom end of the third robot arm rod 207 through the third joint 208; the top of the third robot arm rod 207 is rotationally connected to the bottom end of the fourth robot arm rod 205 through the fourth joint 206; the top of the fourth robot arm rod 205 is rotationally connected to the bottom of the incomplete gear 203 through the fifth joint 204; two four-bar mechanisms 202 are symmetrically arranged on the top of the incomplete gear 203; the four-bar mechanism 202 is rotationally connected to the incomplete gear 203; the top of each four-bar mechanism 202 is correspondingly installed with one of the two fingers 201.

[0043] When the robotic arm capture unit 102 is in a retracted state, the fourth robotic arm arm 205, the third robotic arm arm 207, the second robotic arm arm 209 and the first robotic arm arm 211 are folded and retracted in a W shape; when it is necessary to grasp the target satellite base plate 101, the fourth robotic arm arm 205, the third robotic arm arm 207, the second robotic arm arm 209 and the first robotic arm arm 211 are rotated and opened to extend the two fingers 201.

[0044] The working process of the robot arm capture unit 102 is:

[0045] When receiving the grab command, the incomplete gear 203 meshes and rotates, driving the two four-bar mechanisms 202 to drive the two fingers of the double-handed finger 201 to fully open; the fourth mechanical arm arm 205, the third mechanical arm arm 207, the second mechanical arm arm 209 and the first mechanical arm arm 211 rotate and unfold through the joints, so that the double-handed finger 201 approaches the target satellite base plate 101;

[0046] After the double fingers 201 are aligned with the target satellite base plate 101, the incomplete gear 203 rotates in the opposite direction, driving the two four-bar mechanisms 202 to rotate in the opposite direction, so that the double fingers 201 grab the docking device on the target satellite base plate 101; the fourth robotic arm 205, the third robotic arm 207, the second robotic arm 209 and the first robotic arm 211 rotate and fold in coordination through the joints to drag the target satellite base plate 101 to the locking position; after the three locking units 103 lock the target satellite base plate 101, the incomplete gear 203 meshes and rotates, driving the two four-bar mechanisms 202 to drive the two fingers of the double fingers 201 to fully open, and the capture is completed.

[0047] like Figures 4 to 6 As shown, the locking unit 103 includes a main locking hook 301, a self-locking rod 302, an intermediate rod 303, a motor 304, a screw 305, a base 306, a screw gear bearing group 307, a micro switch 308, a lifting rod 309, a limit rod 310, two cylindrical elastic sleeves 311, a secondary locking hook 312 and a nut. The torque output by the motor 304 is transmitted to the lead screw 305 through the lead screw gear bearing group 307; the lead screw 305 is fixed on the base 306 through the bearing and can only rotate axially; the nut is sleeved on the outer wall of the lead screw 305, and the nut and the lead screw 305 are threadedly matched; the main lock hook 301 and the auxiliary lock hook 312 are symmetrically installed on both sides of the nut; torsion springs are installed between the main lock hook 301 and the nut, and between the auxiliary lock hook 312 and the nut; the nut is driven to move up and down in the vertical direction by the rotation of the lead screw 305, and the main lock hook 301 and the auxiliary lock hook 312 are rotated outward under the action of the torsion spring;

[0048] The lifting rod 309 is installed parallel to the lead screw 305 on one side of the base 306; the intermediate rod 303 is installed on the upper part of the base 306 on the same side of the lifting rod 309; a limit rod 310 is installed above the intermediate rod 303; the intermediate rod 303 can only rotate, and the lifting rod 309 and the limit rod 310 can only move up and down; the self-locking rod 302 is installed on the upper part of the base 306 on the left side of the limit rod 310; the self-locking rod 302 is rotated clockwise by a reset tension spring; The switch 308 is installed on the base 306, on one side of the lifting rod 309 in the middle; when the lifting rod 309 moves up and down, the motor 304 stops rotating by triggering the micro switch 308, and the target star base plate 101 is locked at this time; two cylindrical elastic sleeves 311 are installed on the base 306, one of which is connected to the main lock hook 301; the other cylindrical elastic sleeve 311 is connected to the auxiliary lock hook 312.

[0049] The specific details are designed as follows: the middle rod 303 is tangentially matched with the lifting rod 309; the middle rod 303 is tangentially matched with the limiting rod 310; one cylindrical elastic sleeve 311 is vertically connected to the main lock hook 301; and the other cylindrical elastic sleeve 311 is vertically connected to the auxiliary lock hook 312.

[0050] The locking process of the locking unit 103 is as follows:

[0051] When the target star base plate 101 reaches the predetermined capture position, the motor 304 drives the lead screw 305 to drive the nut to move downward; the nut drives the main lock hook 301 and the auxiliary lock hook 312 to start closing and capturing the target star base plate 101; under the action of the main lock hook 301 and the auxiliary lock hook 312, the target star base plate 101 completes the initial correction; the motor 304 drives the lead screw 305 to make the nut continue to move downward; the two conical bosses at the bottom of the target star base plate 101 and the two cylindrical elastic sleeves 311 are locked. The conical recessed hole cooperates, and the posture of the target star base plate 101 is corrected; the motor 304 drives the lead screw 305 to make the nut continue to move downward, and the target star base plate 101 moves downward in a straight line, and the nut triggers the boss to contact the lifting rod 309; the intermediate rod 303 is in a horizontal position, and the vertical plane of the self-locking rod 302 is in contact with the vertical plane of the limit rod 310, and the self-locking rod 302 is in a vertical state; under the action of the inclined surface of the self-locking rod 302, the locking force of the target star base plate 101 remains unchanged.

[0052] The unlocking process of the locking unit 103 is as follows: when receiving the locking contact command, the main locking hook 301 and the auxiliary locking hook 312 move upward, and the nut moves upward to contact the protruding part of the upper end of the lifting rod 309; under the upward force of the nut, the lifting rod 309 moves upward, driving the intermediate rod 303 to rotate clockwise; the intermediate rod 303 drives the limiting rod 310 to move downward, and at this time the self-locking rod 302 rotates clockwise under the action of the reset spring, realizing the instantaneous separation of the target star base plate 101; at the same time, the two cylindrical elastic sleeves 311 generate a reaction force on the target star base plate 101 due to deformation, and the target star base plate 101 is ejected and further separated.

[0053] The present invention has a larger tolerance capability in the initial stage of docking.

[0054] The present invention utilizes the foldability of the mechanical arm to reduce the volume of the cabin occupied by the mechanism.

[0055] The present invention utilizes the retraction process after the mechanical arm captures to automatically adjust the docking position of the target star and correct the deviation.

[0056] The robot arm unit of the present invention is independently driven by a motor, and the capture mechanism has very high flexibility. At the same time, the harmonic reducer has good self-locking performance, which can ensure that the position of the robot arm is fixed in the folded state.

[0057] The present invention is composed of repeated arrangement of the same working units and has high versatility and portability for different application environments.

[0058] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A non-cooperative target satellite large tolerance docking device, characterized in that: It comprises a target satellite base plate (101), three mechanical arm capture units (102), three locking units (103) and a docking device mounting plate (104); The docking device mounting plate (104) is a circular plate-shaped structure arranged horizontally; three mechanical arm capture units (102) and three locking units (103) are mounted on the upper surface of the docking device mounting plate (104); the target satellite base plate (101) is located above the mechanical arm capture units (102) and the locking units (103); the target satellite base plate (101) is grasped by the three mechanical arm capture units (102) and dragged to a locking position; and the target satellite base plate (101) is locked by the three locking units (103).

2. A non-cooperative target satellite large tolerance docking device according to claim 1, characterized in that: The three mechanical arm capture units (102) and the three locking units (103) are arranged crosswise with each other; the three mechanical arm capture units (102) and the three locking units (103) are evenly distributed along the circumferential direction at the outer edge of the upper surface of the docking device mounting plate (104).

3. A non-cooperative target satellite large tolerance docking device according to claim 1, characterized in that: When the target satellite base plate (101) needs to be released, the three locking units (103) are unlocked, and after the three mechanical arm capture units (102) drag the target satellite base plate (101) to a release position, the three mechanical arm capture units (102) release the target satellite base plate (101).

4. A non-cooperative target satellite large tolerance docking device according to claim 3, characterized in that: The robotic arm capture unit (102) comprises two fingers (201), two four-bar mechanisms (202), an incomplete gear (203), a fifth joint (204), a fourth robotic arm rod (205), a fourth joint (206), a third robotic arm rod (207), a third joint (208), a second robotic arm rod (209), a second joint (210), a first robotic arm rod (211), a first joint (212) and a robotic arm base (213); The mechanical arm base (213) is horizontally mounted on the upper surface of the docking device mounting plate (104); the bottom end of the first mechanical arm arm rod (211) is rotationally connected to the mechanical arm base (213) via a first joint (212); the top end of the first mechanical arm arm rod (211) is rotationally connected to the bottom end of the second mechanical arm arm rod (209) via a second joint (210); the top end of the second mechanical arm arm rod (209) is rotationally connected to the bottom end of the third mechanical arm arm rod (207) via a third joint (208); and the third mechanical arm The top end of the arm rod (207) is rotationally connected to the bottom end of the fourth mechanical arm rod (205) through a fourth joint (206); the top end of the fourth mechanical arm rod (205) is rotationally connected to the bottom of the incomplete gear (203) through a fifth joint (204); two four-bar mechanisms (202) are symmetrically arranged on the top of the incomplete gear (203); the four-bar mechanism (202) is rotationally connected to the incomplete gear (203); and one of the two fingers (201) is correspondingly installed at the top end of each four-bar mechanism (202).

5. A non-cooperative target satellite large tolerance docking device according to claim 4, characterized in that: When the robotic arm capture unit (102) is in a retracted state, the fourth robotic arm arm (205), the third robotic arm arm (207), the second robotic arm arm (209) and the first robotic arm arm (211) are folded and retracted in a W shape; when it is necessary to grasp the target satellite base plate (101), the fourth robotic arm arm (205), the third robotic arm arm (207), the second robotic arm arm (209) and the first robotic arm arm (211) are rotated and opened relative to each other to achieve the extension of the two fingers (201).

6. A non-cooperative target satellite large tolerance docking device according to claim 5, characterized in that: The working process of the robot arm capture unit (102) is as follows: When receiving a grasping command, the incomplete gear (203) meshes and rotates, driving the two four-bar mechanisms (202) to drive the two fingers of the double fingers (201) to fully open; the fourth mechanical arm arm (205), the third mechanical arm arm (207), the second mechanical arm arm (209) and the first mechanical arm arm (211) rotate and unfold through the coordinated rotation of each joint, so that the double fingers (201) approach the target satellite base plate (101); After the two fingers (201) are aligned with the target satellite base plate (101), the incomplete gear (203) rotates in the opposite direction, driving the two four-bar mechanisms (202) to rotate in the opposite direction, so that the two fingers (201) grab the docking device on the target satellite base plate (101); the fourth mechanical arm arm (205), the third mechanical arm arm (207), the second mechanical arm arm (209) and the first mechanical arm arm (211) are rotated and folded in coordination through joints, and the target satellite base plate (101) is dragged to a locking position; after the three locking units (103) lock the target satellite base plate (101), the incomplete gear (203) meshes and rotates, driving the two four-bar mechanisms (202) to drive the two fingers of the two fingers (201) to fully open, and the capture is completed.

7. A non-cooperative target satellite large tolerance docking device according to claim 5, characterized in that: The locking unit (103) comprises a main locking hook (301), a self-locking rod (302), an intermediate rod (303), a motor (304), a lead screw (305), a base (306), a lead screw gear bearing group (307), a micro switch (308), a lifting rod (309), a limiting rod (310), two cylindrical elastic sleeves (311), a secondary locking hook (312) and a nut; The torque output by the motor (304) is transmitted to the lead screw (305) through the lead screw gear bearing group (307); the lead screw (305) is fixed on the base (306) through the bearing and can only rotate axially; the nut is sleeved on the outer wall of the lead screw (305), and the nut and the lead screw (305) are threadedly matched; the main locking hook (301) and the auxiliary locking hook (312) are symmetrically installed on both sides of the nut; torsion springs are installed between the main locking hook (301) and the nut, and between the auxiliary locking hook (312) and the nut; the nut is driven to move up and down in the vertical direction by the rotation of the lead screw (305), and the main locking hook (301) and the auxiliary locking hook (312) are rotated outward under the action of the torsion spring; The lifting rod (309) is installed parallel to the lead screw (305) on one side of the base (306); the intermediate rod (303) is installed on the upper part of the base (306) on the same side as the lifting rod (309); a limiting rod (310) is installed above the intermediate rod (303); the intermediate rod (303) can only rotate, and the lifting rod (309) and the limiting rod (310) can only move up and down; the self-locking rod (302) is installed on the upper part of the base (306) on the left side of the limiting rod (310); the self-locking rod (302) is rotated clockwise by a reset tension spring; A micro switch (308) is installed on the base (306), on one side of the lifting rod (309) in the middle; when the lifting rod (309) moves up and down, the motor (304) stops rotating by triggering the micro switch (308), and the target star base plate (101) is locked at this time; two cylindrical elastic sleeves (311) are installed on the base (306), one of which is connected to the main locking hook (301) correspondingly; and the other cylindrical elastic sleeve (311) is connected to the auxiliary locking hook (312) correspondingly.

8. A non-cooperative target satellite large tolerance docking device according to claim 7, characterized in that: The intermediate rod (303) is tangentially matched with the lifting rod (309); the intermediate rod (303) is tangentially matched with the limiting rod (310); one cylindrical elastic sleeve (311) is vertically connected to the main locking hook (301); and the other cylindrical elastic sleeve (311) is vertically connected to the auxiliary locking hook (312).

9. A non-cooperative target satellite large tolerance docking device according to claim 8, characterized in that: The locking operation process of the locking unit (103) is as follows: When the target star base plate (101) reaches the predetermined capture position, the motor (304) drives the lead screw (305) to drive the nut to move downward; the nut drives the main locking hook (301) and the auxiliary locking hook (312) to start closing and capturing the target star base plate (101); under the action of the main locking hook (301) and the auxiliary locking hook (312), the target star base plate (101) completes the initial correction; the motor (304) drives the lead screw (305) to make the nut continue to move downward; the two conical bosses at the bottom of the target star base plate (101) and the two cylindrical elastic sleeves (311 ) cooperates with the conical recessed hole in the middle, and the posture of the target star base plate (101) is corrected; the motor (304) drives the lead screw (305) to make the nut continue to move downward, and the target star base plate (101) moves downward in a straight line, and the nut triggers the boss to contact the lifting rod (309); the intermediate rod (303) is in a horizontal position, the vertical plane of the self-locking rod (302) is in contact with the vertical plane of the limiting rod (310), and the self-locking rod (302) is in a vertical state; under the action of the inclined surface of the self-locking rod (302), the locking force of the target star base plate (101) remains unchanged.

10. A non-cooperative target satellite large tolerance docking device according to claim 9, characterized in that: The unlocking working process of the locking unit (103) is as follows: when receiving the locking contact command, the main locking hook (301) and the auxiliary locking hook (312) move upward, and the nut moves upward to contact the protruding portion of the upper end of the lifting rod (309); under the action of the upward force of the nut, the lifting rod (309) moves upward, driving the intermediate rod (303) to rotate clockwise; the intermediate rod (303) drives the limiting rod (310) to move downward, and at this time, the self-locking rod (302) rotates clockwise under the action of the reset spring, thereby realizing the instantaneous separation of the target star base plate (101); at the same time, the two cylindrical elastic sleeves (311) generate a reaction force on the target star base plate (101) due to deformation, and the target star base plate (101) is ejected and further separated.

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