A high-tolerance docking device for non-cooperative target satellites

Abstract

The application relates to a non-cooperative target satellite large-tolerance docking device, belonging to the field of satellite on-orbit service docking, and comprising a target star bottom plate, three mechanical arm capturing units, three locking units and a docking device mounting plate; wherein the docking device mounting plate is 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 star bottom plate is located above the mechanical arm capturing units and the locking units; the target star bottom plate is gripped by the three mechanical arm capturing units and is dragged to a locking position; the target star bottom plate is locked by the three locking units; the application realizes the functions of capturing and locking separation of a space non-cooperative target satellite, so as to facilitate on-orbit service such as maintenance and fuel filling of the non-cooperative target.

Description

Technical Field

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

[0002] In recent years, as human exploration of space has deepened, the number of satellites launched into Earth's orbit has been increasing. These satellites are occupying Earth's orbital resources. In addition, rocket debris and space debris generated by space accidents have made Earth's orbital resources increasingly scarce. Therefore, how to make greater use of limited orbital resources has become a major issue that countries are considering.

[0003] Currently, there are two main research directions for orbital resource cleanup: one is for on-orbit servicing of spacecraft to extend their service life; the other is for the cleanup of space debris to free up Earth's orbital resources occupied by space debris as much as possible.

[0004] On-orbit servicing refers to the process of enabling spacecraft to continue operating despite malfunctions (such as failed deployment of solar panels and communication antennas) or fuel depletion, but with other components still functioning normally or requiring maintenance and replacement. This reduces costs associated with avoiding space technology malfunctions. A key technology in on-orbit servicing is non-cooperative target acquisition technology.

[0005] Non-cooperative targets in space refer to space targets that are not equipped with communication transponders or other sensors, and cannot be identified or located by other spacecraft through signal transmission or other means. Non-cooperative targets generally include satellites of friendly spacecraft that have not installed cooperative components, satellites of friendly spacecraft that have installed cooperative components but have run out of fuel or are malfunctioning, space debris, and spacecraft that are not friendly spacecraft.

[0006] Existing non-cooperative target capture and docking mechanisms mainly consist of rigid capture devices composed of robotic arms and their end effectors, as well as flexible capture devices such as ropes, nets, spears, and biomimetic devices. Flexible capture devices can reduce collision forces during the capture and docking process, but the flexible components themselves lack controllability, so they are mostly used for space debris cleanup and deorbiting of defunct spacecraft; while rigid capture devices have the problem of relatively large collision forces and no cushioning. Summary of the Invention

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

[0008] The solution of the present invention is:

[0009] A non-cooperative target satellite high-tolerance docking device includes a target satellite base plate, three robotic arm capture units, three locking units, and a docking device mounting plate;

[0010] 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 units and locking units; the target satellite base plate is grasped 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 aforementioned non-cooperative target satellite large tolerance docking device, the three robotic arm capture units and the three locking units are arranged in a crisscross pattern; the three robotic arm capture units and the three locking units are evenly distributed circumferentially along the outer edge of the upper surface of the docking device mounting plate.

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

[0013] In the aforementioned non-cooperative target satellite high-tolerance docking device, the robotic arm capture unit includes two fingers, two four-bar linkages, an incomplete gear, a fifth joint, a fourth robotic arm lever, a fourth joint, a third robotic arm lever, a third joint, a second robotic arm lever, a second joint, a first robotic arm lever, a first joint, and a robotic arm base.

[0014] The robotic arm base is horizontally mounted on the upper surface of the docking device mounting plate; the bottom end of the first robotic arm is rotatably connected to the robotic arm base via a first joint; the top end of the first robotic arm is rotatably connected to the bottom end of the second robotic arm via a second joint; the top end of the second robotic arm is rotatably connected to the bottom end of the third robotic arm via a third joint; the top end of the third robotic arm is rotatably connected to the bottom end of the fourth robotic arm via a fourth joint; the top end of the fourth robotic arm is rotatably connected to the bottom of the incomplete gear via a fifth joint; two four-bar linkages are symmetrically arranged on the top of the incomplete gear; the four-bar linkages are rotatably connected to the incomplete gear; and one of the two fingers is mounted on the top end of each four-bar linkage.

[0015] In the aforementioned non-cooperative target satellite high-tolerance docking device, when the robotic arm capture unit is in a retracted state, the fourth, third, second, and first robotic arms fold and retract in a W-shape; when it is necessary to grasp the target satellite base plate, the fourth, third, second, and first robotic arms rotate and open relative to each other, thereby extending the two fingers.

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

[0017] When a grabbing command is received, the incomplete gear meshes and rotates, driving two four-bar linkages to fully open the two fingers of the two-finger system; the fourth, third, second, and first robotic arms rotate and unfold in coordination through their joints, enabling the two fingers to approach the target star 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 linkages to rotate in the opposite direction, so that the two fingers can grasp the docking device on the target satellite base plate; the fourth, third, second and first robotic arms rotate and fold in coordination through their joints, dragging 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 linkages to make the two fingers of the two fingers fully open, and the capture is completed.

[0019] In the aforementioned 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 assembly, 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 a lead screw gear bearing assembly; the lead screw is fixed to the base by the bearing and can only rotate axially; the nut is fitted on the outer wall of the lead screw and is threaded into the lead screw; the main locking hook and the auxiliary locking hook are symmetrically installed on both sides of the nut; torsion springs are installed between the main locking hook and the nut, and between the auxiliary locking hook and the nut; the rotation of the lead screw drives the nut to move up and down in the vertical direction, and the main locking hook and the auxiliary locking hook rotate outward under the action of the torsion springs;

[0021] The lifting rod and lead screw are installed parallel to each other on one side of the base; the intermediate rod is installed on the upper part of the base on the same side as the lifting rod; a limit rod is installed above the intermediate rod; the intermediate rod can only rotate, while 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 to the left of the limit rod; the self-locking rod rotates clockwise through a reset spring; a micro switch is installed on the middle of the base, on one side of the lifting rod; when the lifting rod moves up and down, the micro switch is triggered to stop the motor from rotating, thus completing the locking of the target satellite base plate; two cylindrical elastic sleeves are installed on the base, 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 aforementioned non-cooperative target satellite large tolerance docking device, the intermediate rod is tangentially engaged with the lifting rod; the intermediate rod is tangentially engaged with the limiting rod; one cylindrical elastic sleeve is perpendicularly connected to the main locking hook; and the other cylindrical elastic sleeve is perpendicularly connected to the auxiliary locking hook.

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

[0024] When the target satellite base plate reaches the predetermined capture position, the motor-driven lead screw drives the nut downwards; the nut drives the main locking hook and auxiliary locking hook to begin closing and capturing the target satellite base plate; under the action of the main locking hook and auxiliary locking hook, the target satellite base plate completes initial correction; the motor-driven lead screw causes the nut to continue moving downwards; the two conical bosses at the bottom of the target satellite base plate engage with the conical concave holes in the two cylindrical elastic sleeves, and the target satellite base plate's attitude is corrected; the motor-driven lead screw causes the nut to continue moving downwards, and the target satellite base plate moves linearly downwards, triggering the bosses of the nut to contact the lifting rod; the intermediate rod is in a horizontal position, and the vertical plane of the self-locking rod contacts the vertical plane of the limit rod, so 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 satellite base plate remains unchanged.

[0025] In the aforementioned non-cooperative target satellite high-tolerance docking device, the unlocking process of the locking unit is as follows: Upon receiving the locking and contact command, the main locking hook and the auxiliary locking hook move upward, and the nut moves upward, contacting the upper protruding part 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 limiting rod to move downward, at which time the self-locking rod rotates clockwise under the action of the return spring, realizing the instantaneous 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, further separating.

[0026] The advantages of this invention compared to the prior art are:

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

[0028] (2) This invention uses three robotic arm capture units and three locking units to capture, lock and eject 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 docking solutions for on-orbit service missions.

[0029] (3) The present invention has a large tolerance capacity in the initial stage of docking; and utilizes the foldability of the robotic arm to reduce the volume occupied by the mechanism in the cabin. At the same time, the docking position of the target star can be automatically adjusted and the deviation can be corrected by utilizing the robotic arm to capture and retract the target star.

[0030] (4) The robotic arm unit of the present invention is driven independently by a motor, and the grasping mechanism has a very high degree of flexibility. At the same time, the harmonic reducer has good self-locking performance, which can ensure that the position of the robotic arm is fixed in the retracted state. Attached Figure Description

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

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

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

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

[0035] Figure 5 This is 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 Implementation

[0037] The present invention will be further described below with reference to the embodiments.

[0038] This invention provides a high-tolerance docking device for non-cooperative target satellites, which realizes functions such as capture, locking and separation of non-cooperative target satellites in space, so as to facilitate on-orbit services such as maintenance and refueling of non-cooperative targets.

[0039] Large-tolerance docking devices for non-cooperative target satellites, such as Figure 1 As shown, the system specifically includes a target satellite base plate 101, three robotic 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 structure. The three robotic arm capture units 102 and the 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 robotic arm capture units 102 and the locking units 103. The three robotic arm capture units 102 grasp the target satellite base plate 101 and drag it to the locking position. The three locking units 103 lock the target satellite base plate 101.

[0040] The distribution pattern of the robotic arm capture unit 102 and locking unit 103 is as follows: Figure 2 As shown, three robotic arm capture units 102 and three locking units 103 are arranged in a crisscross pattern; the three robotic arm capture units 102 and three locking units 103 are evenly distributed circumferentially along the outer edge of the upper surface of the docking device mounting plate 104.

[0041] When it is necessary to release the target star base plate 101, the three locking units 103 unlock, the three robotic arm capture units 102 drag the target star base plate 101 to the release position, and then the three robotic arm capture units 102 release the target star base plate 101.

[0042] like Figure 3 As shown, the robotic arm capture unit 102 includes two fingers 201, two four-bar linkages 202, an incomplete gear 203, a fifth joint 204, a fourth robotic arm lever 205, a fourth joint 206, a third robotic arm lever 207, a third joint 208, a second robotic arm lever 209, a second joint 210, a first robotic arm lever 211, a first joint 212, and a robotic arm base 213. The robotic arm base 213 is horizontally mounted on the upper surface of the docking device mounting plate 104. The bottom end of the first robotic arm lever 211 is rotatably connected to the robotic arm base 213 via the first joint 212. The top end of the first robotic arm lever 211 is rotatably connected to the bottom end of the second robotic arm lever 209 via the second joint 210. The top end of the second robotic arm lever 209 is rotatably connected to the bottom end of the third robotic arm lever 207 via the third joint 208. The top end of the third robotic arm lever 207 is rotatably connected to the bottom end of the fourth robotic arm lever 205 via the fourth joint 206. The top end of the fourth robotic arm lever 205 is rotatably connected to the bottom of the incomplete gear 203 via the fifth joint 204. Two four-bar linkages 202 are symmetrically arranged on the top of the incomplete gear 203. The four-bar linkages 202 are rotatably connected to the incomplete gear 203. One of the fingers in the two fingers 201 is installed at the top end of each four-bar linkage 202.

[0043] When the robotic arm capture unit 102 is in the retracted state, the fourth robotic arm 205, the third robotic arm 207, the second robotic arm 209, and the first robotic arm 211 fold and retract in a W-shape; when it is necessary to grasp the target star 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 open relative to each other, thereby extending the two fingers 201.

[0044] The working process of the robotic arm capture unit 102 is as follows:

[0045] When a grabbing command is received, the incomplete gear 203 meshes and rotates, driving two four-bar linkages 202 to fully open the two fingers of the double fingers 201; the fourth robotic arm 205, the third robotic arm 207, the second robotic arm 209 and the first robotic arm 211 rotate and unfold in coordination through their joints, so that the double fingers 201 can approach the target star base plate 101.

[0046] 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 linkages 202 to rotate in the opposite direction, so that the two fingers 201 can grasp 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 their joints, dragging 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 linkages 202 to make the two fingers of the two fingers 201 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 lead screw 305, a base 306, a lead screw gear bearing assembly 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 assembly 307. The lead screw 305 is fixed to the base 306 by the bearing and can only rotate axially. The nut is fitted on the outer wall of the lead screw 305 and is threadedly engaged with the lead screw 305. 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 rotation of the lead screw 305 drives the nut to move up and down in the vertical direction, and the main locking hook 301 and the auxiliary locking hook 312 rotate outward under the action of the torsion springs.

[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 as the lifting rod 309; a limit rod 310 is installed above the intermediate rod 303; the intermediate rod 303 can only rotate, while 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 to the left of the limit rod 310; the self-locking rod 302 rotates clockwise through a return spring; micro-motion Switch 308 is installed on one side of the lifting rod 309 in the middle of the base 306. When the lifting rod 309 moves up and down, the micro switch 308 is triggered to stop the motor 304 from rotating, thus locking the target satellite base plate 101. Two cylindrical elastic sleeves 311 are installed on the base 306, one of which is connected to the main locking hook 301 and the other is connected to the auxiliary locking hook 312.

[0049] The specific design details are as follows: the intermediate rod 303 is tangentially engaged with the lifting rod 309; the intermediate rod 303 is tangentially engaged with the limiting rod 310; one cylindrical elastic sleeve 311 is perpendicularly connected to the main locking hook 301; and the other cylindrical elastic sleeve 311 is perpendicularly connected to the auxiliary locking hook 312.

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

[0051] When the target satellite base plate 101 reaches the predetermined capture position, the motor 304 drives the lead screw 305 to move the nut downwards; the nut drives the main locking hook 301 and the auxiliary locking hook 312 to begin closing and capturing the target satellite base plate 101; under the action of the main locking hook 301 and the auxiliary locking hook 312, the target satellite base plate 101 completes the initial correction; the motor 304 drives the lead screw 305 to make the nut continue to move downwards; the two conical bosses at the bottom of the target satellite base plate 101 and the two cylindrical elastic sleeves 311... With the conical concave hole fitting, the attitude of the target satellite base plate 101 is corrected; the motor 304 drives the lead screw 305 to make the nut continue to move downward, the target satellite 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 satellite base plate 101 remains unchanged.

[0052] The unlocking process of the locking unit 103 is as follows: When the locking contact command is received, the main locking hook 301 and the auxiliary locking hook 312 move upward, the nut moves upward, and contacts the upper protruding part 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, at this time the self-locking rod 302 rotates clockwise under the action of the return spring, realizing the instantaneous separation of the target satellite base plate 101; at the same time, the two cylindrical elastic sleeves 311 generate a reaction force on the target satellite base plate 101 due to deformation, and the target satellite base plate 101 is ejected and further separated.

[0053] This invention has a large tolerance capability in the initial stage of docking.

[0054] This invention utilizes the foldability of the robotic arm to reduce the volume occupied by the mechanism in the cabin.

[0055] This invention utilizes the robotic arm's capture and retraction process to automatically adjust the docking position of the target satellite and correct deviations.

[0056] The robotic arm unit of this 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 robotic arm is fixed in the retracted state.

[0057] This invention consists of repeated arrangements of the same working units, and has high versatility and portability for different application environments.

[0058] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A non-cooperative target satellite docking device, characterized by: The device comprises a target star base plate (101), three mechanical arm capturing 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 capturing units (102) and the three locking units (103) are mounted on the upper surface of the docking device mounting plate (104); the target star base plate (101) is located above the mechanical arm capturing units (102) and the locking units (103); the three mechanical arm capturing units (102) realize the grabbing of the target star base plate (101) and drag the target star base plate (101) to a locking position; the three locking units (103) realize the locking of the target star base plate (101); When the target star base plate (101) needs to be released, the three locking units (103) are unlocked, and the three mechanical arm capturing units (102) drag the target star base plate (101) to a release position, and then the three mechanical arm capturing units (102) release the target star base plate (101); The mechanical arm capturing unit (102) comprises two fingers (201), two four-bar mechanisms (202), an incomplete gear (203), a fifth joint (204), a fourth mechanical arm arm rod (205), a fourth joint (206), a third mechanical arm arm rod (207), a third joint (208), a second mechanical arm arm rod (209), a second joint (210), a first mechanical arm arm rod (211), a first joint (212) and a mechanical 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 with the mechanical arm base (213) through the first joint (212); the top end of the first mechanical arm arm rod (211) is rotationally connected with the bottom end of the second mechanical arm arm rod (209) through the second joint (210); the top end of the second mechanical arm arm rod (209) is rotationally connected with the bottom end of the third mechanical arm arm rod (207) through the third joint (208); the top end of the third mechanical arm arm rod (207) is rotationally connected with the bottom end of the fourth mechanical arm arm rod (205) through the fourth joint (206); the top end of the fourth mechanical arm arm rod (205) is rotationally connected with the bottom of the incomplete gear (203) through the fifth joint (204); the two four-bar mechanisms (202) are symmetrically arranged on the top of the incomplete gear (203); the four-bar mechanism (202) is rotationally connected with the incomplete gear (203); the top end of each four-bar mechanism (202) corresponds to one finger of the two fingers (201).

2. The non-cooperative target satellite docking apparatus according to claim 1, characterized in that: The three mechanical arm capturing units (102) and the three locking units (103) are arranged in a crisscross manner; the three mechanical arm capturing units (102) and the three locking units (103) are uniformly distributed along the circumferential direction of the outer edge of the upper surface of the docking device mounting plate (104).

3. The non-cooperative target satellite docking apparatus according to claim 2, characterized in that: When the mechanical arm capturing unit (102) is in the retracted state, the fourth mechanical arm arm rod (205), the third mechanical arm arm rod (207), the second mechanical arm arm rod (209) and the first mechanical arm arm rod (211) are folded and retracted in W shape; when it is necessary to grasp the target star base plate (101), the fourth mechanical arm arm rod (205), the third mechanical arm arm rod (207), the second mechanical arm arm rod (209) and the first mechanical arm arm rod (211) are mutually rotated to open, so as to realize elongation of the double fingers (201).

4. The non-cooperative target satellite docking apparatus according to claim 3, characterized in that: The working process of the mechanical arm capturing unit (102) is as follows: When the grasping command is received, the incomplete gear (203) is engaged and rotated to drive the two four-bar mechanisms (202) to drive the two fingers of the double fingers (201) to fully open; the fourth mechanical arm arm rod (205), the third mechanical arm arm rod (207), the second mechanical arm arm rod (209) and the first mechanical arm arm rod (211) are cooperatively rotated and unfolded through the joints, so as to realize approach of the double fingers (201) to the target star base plate (101); After the double fingers (201) are aligned with the target star base plate (101), the incomplete gear (203) is reversely rotated to reversely rotate the two four-bar mechanisms (202), so that the double fingers (201) grasp the docking device on the target star base plate (101); the fourth mechanical arm arm rod (205), the third mechanical arm arm rod (207), the second mechanical arm arm rod (209) and the first mechanical arm arm rod (211) are cooperatively rotated and folded through the joints, so as to drag the target star base plate (101) to the locking position; after the three locking units (103) lock the target star base plate (101), the incomplete gear (203) is engaged and rotated to drive the two four-bar mechanisms (202) to drive the two fingers of the double fingers (201) to fully open, and the capturing is completed.

5. The non-cooperative target satellite docking apparatus of claim 4, wherein: 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 body (306), a screw gear bearing set (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 screw gear bearing set (307); the lead screw (305) is fixed on the base body (306) through a bearing and can only rotate in the axial direction; the nut is sleeved on the outer wall of the lead screw (305) and is in threaded connection with the lead screw (305); the main locking hook (301) and the secondary locking hook (312) are symmetrically installed on the two sides of the nut; torsion springs are installed between the main locking hook (301) and the nut and between the secondary locking hook (312) and the nut; the lead screw (305) is rotated to drive the nut to move up and down in the vertical direction, and the main locking hook (301) and the secondary locking hook (312) are rotated outward under the action of the torsion springs. The lifting rod (309) is installed on one side of the base (306) in parallel with the screw rod (305); the middle rod (303) is installed on the upper part of the base (306) on the same side of the lifting rod (309); the limiting rod (310) is installed above the middle rod (303); the middle 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 through the reset tension spring; the micro switch (308) is installed on the base (306) on the side of the middle lifting rod (309); when the lifting rod (309) moves up and down, the micro switch (308) is triggered to stop the rotation of the motor (304), and at this time, the locking of the target star base plate (101) is completed; two cylindrical elastic sleeves (311) are installed on the base (306), one of which is connected with the main locking hook (301) correspondingly; the other one is connected with the auxiliary locking hook (312) correspondingly.

6. The non-cooperative target satellite docking apparatus of claim 5, wherein: The middle rod (303) is tangent to the lifting rod (309); the middle rod (303) is tangent to the limiting rod (310); one of the cylindrical elastic sleeves (311) is connected with the main locking hook (301) perpendicularly; the other one is connected with the auxiliary locking hook (312) perpendicularly.

7. The non-cooperative target satellite docking apparatus of claim 6, wherein: The working 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 screw rod (305) to drive the nut to move downward; the nut drives the main locking hook (301) and the auxiliary locking hook (312) to begin to close to capture 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 preliminary correction; the motor (304) drives the screw rod (305) to make the nut continue to move downward; the two tapered bosses on the bottom of the target star base plate (101) are matched with the tapered recesses in the two cylindrical elastic sleeves (311), and the attitude of the target star base plate (101) is corrected; the motor (304) drives the screw rod (305) to make the nut continue to move downward, and the target star base plate (101) moves linearly downward, and the nut triggers the boss to contact with the lifting rod (309); the middle rod (303) is in a horizontal position, the vertical plane of the self-locking rod (302) and the vertical plane of the limiting rod (310) are in contact, 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.

8. The non-cooperative target satellite docking apparatus of claim 7, wherein: The working process of the locking unit (103) unlocking is as follows: when receiving a locking contact command, the main locking hook (301) and the auxiliary locking hook (312) move upward, the nut moves upward and contacts the upper extending part of the pull rod (309); under the action of the upward force of the nut, the pull rod (309) moves upward and drives the intermediate rod (303) to rotate clockwise; the intermediate rod (303) drives the limiting rod (310) to move downward, at this time, the self-locking rod (302) rotates clockwise under the action of the reset spring, and the target star bottom plate (101) is instantaneously separated; at the same time, the two cylindrical elastic sleeves (311) generate a reaction force on the target star bottom plate (101) due to deformation, the target star bottom plate (101) is ejected and further separated.

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