Spraying pipe type moonlet flexible capturing tool

Abstract

The invention discloses a spray pipe type moonlet flexible capturing tool, belongs to the technical field of satellite capturing, and aims to solve the problems of an existing satellite capturing device. Comprising an umbrella rod and capturing arms, a ball screw assembly comprises a screw rod and a screw sleeve, the rear end of the screw rod is connected with the output end of a capturing motor, the screw sleeve is in sliding fit with a front end shell, a ball head structure is arranged at the front end of the umbrella rod, the rear end of the umbrella rod stretches into the front end shell and is connected with the screw sleeve, and the multiple capturing arms are arranged on the periphery of the umbrella rod; the front end of the front rod is hinged to the ball head structure, the rear end of the rear rod is hinged to the front-end shell, the front rod is hinged to the rear rod, and when the capturing motor drives the screw sleeve to slide forwards, the umbrella rod stretches forwards to drive the middle portions of the capturing arms to be folded towards the umbrella rod, and when the capturing motor drives the screw sleeve to slide backwards, the umbrella rod retracts backwards to drive the middle portions of the capturing arms to be unfolded away from the umbrella rod. The umbrella rod and the capturing arm extend into the throat of the spray pipe, and the capturing arm is unfolded to realize lossless flexible capturing of the satellite.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite capture, and in particular relates to a nozzle-type small satellite compliant capture tool. Background Art

[0002] As space exploration enters a new stage in the 21st century, more and more satellites are launched into space. Failed satellites left in space may cause resource waste, economic losses, GEO resource shortages and space traffic safety risks. In this context, the research on satellite capture technology is imminent.

[0003] The University of Padua proposed the concept of flexible cable electromagnetic capture technology and designed the FELDS system and its docking test. The docking process is mainly divided into four stages: launching cables, soft docking, recovering cables and hard docking. The electromagnetic docking of this mechanism is mainly reflected in the capture of the docking ball by the probe receiving system. Its docking platform adopts a layered structure and embeds electromagnets to generate electromagnetic force to capture the docking ball made of magnets. Space energy is scarce and difficult to supply. As a high-energy-consuming technology, electromagnetic capture also has certain limitations in actual operation.

[0004] Since 2001, ESA has proposed an autonomous geostationary orbit recovery project to capture abandoned satellites in geostationary orbit using a flying net. ESA plans to use the ROGER system to carry out the following two aspects of research: using the ROGER flying net capture mechanism to remove failed satellites in geostationary orbit and transfer them to the graveyard orbit; using the ROGER tethered flying claw to capture geostationary orbit satellites that have not entered the normal orbit and send them to the predetermined working orbit. Flying claws or flying nets have great freedom in capturing small satellites, flexible implementation conditions, and a wide range of applications; but the size of the net is too large, which is not convenient for space layout, adding additional difficulty to the operation.

[0005] Domestic and foreign scholars have proposed a variety of continuum robots with different configurations, imitating elephant trunks and octopus tentacles. Festo has developed a pneumatic continuum robot that imitates an elephant trunk. The robot consists of three modules, each of which contains three independent corrugated air cavities. Ventilating different air cavities can achieve smooth movement of the robot, and it can be used in conjunction with the pneumatic gripping mechanism at the front end of the robot to capture different objects.

[0006] The University of Science and Technology of China proposed a novel honeycomb pneumatic continuum robot based on the HPN (Honeycomb pneumatic network) structure. Each air cavity of the robot has a hexagonal configuration. Through the arrangement of the air cavities, the robot can realize bending movements in two planes and achieve the grasping operation of a glass filled with water.

[0007] The bionic grabber is a flexible device with a large folding ratio, suitable for use in situations where there are strict restrictions on the operating space. However, due to its overly flexible material, it also has the disadvantages of low quality and low connection stiffness. Summary of the invention

[0008] The purpose of the present invention is to provide a nozzle-type small satellite compliant capture tool to solve the problems existing in the existing satellite capture device. The technical solution adopted by the present invention is as follows:

[0009] A nozzle-type small satellite compliant capture tool comprises a capture component, which comprises a front end shell, a capture motor, a ball screw component, an umbrella rod and a capture arm. The capture motor is fixed in the front end shell, and the front end of the front end shell is tapered. The ball screw component comprises a matching screw and a thread sleeve. The rear end of the screw is connected to the output end of the capture motor, and the thread sleeve is slidably matched with the front end shell. A ball head structure is provided at the front end of the umbrella rod, and the rear end of the umbrella rod penetrates into the front end shell and is connected to the thread sleeve. A plurality of capture arms are provided at the periphery of the umbrella rod. The capture arm comprises a front rod and a rear rod, the front end of the front rod is hinged to the ball head structure, the rear end of the rear rod is hinged to the front end shell, the rear end of the front rod is hinged to the front end of the rear rod, and the middle part of the capture arm is protruded outward. When the capture motor drives the thread sleeve to slide forward, the umbrella rod extends forward to drive the middle parts of the plurality of capture arms to close toward the umbrella rod. When the capture motor drives the thread sleeve to slide backward, the umbrella rod retracts and drives the middle parts of the plurality of capture arms to open away from the umbrella rod.

[0010] Furthermore, a limiting sleeve is provided at the front end of the front shell, and the umbrella rod extends into the front shell through the limiting sleeve. A plurality of limiting protrusions are provided on the outer periphery of the limiting sleeve. When the capture arm is extended, the ball head structure and the limiting sleeve are pressed against each other front and back for limiting. When the capture arm is retracted, the inner sides of the plurality of rear rods and the outer sides of the plurality of limiting protrusions are pressed against each other one by one for limiting.

[0011] Furthermore, a positioning sleeve is provided at the front of the front end shell, and the positioning sleeve is coaxially connected to the front end shell through a plurality of ribs. Two sliding grooves are axially provided on the positioning sleeve, and two sliding blocks are provided on the outer periphery of the screw sleeve. The two sliding blocks are slidably matched with the two sliding grooves respectively.

[0012] Furthermore, it also includes a rotation drive assembly, which includes a rear end housing, a sleeve drive motor, a shaft drive motor, a front gear, a rear gear, a bevel gear, a bevel gear and an outer rotating component, the outer rotating component includes a bracket part and a sleeve part connected front and back, the sleeve part is rotatably matched with the rear end housing, the rear end of the sleeve part is sleeved with the front gear, the inner rotating shaft passes through the sleeve part, the inner rotating shaft is rotatably matched with the sleeve part, the rear end of the inner rotating shaft is sleeved with the rear gear and connected, the front end of the inner rotating shaft is sleeved with the bevel gear, the transmission shaft is rotatably arranged on the bracket part, the transmission shaft is sleeved with a bevel gear, the bevel gear is meshed with the bevel gear, the middle part of the transmission shaft is provided with a connecting column head extending forward, the output end of the sleeve drive motor is connected to the first driving gear through a coupling, the first driving gear is meshed with the front gear, the output end of the shaft drive motor is connected to the second driving gear, the second driving gear is meshed with the rear gear, and the front end housing is connected to the connecting column head.

[0013] Furthermore, the sleeve driving motor is fixed to the rear end housing through a motor frame and a cushion block in sequence.

[0014] Furthermore, the shaft drive motor is fixed to the rear end housing through a motor frame and a cushion block in sequence.

[0015] Furthermore, the inner rotating shaft and the sleeve portion are rotationally matched through a bearing, and the sleeve portion and the rear end housing are rotationally matched through a bearing.

[0016] Furthermore, the transmission shaft is rotatably arranged on the bracket portion via a bearing.

[0017] Furthermore, the round nut is connected to the lower end of the sleeve portion, the upper end surface of the round nut abuts against the lower end surface of the front gear, and the upper end surface of the front gear abuts against the shaft shoulder of the sleeve portion.

[0018] Furthermore, it also includes a first main control chip, a first driver chip, a second main control chip, a second driver chip, a SW1 switch, a SW2 switch, a SW3 switch, a first battery and a second battery, the first main control chip and the second main control chip are both STC89C52RC-40I-LQFP-44 chips, the first driver chip and the second driver chip are both TB6612FNG chips, and the SW1 switch, the SW2 switch and the SW3 switch are all ship-shaped three-speed switches;

[0019] The positive and negative electrodes of the sleeve drive motor are electrically connected to the 1st pin and the 5th pin of the first drive chip respectively, the positive and negative electrodes of the shaft drive motor are electrically connected to the 8th pin and the 12th pin of the first drive chip respectively, the positive electrode of the first battery is electrically connected to the 20th pin of the first drive chip and the 38th pin of the first main control chip respectively, the 18th pin of the first drive chip and the 16th pin of the first main control chip are electrically connected to the ground electrode, the 22nd pin of the first drive chip is electrically connected to the 22nd pin of the first main control chip, the 21st pin of the first drive chip is electrically connected to the ground electrode of the first main control chip, and the 22nd pin of the first drive chip is electrically connected to the 22nd pin of the first main control chip. The 21st pin of the first chip is electrically connected, the 17th pin of the first driver chip is electrically connected to the 43rd pin of the first main control chip, and the 16th pin of the first driver chip is electrically connected to the 44th pin of the first main control chip; the static contact of the SW1 switch is electrically connected to the 24th pin of the first main control chip, the two moving contacts of the SW1 switch are electrically connected to the 23rd pin and the 25th pin of the first main control chip respectively, the static contact of the SW2 switch is electrically connected to the 2nd pin of the first main control chip, and the two moving contacts of the SW1 switch are electrically connected to the 1st pin and the 3rd pin of the first main control chip respectively;

[0020] The positive and negative poles of the capture motor are electrically connected to pin 1 and pin 5 of the second drive chip respectively, the positive pole of the second battery is electrically connected to pin 20 of the second drive chip and pin 38 of the second main control chip respectively, pin 18 of the second drive chip and pin 16 of the second main control chip are electrically connected to the ground electrode, pin 22 of the second drive chip is electrically connected to pin 22 of the second main control chip, and pin 21 of the second drive chip is electrically connected to pin 21 of the second main control chip; the static contact of the SW3 switch is electrically connected to pin 24 of the second main control chip, and the two moving contacts of the SW3 switch are electrically connected to pin 23 and pin 25 of the second main control chip respectively.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In terms of tolerance control, bevel gears are used to control the connecting column head, so that the capture component can have a lateral displacement of about 10°.

[0023] 2. A raindrop-shaped ball head structure is installed at the front end. The ball head structure is made of friction-resistant material and plays a collision buffering role.

[0024] 3. The capture motor uses a ball screw to extend and retract the umbrella pole, and a reducer is used to connect the capture motor and the screw rod, so that capture can be achieved within a certain period of time. The main reason for satellite failure is the exhaustion of engine fuel. In terms of functional supplement, the capture component serves as a bridge to connect the satellite, and the rear-end rotation drive component connects the service satellite or the robotic arm, and can also connect the fuel thruster to provide life extension services for satellites that have exhausted fuel. In addition, the tool of the present invention also has an intelligent control system that can realize automatic electronic control adjustment of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an axonometric view of the device of the present invention;

[0026] Figure 2 is a cross-sectional view of the capture assembly;

[0027] Figure 3 is a cross-sectional view of a rotary drive assembly;

[0028] Figure 4 It is the axonometric drawing of the limit sleeve part;

[0029] Figure 5 It is the axonometric view of the outer rotating member;

[0030] Figure 6 This is the circuit wiring diagram of the first main control chip;

[0031] Figure 7 is the circuit wiring diagram of the first driver chip;

[0032] Figure 8 This is the circuit wiring diagram of the second main control chip;

[0033] Fig. 9 This is the circuit wiring diagram of the second driver chip;

[0034] Fig.10 It is a schematic diagram of the contact theory of the embodiment.

[0035] In the figure, 1. capture component, 2. rotation drive component, 3. front end housing, 4. capture motor, 5. screw, 6. screw sleeve, 7. sliding block, 8. slide slot, 9. umbrella rod, 10. capture arm, 11. rear end housing, 12. shaft drive motor, 13. cushion block, 14. motor frame, 15. sleeve drive motor, 16. rear gear, 17. second driving gear, 18. coupling, 19. first driving gear, 20. round nut, 21 .Front gear, 22. Inner rotating shaft, 23. Bevel gear, 24. Outer rotating member, 25. Bevel gear, 26. Connecting column head, 27. Limit sleeve, 28. Limit bump, 29. Front rod, 30. Rear rod, 31. Bracket part, 32. Sleeve part, 33. Transmission shaft, 34. Ball head structure, 35. Positioning sleeve, 36. First main control chip, 37. First drive chip, 38. Second main control chip, 39. Second drive chip. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0037] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as bolt connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can be found in the existing connection methods to achieve the function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for fixed connection, and bolt connection is selected for detachable connection.

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0039] Example: Figures 1 to 9 As shown, a nozzle-type small satellite compliant capture tool includes a capture component 1, which includes a front end housing 3, a capture motor 4, a ball screw assembly, an umbrella rod 9 and a capture arm 10. The capture motor 4 is fixed in the front end housing 3, and the front end of the front end housing 3 is conical. The ball screw assembly includes a matching screw rod 5 and a thread sleeve 6. The rear end of the screw rod 5 is connected to the output end of the capture motor 4, and the thread sleeve 6 is slidably matched with the front end housing 3. The front end of the umbrella rod 9 is provided with a ball head structure 34. The rear end of the umbrella rod 9 is inserted into the front end housing 3 and connected to the thread sleeve 6. A plurality of capture arms 10 are provided on the periphery of the rod 9, and the capture arms 10 include a front rod 29 and a rear rod 30. The front end of the front rod 29 is hinged to the ball head structure 34, and the rear end of the rear rod 30 is hinged to the front end shell 3. The rear end of the front rod 29 is hingedly connected to the front end of the rear rod 30, and the middle part of the capture arm 10 protrudes outward. When the capture motor 4 drives the silk sleeve 6 to slide forward, the umbrella rod 9 extends forward to drive the middle parts of the capture arms 10 to retract toward the umbrella rod 9. When the capture motor 4 drives the silk sleeve 6 to slide backward, the umbrella rod 9 retracts to drive the middle parts of the capture arms 10 to open away from the umbrella rod 9.

[0040] Before capture, capture motor 4 first drives silk sleeve 6 to slide forward, so that the middle parts of several capture arms 10 are gathered towards umbrella rod 9, umbrella rod 9 and capture arm 10 are used as the working end of capture assembly, can extend into the nozzle of target satellite, and make capture arm 10 be in the contraction section of nozzle, make the front end tapered part of front end shell 3 extend into the diffusion section in nozzle, make the connection part between capture arm 10 and front end shell 3 be in the throat structure of nozzle, when capture motor 4 drives silk sleeve 6 to slide backward, umbrella rod 9 retracts and drives the middle parts of several capture arms 10 to open away from umbrella rod 9, several capture arms 10 and the front end tapered parts of front end shell 3 can be tightened at the two ends of the throat structure of nozzle, and then satellite is captured. When capture motor 4 drives silk sleeve 6 to slide forward again, umbrella rod 9 extends forward and drives the middle parts of several capture arms 10 to gather towards umbrella rod 9, and capture tool of the present invention can exit the nozzle of satellite.

[0041] Satellites do not have a unified capture position, but all have engine nozzles. The present invention can extend the capture locking and release separation mechanism composed of the umbrella rod 9 and the capture arm 10 into the engine nozzle, and achieve capture after locking the throat of the nozzle, which has relative universality. At the same time, the main reason for satellite failure is the exhaustion of engine fuel. The innovation of the capture tool of the present invention is that it can be used as a bridge to connect the target satellite at the front end, and the service satellite or mechanical arm at the rear end. It can also be connected to the fuel thruster to provide life extension services for satellites that have exhausted fuel and extend the life of the satellite, which is not available in other capture devices. The front end of the present invention can be extended into the throat of the nozzle and locked to achieve docking and capture of non-cooperative target satellites. This type of "rod-cone" docking mechanism has a large capture tolerance and has a good capture fit with the satellite engine nozzle. The nozzle is captured with the umbrella rod 9 and the capture arm 10, and the capture position is at the satellite inertia principal axis. Satellite life extension, raindrop-shaped ball head structure 34 as a damper can reduce collisions. Both the front end shell 3 and the rear end shell 11 are provided with heating plates, which can keep the present invention at a constant temperature in outer space, and special materials are used to prevent the occurrence of space cold welding.

[0042] Contact theory analysis

[0043] The capture process of the target satellite using the capture locking and release separation mechanism is the process of collision and contact between two objects. In order to successfully achieve the capture task, a detailed theoretical analysis of the collision and contact during the capture process is required. Here, the kinematic and dynamic analysis of the system is carried out based on the Hertz contact theory.

[0044] Hertz first studied the elastic deformation of glass lenses when they are subjected to forces that bring them into contact with each other. Assumptions: ① Only a small deformation occurs in the contact area. ② The contact surface is elliptical. ③ The objects in contact can be regarded as an elastic half-space, and only vertical pressure acts on the contact surface. Any contact that meets the above three assumptions is called Hertzian contact.

[0045] In order to reduce the impact of the collision on the attitude of the target satellite, a raindrop-type spring damping device is used at the front end of the capture device. During the collision between the damping device and the engine nozzle, it can be approximately regarded as a collision between spheres, satisfying the Hertzian contact.

[0046] The force analysis is as follows: the raindrop-shaped ball head structure 34 hitting the target satellite's engine nozzle can be equivalent to a spring damper. Then, the spring damping parameters of the loading spring can be set in ADAMS. The equivalent damping method treats the collision phenomenon in the collision process as continuous dynamics, and the contact force of the ball head structure 34 hitting the target satellite's engine nozzle is equivalent to a spring damping model, such as Fig.10 shown.

[0047] Assume that the curvature radii of the contact points of the two objects are R1 and R2 respectively, and the normal direction of the contact surface is set to n. Considering the damping of the material, the generalized Hertz formula is adopted.

[0048] The contact force F has the following form:

[0049]

[0050] c=λδ n (2)

[0051] Where:

[0052] δ n is the relative deformation of the two objects along the normal direction of the contact surface (mm);

[0053] δ · is the relative pressing speed (m / s);

[0054] k is the Hertz stiffness in elasticity (N / m);

[0055] c is the damping coefficient (Ns / mm);

[0056] λ is the deformation coefficient (m -1 ).

[0057] The Hertz stiffness k in elastic mechanics (1) depends on the material properties and the curvature radii R1 and R2, specifically:

[0058]

[0059]

[0060] Where:

[0061] R1——the radius of curvature of the contact surface of object 1 (mm);

[0062] R2——radius of curvature of the contact surface of object 2 (mm);

[0063] σ——contact stress of contact surface (N);

[0064] E——elastic modulus (MPa);

[0065] v——Poisson’s ratio.

[0066] When the capture locking and release separation mechanism is introduced into the engine nozzle, the umbrella rod 9 may touch the inner wall of the engine nozzle after being extended. At this time, the umbrella rod 9 can be regarded as a cantilever beam, and the minimum diameter is only 5mm. Whether its strength can meet the requirements remains to be verified, so a static analysis is performed on it. It can be seen that the maximum stress of the umbrella rod 9 is 98.01Mpa, and the yield strength of the aluminum alloy of the umbrella rod 9 is 490MPa. If the safety factor is 1.5, the safe allowable stress is 326.7MPa, so the strength of the umbrella rod 9 meets the requirements.

[0067] The stress on the umbrella-shaped telescopic internal reinforcement device is less than the allowable stress of the material, and the deformation degree of the structure of the umbrella-shaped telescopic internal reinforcement device during the capture process has very little effect on the rigidity of the overall structure. Therefore, the strength and rigidity of the umbrella-shaped telescopic internal reinforcement device structure meet the design requirements.

[0068] Application environment analysis: Small satellite capture devices are used in outer space, and the impact of the space environment on the capture of satellites by the capture device cannot be ignored.

[0069] Radiation environment and surface charging effects of low-orbit spacecraft: involves radiation damage caused by the Earth's magnetic field radiation belt and solar activity, and the resulting accumulation of charge on the spacecraft surface and potential discharge damage, affecting the normal operation of electronic components.

[0070] Spacecraft ground-to-space delay: refers to the time delay in command transmission between the ground control center and the spacecraft, which is particularly significant in deep space exploration. The spacecraft needs to have autonomous control capabilities to reduce the time difference in receiving ground-to-space signals.

[0071] Space cold welding effect: spontaneous bonding of metal surfaces in a vacuum environment. Spacecraft design needs to take preventive measures such as isolation gaskets, special coatings or lubricants to avoid cold welding.

[0072] Solution: Apply Earth orbit spacecraft coating technology to protect spacecraft from the impact of the space environment, including thermal control, optical and protective coatings, to reduce temperature interference with the capture device.

[0073] The 51 MCU minimum system board is based on the STC89C52RC chip. Its main function is to receive the three control signals transmitted by the three-speed ship-shaped switch, generate PWM signals to control the motor speed, and power the motor drive module. The program burned into the MCU converts the switch signal into a PWM signal. The program code is as follows:

[0074]

[0075]

[0076]

[0077]

[0078] The motor drive module model is D107A, which contains two AT8236 chips. Each chip constitutes a single-channel H-bridge circuit, which can independently control the forward and reverse rotation of the sleeve drive motor 15 and the shaft drive motor 12. The drive module receives the PWM signal from the microcontroller and controls the motor operation by adjusting the output current. The drive module is powered by the 5V voltage provided by the microcontroller and connected to the 12V power supply to power the motor.

[0079] The operating voltage of the sleeve drive motor 15 and the shaft drive motor 12 responsible for the tolerance control of the rotation of the connecting column head 26 is 12V and the speed is 12 revolutions per minute; the operating voltage of the capture motor 4 responsible for the telescopic movement of the umbrella rod 9 is 12V and the speed is 50 revolutions per minute.

[0080] A limiting sleeve 27 is provided at the front end of the front end shell 3, and the umbrella rod 9 is inserted into the front end shell 3 through the limiting sleeve 27. A plurality of limiting protrusions 28 are provided on the outer periphery of the limiting sleeve 27. When the capture arm 10 is extended, the ball head structure 34 and the limiting sleeve 27 are pressed against each other front and back for limiting. When the capture arm 10 is retracted, the inner sides of the plurality of rear rods 30 and the outer sides of the plurality of limiting protrusions 28 are pressed against each other one by one for limiting.

[0081] A positioning sleeve 35 is provided at the front of the front end housing 3, and the positioning sleeve 35 is coaxially connected to the front end housing 3 through a plurality of ribs. Two sliding grooves 8 are axially provided on the positioning sleeve 35, and two sliding blocks 7 are provided on the outer periphery of the screw sleeve 6. The two sliding blocks 7 are slidably matched with the two sliding grooves 8 respectively.

[0082] The outer rotating member 24 includes a bracket portion 31 and a sleeve portion 32 connected front and rear, the sleeve portion 32 is rotatably matched with the rear end housing 11, the rear end of the sleeve portion 32 is sleeved with the front gear 21, the inner rotating shaft 22 passes through the sleeve portion 32, the inner rotating shaft 22 is rotatably matched with the sleeve portion 32, the rear end of the inner rotating shaft 22 is sleeved with the rear gear 16, and the inner rotating shaft 22 is rotatably matched with the sleeve portion 32. A bevel gear 23 is sleeved on the front end of the rotating shaft 22, and a transmission shaft 33 is rotatably arranged on the bracket portion 31. A bevel gear 25 is sleeved on the transmission shaft 33, and the bevel gear 25 is meshed with the bevel gear 23. A connecting column head 26 extending forward is provided in the middle of the transmission shaft 33. The output end of the sleeve drive motor 15 is connected to the first driving gear 19 through a coupling 18, and the first driving gear 19 is meshed with the front gear 21. The output end of the shaft drive motor 12 is connected to the second driving gear 17, and the second driving gear 17 is meshed with the rear gear 16. The front end housing 3 is connected to the connecting column head 26.

[0083] The sleeve driving motor 15 is fixed to the rear end housing 11 through the motor frame 14 and the cushion block 13 in sequence.

[0084] The shaft driving motor 12 is fixed to the rear end housing 11 through a motor frame 14 and a cushion block 13 in sequence.

[0085] The inner rotating shaft 22 and the sleeve portion 32 are rotationally matched through a bearing, and the sleeve portion 32 and the rear end housing 11 are rotationally matched through a bearing.

[0086] The transmission shaft 33 is rotatably disposed on the bracket portion 31 via a bearing.

[0087] The round nut 20 is connected to the lower end of the sleeve portion 32 , the upper end surface of the round nut 20 abuts against the lower end surface of the front gear 21 , and the upper end surface of the front gear 21 abuts against the shaft shoulder of the sleeve portion 32 .

[0088] The rotary drive assembly 2 can adjust the rotation angle of the capture assembly 1, and the bevel gear 23 is used to control the connecting column head 26, so that the capture assembly 1 can have a lateral displacement of about 10°;

[0089] It also includes a first main control chip 36, a first driver chip 37, a second main control chip 38, a second driver chip 39, a SW1 switch, a SW2 switch, a SW3 switch, a first battery and a second battery. The first main control chip 36 and the second main control chip 38 are both STC89C52RC-40I-LQFP-44 chips, the first driver chip 37 and the second driver chip 39 are both TB6612FNG chips, and the SW1 switch, the SW2 switch and the SW3 switch are all ship-shaped three-speed switches;

[0090] The positive and negative electrodes of the sleeve drive motor 15 are electrically connected to the 1st pin and the 5th pin of the first drive chip 37 respectively, the positive and negative electrodes of the shaft drive motor 12 are electrically connected to the 8th pin and the 12th pin of the first drive chip 37 respectively, the positive electrode of the first battery is electrically connected to the 20th pin of the first drive chip 37 and the 38th pin of the first main control chip 36 respectively, the 18th pin of the first drive chip 37 and the 16th pin of the first main control chip 36 are electrically connected to the ground electrode, the 22nd pin of the first drive chip 37 is electrically connected to the 22nd pin of the first main control chip 36, the 21st pin of the first drive chip 37 is electrically connected to the first main control chip 36, and the 22nd pin of the first drive chip 37 is electrically connected to the ground electrode. The 21st pin of the control chip 36 is electrically connected, the 17th pin of the first driving chip 37 is electrically connected to the 43rd pin of the first main control chip 36, and the 16th pin of the first driving chip 37 is electrically connected to the 44th pin of the first main control chip 36; the static contact of the SW1 switch is electrically connected to the 24th pin of the first main control chip 36, the two moving contacts of the SW1 switch are electrically connected to the 23rd pin and the 25th pin of the first main control chip 36 respectively, the static contact of the SW2 switch is electrically connected to the 2nd pin of the first main control chip 36, and the two moving contacts of the SW1 switch are electrically connected to the 1st pin and the 3rd pin of the first main control chip 36 respectively;

[0091] The positive and negative poles of the capture motor 4 are electrically connected to pin 1 and pin 5 of the second drive chip 39 respectively, the positive pole of the second battery is electrically connected to pin 20 of the second drive chip 39 and pin 38 of the second main control chip 38 respectively, pin 18 of the second drive chip 39 and pin 16 of the second main control chip 38 are electrically connected to the ground electrode, pin 22 of the second drive chip 39 is electrically connected to pin 22 of the second main control chip 38, and pin 21 of the second drive chip 39 is electrically connected to pin 21 of the second main control chip 38; the static contact of the SW3 switch is electrically connected to pin 24 of the second main control chip 38, and the two moving contacts of the SW3 switch are electrically connected to pin 23 and pin 25 of the second main control chip 38 respectively.

[0092] The innovation of the present invention is mainly reflected in three parts: in terms of tolerance control, the bevel gear 9 is used to control the connection column head 26, so that the capture component 1 can have a lateral displacement of about 10°; a raindrop-shaped ball head structure 34 is installed at the front end, and the ball head structure 34 is made of friction-resistant material to play a collision buffering role; the capture motor 4 realizes the extension and retraction of the umbrella rod 9 through a ball screw, and at the same time, a reducer is used to connect the capture motor 4 and the screw 5, which can achieve capture within a certain period of time. The main reason for the failure of the satellite is the exhaustion of engine fuel. In terms of functional supplementation, the capture component 1 serves as a bridge to connect the satellite, and the rear-end rotation drive component 2 is connected to the service satellite or the robotic arm, and can also be connected to the fuel thruster to provide life extension services for satellites that have exhausted fuel. In addition, the tool of the present invention also has an intelligent control system that can realize automatic electronic control adjustment of the motor.

[0093] The above embodiments are merely exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, which are within the protection scope of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A nozzle-type small satellite compliant capture tool, characterized in that: The invention comprises a capture assembly (1), wherein the capture assembly (1) comprises a front end housing (3), a capture motor (4), a ball screw assembly, an umbrella rod (9) and a capture arm (10), wherein the capture motor (4) is fixed in the front end housing (3), the front end of the front end housing (3) is tapered, the ball screw assembly comprises a matching screw rod (5) and a thread sleeve (6), the rear end of the screw rod (5) is connected to the output end of the capture motor (4), the thread sleeve (6) is slidably matched with the front end housing (3), the front end of the umbrella rod (9) is provided with a ball head structure (34), the rear end of the umbrella rod (9) is inserted into the front end housing (3) and is connected to the thread sleeve (6), and the outer periphery of the umbrella rod (9) is provided with a plurality of The capture arm (10) comprises a front rod (29) and a rear rod (30), the front end of the front rod (29) is hinged to a ball head structure (34), the rear end of the rear rod (30) is hinged to a front end housing (3), the rear end of the front rod (29) is hingedly connected to the front end of the rear rod (30), and the middle part of the capture arm (10) protrudes outwards. When the capture motor (4) drives the silk sleeve (6) to slide forward, the umbrella rod (9) extends forward to drive the middle parts of the capture arms (10) to close toward the umbrella rod (9), and when the capture motor (4) drives the silk sleeve (6) to slide backward, the umbrella rod (9) retracts to drive the middle parts of the capture arms (10) to open away from the umbrella rod (9).

2. A nozzle-type small satellite compliant capture tool according to claim 1, characterized in that: A limiting sleeve (27) is provided at the front end of the front shell (3), and the umbrella rod (9) is inserted into the front shell (3) through the limiting sleeve (27). A plurality of limiting protrusions (28) are provided on the outer periphery of the limiting sleeve (27). When the capture arm (10) is extended, the ball head structure (34) and the limiting sleeve (27) are abutted against each other in front and back to limit the position. When the capture arm (10) is retracted, the inner sides of the plurality of rear rods (30) and the outer sides of the plurality of limiting protrusions (28) are abutted against each other in a one-to-one correspondence to limit the position.

3. A nozzle-type small satellite compliant capture tool according to claim 1, characterized in that: A positioning sleeve (35) is provided at the front of the front housing (3). The positioning sleeve (35) is coaxially connected to the front housing (3) via a plurality of ribs. Two slide grooves (8) are axially provided on the positioning sleeve (35). Two sliding blocks (7) are provided on the outer periphery of the screw sleeve (6). The two sliding blocks (7) are respectively slidably matched with the two slide grooves (8) in a one-to-one correspondence.

4. A nozzle-type small satellite compliant capture tool according to claim 1, characterized in that: The invention also comprises a rotation drive assembly (2), wherein the rotation drive assembly (2) comprises a rear end housing (11), a sleeve drive motor (15), a shaft drive motor (12), a front gear (21), a rear gear (16), a bevel gear (23), a bevel gear (25) and an outer rotation member (24), wherein the outer rotation member (24) comprises a bracket portion (31) and a sleeve portion (32) connected front and rear, wherein the sleeve portion (32) is rotatably engaged with the rear end housing (11), the rear end of the sleeve portion (32) is sleeved with the front gear (21), the inner rotation shaft (22) passes through the sleeve portion (32), the inner rotation shaft (22) is rotatably engaged with the sleeve portion (32), and the rear end of the inner rotation shaft (22) is sleeved with the rear gear (16) The front end of the inner rotating shaft (22) is sleeved with a bevel gear (23), the transmission shaft (33) is rotatably arranged on the bracket part (31), the transmission shaft (33) is sleeved with a bevel gear (25), the bevel gear (25) is meshed with the bevel gear (23), the middle part of the transmission shaft (33) is provided with a connecting column head (26) extending forward, the output end of the sleeve driving motor (15) is connected to the first driving gear (19) through a coupling (18), the first driving gear (19) is meshed with the front gear (21), the output end of the shaft driving motor (12) is connected to the second driving gear (17), the second driving gear (17) is meshed with the rear gear (16), and the front end housing (3) is connected to the connecting column head (26).

5. The nozzle-type small satellite compliant capture tool according to claim 2, characterized in that: The sleeve driving motor (15) is fixed on the rear end housing (11) through the motor frame (14) and the cushion block (13) in sequence.

6. A nozzle-type small satellite compliant capture tool according to claim 2, characterized in that: The shaft driving motor (12) is fixed on the rear end housing (11) through a motor frame (14) and a cushion block (13) in sequence.

7. The nozzle-type small satellite compliant capture tool according to claim 2, characterized in that: The inner rotating shaft (22) and the sleeve portion (32) are rotationally matched via a bearing, and the sleeve portion (32) and the rear end housing (11) are rotationally matched via a bearing.

8. The nozzle-type small satellite compliant capture tool according to claim 2, characterized in that: The transmission shaft (33) is rotatably arranged on the bracket portion (31) via a bearing.

9. The nozzle-type small satellite compliant capture tool according to claim 2, characterized in that: The round nut (20) is connected to the lower end of the sleeve part (32), the upper end surface of the round nut (20) abuts against the lower end surface of the front gear (21), and the upper end surface of the front gear (21) abuts against the shaft shoulder of the sleeve part (32).

10. A nozzle-type small satellite compliant capture tool according to any one of claims 7 to 9, characterized in that: It also includes a first main control chip (36), a first drive chip (37), a second main control chip (38), a second drive chip (39), a SW1 switch, a SW2 switch, a SW3 switch, a first battery and a second battery, the first main control chip (36) and the second main control chip (38) are both STC89C52RC-40I-LQFP-44 chips, the first drive chip (37) and the second drive chip (39) are both TB6612FNG chips, and the SW1 switch, the SW2 switch and the SW3 switch are all boat-shaped three-speed switches; The positive and negative electrodes of the sleeve drive motor (15) are respectively electrically connected to the 1st pin and the 5th pin of the first drive chip (37); the positive and negative electrodes of the shaft drive motor (12) are respectively electrically connected to the 8th pin and the 12th pin of the first drive chip (37); the positive electrode of the first battery is respectively electrically connected to the 20th pin of the first drive chip (37) and the 38th pin of the first main control chip (36); the 18th pin of the first drive chip (37) and the 16th pin of the first main control chip (36) are electrically connected to the ground electrode; the 22nd pin of the first drive chip (37) and the 22nd pin of the first main control chip (36) are electrically connected; the 21st pin of the first drive chip (37) and the 38th pin of the first main control chip (36) are electrically connected to the ground electrode; the 22nd pin of the first drive chip (37) and the 22nd pin of the first main control chip (36) are electrically connected; the 21st pin of the first drive chip (37) and the 38th pin of the first main control chip (36) are electrically connected to the ground electrode; Pin 21 of a main control chip (36) is electrically connected, pin 17 of a first drive chip (37) is electrically connected to pin 43 of the first main control chip (36), and pin 16 of the first drive chip (37) is electrically connected to pin 44 of the first main control chip (36); a static contact of a SW1 switch is electrically connected to pin 24 of the first main control chip (36), two moving contacts of the SW1 switch are respectively electrically connected to pin 23 and pin 25 of the first main control chip (36), a static contact of a SW2 switch is electrically connected to pin 2 of the first main control chip (36), and two moving contacts of the SW1 switch are respectively electrically connected to pin 1 and pin 3 of the first main control chip (36); The positive and negative poles of the capture motor (4) are electrically connected to the 1st pin and the 5th pin of the second drive chip (39) respectively; the positive pole of the second battery is electrically connected to the 20th pin of the second drive chip (39) and the 38th pin of the second main control chip (38) respectively; the 18th pin of the second drive chip (39) and the 16th pin of the second main control chip (38) are electrically connected to the ground electrode; the 22nd pin of the second drive chip (39) and the 22nd pin of the second main control chip (38) are electrically connected; the 21st pin of the second drive chip (39) and the 21st pin of the second main control chip (38) are electrically connected; the static contact of the SW3 switch is electrically connected to the 24th pin of the second main control chip (38); and the two moving contacts of the SW3 switch are electrically connected to the 23rd pin and the 25th pin of the second main control chip (38) respectively.

Images