A compliant capture tool for nozzle-type small satellites

Abstract

A compliant capture tool for a nozzle-type small satellite, belonging to the technical field of satellite capture. The present invention aims to solve the problems existing in existing satellite capture devices. It includes an umbrella rod and capture arms. The ball screw assembly includes a screw rod and a nut sleeve. The rear end of the screw rod is connected to the output end of the capture motor. The nut sleeve is slidably matched with the front end housing. The front end of the umbrella rod is provided with a ball head structure. The rear end of the umbrella rod extends into the front end housing and is connected to the nut sleeve. A number of capture arms are arranged on the outer periphery of the umbrella rod. Each capture arm includes a front rod and a rear rod. The front end of the front rod is hinged to the ball head structure, and the rear end of the rear rod is hinged to the front end housing. The front rod and the rear rod are hinged. When the capture motor drives the nut sleeve to slide forward, the umbrella rod extends forward, driving the middle parts of a number of capture arms to close towards the umbrella rod. When the capture motor drives the nut sleeve to slide backward, the umbrella rod retracts backward, driving the middle parts of a number of capture arms to open away from the umbrella rod. The umbrella rod and the capture arms extend into the throat of the nozzle. When the capture arms open, non-destructive flexible capture of the satellite can be achieved.

Description

Technical Field

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

[0002] Space exploration entered a new stage in the 21st century, and more and more satellites were launched into space. The retention of failed satellites in space may cause waste of resources, economic losses, GEO resource tension and potential space traffic safety hazards. Against this background, the research on satellite capture technology is extremely urgent.

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

[0004] ESA proposed the Autonomous Geostationary Orbit Recovery project for capturing derelict satellites in the geostationary orbit using a flying net since 2001. ESA plans to use the ROGER system to conduct the following two aspects of research: using the ROGER flying net capture mechanism to remove failed satellites in the geosynchronous orbit and transfer them to the graveyard orbit; using the ROGER tethered flying claw to capture geosynchronous orbit satellites that have not entered the normal orbit and send them into the predetermined working orbit. The capture of small satellites by the flying claw or flying net has a large degree of freedom, flexible implementation conditions, and a wide range of applications; however, the size of the net is too large, which is not convenient for space layout and adds additional difficulties to the operation.

[0005] Scholars at home and abroad have proposed various configurations of continuum robots by imitating the elephant's trunk, octopus tentacles, etc. Festo company developed a pneumatic continuum robot imitating the elephant's trunk. The robot consists of three modules, and each module contains three independent corrugated air cavities. By ventilating different air cavities respectively, the compliant movement of the robot can be realized, and it can cooperate with the pneumatic grasping mechanism at the front end of the robot to complete the capture of 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 presents a hexagonal configuration. By arranging the air cavities, the robot can perform bending actions in two planes and realize 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 thread sleeve. The two sliding blocks are slidably matched with the two sliding grooves respectively.

[0012] Further, it further includes a rotation drive assembly. The rotation drive assembly includes a rear end housing, a sleeve drive motor, a shaft drive motor, a front gear, a rear gear, a bevel gear, a taper gear, and an outer rotation member. The outer rotation member includes a bracket portion and a sleeve portion connected front and rear. The sleeve portion is rotationally engaged with the rear end housing. A front gear is sleeved on the rear end of the sleeve portion. The inner rotation shaft passes through the sleeve portion and is rotationally engaged with the sleeve portion. A rear gear is sleeved on the rear end of the inner rotation shaft and is connected. A bevel gear is sleeved on the front end of the inner rotation shaft. The transmission shaft is rotatably arranged on the bracket portion. A taper gear is sleeved on the transmission shaft. The taper gear meshes with the bevel gear. A connecting stud extending forward is provided in the middle of the transmission shaft. The output end of the sleeve drive motor is connected to a first driving gear through a coupling. The first driving gear meshes with the front gear. The output end of the shaft drive motor is connected to a second driving gear. The second driving gear meshes with the rear gear. The front end housing is connected to the connecting stud.

[0013] Further, the sleeve drive motor is fixed to the rear end housing through a motor bracket and a cushion block in sequence.

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

[0015] Further, the inner rotation shaft is rotationally engaged with the sleeve portion through a bearing, and the sleeve portion is rotationally engaged with the rear end housing through a bearing.

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

[0017] Further, a 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. The upper end surface of the front gear abuts against the shoulder of the sleeve portion.

[0018] Further, it further includes a first main control chip, a first drive chip, a second main control chip, a second drive chip, an SW1 switch, an SW2 switch, an SW3 switch, a first battery, and a second battery. Both the first main control chip and the second main control chip are STC89C52RC-40I-LQFP-44 type chips. Both the first drive chip and the second drive chip are TB6612FNG chips. The SW1 switch, the SW2 switch, and the SW3 switch are all boat-shaped three-position switches;

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

[0020] The positive and negative electrodes of the capture motor are respectively and correspondingly electrically connected to the 1st pin and the 5th pin of the second drive chip. The positive electrode of the second battery is electrically connected to the 20th pin of the second drive chip and the 38th pin of the second main control chip. The 18th pin of the second drive chip and the 16th pin of the second main control chip are electrically connected to the grounding electrode. The 22nd pin of the second drive chip and the 22nd pin of the second main control chip are electrically connected. The 21st pin of the second drive chip and the 21st pin of the second main control chip are electrically connected. The static contact of the SW3 switch is electrically connected to the 24th pin of the second main control chip. The two moving contacts of the SW3 switch are respectively electrically connected to the 23rd pin and the 25th pin of the second main control chip.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. In terms of tolerance control, the umbrella gear is used to control the connecting stigma, enabling the capture assembly to 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 anti-friction material, playing a role in collision buffering.

[0024] 3. The capture motor realizes the telescoping of the umbrella rod through a ball screw. At the same time, a speed reducer is used to connect the capture motor and the screw rod, enabling capture within a certain period of time. The main reason for satellite failure is the exhaustion of engine fuel. In terms of function supplement, the capture assembly serves as a bridge to connect the satellite, and the rear-end rotation drive assembly is connected to the service satellite or the robotic arm, and can even be connected to the fuel thruster to provide life extension services for the satellite with exhausted fuel. In addition, the tool of the present invention also has an intelligent control system, which can realize the automatic electric control adjustment of the motor. Description of the Drawings

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

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

[0027] Figure 3 is a cross-sectional view of the rotation drive component;

[0028] Figure 4 is an isometric view of the limit sleeve part;

[0029] Figure 5 is an isometric view of the outer rotating member;

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

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

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

[0033] Figure 9 is a circuit wiring diagram of the second drive chip;

[0034] Figure 10 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. wire sleeve, 7. slider, 8. chute, 9. umbrella rod, 10. capture arm, 11. rear end housing, 12. shaft drive motor, 13. spacer, 14. motor bracket, 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 stud, 27. limit sleeve, 28. limit lug, 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 implementation mode

[0036] To make the purpose, technical solution and advantages of the present invention clearer, the present invention will be described below through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and do not limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concept of the present invention.

[0037] The connections mentioned in the present invention are divided into fixed connections and detachable connections. The fixed connections, i.e., non-detachable connections, include but are not limited to conventional fixed connection methods such as hemming connection, rivet connection, bonding connection, and welding connection. The detachable connections include but are not limited to conventional disassembly methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly defined, it is defaulted that at least one connection method can be found among the existing connection methods to achieve this function, and those skilled in the art can select 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 with reference to the accompanying drawings. The following embodiments are explanations of the present invention, and the present invention is not limited to the following embodiments.

[0039] Embodiment: As Figures 1 to 9 shown, a compliant capture tool for a nozzle-type small satellite includes a capture assembly 1. The capture assembly 1 includes a front-end housing 3, a capture motor 4, a ball screw assembly, an umbrella rod 9, and capture arms 10. The capture motor 4 is fixed inside the front-end housing 3. The front end of the front-end housing 3 is conical. The ball screw assembly includes a matching screw rod 5 and a nut sleeve 6. The rear end of the screw rod 5 is connected to the output end of the capture motor 4. The nut 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 extends into the front-end housing 3 and is connected to the nut sleeve 6. A plurality of capture arms 10 are provided on the outer periphery of the umbrella rod 9. Each capture arm 10 includes 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. The rear end of the rear rod 30 is hinged to the front-end housing 3. The rear end of the front rod 29 is hinged to the front end of the rear rod 30 and forms a convex middle part of the capture arm 10. When the capture motor 4 drives the nut sleeve 6 to slide forward, the umbrella rod 9 extends forward and drives the middle parts of the plurality of capture arms 10 to converge towards the umbrella rod 9. When the capture motor 4 drives the nut sleeve 6 to slide backward, the umbrella rod 9 retracts and drives the middle parts of the plurality of capture arms 10 to expand 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 housing 3 and the rear end housing 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] To reduce the impact of collisions on the attitude of the target satellite, a raindrop-shaped spring-damper device is adopted at the front end of the capture device. During the collision between the damper device and the engine nozzle, it can be approximately regarded as a collision between two spheres, satisfying Hertz contact.

[0046] The following is the force analysis: The spherical head structure 34 in the shape of a raindrop hitting the engine nozzle of the target satellite can be equivalent to a spring-damper. Subsequently, the spring-damper parameters can be set in ADAMS. The equivalent damping method treats the collision phenomenon during the collision process as continuous dynamics, and the contact force between the spherical head structure 34 hitting the engine nozzle of the target satellite is equivalent to a spring-damper model, as Figure 10 shown.

[0047] Assume that the radii of curvature of the contact points of the two objects are R1 and R2 respectively, and the normal direction of the contact surface is set as 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] In the formula:

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

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

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

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

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

[0057] In formula (1), the Hertz stiffness k in elastic mechanics depends on the material properties and the radii of curvature R1 and R2. Specifically:

[0058]

[0059] In the formula:

[0060] R1 - the radius of curvature of the contact surface of object 1 (mm);

[0061] R2 - the radius of curvature of the contact surface of object 2 (mm);

[0062] σ —— Contact stress on the contact surface (N);

[0063] E —— Elastic modulus (MPa);

[0064] v —— Poisson's ratio.

[0065] When the capture, locking and release separation mechanism is introduced into the interior of the engine nozzle, the umbrella rod 9 may touch the inner wall of the engine nozzle after it extends. At this time, the umbrella rod 9 can be regarded as a cantilever beam, and its minimum diameter is only 5 mm. Whether its strength can meet the requirements remains to be verified. Therefore, a static analysis is carried out on it. It can be known that the maximum stress of the umbrella rod 9 is 98.01 Mpa, while the yield strength of the aluminum alloy material of the umbrella rod 9 is 490 MPa. If the safety factor is taken as 1.5, then the allowable stress is 326.7 MPa. Therefore, the strength of the umbrella rod 9 meets the requirements.

[0066] The stress on the internal reinforcement device of the umbrella-type telescopic mechanism is less than the allowable stress of the material, and the degree of deformation of the structure of the internal reinforcement device of the umbrella-type telescopic mechanism during the capture process has very little impact on the stiffness of the overall structure. Therefore, both the strength and stiffness of the structure of the internal reinforcement device of the umbrella-type telescopic mechanism meet the design requirements.

[0067] Analysis of the application environment: The small satellite capture device is applied in outer space, and the impact of the space environment on the capture of the satellite by the capture device cannot be ignored.

[0068] Radiation environment and surface charging effect of low-orbit spacecraft: It involves radiation damage caused by the Earth's magnetic radiation belt and solar activities, as well as the resulting accumulation of spacecraft surface charges and potential discharge damage, which affect the normal operation of electronic components.

[0069] Spacecraft ground-sky time delay: It refers to the time delay of command transmission between the ground control center and the spacecraft, which is particularly significant in deep space exploration. The spacecraft needs to have the ability of autonomous control to reduce the time difference of ground-sky signal reception.

[0070] Space cold welding effect: The spontaneous adhesion phenomenon of metal surfaces in a vacuum environment. Spacecraft design needs to take measures such as isolation gaskets, special coatings or lubricants to prevent the occurrence of cold welding.

[0071] Solution: Apply the coating technology of Earth orbit spacecraft to protect the spacecraft from the space environment, including thermal control, optical and protective coatings, etc., to reduce the interference of temperature on the capture device.

[0072] The minimum system board of the 51 single-chip microcomputer is based on the STC89C52RC chip. Its main function is to receive three control signals transmitted by the three-position ship-shaped switch, generate PWM signals to control the motor speed, and supply power to the motor drive module. The program burned into the single-chip microcomputer converts the switch signal into a PWM signal.

[0073] The motor drive module is model D107A, which contains two AT8236 chips. Each chip forms a single-channel H-bridge circuit and can independently control the forward and reverse rotation of the sleeve drive motor 15 and the shaft drive motor 12. This drive module receives the PWM signal from the single-chip microcomputer and controls the operation of the motor by adjusting the output current. The drive module is powered by the 5V voltage provided by the single-chip microcomputer and is connected to the 12V power supply to supply power to the motor.

[0074] The sleeve drive motor 15 and the shaft drive motor 12 responsible for controlling the rotation of the tolerance control connection stud 26 have a working voltage of 12V and a rotation speed of 12 revolutions per minute; the capture motor 4 responsible for the telescopic movement of the umbrella rod 9 has a working voltage of 12V and a rotation speed of 50 revolutions per minute.

[0075] A limit sleeve 27 is provided at the front end of the front end housing 3. The umbrella rod 9 extends into the front end housing 3 through the limit sleeve 27. A number of limit protrusions 28 are provided on the outer periphery of the limit sleeve 27. When the capture arm 10 is opened, the ball head structure 34 abuts against the front and rear of the limit sleeve 27 for limiting. When the capture arm 10 is retracted, the inner sides of a number of rear rods 30 respectively abut against the outer sides of a number of limit protrusions 28 for limiting.

[0076] A positioning sleeve 35 is provided at the front part of the front end housing 3. The positioning sleeve 35 is coaxially connected to the front end housing 3 through a number of ribs. Two chutes 8 are axially provided on the positioning sleeve 35. Two sliding blocks 7 are provided on the outer periphery of the wire sleeve 6. The two sliding blocks 7 are respectively in sliding fit with the two chutes 8 in a one-to-one correspondence.

[0077] It also includes a rotation drive assembly 2. The rotation drive assembly 2 includes 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 taper gear 25 and an outer rotation member 24. The outer rotation member 24 includes a bracket part 31 and a sleeve part 32 connected front and back. The sleeve part 32 is rotationally matched with the rear end housing 11. The front gear 21 is sleeved at the rear end of the sleeve part 32. The inner rotation shaft 22 passes through the sleeve part 32. The inner rotation shaft 22 is rotationally matched with the sleeve part 32. The rear gear 16 is sleeved at the rear end of the inner rotation shaft 22. The bevel gear 23 is sleeved at the front end of the inner rotation shaft 22. The transmission shaft 33 is rotatably arranged on the bracket part 31. The taper gear 25 is sleeved on the transmission shaft 33. The taper gear 25 meshes with the bevel gear 23. A connection stud 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. The first driving gear 19 meshes with the front gear 21. The output end of the shaft drive motor 12 is connected to the second driving gear 17. The second driving gear 17 meshes with the rear gear 16. The front end housing 3 is connected to the connection stud 26.

[0078] The sleeve drive motor 15 is fixed on the rear end housing 11 through the motor bracket 14 and the spacer 13 in sequence.

[0079] The shaft drive motor 12 is fixed to the rear end housing 11 through the motor bracket 14 and the spacer 13 in sequence.

[0080] The inner rotating shaft 22 and the sleeve part 32 are rotationally matched through a bearing, and the sleeve part 32 and the rear end housing 11 are rotationally matched through a bearing.

[0081] The transmission shaft 33 is rotationally arranged on the bracket part 31 through a bearing.

[0082] The round nut 20 is connected to the lower end of the sleeve part 32. The upper end face of the round nut 20 abuts against the lower end face of the front gear 21, and the upper end face of the front gear 21 abuts against the shoulder of the sleeve part 32.

[0083] The rotation drive assembly 2 can adjust the rotation angle of the capture assembly 1. The bevel gear 23 is used to control the connection stud 26, so that the capture assembly 1 can have a lateral displacement of about 10°.

[0084] 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, an SW1 switch, an SW2 switch, an 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 type chips. The first drive chip 37 and the second drive chip 39 are both TB6612FNG chips. The SW1 switch, the SW2 switch and the SW3 switch are all boat-shaped three-position switches.

[0085] The positive and negative electrodes of the sleeve drive motor 15 are respectively and correspondingly 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 and correspondingly 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 21st pin of the first main control chip 36 are electrically connected. The 17th pin of the first drive chip 37 and the 43rd pin of the first main control chip 36 are electrically connected. The 16th pin of the first drive chip 37 and the 44th pin of the first main control chip 36 are electrically connected. 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 respectively electrically connected to the 23rd pin and the 25th pin of the first main control chip 36. The static contact of the SW2 switch is electrically connected to the 2nd pin of the first main control chip 36. The two moving contacts of the SW1 switch are respectively electrically connected to the 1st pin and the 3rd pin of the first main control chip 36.

[0086] The positive and negative electrodes of the capture motor 4 are respectively and electrically connected to the 1st pin and the 5th pin of the second drive chip 39. The positive electrode of the second battery is respectively and electrically connected to the 20th pin of the second drive chip 39 and the 38th pin of the second main control chip 38. The 18th pin of the second drive chip 39 and the 16th pin of the second main control chip 38 are 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 stationary 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 respectively and electrically connected to the 23rd pin and the 25th pin of the second main control chip 38.

[0087] The innovation points of the present invention are mainly reflected in three parts: in terms of tolerance control, the bevel gear 9 is used to control the connecting stud 26, so that the capture assembly 1 can have a lateral displacement of about 10°. A raindrop-shaped ball head structure 34 is installed at the front end. The ball head structure 34 is made of a friction-resistant material and plays a role in collision buffering. The capture motor 4 realizes the telescoping of the umbrella rod 9 through a ball screw. At the same time, a reducer is used to connect the capture motor 4 and the screw rod 5, and the capture can be realized within a certain period of time. When a satellite fails, the main reason is that the engine fuel is exhausted. In terms of function supplement, the capture assembly 1 is used as a bridge to connect the satellite, and the rear-end rotary drive assembly 2 is connected to a service satellite or a robotic arm, and can even be connected to a fuel thruster to provide a life extension service for the satellite with exhausted fuel. In addition, the tool of the present invention also has an intelligent control system, which can realize the automatic electric control adjustment of the motor.

[0088] The above embodiments are only illustrative descriptions of the present invention and do not limit its protection scope. Those skilled in the art can also make partial changes to it. As long as it does not exceed the spiritual essence of the present invention, it is within the protection scope of the present invention.

Claims

1. A compliant capture tool for a nozzle-type small satellite, characterized in that: It includes a capture component (1). The capture component (1) 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 inside the front-end housing (3). The front end of the front-end housing (3) is conical. The ball screw assembly includes a screw rod (5) and a nut sleeve (6) that cooperate with each other. The rear end of the screw rod (5) is connected to the output end of the capture motor (4). The nut sleeve (6) is slidably engaged 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) extends into the front-end housing (3) and is connected to the nut sleeve (6). A plurality of capture arms (10) are provided on the outer periphery of the umbrella rod (9). The capture arm (10) includes 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). The rear end of the rear rod (30) is hinged to the front-end housing (3). The rear end of the front rod (29) is hinged to the front end of the rear rod (30) and forms a convex middle part of the capture arm (10). When the capture motor (4) drives the nut sleeve (6) to slide forward, the umbrella rod (9) extends forward to drive the middle parts of a plurality of capture arms (10) to converge towards the umbrella rod (9). When the capture motor (4) drives the nut sleeve (6) to slide backward, the umbrella rod (9) retracts to drive the middle parts of a plurality of capture arms (10) to expand away from the umbrella rod (9). It further includes a rotation drive component (2). The rotation drive component (2) includes 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 tapered gear (25), and an outer rotation member (24). The outer rotation member (24) includes a bracket part (31) and a sleeve part (32) connected front and back. The sleeve part (32) is rotatably engaged with the rear-end housing (11). The front gear (21) is sleeved on the rear end of the sleeve part (32). The inner rotation shaft (22) passes through the sleeve part (32). The inner rotation shaft (22) is rotatably engaged with the sleeve part (32). The rear gear (16) is sleeved and connected to the rear end of the inner rotation shaft (22). The bevel gear (23) is sleeved on the front end of the inner rotation shaft (22). The transmission shaft (33) is rotatably arranged on the bracket part (31). The tapered gear (25) is sleeved on the transmission shaft (33). The tapered gear (25) meshes with the bevel gear (23). A connecting stud (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). The first driving gear (19) meshes with the front gear (21). The output end of the shaft drive motor (12) is connected to the second driving gear (17). The second driving gear (17) meshes with the rear gear (16). The front-end housing (3) is connected to the connecting stud (26).

2. The compliant capture tool for a nozzle-type small satellite according to claim 1, wherein: A limit sleeve (27) is provided at the front end of the front-end housing (3). The umbrella rod (9) extends into the front-end housing (3) through the limit sleeve (27). A number of limit bumps (28) are provided on the outer periphery of the limit sleeve (27). When the capture arm (10) is opened, the ball head structure (34) abuts against the limit sleeve (27) front and back for limiting. When the capture arm (10) is retracted, the inner sides of a number of rear rods (30) respectively abut against the outer sides of a number of limit bumps (28) for limiting.

3. The compliant capture tool for a nozzle-type small satellite according to claim 1, characterized in that: A positioning sleeve (35) is provided at the front part of the front-end housing (3). The positioning sleeve (35) and the front-end housing (3) are coaxially connected by a number of ribs. Two chutes (8) are axially formed on the positioning sleeve (35). Two sliding blocks (7) are provided on the outer periphery of the wire sleeve (6). The two sliding blocks (7) are respectively in sliding fit with the two chutes (8).

4. The compliant capture tool for a nozzle-type small satellite according to claim 2, wherein: The sleeve drive motor (15) is fixed to the rear-end housing (11) through the motor bracket (14) and the cushion block (13) in sequence.

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

6. The compliant capture tool for a nozzle-type small satellite according to claim 2, characterized in that: The inner rotating shaft (22) is rotationally fitted with the sleeve part (32) through a bearing. The sleeve part (32) is rotationally fitted with the rear-end housing (11) through a bearing.

7. The compliant capture tool for a nozzle-type small satellite according to claim 2, characterized in that: The transmission shaft (33) is rotationally arranged on the bracket part (31) through a bearing.

8. A compliant capture tool for a nozzle-type small satellite 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). The upper end surface of the front gear (21) abuts against the shoulder of the sleeve part (32).

9. A compliant capture tool for a nozzle-type small satellite according to any one of claims 6-8, characterized in that: It further includes a first main control chip (36), a first drive chip (37), a second main control chip (38), a second drive chip (39), SW1 switch, SW2 switch, SW3 switch, a first battery and a second battery. Both the first main control chip (36) and the second main control chip (38) are STC89C52RC-40I-LQFP-44 type chips. Both the first drive chip (37) and the second drive chip (39) are TB6612FNG chips. The SW1 switch, SW2 switch and SW3 switch are all boat-shaped three-position switches.

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