Miniature expandable space target universal bionic capturing device

Abstract

The invention relates to a miniature expandable space target universal bionic capturing device, and belongs to the field of on-orbit service and space debris slowing down. Comprising four adhesion claw modules, a center module, four volute spiral springs, an unlocking module and a control module. The four adhesion claw modules are installed at the four corners of the upper surface of the center module respectively. Each adhesion claw module is connected with the central module through one volute spiral spring; the control module is installed in an inner cavity of the center module. The unlocking module is arranged in an inner cavity of the central module; unlocking of the four adhesion claw modules in the folded state is achieved through the unlocking module; the volute spiral springs drive the corresponding adhesion claw modules to unfold; the control module controls unlocking of the unlocking module; under the requirements of limited volume, weight and power consumption, captured kinematics and dynamics adaptation boundaries are greatly increased, the motion control precision requirement of the service spacecraft in the target capturing process is reduced, and the capturing reliability is improved.

Description

Technical Field

[0001] The invention belongs to the field of on-orbit service and space debris mitigation, and relates to a miniature deployable universal bionic capture device for space targets. Background Art

[0002] In-orbit service and maintenance tasks such as rescue and repair of faulty spacecraft on orbit, capture and removal of space debris and threat targets are of great significance to maintaining the stable operation of spacecraft on orbit and safeguarding the safety of my country's space assets. The capture of targets such as spacecraft and space debris is an important prerequisite and key technology for in-orbit service and maintenance. For cooperative targets, cooperative docking and robotic arm capture methods are mainly used. For non-cooperative targets that have no cooperative docking interface and cannot provide accurate relative dynamic information, mechanical grippers and flying nets are mainly used to implement force-sealed rigid clamping and locking of parts such as the satellite-rocket docking ring and the engine nozzle, or to envelop them as a whole. There are the disadvantages of high relative measurement and control accuracy requirements and limited adaptability to target types. Facing the diversified service tasks for cooperative and non-cooperative targets, it is urgent to develop new quality universal capture methods.

[0003] Bionic dry adhesion is a non-force closed capture method that imitates the micro-nanostructure of the gecko's foot and uses the principle of van der Waals force adsorption. It forms a reversible connection through soft touch of the target, with fast docking speed, low energy consumption, and a wide range of adaptability. It has become the most representative direction of universal capture in the world, supporting the development of lightweight space operation robots such as future on-orbit maintenance and debris grabbing. During the bionic dry adhesion capture process, the service spacecraft needs to aim at typical structures such as the target solar wing and heat dissipation surface, and only the adhesion surface maintains the connection between the two bodies. Therefore, its stability depends on the capture device's adaptability to contact speed, angular velocity, and posture, and its ability to resist the inertial force of the relative motion of the assembly. This puts forward requirements for the application of dry adhesion technology and the configuration design of the capture device under multiple constraints such as volume and power consumption.

[0004] The existing bionic adhesion capture device faces three shortcomings, which restrict its task flexibility and versatility: first, the traditional configuration design is difficult to overcome the effects of the spatial interference forces at the moment of capture and after capture. Under the constraints of the envelope volume of the capture device, it is not adaptable enough to the target contact direction, external force bearing direction, and target rotational inertia; or because of the capture process, it needs to be pre-tightened, and the normal and tangential motions of its modules are coupled. Under the action of external forces, the modules are prone to rotation and desorption; second, in the face of a spinning failed target, under the relative motion conditions of high speed and large attitude deflection, it is necessary to To quickly dissipate the capture kinetic energy, the use of traditional parallel buffer mechanisms can dissipate the multi-degree-of-freedom kinetic energy of collision through damping, but its rigid structure is large in size, heavy in weight, and has high overall contact stiffness. Therefore, the impulse of target interference is large and the attitude adaptation range is difficult to improve. Third, a single-layer flexible adhesive material is selected and directly connected to the capture device, which has poor adaptability to non-flat surfaces. During the capture mission, the service spacecraft needs to avoid rough material surfaces and protrusions such as structural frames, seams, and cables, and can only select continuous flat smooth positions, which increases the cost of capture motion control. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a miniature deployable universal bionic capture device for space targets, so as to greatly increase the kinematic and dynamic adaptation boundaries of the capture under limited volume, weight and power consumption requirements, reduce the motion control accuracy requirements of the service spacecraft during the target capture process, and improve the capture reliability.

[0006] The solution of the present invention is:

[0007] A miniature deployable universal bionic capture device for space targets, comprising 4 adhesion claw modules, a center module, 4 scroll springs, an unlocking module and a control module;

[0008] Among them, the central module is a horizontally placed hollow square box structure; the four adhesion claw modules are respectively installed at the four corners of the upper surface of the central module; each adhesion claw module is connected to the central module through a spiral spring; the control module is installed in the inner cavity of the central module; the unlocking module is arranged in the inner cavity of the central module; the four adhesion claw modules in the folded state are unlocked by the unlocking module; the corresponding adhesion claw modules are driven to unfold by the spiral spring; the control module controls the unlocking of the unlocking module.

[0009] In the above-mentioned miniature deployable universal bionic capture device for space targets, four adhesion claw modules are horizontally installed on the top of the central module; the upper surfaces of the four adhesion claw modules are located in the same horizontal plane; each adhesion claw module realizes horizontal rotation relative to the central module; in the folded state, the four adhesion claw modules are all rotated to be parallel to the corresponding sides of the central module to form a U-shaped configuration and are locked.

[0010] In the above-mentioned miniature deployable universal bionic capture device for space targets, during the capture mission, the four adhesion claw modules are all rotated 135° counterclockwise to form a cross configuration; the symmetry axes of the two sets of diagonal adhesion claw modules are collinear to maximize the adhesion force arm.

[0011] In the above-mentioned micro-deployable universal bionic capture device for space targets, the adhesive claw module includes a bionic micro-array adhesive material, a bionic buffer energy absorption structure, a support plate, a lightweight support arm and a desorption mechanism;

[0012] Among them, the support plate is a horizontally placed plate-like structure; the bionic buffering energy absorbing structure is horizontally fixed on the upper surface of the support plate; the bionic microarray adhesive material is installed on the upper surface of the bionic buffering energy absorbing structure; the support plate is installed on the lightweight support arm through a desorption mechanism; the desorption mechanism is cylindrical and located in the middle of the support arm, and the height of the desorption mechanism is the same as that of the support arm; the bionic microarray adhesive material and the bionic buffering energy absorbing structure are both arc surfaces at the head end and are both flat surfaces at the tail end.

[0013] In the above-mentioned micro-expandable universal bionic capture device for space targets, the bionic microarray adhesive material is a multi-layer composite structure, including a hat-brim-shaped bionic microstructure array and an open cavity-microcolumn array structure;

[0014] Among them, the open cavity-micropillar array structure is composed of horizontal upper and lower films supported by regularly distributed columnar structures; the brim-like bionic microstructure array is distributed in an array on the upper surface of the film on the open cavity-micropillar array structure; the brim-like bionic microstructure array is composed of columns and brim-like bulging at the top, and has high adhesion characteristics; the distribution density, cavity gap, column height and diameter of the open cavity-micropillar array structure are much larger than those of the brim-like bionic microstructure array, and under collision and extrusion, it produces large deformation to adapt to the rough surface.

[0015] In the above-mentioned miniature deployable universal bionic capture device for space targets, the energy absorption structure is based on porous thermosetting polyurethane rubber, has a bionic fish fin-like loose structure, and is composed of multiple groups of parallel and spaced ribbed thin plates; the connecting line formed by the ribbed thin plates at the junction of the upper and lower surfaces is parallel to the capture contact direction or less than 45°, and at the same time meets the requirements of vertical compression and large lateral shear deformation; the shape, curvature and spacing of the midline of the ribbed thin plates are determined according to the capture speed or the total kinetic energy absorption requirement.

[0016] In the above-mentioned miniature deployable universal bionic capture device for space targets, the central module includes an upper structural plate, four pillars, a lower structural plate, four rotating shafts, four positioning structures and a cross tie rod;

[0017] Among them, the upper structural plate and the lower structural plate are both horizontally placed plate-like structures; the upper structural plate is located above the lower structural plate; the upper structural plate and the lower structural plate are supported by 4 pillars, and the 4 pillars are vertically located at the four corners; the rotating shaft corresponds to the position of the pillars one by one; the rotating shaft is arranged on the upper surface of the upper structural plate; each rotating shaft is connected to the corresponding adhesion claw module and scroll spring; 4 locking structures are installed on the upper surface of the upper structural plate, and the cross pull rod is installed on the lower surface of the upper structural plate; the unlocking module and the control module are both installed on the upper surface of the lower structural plate, and the unlocking module is fixedly connected to the lower edge of the cross pull rod.

[0018] In the above-mentioned miniature deployable universal bionic capture device for space targets, the unlocking module realizes simultaneous unlocking of four adhesion claw modules by a center through an electromagnetic unlocker; when unlocking, the electromagnetic unlocker drives the cross pull rod to move downward after being energized, thereby releasing the locking cone at the end of the cross pull rod; at this time, the four adhesion claw modules realize horizontal rotation under the driving torque of the volute spring, and the locking shaft of the end hinge is stuck in the groove when unfolded into place, thereby realizing effective locking of the four adhesion claw modules.

[0019] In the above-mentioned miniature deployable universal bionic capture device for space targets, when the adhesion claw module is folded, the lower edges of the four locking structures contact the bosses on the sides of the support arms, limiting the freedom of movement of the adhesion claw module in the vertical direction.

[0020] In the above-mentioned miniature deployable universal bionic capture device for space targets, the detachment mechanism includes a spring support cylinder, a separation spring, a limit pin, and a shape memory alloy actuation module;

[0021] During the desorption process, at the initial position, the separation spring is in a compressed energy storage state in the spring support tube, and the support plate carrying the bionic microarray adhesion material and the bionic buffer energy absorption structure is matched with the spring support tube in the axial hole and is locked in the axial and circumferential directions by the limit pin;

[0022] When the receiving control module receives the detachment instruction from the satellite platform, the shape memory alloy actuating module starts to heat and shrink, driving the limit pin connected thereto to shrink; then the limit pin is separated from the card slot of the support plate, prompting the separation spring to eject the support plate, completing the separation of the support plate and the spring support cylinder;

[0023] After separation, the microarray adhesion material, bionic buffering energy absorption structure, support plate and target are still connected, while the desorption mechanism as a whole remains connected to the capture device, and the desorption action with the target is completed at this time.

[0024] The beneficial effects of the present invention compared with the prior art are:

[0025] (1) When the bionic capture device of the present invention collides with a target under high-speed capture conditions, the bionic microarray adhesive material and the bionic buffer energy absorption structure can work together to suppress collision rebound and reduce target impact, while also generating sufficient contact pressure and contact area to ensure sufficient adhesion force.

[0026] (2) The unlocking module of the present invention uses an electromagnetic unlocker, which realizes simultaneous unlocking of four points by one center through a central cross pull rod. The hinge of the unlocking mechanism uses a spiral spring to release energy to drive the movement of the adhesion claw. Compared with the motor drive, this solution does not require a specially designed control circuit, is simple and reliable, has high technical maturity, and is suitable for small and light micro-mechanisms;

[0027] (3) The present invention takes into account the influence of satellite launch vibration on the locking mechanism. In order to prevent the lightweight adhesive claws of the launch section from being displaced too much and causing locking failure, a local locking structure is designed at the distal end of the adhesive claws to limit their movement.

[0028] (4) The bionic capture device of the present invention uses a mode in which the adhesion claw module is separated from the device body to achieve detachment from the target. After separation, the bionic microarray adhesion material, bionic buffering energy absorption structure, and support plate will remain connected to the target, while the lightweight support arm moves together with other parts of the device to achieve separation from the target. This release method can minimize the interface force and device volume, has a short actuation stroke, and does not require a driving method such as a magnetic field to act on the adhesion material;

[0029] (5) The desorption process of the present invention is realized by a shape memory alloy desorption mechanism installed on each adhesion claw module. Before desorption, its internal separation spring is in a compressed energy storage state, and the support plate and the support arm are locked. When receiving the desorption instruction, the shape memory alloy actuator module heats and contracts, driving the limit pin connected to it to contract in a short time, releasing the locking relationship between the support plate and the lightweight support arm, prompting the separation spring to eject the support plate, and completing the desorption release action. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a diagram of the unfolded state of the miniature unfoldable universal bionic capture device for space targets of the present invention;

[0031] Figure 2 It is a diagram of the folded state of the miniature deployable universal bionic capture device for space targets of the present invention;

[0032] Figure 3 This is a comparison diagram of the folded state and the unfolded state of the miniature deployable universal bionic capture device for space targets of the present invention;

[0033] Figure 4 It is a schematic diagram of the adhesive claw module of the present invention;

[0034] Figure 5 A schematic diagram of the composite structure bionic adhesion microarray material of the present invention;

[0035] Figure 6 It is a schematic diagram of the central module of the present invention;

[0036] Figure 7 It is a schematic diagram of the unlocking module of the present invention;

[0037] Figure 8 It is a schematic diagram of the clamping structure of the adhesion claw module of the present invention;

[0038] Fig. 9 It is a schematic diagram of the desorption mechanism of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the embodiments.

[0040] The present invention provides a miniature deployable universal bionic capture device for space targets, which can greatly increase the kinematic and dynamic adaptation boundaries of capture under limited volume, weight and power consumption requirements, reduce the motion control accuracy requirements of the service spacecraft during the target capture process, and improve capture reliability.

[0041] Miniature deployable universal bionic capture device for space targets, such as Figure 1 As shown, it specifically includes 4 adhesion claw modules 1, a center module 2, 4 spiral springs 3, an unlocking module 4 and a control module 5. Among them, the center module 2 is a horizontally placed hollow square box structure; the 4 adhesion claw modules 1 are respectively installed at the four corners of the upper surface of the center module 2; each adhesion claw module 1 is connected to the center module 2 through a spiral spring 3; the control module 5 is installed in the inner cavity of the center module 2; the unlocking module 4 is set in the inner cavity of the center module 2; the unlocking module 4 is used to unlock the 4 adhesion claw modules 1 in the retracted state; the spiral spring 3 drives the corresponding adhesion claw module 1 to unfold; the control module 5 controls the unlocking of the unlocking module 4.

[0042] The device includes four adhesion claw modules 1 for forming a non-force-closed connection relationship with the captured target, a central module 2 for carrying the four adhesion claw modules, a spiral spring 3 for driving the adhesion claw modules to unfold during a capture task, an unlocking module 4 for releasing the adhesion claw modules from a retracted state during a capture task, and a control module 5 for receiving an unlocking instruction and controlling the unlocking action of the adhesion claw.

[0043] There are four adhesive claw modules 1 of the present invention, with the same structure and a central symmetrical layout, which are installed on the rotating shafts 2-4 at the four vertex positions of the central module 2 through two hinges arranged at the upper and lower ends of the tails, and the upper surfaces of the four adhesive claw modules 1 are in the same horizontal plane. Each adhesive claw module is driven by a scroll spring 3 to achieve the unfolding movement.

[0044] like Figure 2 As shown, four adhesive claw modules 1 are horizontally installed on the top of the central module 2; the upper surfaces of the four adhesive claw modules 1 are located in the same horizontal plane; each adhesive claw module 1 realizes horizontal rotation relative to the central module 2; in the retracted state, the four adhesive claw modules 1 are rotated to be parallel to the corresponding side edges of the central module 2, forming a square configuration, and locked. The lateral envelope dimensions of the four adhesive claw modules 1 are the same as those of the central module 2, and there is no protruding structure. In this embodiment, the front and rear ends of the adhesive claw module 1 are chamfered so that the four adhesive claws do not interfere with each other in the retracted state and the envelope dimensions are minimized.

[0045] like Figure 3 As shown, during the capture task, the four adhesion claw modules 1 are all rotated 135° counterclockwise to form a cross configuration; the symmetry axes of the two sets of diagonal adhesion claw modules 1 are collinear to maximize the adhesion force arm.

[0046] like Figure 4 As shown, the adhesive claw module 1 includes a bionic microarray adhesive material 1-1, a bionic buffering energy absorbing structure 1-2, a support plate 1-3, a lightweight support arm 1-4 and a desorption mechanism 1-5. Among them, the support plate 1-3 is a horizontally placed plate-like structure; the bionic buffering energy absorbing structure 1-2 is horizontally fixed on the upper surface of the support plate 1-3; the bionic microarray adhesive material 1-1 is installed on the upper surface of the bionic buffering energy absorbing structure 1-2; the support plate 1-3 is installed on the lightweight support arm 1-4 through the desorption mechanism 1-5; the desorption mechanism 1-5 is cylindrical and located in the middle of the support arm 1-4, and the height of the desorption mechanism 1-5 is the same as that of the support arm 1-4; the bionic microarray adhesive material 1-1 and the bionic buffering energy absorbing structure 1-2 are both arc surfaces at the head end and are both flat surfaces at the tail end.

[0047] The lower surface of the bionic microarray adhesive material 1-1 is fixedly connected to the upper surface of the bionic buffering energy absorbing structure 1-2, and can maintain continuous deformation when capturing and contacting a target.

[0048] like Figure 5As shown, the bionic microarray adhesive material 1-1 is based on polydimethylsiloxane silicone rubber and has a multilayer composite structure. It includes a brim-like bionic microstructure array 1-1-2 and an open cavity-microcolumn array structure 1-1-3. Among them, the open cavity-microcolumn array structure 1-1-3 is composed of horizontal upper and lower films supported by regularly distributed columnar structures; the brim-like bionic microstructure array 1-1-2 is distributed in an array on the upper surface of the film on the open cavity-microcolumn array structure 1-1-3; the brim-like bionic microstructure array 1-1-2 is composed of columns and brims with bulging tops, and has high adhesion characteristics; the distribution density, cavity gap, column height and diameter of the open cavity-microcolumn array structure 1-1-3 are much larger than those of the brim-like bionic microstructure array 1-1-2, and under collision and extrusion, a large deformation occurs to adapt to the rough surface.

[0049] The energy-absorbing structure 1-2 is based on porous thermosetting polyurethane rubber, has a bionic fish fin-like loose structure, and is composed of multiple groups of parallel and spaced ribbed thin plates; the connecting line formed by the ribbed thin plates at the junction of the upper and lower surfaces is parallel to the capture contact direction or less than 45°, and at the same time meets the requirements of vertical compression and large lateral shear deformation; the shape, curvature and spacing of the center line of the ribbed thin plates are determined according to the capture speed or the total kinetic energy absorption requirement.

[0050] The lower surface of the bionic buffer energy absorption structure 1-2 is fixed to the upper surface of the support plate 1-3, and the support plate 1-3 is installed above the lightweight support arm 1-4 through a desorption mechanism. The desorption mechanism 1-5 is cylindrical and located in the middle of the support arm 1-4, with the same height as the support arm 1-4.

[0051] like Figure 6 As shown, the central module 2 includes an upper structural plate 2-1, four pillars 2-2, a lower structural plate 2-3, four rotating shafts 2-4, four locking structures 2-5 and a cross tie rod 2-6. Among them, the upper structure plate 2-1 and the lower structure plate 2-3 are both horizontally placed plate-like structures; the upper structure plate 2-1 is located above the lower structure plate 2-3; the upper structure plate 2-1 and the lower structure plate 2-3 are supported by four pillars 2-2, and the four pillars 2-2 are vertically located at the four corners; the rotating shaft 2-4 corresponds to the position of the pillar 2-2 one by one; the rotating shaft 2-4 is arranged on the upper surface of the upper structure plate 2-1; each rotating shaft 2-4 is connected with the corresponding adhesion claw module 1 and spiral spring 3; four locking structures 2-5 are installed on the upper surface of the upper structure plate 2-1, and the cross pull rod 2-6 is installed on the lower surface of the upper structure plate 2-3; the unlocking module 4 and the control module 5 are both installed on the upper surface of the lower structure plate 2-3, and the unlocking module 4 is fixedly connected to the lower edge of the cross pull rod 2-6.

[0052] like Figure 7As shown, the unlocking module 4 realizes simultaneous unlocking of the four adhesion claw modules 1 by a center through an electromagnetic unlocker; when unlocking, the electromagnetic unlocker drives the cross pull rod 2-6 to move downward after being energized, releasing the locking cone at the end of the cross pull rod 2-6; at this time, the four adhesion claw modules 1 realize horizontal rotation under the driving torque of the volute spring 3, and the locking shaft of the end hinge is stuck in the groove when it is unfolded into place, realizing the effective locking of the four adhesion claw modules 1.

[0053] like Figure 8 As shown, when the adhesion claw module 1 is folded, the lower edges of the four locking structures 2-5 contact the bosses on the sides of the support arms 1-4, limiting the freedom of movement of the adhesion claw module 1 in the vertical direction.

[0054] like Fig. 9 As shown, the detachment mechanism 1-5 includes a spring support cylinder 1-5-1, a separation spring 1-5-2, a limit pin 1-5-3, and a shape memory alloy actuation module 1-5-4;

[0055] During the desorption process, at the initial position, the separation spring 1-5-2 is in a compressed energy storage state in the spring support tube 1-5-1, and the support plate 1-3 carrying the bionic microarray adhesion material 1-1 and the bionic buffer energy absorption structure 1-2 is matched with the spring support barrel 1-5-1 in the axial hole and is axially and circumferentially locked by the limit pin 1-5-3;

[0056] When the receiving control module 5 receives the detachment instruction from the satellite platform, the shape memory alloy actuating module 1-5-4 starts to heat and shrink, driving the limit pin 1-5-3 connected thereto to shrink; then the limit pin 1-5-3 is disengaged from the slot of the support plate 1-3, prompting the separation spring 1-5-2 to eject the support plate 1-3, completing the separation of the support plate 1-3 and the spring support tube 1-5-1;

[0057] After separation, the microarray adhesion material 1-1, the bionic buffering energy absorbing structure 1-2, the support plate 1-3 and the target are still connected, while the desorption mechanism 1-5 as a whole remains connected to the capture device, and the desorption action with the target is completed at this time.

[0058] In summary, a miniature deployable universal bionic capture device for space targets of the present invention realizes the functions of wide-adaptability adhesion capture and controllable release of space targets by combining an adhesion claw module 1, a central module 2, a spiral spring 3, an unlocking module 4, and a control module 5.

[0059] The bionic capture device of the present invention can suppress collision rebound and reduce target impact when colliding with a target under high-speed capture conditions through the synergistic effect of two parts of polymer superelastic materials, namely, bionic microarray adhesion material and bionic buffer energy absorption structure, while also generating sufficient contact pressure and contact area to ensure sufficient adhesion force.

[0060] The unlocking module of the present invention uses an electromagnetic unlocker, and through the central cross rod, one center drives four points to unlock at the same time. The hinge of the unlocking mechanism uses a spiral spring to release the energy storage to drive the adhesion claw to move. Compared with the motor drive, this solution does not require a specially designed control circuit, is simple and reliable, has high technical maturity, and is suitable for small and light micro-mechanisms.

[0061] The present invention takes into account the influence of satellite launch vibration on the locking of the mechanism. In order to prevent the lightweight adhesive claws of the launch section from undergoing large displacement and causing locking failure, a local locking structure is designed at the distal end of the adhesive claw to limit its movement.

[0062] The bionic capture device of the present invention uses a mode in which the adhesion claw module is separated from the device body to achieve detachment from the target. After separation, the bionic microarray adhesion material, bionic buffering energy absorption structure, and support plate will remain connected to the target, while the lightweight support arm moves together with other parts of the device to achieve separation from the target. This release method can minimize the interface force and device volume, has a short actuation stroke, and does not require a driving method such as a magnetic field to act on the adhesion material.

[0063] The desorption process of the present invention is realized by a shape memory alloy desorption mechanism installed on each adhesion claw module. Before desorption, its internal separation spring is in a compressed energy storage state, and the support plate and the support arm are locked. When receiving the desorption instruction, the shape memory alloy actuation module heats and contracts, driving the limit pin connected to it to contract in a short time, releasing the locking relationship between the support plate and the lightweight support arm, prompting the separation spring to eject the support plate, and completing the desorption release action.

[0064] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A miniature deployable universal bionic capture device for space targets, characterized by: It comprises four adhesion claw modules (1), a central module (2), four spiral springs (3), an unlocking module (4) and a control module (5); The central module (2) is a horizontally placed hollow square box structure; four adhesion claw modules (1) are respectively installed at the four corners of the upper surface of the central module (2); each adhesion claw module (1) is connected to the central module (2) via a spiral spring (3); the control module (5) is installed in the inner cavity of the central module (2); the unlocking module (4) is arranged in the inner cavity of the central module (2); the four adhesion claw modules (1) in the retracted state are unlocked by the unlocking module (4); the corresponding adhesion claw modules (1) are driven to unfold by the spiral spring (3); and the control module (5) controls the unlocking of the unlocking module (4).

2. The miniature deployable universal bionic capture device for space targets according to claim 1, characterized in that: Four adhesive claw modules (1) are horizontally mounted on the top of a central module (2); the upper surfaces of the four adhesive claw modules (1) are located on the same horizontal plane; each adhesive claw module (1) can achieve horizontal rotation relative to the central module (2); in a folded state, the four adhesive claw modules (1) are all rotated to be parallel to the corresponding side edges of the central module (2), forming a U-shaped configuration, and are locked.

3. The miniature deployable universal bionic capture device for space targets according to claim 2, characterized in that: During the capture task, the four adhesion claw modules (1) are all rotated 135 degrees counterclockwise to form a cross configuration; the symmetry axes of the two sets of diagonal adhesion claw modules (1) are collinear to maximize the adhesion force arm.

4. The miniature deployable universal bionic capture device for space targets according to claim 1, characterized in that: The adhesive claw module (1) comprises a bionic microarray adhesive material (1-1), a bionic buffer energy absorption structure (1-2), a support plate (1-3), a lightweight support arm (1-4) and a desorption mechanism (1-5); The support plate (1-3) is a horizontally placed plate-like structure; the bionic buffering energy absorbing structure (1-2) is horizontally fixed on the upper surface of the support plate (1-3); the bionic microarray adhesive material (1-1) is installed on the upper surface of the bionic buffering energy absorbing structure (1-2); the support plate (1-3) is installed on the lightweight support arm (1-4) through a desorption mechanism (1-5); the desorption mechanism (1-5) is cylindrical and located in the middle of the support arm (1-4); the desorption mechanism (1-5) and the support arm (1-4) have the same height; the bionic microarray adhesive material (1-1) and the bionic buffering energy absorbing structure (1-2) are both arc surfaces at the head end and are both flat surfaces at the tail end.

5. The miniature deployable universal bionic capture device for space targets according to claim 4, characterized in that: The bionic microarray adhesive material (1-1) is a multilayer composite structure, comprising a hat-brim-shaped bionic microstructure array (1-1-2) and an open cavity-microcolumn array structure (1-1-3); Among them, the open cavity-microcolumn array structure (1-1-3) is composed of horizontal upper and lower films supported by regularly distributed columnar structures; the brim-like bionic microstructure array (1-1-2) is distributed in an array on the upper surface of the film on the open cavity-microcolumn array structure (1-1-3); the brim-like bionic microstructure array (1-1-2) is composed of columns and brim with bulged tops, and has high adhesion characteristics; the distribution density, cavity gap, column height and diameter of the open cavity-microcolumn array structure (1-1-3) are much larger than those of the brim-like bionic microstructure array (1-1-2), and under collision and extrusion, it produces large deformation to adapt to the rough surface.

6. The miniature deployable universal bionic capture device for space targets according to claim 4, characterized in that: The energy absorbing structure (1-2) is based on porous thermosetting polyurethane rubber, has a bionic fish fin-like loose structure, and is composed of a plurality of parallel and spaced ribbed thin plates; the connecting line formed at the junction of the upper and lower surfaces of the ribbed thin plates is parallel to the capture contact direction or less than 45°, and at the same time meets the requirements of vertical compression and lateral shear large deformation; The shape, curvature and spacing of the center line of the ribbed sheet are determined according to the capture speed or the requirement for absorbing the total kinetic energy.

7. The miniature deployable universal bionic capture device for space targets according to claim 2, characterized in that: The central module (2) comprises an upper structural plate (2-1), four pillars (2-2), a lower structural plate (2-3), four rotating shafts (2-4), four locking structures (2-5) and a cross tie rod (2-6); The upper structure plate (2-1) and the lower structure plate (2-3) are both horizontally placed plate-like structures; the upper structure plate (2-1) is located above the lower structure plate (2-3); the upper structure plate (2-1) and the lower structure plate (2-3) are supported by four pillars (2-2), and the four pillars (2-2) are vertically located at the four corners; the rotating shaft (2-4) corresponds to the position of the pillars (2-2) one by one; the rotating shaft (2-4) is arranged on the upper surface of the upper structure plate (2-1); each rotating shaft (2-4) is connected to the corresponding adhesion claw module (1) and the spiral spring (3); the four locking structures (2-5) are installed on the upper surface of the upper structure plate (2-1), and the cross pull rod (2-6) is installed on the lower surface of the upper structure plate (2-3); the unlocking module (4) and the control module (5) are both installed on the upper surface of the lower structure plate (2-3), and the unlocking module (4) is fixedly connected to the lower edge of the cross pull rod (2-6).

8. The miniature deployable universal bionic capture device for space targets according to claim 7, characterized in that: The unlocking module (4) realizes simultaneous unlocking of the four adhesion claw modules (1) by a center through an electromagnetic unlocker; when unlocking, the electromagnetic unlocker drives the cross pull rod (2-6) to move downward after being energized, thereby releasing the locking cone at the end of the cross pull rod (2-6); at this time, the four adhesion claw modules (1) realize horizontal rotation under the driving torque of the volute spring (3), and when fully deployed, the locking shaft of the end hinge is inserted into the groove, thereby realizing effective locking of the four adhesion claw modules (1).

9. The miniature deployable universal bionic capture device for space targets according to claim 7, characterized in that: When the adhesion claw module (1) is folded, the lower edges of the four locking structures (2-5) contact the bosses on the sides of the support arms (1-4), thereby limiting the freedom of movement of the adhesion claw module (1) in the vertical direction.

10. The miniature deployable universal bionic capture device for space targets according to claim 4, characterized in that: The detachment mechanism (1-5) comprises a spring support cylinder (1-5-1), a separation spring (1-5-2), a limit pin (1-5-3), and a shape memory alloy actuation module (1-5-4); During the desorption process, at the initial position, the separation spring (1-5-2) is in a compressed energy storage state in the spring support tube (1-5-1), and the support plate (1-3) carrying the bionic microarray adhesion material (1-1) and the bionic buffer energy absorption structure (1-2) and the spring support tube (1-5-1) are axially matched and axially and circumferentially locked by the limit pin (1-5-3); When the receiving control module (5) receives the detachment instruction from the satellite platform, the shape memory alloy actuating module (1-5-4) starts to heat and shrink, driving the limit pin (1-5-3) connected thereto to shrink; then the limit pin (1-5-3) is separated from the slot of the support plate (1-3), prompting the separation spring (1-5-2) to eject the support plate (1-3), thereby completing the separation of the support plate (1-3) and the spring support tube (1-5-1); After separation, the microarray adhesive material (1-1), the bionic buffering energy absorbing structure (1-2), the support plate (1-3) and the target are still connected, while the desorption mechanism (1-5) remains connected to the capture device as a whole, and the desorption action with the target is completed at this time.

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