A miniature deployable universal bionic capturing device for space targets

Abstract

The present application relates to a kind of micro deployable space target generalization bionic capture device, belong to on-orbit service, space debris mitigation field;Including 4 adhesion claw modules, center module, 4 scroll springs, unlocking module and control module;4 adhesion claw modules are respectively installed at the four corners of the upper surface of center module;Each adhesion claw module is connected with center module by 1 scroll spring;Control module is installed in the inner cavity of center module;Unlocking module is arranged in the inner cavity of center module;The unlocking of the 4 adhesion claw modules in the folded state is realized by unlocking module;Corresponding adhesion claw module is driven to expand by scroll spring;Control module controls the unlocking of unlocking module;The present application is realized in the limited volume, weight, power consumption requirement, substantially increase the kinematics, dynamics adaptation boundary of capture, reduce the motion control precision requirement of service spacecraft in target capture process, improve capture reliability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of on-orbit servicing and space debris mitigation, and relates to a micro-expandable universal bionic capturing device for space targets. BACKGROUND

[0002] On-orbit servicing and maintenance tasks such as rescue and maintenance of on-orbit failed spacecraft, capture and removal of space debris and threatening targets, have important significance for maintaining stable operation of spacecraft in orbit and maintaining safety of China's space assets. Capture of spacecraft, space debris and other targets is an important prerequisite and key technology for on-orbit servicing and maintenance. For cooperative targets, cooperative docking and mechanical arm capturing means are mainly used. For non-cooperative targets without cooperative docking interfaces and unable to provide accurate relative dynamic information, mechanical clamps, fly nets and other means are used to implement rigid clamping and locking of force-enclosed parts such as satellite-rocket docking rings and engine nozzles, or to envelop the whole target, which has the shortcomings of high requirements for relative measurement and control accuracy and limited adaptability to target types. In view of the diversified servicing tasks for cooperative and non-cooperative targets, it is urgent to develop new universal capturing means.

[0003] Bionic dry adhesion is a non-force-enclosed capturing means that simulates the micro-nano structure of gecko's footpads and uses van der Waals force adsorption principle. It forms reversible connection through soft touch of the target, has fast docking speed, low energy consumption and wide adaptability, and has become the most representative direction of universal capturing in the world, supporting the development of future lightweight space operating robots for on-orbit maintenance and debris capture. In the bionic dry adhesion capturing process, the service spacecraft needs to aim at typical structures such as solar wings and heat dissipation surfaces of the target, and only the adhesion surface maintains the connection state between the two bodies, so the stability depends on the adaptability of the capturing device to docking speed, angular velocity and attitude, and the ability to resist the relative motion inertia force of the combined body, which puts forward requirements for the use mode of dry adhesion technology and the configuration design of the capturing device under the constraints of volume and power consumption.

[0004] The existing bionic adhesion capturing device faces three deficiencies, which restricts its task flexibility and universality: 1. The traditional configuration design is difficult to overcome the effect of the spatial interference force in the capturing moment and after capturing, and under the constraint of the envelope volume of the capturing device, the target contact direction, the external force bearing direction and the target rotational inertia are not adaptable; or due to the capturing process, the normal and tangential motion of the module is coupled, and the module is easy to rotate under the action of external force, which causes the adhesion release; 2. In the case of relative motion of high speed and large attitude deflection, the adhesion capturing device needs to dissipate the kinetic energy quickly, and the use of traditional parallel buffer mechanism can dissipate the multi-degree-of-freedom kinetic energy through damping effect, but the rigid structure is large in size and weight, and the overall contact stiffness is high, so the target disturbance impulse is large, and the attitude adaptive range is difficult to improve; 3. The single-layer flexible adhesion material is directly connected with the capturing device, and the adaptability to non-flat surface is poor, and the service spacecraft needs to avoid rough material surface and structure frame, joint, cable and other protrusions, and can only select the continuous smooth position, which increases the cost of motion control. SUMMARY

[0005] The technical problem solved by the present application is to overcome the deficiencies of the prior art and provide a micro-expandable space target universal bionic capturing device, which can greatly increase the kinematic and dynamic adaptive boundary of capturing under the limited volume, weight and power consumption requirements, reduce the motion control precision requirement of the service spacecraft in the target capturing process, and improve the capturing reliability.

[0006] The technical solution of the present application is:

[0007] A micro-expandable space target universal bionic capturing device, comprising four adhesion claw modules, a center module, four vortex springs, an unlocking module and a control module.

[0008] The center module is a hollow square box structure horizontally placed; the four adhesion claw modules are respectively installed at the four corners of the upper surface of the center module; each adhesion claw module is connected with the center module through a vortex spring; the control module is installed in the inner cavity of the center module; the unlocking module is arranged in the inner cavity of the center module; the unlocking of the four adhesion claw modules in the folded state is realized through the unlocking module; the corresponding adhesion claw module is driven to expand through the vortex spring; and the control module controls the unlocking of the unlocking module.

[0009] In the above-mentioned micro-expandable space target universal bionic capturing device, the four adhesion claw modules are horizontally installed on the top of the center module; the upper surfaces of the four adhesion claw modules are located on the same horizontal plane; each adhesion claw module realizes horizontal rotation relative to the center module; in the folded state, the four adhesion claw modules are rotated to be parallel to the corresponding side edges of the center module, forming a mouth-shaped configuration, and are locked.

[0010] In the above-mentioned micro-expandable space target universal bionic capture device, during the capture task, the four adhesive claw modules are rotated counterclockwise by 135° to form a cross-shaped configuration; the symmetry axes of the two groups of diagonal adhesive claw modules are collinear, thereby maximizing the adhesive force arm.

[0011] In the above-mentioned micro-expandable space target universal bionic capture device, the adhesive claw module comprises a bionic microarray adhesive material, a bionic buffer energy-absorbing structure, a support plate, a lightweight support arm, and a detachment mechanism.

[0012] The support plate is a horizontally placed plate-shaped structure; the bionic buffer energy-absorbing structure is horizontally fixed to the upper surface of the support plate; the bionic microarray adhesive material is installed on the upper surface of the bionic buffer energy-absorbing structure; the support plate is installed on the lightweight support arm through the detachment mechanism; the detachment mechanism is in the form of a cylinder and is located at the middle position of the support arm, and the height of the detachment mechanism is the same as that of the support arm; the bionic microarray adhesive material and the bionic buffer energy-absorbing structure are both in the form of a circular arc at the head end and are both flat at the tail end.

[0013] In the above-mentioned micro-expandable space target universal bionic capture device, the bionic microarray adhesive material is a multi-layer composite structure comprising a hat-like bionic microstructure array and an open cavity-microcolumn array structure.

[0014] The open cavity-microcolumn array structure is composed of regularly distributed columnar structures supporting horizontal upper and lower films; the hat-like bionic microstructure array is arrayed on the upper surface of the upper film of the open cavity-microcolumn array structure; the hat-like bionic microstructure array is composed of a column and a hat-shaped top end and has high adhesive force characteristics; the distribution density, cavity gap, column height, and diameter of the open cavity-microcolumn array structure are all much larger than those of the hat-like bionic microstructure array, and under collision and extrusion, the open cavity-microcolumn array structure can produce large deformation to adapt to rough surfaces.

[0015] In the above-mentioned micro-expandable space target universal bionic capture device, the energy-absorbing structure is a porous thermosetting polyurethane rubber-based substrate with a bionic fish fin-like loose structure composed of multiple groups of parallel and spaced rib-shaped thin plates; the connecting line formed by the junction of the upper and lower surfaces of the rib-shaped thin plate is parallel or less than 45° to the capture contact direction, while meeting the requirements of vertical compression and large deformation in lateral shear; the shape, curvature, and spacing of the center line of the rib-shaped thin plate are determined according to the capture speed or total kinetic energy absorption requirement.

[0016] In the above-mentioned micro-expandable space target universal bionic capture device, the central module comprises an upper structural plate, four support columns, a lower structural plate, four rotating shafts, four detent structures, and a cross-shaped pull rod.

[0017] The upper structure plate and the lower structure plate are both horizontally placed plate-shaped structures; the upper structure plate is located above the lower structure plate; the upper structure plate and the lower structure plate are supported by four struts, and the four struts are vertically located at four corners; the rotating shafts correspond to the struts one by one; the rotating shafts are arranged on the upper surface of the upper structure plate; each rotating shaft is connected with a corresponding adhesive claw module and a spiral spring; four clamping structures are arranged on the upper surface of the upper structure plate, and a cross pull rod is arranged on the lower surface of the upper structure plate; an unlocking module and a control module are arranged on the upper surface of the lower structure plate, and the unlocking module is fixedly connected with the lower edge of the cross pull rod.

[0018] In the above-mentioned micro expandable space target universal bionic capturing device, the unlocking module is unlocked by the electromagnetic unlocking device; when the unlocking module is unlocked, the cross pull rod is driven to move downward after being electrified, and the locking cone at the end of the cross pull rod is disengaged; at this time, the four adhesive claw modules are horizontally rotated under the driving torque of the spiral spring, and the locking shaft of the end hinge is clamped into the groove when the four adhesive claw modules are expanded to the position, so that the four adhesive claw modules are effectively locked.

[0019] In the above-mentioned micro expandable space target universal bionic capturing device, when the adhesive claw module is folded, the lower edge of the four clamping structures is in contact with the boss on the side of the supporting arm, so as to limit the movement freedom degree of the adhesive claw module in the vertical direction.

[0020] In the above-mentioned micro expandable space target universal bionic capturing device, the detachment mechanism comprises a spring support cylinder, a separation spring, a limiting pin and a shape memory alloy actuating module.

[0021] During the detachment process, the separation spring is in a compressed energy storage state in the spring support cylinder at the initial position; the supporting plate carrying the bionic microarray adhesive material and the bionic buffer energy absorption structure is in shaft hole cooperation with the spring support cylinder and is axially and circumferentially locked by the limiting pin.

[0022] When the control module receives the detachment instruction of the satellite platform, the shape memory alloy actuating module starts to heat and shrink, driving the limiting pin connected therewith to shrink; then the limiting pin is separated from the clamping groove of the supporting plate, so that the separation spring drives the supporting plate to pop out, and the separation of the supporting plate and the spring support cylinder is completed.

[0023] After separation, the microarray adhesive material, the bionic buffer energy absorption structure and the supporting plate are still connected with the target, and the detachment mechanism as a whole remains connected with the capturing device, so that the detachment action with the target is completed.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] (1) The bionic capturing device of the present application can, in the high-speed capturing working condition, through the synergistic effect of the bionic microarray adhesive material and the bionic buffer energy-absorbing structure, inhibit the collision rebound, reduce the target impact, and at the same time generate sufficient contact pressure and contact area, so as to guarantee sufficient adhesion force;

[0026] (2) The unlocking module of the present application selects an electromagnetic unlocker, and through the center cross pull rod, four points are simultaneously unlocked by one center. The hinge of the unlocking mechanism adopts the energy storage and release mode of the volute spring to drive the adhesive claw movement. Compared with the motor drive, this scheme does not need to specially design the control circuit, is simple and reliable, has high technical maturity, and is suitable for small-size and light-weight micro mechanisms;

[0027] (3) The present application considers the influence of satellite launch vibration on the locking of the mechanism, and in order to prevent the large displacement of the lightweight adhesive claw in the launch section from causing locking failure, a local clamping structure is designed at the distal end of the adhesive claw to limit its movement;

[0028] (4) The bionic capturing device of the present application adopts the mode of separating the adhesive claw module from the device main body to realize the detachment from the target. After separation, the bionic microarray adhesive material, the bionic buffer energy-absorbing structure and the support plate will remain connected with the target, while the lightweight support arm moves together with other parts of the device to realize the separation from the target. This release mode can minimize the interfacial force and the size of the device, and the actuation stroke is short, and it also does not need the magnetic field to act on the adhesive material;

[0029] (5) The detachment process of the present application is realized by the shape memory alloy detachment mechanism installed on each adhesive claw module. Before detachment, the internal separation spring is in a compressed energy storage state, and the support plate is locked with the support arm. When receiving the detachment instruction, the shape memory alloy actuation module is heated and shrinks, and in a short time, the limit pin connected therewith is also shrunk, thereby releasing the locking relationship between the support plate and the lightweight support arm, and prompting the separation spring to pop out the support plate, thereby completing the detachment release action. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is the expansion state diagram of the micro-expandable space target universal bionic capturing device of the present application;

[0031] Figure 2 is the contraction state diagram of the micro-expandable space target universal bionic capturing device of the present application;

[0032] Figure 3 is the contraction state and expansion state comparison diagram of the micro-expandable space target universal bionic capturing device of the present application;

[0033] Figure 4 is the schematic diagram of the adhesive claw module of the present application;

[0034] Figure 5 A schematic view of a composite structure biomimetic adhesion microarray material of the present application;

[0035] Figure 6 A schematic view of a center module of the present application;

[0036] Figure 7 A schematic view of an unlocking module of the present application;

[0037] Figure 8 A schematic view of a clamping structure of an adhesion claw module of the present application;

[0038] Figure 9 A schematic view of a detachment mechanism of the present application. DETAILED DESCRIPTION

[0039] The present application is further described below in conjunction with embodiments.

[0040] The present application provides a micro expandable space target universal biomimetic capturing device, which can greatly increase the kinematic and dynamic adaptive boundary of capturing under the requirements of limited volume, weight and power consumption, reduce the motion control precision requirement of a service spacecraft in a target capturing process, and improve the capturing reliability.

[0041] The micro expandable space target universal biomimetic capturing device, as shown in the figure, specifically comprises four adhesion claw modules 1, a center module 2, four vortex springs 3, an unlocking module 4 and a control module 5. Figure 1 The center module 2 is a hollow square box structure horizontally placed; the four 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 with the center module 2 through one vortex spring 3; the control module 5 is installed in the inner cavity of the center module 2; the unlocking module 4 is arranged in the inner cavity of the center module 2; the unlocking of the four adhesion claw modules 1 in the folded state is realized through the unlocking module 4; the corresponding adhesion claw module 1 is driven to expand through the vortex spring 3; the control module 5 controls the unlocking of the unlocking module 4.

[0042] The device comprises four adhesion claw modules 1 for forming a non-force closed connection relationship with a captured target, a center module 2 for bearing the four adhesion claw modules, a vortex spring 3 for driving the adhesion claw module to expand during a capturing task, an unlocking module 4 for releasing the folded state of the adhesion claw module during the capturing task, and a control module 5 for receiving an unlocking instruction and controlling the unlocking action of the adhesion claw.

[0043] The four adhesion claw modules 1 of the present application are arranged in a central symmetry, and are installed on the rotating shafts 2-4 at the four corners of the central module 2 through two hinges arranged on the tail end of the adhesion claw modules 1.

[0044] As shown in Figure 2 , the four adhesion claw modules 1 are horizontally installed on the top of the central module 2; the upper surfaces of the four adhesion claw modules 1 are located in the same horizontal plane; each adhesion claw module 1 is capable of rotating horizontally relative to the central module 2; in the folded state, the four adhesion claw modules 1 are all rotated to be parallel to the corresponding side edges of the central module 2, forming a mouth-shaped configuration, and are locked. The side envelope size of the four adhesion claw modules 1 is the same as that of the central module 2, without protruding structure. In the present embodiment, the front end and the tail end of the adhesion claw module 1 are chamfered, so that the four adhesion claws do not interfere with each other in the folded state, and the envelope size is minimized.

[0045] As shown in Figure 3 , during the capture task, the four adhesion claw modules 1 are all rotated counterclockwise by 135°, forming a cross-shaped configuration; the symmetry axes of the two groups of diagonal adhesion claw modules 1 are collinear, so as to maximize the adhesion arm.

[0046] As shown in Figure 4 , the adhesion claw module 1 comprises a bionic microarray adhesion material 1-1, a bionic buffer energy absorption structure 1-2, a support plate 1-3, a lightweight support arm 1-4 and a detachment mechanism 1-5. The support plate 1-3 is a horizontally placed plate structure; the bionic buffer energy absorption structure 1-2 is horizontally fixed on the upper surface of the support plate 1-3; the bionic microarray adhesion material 1-1 is installed on the upper surface of the bionic buffer energy absorption structure 1-2; the support plate 1-3 is installed on the lightweight support arm 1-4 through the detachment mechanism 1-5; the detachment mechanism 1-5 is in a cylindrical shape and is located at the middle position of the support arm 1-4, and the height of the detachment mechanism 1-5 is the same as that of the support arm 1-4; the bionic microarray adhesion material 1-1 and the bionic buffer energy absorption structure 1-2 are both in a circular arc surface at the head end and are both in a flat surface at the tail end.

[0047] The lower surface of the bionic microarray adhesion material 1-1 and the upper surface of the bionic buffer energy absorption structure 1-2 are fixedly connected, which can keep the deformation continuous during the capture of the contact target.

[0048] As shown in Figure 5As shown, the biomimetic microarray adhesive material 1-1 is based on polydimethylsiloxane silicone rubber, with a multi-layer composite structure. It includes a hat-like biomimetic microstructure array 1-1-2 and an open cavity-microcolumn array structure 1-1-3. The open cavity-microcolumn array structure 1-1-3 is composed of regularly distributed columnar structures supporting horizontal upper and lower films; the hat-like biomimetic microstructure array 1-1-2 is arrayed on the upper surface of the upper film of the open cavity-microcolumn array structure 1-1-3; the hat-like biomimetic microstructure array 1-1-2 is composed of a column and a hat-shaped top, with 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 hat-like biomimetic microstructure array 1-1-2, which can produce large deformation to adapt to rough surfaces under impact and extrusion.

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

[0050] The lower surface of the biomimetic 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 the detachment mechanism. The detachment mechanism 1-5 is cylindrical, located at the middle position of the support arm 1-4, and has the same height as the support arm 1-4.

[0051] As shown in Figure 6 The center module 2 includes an upper structure plate 2-1, four struts 2-2, a lower structure plate 2-3, four rotating shafts 2-4, four detent structures 2-5 and a cross pull rod 2-6. The upper structure plate 2-1 and the lower structure plate 2-3 are both horizontally placed plate 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 the four struts 2-2, which are vertically located at the four corners; the rotating shafts 2-4 correspond to the struts 2-2 one by one; the rotating shafts 2-4 are arranged on the upper surface of the upper structure plate 2-1; each rotating shaft 2-4 is connected to the corresponding adhesive claw module 1 and the volute spring 3; the four detent 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 fixed to the lower edge of the cross pull rod 2-6.

[0052] As shown in Figure 7As shown, the unlocking module 4 is achieved by electromagnetic unlocking device one center drive 4 adhesion claw module 1 unlock simultaneously; When unlocking, the electromagnetic unlocking device is energized, the cross pull rod 2-6 is driven downward, the locking cone cooperation at the end of the cross pull rod 2-6 is released; At this time, the four adhesion claw modules 1 are driven by the driving torque of the spiral spring 3 to realize horizontal rotation, and the end hinge locking shaft is clamped into the slot when unfolded to the position, so that the four adhesion claw modules 1 are effectively locked.

[0053] As shown in Figure 8 When the adhesion claw module 1 is folded, the lower edge of the four clamping structures 2-5 is in contact with the boss on the side of the support arm 1-4, and the movement freedom of the adhesion claw module 1 in the vertical direction is limited.

[0054] As shown in Figure 9 The detachment mechanism 1-5 includes a spring support cylinder 1-5-1, a separation spring 1-5-2, a limiting pin 1-5-3, and a shape memory alloy actuation module 1-5-4.

[0055] During the detachment process, the separation spring 1-5-2 is in a compressed energy storage state in the spring support cylinder 1-5-1 at the initial position, the support plate 1-3 carrying the bionic microarray adhesion material 1-1 and the bionic buffer energy absorption structure 1-2 is in shaft hole cooperation with the spring support cylinder 1-5-1 and is axially and circumferentially locked by the limiting pin 1-5-3.

[0056] When the receiving control module 5 receives the detachment instruction of the satellite platform, the shape memory alloy actuation module 1-5-4 starts to heat and shrink, driving the limiting pin 1-5-3 connected thereto to shrink; then the limiting pin 1-5-3 is separated from the clamping groove of the support plate 1-3, prompting the separation spring 1-5-2 to pop out the support plate 1-3, completing the separation of the support plate 1-3 and the spring support cylinder 1-5-1.

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

[0058] In summary, the micro expandable space target universal bionic capture device of the application realizes the functions of wide adaptation adhesion capture and controllable release of space targets by combining the adhesion claw module 1, the center module 2, the spiral spring 3, the unlocking module 4, and the control module 5.

[0059] The bionic capture device of the application can suppress the collision rebound, reduce the target impact, and also generate sufficient contact pressure and contact area when colliding with the target at high speed, thereby ensuring sufficient adhesion force.

[0060] The unlocking module of the present application selects an electromagnetic unlocker, and realizes the unlocking of four points simultaneously by a central cross pull rod. The hinge of the unlocking mechanism adopts the energy storage and release mode of volute spring to drive the movement of the adhesive claw. Compared with the motor drive, this scheme does not need to specially design the control circuit, is simple and reliable, has high technical maturity, and is suitable for small size and light weight micro mechanism.

[0061] The present application considers the influence of satellite launch vibration on the locking of the mechanism, and in order to prevent the large displacement of the lightweight adhesive claw in the launch section from causing locking failure, a local clamping structure is designed at the distal end of the adhesive claw to limit its movement.

[0062] The bionic capturing device adopts the mode of separating the adhesive claw module from the device main body to realize the detachment from the target. After separation, the bionic microarray adhesive material, the bionic buffer energy absorption structure, and the support plate remain connected with the target, while the lightweight support arm moves together with other parts of the device to realize the separation from the target. This release mode can minimize the interfacial force and the size of the device, and has short actuation stroke, and does not need the magnetic field to act on the adhesive material.

[0063] The detachment process of the present application is realized by the shape memory alloy detachment mechanism installed on each adhesive claw module. Before detachment, the internal separation spring is in a compressed energy storage state, and the support plate is locked with the support arm. When receiving the detachment instruction, the shape memory alloy actuation module is heated and shrinks, and in a short time, the limit pin connected therewith is also shrunk, thereby releasing the locking relationship between the support plate and the lightweight support arm, and prompting the separation spring to pop out the support plate, and completing the detachment release action.

[0064] Although the present application has been disclosed as above with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the technical solutions of the present application, all belong to the protection scope of the present application.

Claims

1. A micro deployable universal bionic capturing device for space targets, characterized in that: It comprises four adhesive claw modules (1), a center module (2), four vortex springs (3), an unlocking module (4) and a control module (5); The center module (2) is a hollow square box structure horizontally placed; the four adhesive claw modules (1) are respectively installed at the four corners of the upper surface of the center module (2); each adhesive claw module (1) is connected with the center module (2) through a vortex spring (3); the control module (5) is installed in the inner cavity of the center module (2); the unlocking module (4) is arranged in the inner cavity of the center module (2); the unlocking of the four adhesive claw modules (1) in the folded state is realized through the unlocking module (4); the corresponding adhesive claw module (1) is driven to unfold through the vortex spring (3); the control module (5) controls the unlocking of the unlocking module (4); 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 detachment mechanism (1-5); The support plate (1-3) is a plate structure horizontally placed; the bionic buffer energy absorption structure (1-2) is fixed horizontally 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 buffer energy absorption structure (1-2); the support plate (1-3) is installed on the lightweight support arm (1-4) through the detachment mechanism (1-5); the detachment mechanism (1-5) is cylindrical, located at the middle position of the lightweight support arm (1-4), and the height of the detachment mechanism (1-5) is the same as that of the lightweight support arm (1-4); the bionic microarray adhesive material (1-1) and the bionic buffer energy absorption structure (1-2) are both arc surfaces at the head end and are both flat surfaces at the tail end; The bionic microarray adhesive material (1-1) is a multi-layer composite structure comprising a hat-like bionic microstructure array (1-1-2) and an open cavity-microcolumn array structure (1-1-3); The open cavity-microcolumn array structure (1-1-3) is composed of regularly distributed columnar structures supporting horizontal upper and lower films; the hat-like bionic microstructure array (1-1-2) is arrayed on the upper surface of the upper film of the open cavity-microcolumn array structure (1-1-3); the hat-like bionic microstructure array (1-1-2) is composed of a column and a hat-shaped top end, 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 all much larger than those of the hat-like bionic microstructure array (1-1-2), and large deformation is generated under collision and extrusion to adapt to rough surfaces.

2. The micro deployable universal bionic capturing device for space target according to claim 1, characterized in that: The four adhesive claw modules (1) are horizontally installed on the top of the center module (2); the upper surfaces of the four adhesive claw modules (1) are located on the same horizontal plane; each adhesive claw module (1) realizes horizontal rotation relative to the center module (2); in the folded state, the four adhesive claw modules (1) are all rotated to be parallel to the corresponding side edges of the center module (2), forming a mouth-shaped configuration, and are locked.

3. The micro deployable universal bionic capturing device for space target according to claim 2, characterized in that: When capturing, the four adhesive claw modules (1) are rotated counterclockwise by 135° to form a cross-shaped configuration; the symmetry axes of the two groups of diagonal adhesive claw modules (1) are collinear, so as to maximize the adhesive force arm.

4. The micro deployable universal bionic capturing device for space target according to claim 3, characterized in that: The bionic buffer energy-absorbing structure (1-2) is based on porous thermosetting polyurethane rubber as a base material, has a bionic fish fin-shaped loose structure, and is composed of multiple groups of parallel and spaced rib-shaped thin plates; the connecting line formed by the rib-shaped thin plates at the junction of the upper and lower surfaces is less than 45° to the capturing contact direction, while meeting the requirements of vertical compression and lateral shear large deformation; The shape, curvature and spacing of the center line of the rib-shaped thin plate are determined according to the capturing speed or the total kinetic energy absorption requirement.

5. The micro deployable universal bionic capturing device for space target according to claim 4, characterized in that: The center module (2) comprises an upper structure plate (2-1), four support columns (2-2), a lower structure plate (2-3), four rotating shafts (2-4), four clamping structures (2-5) and a cross-shaped pull rod (2-6); The upper structure plate (2-1) and the lower structure plate (2-3) are both horizontally placed plate-shaped 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 the four support columns (2-2), and the four support columns (2-2) are vertically located at the four corners; the rotating shafts (2-4) correspond to the support columns (2-2) one by one; the rotating shafts (2-4) are arranged on the upper surface of the upper structure plate (2-1); each rotating shaft (2-4) is connected with the corresponding adhesive claw module (1) and the volute spring (3); the four clamping structures (2-5) are installed on the upper surface of the upper structure plate (2-1), and the cross-shaped pull rod (2-6) is installed on the lower surface of the upper structure plate (2-1); 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 with the lower edge of the cross-shaped pull rod (2-6).

6. The micro deployable universal bionic capturing device for space target according to claim 5, characterized in that: The unlocking module (4) is unlocked by the electromagnetic unlocking device, which drives the four adhesive claw modules (1) to be unlocked simultaneously; when unlocking, the electromagnetic unlocking device drives the cross-shaped pull rod (2-6) to move downward after being powered on, so as to release the locking cone cooperation at the end of the cross-shaped pull rod (2-6); at this time, the four adhesive claw modules (1) are horizontally rotated under the driving torque of the volute spring (3), and when the end hinge is locked into the slot, the four adhesive claw modules (1) are effectively locked.

7. A micro deployable universal bionic capturing device for space target according to claim 6, characterized in that: When the adhesive claw module (1) is folded, the lower edge of the four clamping structures (2-5) is in contact with the protrusion on the side of the support arm (1-4), so as to limit the movement freedom of the adhesive claw module (1) in the vertical direction.

8. The micro deployable universal bionic capturing device for space target according to claim 7, characterized in that: The detachment mechanism (1-5) comprises a spring support cylinder (1-5-1), a separation spring (1-5-2), a limiting pin (1-5-3) and a shape memory alloy actuating module (1-5-4); During the detachment process, the separation spring (1-5-2) is in a compressed energy storage state in the spring support cylinder (1-5-1) at the initial position, the support plate (1-3) of the bionic buffer energy-absorbing structure (1-2) and the bionic microarray adhesive material (1-1) are in shaft hole cooperation with the spring support cylinder (1-5-1) and are axially and circumferentially locked by the limiting pin (1-5-3); When the receiving control module (5) receives the detachment instruction of the satellite platform, the shape memory alloy actuator module (1-5-4) starts to heat and shrink, driving the limiting pin (1-5-3) connected thereto to shrink; then the limiting pin (1-5-3) is separated from the clamping groove of the support plate (1-3), prompting the separation spring (1-5-2) to pop out the support plate (1-3), completing the separation of the support plate (1-3) and the spring support cylinder (1-5-1); After separation, the microarray adhesion material (1-1), the biomimetic buffer energy absorption structure (1-2), the support plate (1-3) and the target are still connected, and the detachment mechanism (1-5) as a whole remains connected with the capture device, at which time the detachment action with the target is completed.

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