Spatial non-cooperative target deployable rigid capturing hand

Abstract

The invention belongs to the technical field of space target capturing manipulators, and particularly relates to an expandable rigid capturing manipulator for a space non-cooperative target. According to the technical scheme, the expandable rigid capturing hand for the space non-cooperative target comprises a center module, four capturing fingers, a center linear driver and finger drivers, and the center module is located in the center of the expandable rigid capturing hand for the space non-cooperative target; the four capturing fingers are connected with the center module in a part sharing mode. The finger drivers are located at the roots of all the capturing fingers, and the capturing fingers are driven to be unfolded through the finger drivers; the central linear driver is arranged between two non-adjacent central L-shaped rib plates of the central module, and the spatial non-cooperative target expandable rigid capturing hand is driven and controlled by the central linear driver to perform capturing action. The expandable rigid capturing hand for the space non-cooperative target is easy to operate, has multiple capturing postures, has good adaptability to the non-cooperative target, can reliably capture a regular-shape target and an irregular-shape target, and is large in capturing range.

Description

Technical Field

[0001] The present invention relates to the field of space target capture hands, and specifically to a deployable rigid capture hand for space non-cooperative targets. Background Art

[0002] A space deployable capture hand is a device installed on a spacecraft that folds and retracts inside the fairing during the launch phase and unfolds after reaching the predetermined orbit to capture, drag, and remove non-cooperative targets in space such as scrapped or malfunctioning satellites, space debris, meteorites, etc. It has important engineering significance and application value in the fields of space on-orbit maintenance, debris cleaning, space offense and defense, and auxiliary attitude adjustment.

[0003] In recent years, with the rapid development of aerospace technology, countries have been increasingly exploring and utilizing outer space, and the number of spacecraft launched into Earth orbit has also increased year by year. The resulting large number of inactive satellite problems have significantly increased the safety hazards of the outer space environment and posed a huge threat to spacecraft in orbit. Therefore, using devices such as space capture hands and space fly nets to capture, drag, or repair inactive satellites and malfunctioning satellites can effectively reduce the threat of larger-sized space non-cooperative targets to spacecraft in orbit, extend the operating life of spacecraft in orbit, and is of great significance for maintaining the safety of the outer space environment and the peaceful and efficient utilization of space.

[0004] Currently, space non-cooperative target capture mainly includes two types of solutions: rigid capture and flexible capture. Rigid capture includes robotic arm capture and space capture hands, and flexible capture includes forms such as fly net capture. Among them, the space capture hand solution in rigid capture has characteristics such as a large capture range, high stiffness, and strong load capacity, and has strong self-locking characteristics and good capture stability. It is a relatively optimal capture solution for future large space non-cooperative targets such as scrapped satellites.

[0005] Currently, although most space capture hands can achieve envelope capture of non-cooperative targets, their own sizes are also relatively large. The sizes of current spacecraft and their external devices are strictly limited by the size of the launch vehicle fairing. Therefore, the space capture hand solution in rigid capture is not conducive to transportation.

[0006] In summary, space capture hands have many advantages such as high precision, high stiffness, high folding ratio, and large capture range. However, current space capture hands also have many deficiencies such as too many actuators and too large overall size, making it difficult to truly apply in space capture tasks. Therefore, there is an urgent need to carry out innovative designs of new space deployable capture hands to meet the needs of future high-speed development of space non-cooperative target capture. In view of the above problems, a deployable rigid capture hand for space non-cooperative targets is specifically proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a deployable rigid capture hand for non-cooperative space targets to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: A deployable rigid capture hand for non-cooperative space targets, including a central module, capture fingers, a central linear actuator, and finger actuators. The central module is located at the center of the capture hand, and the four capture fingers are connected to the central module in the form of shared parts. The finger actuators are located at the roots of the respective capture fingers, and the capture fingers are driven to deploy by the finger actuators. The central linear actuator is arranged between two non-adjacent central L-shaped rib plates of the central module, and the capture action of the capture hand is driven and controlled by the central linear actuator.

[0009] Preferably, the central module includes 4 central L-shaped rib plates, the central L-shaped rib plates are in an L shape, each group of capture fingers is composed of several capture finger modules, and each end of the central linear actuator is provided with a motor hinge hole. The central linear actuator is rotationally connected to a non-adjacent group of central L-shaped rib plates.

[0010] Preferably, there are four groups of finger actuators. Each group includes a crossbar bracket, a drive rod, and a drive motor. The drive motor is installed at the upper end of the corner of the central L-shaped rib plate. One end of the drive rod is connected to the drive motor, and the other end is connected to the crossbar bracket. The other end of the crossbar bracket is connected to the single-head inner crossbar of each finger.

[0011] Preferably, the capturing finger includes an end module and a capturing finger module. The end module includes a control end module and a clamping end module. The control end module is composed of two sets of hinge assemblies I. Each hinge assembly I includes a single-headed inner cross bar. One side of the single-headed inner cross bar is assembled inside the cross bar bracket. A ball shaft end is arranged on the outer side of the single-headed inner cross bar. An inner longitudinal bar is assembled on one side of the ball shaft end of the single-headed inner cross bar. An outer longitudinal bar is slidably assembled on the outer side of the inner longitudinal bar through a rectangular opening. An outer frustum is assembled at the bottom end of the outer longitudinal bar. Four outer cross bars are assembled between the central L-shaped rib plate in the central module and the outer frustum. The clamping end module is composed of two sets of hinge assemblies II. Each hinge assembly II includes a first one-shaped rib plate and a second one-shaped rib plate. The top ends of the first one-shaped rib plate and the second one-shaped rib plate are hinged to a single-headed inner cross bar. The other end of the single-headed inner cross bar is provided with a ball head end. An inner longitudinal bar is hinged on one side of the ball head end of the single-headed inner cross bar. An outer longitudinal bar is slidably assembled on the outer side of the inner longitudinal bar through a rectangular opening. An outer frustum is assembled at the bottom end of the outer longitudinal bar. Four outer cross bars are assembled between the first one-shaped rib plate and the second one-shaped rib plate and the outer frustum. The capturing finger module is composed of two sets of hinge assemblies III. Each hinge assembly III includes a third one-shaped rib plate and a fourth one-shaped rib plate. Double-headed inner cross bars are hinged on the outer sides of the third one-shaped rib plate and the fourth one-shaped rib plate. Ball head ends are arranged on both sides of the double-headed inner cross bar. An inner longitudinal bar is hinged on each side of the ball head end. An outer longitudinal bar is slidably assembled on the outer side of the inner longitudinal bar through a rectangular opening. Outer frustums are assembled at the bottom ends of the two outer longitudinal bars on both sides. Four outer cross bars are assembled between the third one-shaped rib plate and the fourth one-shaped rib plate and the two outer frustums. The third one-shaped rib plate and the fourth one-shaped rib plate are connected by a hinge joint arranged between the inner side walls. The outer longitudinal bar of the hinge assembly I and the outer longitudinal bar on the outer side of the hinge assembly III are connected by a hinge joint arranged between the inner side walls. The outer longitudinal bar of the hinge assembly II and the outer longitudinal bar on the outer side of the hinge assembly III are connected by a hinge joint arranged between the inner side walls.

[0012] Preferably, the inner longitudinal bar is L-shaped. A ball groove for cooperating with the ball shaft is opened at the end of the short side of the inner longitudinal bar. A nut for positioning the ball shaft is screwed on the outer surface of the end of the short side of the inner longitudinal bar. A single-headed connecting head I is welded on the outer side of the long side of the inner longitudinal bar.

[0013] Preferably, there are two types of outer longitudinal bars. Both telescopic outer longitudinal bars include a connecting rod. A sleeve is welded on one side of the telescopic connecting rod. The sleeve is sleeved on the outer surface of the long side of the inner longitudinal bar. An opening meshing with the outer surface of the long side of the inner longitudinal bar is opened on the inner wall of the sleeve, and the opening is non-circular. A hinge hole is opened at the bottom end of the outer longitudinal bar. A double-headed connecting head I is welded on the outer side of one type of sleeve, and a single-headed connecting head II is welded on the outer side of the sleeve of the other type of outer longitudinal bar. The adjacent connecting head I and connecting head II can be hinged and positioned.

[0014] Preferably, the outer frustum is a nearly circular flat plate, with a rotating shaft provided on one side, and an outer horizontal hinge hole and an outer vertical hinge hole provided on the other side. The axes of the outer horizontal hinge hole and the outer vertical hinge hole of the outer frustum are perpendicular to each other, and the rotating shaft is hinged and positioned with the hinge hole at the bottom end of the outer vertical rod.

[0015] Preferably, hinge holes are provided at the outer ends of the tops of the straight rib plate three and the straight rib plate four, and symmetrically distributed outer horizontal hinge holes and outer vertical hinge holes are provided at the bottom ends.

[0016] Preferably, a central hinge hole one and a central hinge hole two are respectively welded on the outer sides of the central L-shaped rib plate. A central hinge hole one is welded on the outer sides of the straight rib plate one and the straight rib plate four, and a central hinge hole two is welded on the outer sides of the straight rib plate two and the straight rib plate three.

[0017] Preferably, long through slots with single-sided openings are provided at the tops of the central L-shaped rib plate, the straight rib plate three, and the straight rib plate four.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The deployable rigid capture hand for space non-cooperative targets of the present invention. Each single finger is composed of a spatial multi-loop closed-chain mechanism. Each single finger has two degrees of freedom, can be deployed and retracted along the finger direction and continuously bent. Moreover, four fingers of the same size are only driven by one motor to bend, and the coordinated operation is relatively simple. The capture range is dynamically adjustable, and it can adapt to the capture tasks of space non-cooperative targets of different scales. In addition, the finger adopts a modular design concept, and the length of the finger can be changed by changing the number of modules, which is convenient for on-orbit maintenance and on-orbit assembly expansion of the space capture hand.

[0019] 2. The deployable rigid capture hand for space non-cooperative targets of the present invention can adjust the lengths of each finger through the finger driver to realize equal-length and unequal-length deformation of multiple fingers. Among them, the equal-length deformation can realize the stable capture of relatively regular space non-cooperative targets. Equal-length fingers can realize the uniform force capture of the target; unequal-length fingers can realize the highly adaptable capture of non-cooperative targets with irregular structures.

[0020] 3. The deployable rigid capture hand for space non-cooperative targets of the present invention is not only applicable to the field of space non-cooperative target capture, but also has high reference and reference value in the fields of space on-orbit assembly, large space construction, intelligent manufacturing, medical-industrial integration, and logistics handling. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the capture hand in the retracted state of the present invention; Figure 2 It is a schematic diagram of the deployable rigid capture hand for space non-cooperative targets of the present invention; Figure 3 is Figure 2 the enlarged schematic diagram of the structure at position a in Figure 4 the schematic diagram of the combination of a single finger of the present invention; Figure 5 is Figure 4 the enlarged schematic diagram of the structure at position b in Figure 6 the schematic diagram of the central module structure of the present invention; Figure 7 the schematic diagram of the capture finger module of the present invention; Figure 8 the schematic diagram of the bottom of the capture finger module of the present invention; Figure 9 the schematic diagram of the linear rib of the present invention; Figure 10 the schematic diagram of a morphological structure of the outer longitudinal rod of the present invention; Figure 11 the schematic diagram of another morphological structure of the outer longitudinal rod of the present invention; Figure 12 the schematic diagram of the outer frustum of the present invention; Figure 13 the schematic diagram of the capture hand deployment driver of the present invention; Figure 14 the schematic diagram of the capture hand capturing a regular non - cooperative target of the present invention; Figure 15 the schematic diagram of the capture hand capturing an irregular non - cooperative target of the present invention; Figure 16 the front view of the central module and the initial state of the capture fingers of the present invention; Figure 17 the front view of the central module and the forward state of the capture fingers of the present invention; Figure 18 the front view of the central module and the reverse state of the capture fingers of the present invention; Figure 19 the three - dimensional schematic diagram of the central module and the initial state of the capture fingers of the present invention; Figure 20 the three - dimensional schematic diagram of the central module and the forward state of the capture fingers of the present invention; Figure 21 the three - dimensional schematic diagram of the central module and the reverse state of the capture fingers of the present invention; Figure 22 the schematic diagram of the finger driver driving the single - head inner crossbar and the double - head inner crossbar in the adjustment state Figure 1 ; Figure 23 the schematic diagram of the finger driver driving the single - head inner crossbar and the double - head inner crossbar in the adjustment stateFigure 2 ; Figure 24 Schematic diagram of the adjustment state of the single-head inner cross bar and the double-head inner cross bar driven by the finger driver of the present invention Figure 3 。

[0022] In the figure: 1, central module; 2, grasping finger; 3, central linear driver; 4, central L-shaped rib; 401, outer horizontal hinge hole; 402, outer vertical hinge hole; 403, motor hinge hole; 5, grasping finger module; 6, single-head inner cross bar; 7, inner vertical bar; 701, L bar; 702, outer hinge joint; 703, inner hinge joint; 8, outer vertical bar; 801, connecting rod; 802, sliding tube; 803, connecting head one; 804, connecting head two; 9, outer round table; 10, outer cross bar; 11, first straight-shaped rib; 12, second straight-shaped rib; 13, third straight-shaped rib; 14, fourth straight-shaped rib; 15, double-head inner cross bar; 16, long slot; 17, first central hinge hole; 18, second central hinge hole; 19, finger driver; 191, driving motor; 192, driving rod; 193, cross bar bracket; 20, regular non-cooperative target; 21, irregular non-cooperative target. Specific implementation manner

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to Figures 1-4 , the present invention provides a technical solution: a deployable rigid grasping hand for spatial non-cooperative targets, including a central module 1, grasping fingers 2, a central linear driver 3, and a finger driver 19. The central module 1 is located at the center of the grasping hand, and the four grasping fingers 2 are connected to the central module 1 in the form of shared parts; the finger driver 19 is located at the root of each grasping finger 2, and the grasping fingers 2 are driven to unfold by the finger driver 19; the central linear driver 3 is arranged between two non-adjacent central L-shaped ribs 4 of the central module 1, and the grasping action of the grasping hand is driven and controlled by the central linear driver 3.

[0025] The present invention provides a mechanical gripper composed of multiple sets of connection structures. When in use, the articulated deformation between the middle parts of 4 sets of combined and fixed central L-shaped rib plates 4 is driven by the central linear actuator 3 to control the flipping direction of the entire set of grasping fingers 2, thereby controlling the distance between the ends of the corresponding single set of grasping fingers 2. Furthermore, the clamping position of the ends of the grasping fingers 2 can be controlled by changing the angle of the central module 1, so as to realize on-orbit maintenance and on-orbit assembly expansion of the space gripper, and solve the problems of the large structure, excessive number of actuators, and overall large size of the space gripper in the prior art.

[0026] Specifically, the central module 1 includes 4 central L-shaped rib plates 4. The outer sides of adjacent two central L-shaped rib plates 4 are fixed in an L shape. Each set of grasping fingers 2 is composed of several grasping finger modules 5. Each end of the central linear actuator 3 is provided with a motor hinge hole 403, and the central linear actuator 3 is rotationally connected to 1 set of non-adjacent central L-shaped rib plates 4.

[0027] The central module 1 mainly drives the telescoping of the central linear actuator 3. Taking the fixed housing part of the central linear actuator 3 as the fixed point position and the displacement end of the central linear actuator 3 as the driving end, when driving, the telescoping of the central linear actuator 3 will drive the angle between the mutually articulated central L-shaped rib plates 4 to change. By using the position change of the single-head inner cross bar 6 and two sets of mutually articulated outer cross bars 10, the telescoping of the entire set of grasping fingers 2 is realized.

[0028] As Figure 1 and Figure 2 shown, from the length of the central linear actuator 3 and the angle between the central L-shaped rib plates 4, it can be seen that when the central linear actuator 3 telescopes to the initial position and the L edges of the central L-shaped rib plates 4 are parallel to each other, that is, when the articulated state of the central L-shaped rib plates 4 is rectangular in the top view, the grasping fingers 2 are in the central retracted state. When the central linear actuator 3 shortens, the angle between the central L-shaped rib plates 4 changes, and then the grasping fingers 2 will drive the single-head inner cross bar 6 and multiple sets of outer cross bars 10 through the angle change of the central L-shaped rib plates 4 to realize the ring-shaped telescoping of the grasping fingers 2.

[0029] Specifically, there are four groups of finger actuators 19. Each group includes a cross bar bracket 193, a driving rod 192, and a driving motor 191. The driving motor 191 is installed at the upper end of the corner of the central L-shaped rib plate 4. One end of the driving rod 192 is connected to the driving motor 191, and the other end is connected to the cross bar bracket 193. The other end of the cross bar bracket 193 is connected to the single-head inner cross bar 6 of each finger.

[0030] When driving is required, the rotation of the drive motor 191 will drive the angle of the drive rod 192 to change. The change in the angle of the drive rod 192 will synchronously drive the angle of the single-headed inner cross bar 6 to change. Through the two groups of inner longitudinal bars 7, the components approach the central L-shaped rib plate 4. Since it is connected by the cross bar 10 that can only rotate uniaxially on the outside, the direction is restricted, and the distance of the outer structure of the drive assembly three is restricted. Therefore, the single-headed inner cross bar 6 drives the subsequent flipping displacement of the double-headed inner cross bar 15 that can rotate synchronously. Due to the restricted external spacing, the multiple groups of double-headed inner cross bars 15 on the inner side change. Figure 1 Taking it as an example, the smaller the angle between the double-headed inner cross bar 15 and the straight-shaped rib plate, the smaller the distance between each straight rib plate, and different changes will occur in the end spacing when the central linear actuator 3 expands and contracts to realize the release of the entire group of grasping fingers 2.

[0031] When in use, it is preferably provided with 4 pairs of finger drivers 19. A single pair of finger drivers 19 can independently control the angle between the single-headed inner cross bar 6 and the double-headed inner cross bar 15 of the corresponding grasping finger 2 relative to the straight-shaped rib plate, so as to adjust the distance between the straight-shaped rib plates adjacent to each other, and control that when the central linear actuator 3 moves the same distance, the shorter the distance between the end positions of the grasping fingers 2 with smaller distances between the straight-shaped rib plates after extension relative to the central module 1 (as Figure 15 shown).

[0032] Generally speaking, when unfolding, the distance between the end clamping module and the central module 1 is driven by the central linear actuator 3. When the distance of the central linear actuator 3 is smaller, the inner angle between the adjacent central L-shaped rib plates 4 is larger, the angle of the cross bar 10 perpendicular to the central L-shaped rib plate 4 will be smaller, and the distance between the adjacent two outer round platforms 9 will be larger. Therefore, when the double-headed inner cross bar 15 rotates and drives the entire grasping finger 2 to extend outward, after the grasping finger 2 is fully extended, the central linear actuator 3 is used to drive the adjacent central L-shaped rib plates 4 to rotate relative to each other, thereby driving the four fingers to envelope and bend in the normal direction of the linear motor actuator 3, so as to achieve the purpose of changing the grasping position of the grasping finger 2.

[0033] Specifically, the grasping finger 2 includes an end module and a grasping finger module 5. The end module includes a control end module and a clamping end module; as Figure 3 shown, the control end module is composed of two sets of hinge assemblies. The hinge assembly includes a single-headed inner cross bar 6. One side of the single-headed inner cross bar 6 is assembled inside the cross bar bracket 193. A ball shaft end is arranged on the outside of the single-headed inner cross bar 6, and an inner longitudinal bar 7 is assembled on one side of the ball shaft end of the single-headed inner cross bar 6. The outer longitudinal bar 8 is slidably assembled through a rectangular opening on the outside of the inner longitudinal bar 7. The bottom end of the outer longitudinal bar 8 is assembled with an outer round platform 9. Four outer cross bars 10 are assembled between the central L-shaped rib plate 4 in the central module and the outer round platform 9; as Figure 5As shown, the clamping end module consists of two sets of hinge assemblies II. The hinge assembly II includes a rectangular rib plate I 11 and a rectangular rib plate II 12. At the top of the rectangular rib plate I 11 and the rectangular rib plate II 12, a single-headed inner cross bar 6 is hinged. At the other end of the single-headed inner cross bar 6, a ball head end is provided. And on one side of the ball head end of the single-headed inner cross bar 6, an inner longitudinal bar 7 is hinged. On the outer side of the inner longitudinal bar 7, an outer longitudinal bar 8 is slidably assembled through a rectangular opening. At the bottom end of the outer longitudinal bar 8, an outer frustum 9 is assembled. Between the rectangular rib plate I 11 and the rectangular rib plate II 12 and the outer frustum 9, 4 outer cross bars 10 are assembled; The capture finger module 5 consists of two sets of hinge assemblies III; As Figure 7 shown, the hinge assembly III includes a rectangular rib plate III 13 and a rectangular rib plate IV 14. On the outer sides of the rectangular rib plate III 13 and the rectangular rib plate IV 14, double-headed inner cross bars 15 are hinged. On both sides of the double-headed inner cross bar 15, ball head ends are provided. On each side of the ball head end, an inner longitudinal bar 7 is hinged. On the outer side of the inner longitudinal bar 7, an outer longitudinal bar 8 is slidably assembled through a rectangular opening. At the bottom ends of the two outer longitudinal bars 8 on both sides, outer frustums 9 are assembled. Between the rectangular rib plate III 13 and the rectangular rib plate IV 14 and the two sets of outer frustums 9, 4 outer cross bars 10 are assembled respectively. Between the rectangular rib plate III 13 and the rectangular rib plate IV 14, they are connected by a hinge joint provided between the inner side walls; Between the outer longitudinal bar 8 of the hinge assembly I and the outer longitudinal bar 8 on the outer side of the hinge assembly III, they are connected by a hinge joint provided between the inner side walls; Between the outer longitudinal bar 8 of the hinge assembly II and the outer longitudinal bar 8 on the outer side of the hinge assembly III, they are connected by a hinge joint provided between the inner side walls.

[0034] Specifically, the inner longitudinal bar 7 is L-shaped. At the end of the short side of the inner longitudinal bar 7, a ball groove for cooperating with a ball shaft is provided. And on the outer surface of the end of the short side of the inner longitudinal bar 7, a nut for positioning the ball shaft is screwed. On the outer side of the long side of the inner longitudinal bar 7, a single-headed connector I is welded.

[0035] Specifically, the outer longitudinal bar 8 is divided into two types. Both types of telescopic outer longitudinal bars 8 include a connecting rod 801. On one side of the telescopic connecting rod 801, a sleeve 802 is welded. The sleeve 802 is sleeved on the outer surface of the long side of the inner longitudinal bar 7. And on the inner wall of the sleeve, an opening meshing with the outer surface of the long side of the inner longitudinal bar 7 is provided, and the opening is non-circular. At the bottom end of the outer longitudinal bar 8, a hinge hole is provided. On the outer side of the sleeve 802 of one type of outer longitudinal bar 8, a double-headed connector I 803 is welded. On the outer side of the sleeve 802 of the other type of outer longitudinal bar 8, a single-headed connector II 804 is welded. Between the adjacent connector I 803 and connector II 804, they can be hinged and positioned; The inner wall of the sleeve is provided with an opening that meshes with the outer surface of the long side of the inner longitudinal rod 7, and the opening is non-circular. Through the non-circular opening on the inner wall of the sleeve and the shape matching of the outer shape of the inner longitudinal rod 7 that cooperates with it, it is ensured that during use, only linear motion can occur between the outer longitudinal rod 8 and the inner longitudinal rod 7, and no rotation will occur. The non-circular opening shape refers to all shapes other than circular, such as rectangular, square, triangular, chamfered circular, etc., shapes that will not rotate.

[0036] Specifically, the outer frustum 9 is a nearly circular flat plate, with a rotating shaft provided on one side and an outer horizontal hinge hole 401 and an outer vertical hinge hole 402 provided on the other side. The axis of the outer horizontal hinge hole 401 of the outer frustum 9 is perpendicular to the axis of the outer vertical hinge hole 402 of the outer frustum 9, and the rotating shaft is hinged and positioned with the hinge hole at the bottom end of the outer longitudinal rod 8.

[0037] The outer horizontal hinge hole 401 and the outer vertical hinge hole 402 are in a vertical state. During the process of being a transmission component in the middle, the rotation direction between the outer longitudinal rod 8 and the adjacent straight-shaped rib plate is restricted by the vertical and one-way hinged shape. When driving, it can be used as a relative driving component to restrict the moving direction of adjacent components and has a load-bearing effect.

[0038] Specifically, hinge holes are provided at the outer ends of the tops of the straight-shaped rib plate three 13 and the straight-shaped rib plate four 14, and symmetrically distributed outer horizontal hinge holes 401 and outer vertical hinge holes 402 are provided at the bottom ends.

[0039] Specifically, a center hinge hole one 17 and a center hinge hole two 18 are respectively welded to the outside of the center L-shaped rib plate 4. A center hinge hole one 17 is welded to the outside of the straight-shaped rib plate one 11 and the straight-shaped rib plate four 14, and a center hinge hole two 18 is welded to the outside of the straight-shaped rib plate two 12 and the straight-shaped rib plate three 13.

[0040] Specifically, the tops of the center L-shaped rib plate 4, the straight-shaped rib plate three 13 and the straight-shaped rib plate four 14 are all provided with long through slots 16 with single-sided openings. The purpose of the structure of the long through slots 16 is for the single-headed inner cross bar 6 and the double-headed inner cross bar 15 to be accommodated when flipping.

[0041] The center linear actuator 3 has three states. One is the middle state, where the length of the center linear actuator 3 is in the middle of the overall stroke, and the grasping fingers 2 are in the fully retracted state (as Figure 1 shown); One is the state where the grasping fingers 2 extend forward. The length of the center linear actuator 3 is in the increasing state, outside the middle of the overall stroke of the center linear actuator 3 and within the maximum stroke. As Figure 2 shown, the grasping fingers 2 extend forward, and the ends and middle sections of the grasping fingers 2 are both clamped outside the target; Another is the extended state of the reverse grasping finger 2, where the length of the central linear actuator 3 is in the reduced state, within the middle of the overall stroke of the central linear actuator 3 and outside the minimum stroke. The grasping finger 2 extends in the reverse direction, and the end and the outer side of the middle section of the grasping finger 2 are clamped outside the target.

[0042] The working principle and process are as follows: 1. As shown in Figure 1 , Figure 2 , Figure 4 , Figure 14 , Figure 15 , Figure 22 , Figure 23 and Figure 24 , the grasping finger 2 of the deployable rigid gripper of the space non-cooperative target drives the drive rod 192 through the output power of the drive motor 191 of one set of grasping finger modules 5. The drive rod 192 pushes the single-head inner crossbar 6 to rotate around the root through the crossbar bracket 193. By adjusting the angles between the single-head inner crossbar 6 and the outer crossbar 10 and the one-shaped rib plate, the distance between adjacent one-shaped rib plates is adjusted (as shown in Figures 22-24 ). This adjustment process is to adjust the telescopic length of the grasping finger 2; Taking Figure 24 as an example, in the current state, the drive motor 191 outputs power to drive the drive rod 192 to flip. When the drive rod 192 and the central L-shaped rib plate 4 are flipped to a relatively parallel state, the entire set of grasping fingers 2 is retracted toward the central module 1 through the linkage of each double-head inner crossbar 15; Taking Figure 23 as an example, in the current state, the drive motor 191 outputs power to drive the drive rod 192 to flip, and the angle between the drive rod 192 and the central L-shaped rib plate 4 gradually increases. The entire set of grasping fingers 2 is deployed in the opposite direction of the central module 1 through the linkage of each double-head inner crossbar 15. Continuing to deploy is the Figure 22 state; Conversely, from Figures 22 to 24 , it is the state where the drive motor 191 moves inward and the entire set of grasping fingers 2 retracts inward. From Figures 24 to 22 , it is the state where the drive motor 191 moves outward and the entire set of grasping fingers 2 supports outward.

[0043] 2. As shown in Figure 1 , Figure 2 , Figure 4 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 and Figure 21As shown, after the telescopic length of the grasping finger 2 is adjusted in place, the adjacent central L-shaped rib plate 4 is driven to rotate relative to each other by the central linear driver 3, thereby driving the four fingers to envelope and bend in the normal direction of the linear motor driver 3. Through the telescopic movement of the central linear driver 3, the grasping finger 2 with the adjusted length is extended or retracted in the required direction.

[0044] III. As Figure 14 , Figure 15 shown, at any stage of the grasping hand from the retracted state to the deployed state, the adjacent central L-shaped rib plate 4 can be driven to rotate relative to each other by the central linear driver 3, thereby driving the four grasping fingers 2 to envelope and bend in the normal direction of the linear motor driver 3. During the bending process, the finger driver 19 can also be used to flip and adjust the distance between the straight rib plates during the movement, and the length of any grasping finger 2 can be adjusted during the wrapping and grasping process, and can be adjusted individually. Therefore, it is possible to capture non-cooperative targets of different sizes, such as regular-shaped space non-cooperative target 20 and irregular-shaped space non-cooperative target 21.

[0045] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A deployable rigid grasper for non-cooperative targets in space, comprising a central module (1), grasping fingers (2), a central linear drive (3) and a finger drive (19), characterized in that: The central module (1) is located at the center of the grasping hand, and four grasping fingers (2) are connected to the central module (1) in the form of shared parts; the finger driver (19) is located at the root of each grasping finger (2), and the grasping fingers (2) are driven to unfold by the finger driver (19); the central linear driver (3) is arranged between two non-adjacent central L-shaped ribs (4) of the central module (1), and the grasping hand is driven and controlled to perform a grasping action by the central linear driver (3).

2. The deployable rigid capturer for non-cooperative space targets according to claim 1, characterized in that: The central module (1) comprises four central L-shaped ribs (4), the central L-shaped ribs (4) are L-shaped, each group of grasping fingers (2) is composed of a plurality of grasping finger modules (5), and a motor hinge hole (403) is provided at each end of the central linear drive (3), and the central linear drive (3) is rotatably connected to a non-adjacent group of central L-shaped ribs (4).

3. The deployable rigid capturer for non-cooperative targets in space according to claim 2, characterized in that: The finger drivers (19) have four groups in total, each group comprising a crossbar bracket (193), a driving rod (192) and a driving motor (191), wherein the driving motor (191) is mounted at the upper end of the corner of the central L-shaped rib plate (4), one end of the driving rod (192) is connected to the driving motor (191), and the other end is connected to the crossbar bracket (193), and the other end of the crossbar bracket (193) is connected to the single-head inner crossbar (6) of each finger.

4. The deployable rigid capturer for non-cooperative targets in space according to claim 3, characterized in that: The grasping finger (2) comprises an end module and a grasping finger module (5), wherein the end module comprises a control end module and a clamping end module; the control end module comprises two sets of hinged components, wherein the hinged component comprises a single-head inner cross bar (6), one side of the single-head inner cross bar (6) is mounted inside the cross bar bracket (193), a ball shaft end is arranged on the outer side of the single-head inner cross bar (6), and an inner longitudinal rod (7) is mounted on one side of the ball shaft end of the single-head inner cross bar (6), an outer longitudinal rod (8) is slidably mounted on the outer side of the inner longitudinal rod (7) through a rectangular opening, and an outer truncated cone (9) is mounted on the bottom end of the outer longitudinal rod (8), wherein the outer longitudinal rod (8) is provided with a cylindrical outer end. Four outer cross bars (10) are arranged between the central L-shaped rib plate (4) and the outer truncated cone (9) in the central module; the clamping end module comprises two sets of hinged components, the hinged components comprising a straight-line rib plate (11) and a straight-line rib plate (12); the top ends of the straight-line rib plate (11) and the straight-line rib plate (12) are hingedly connected with a single-head inner cross bar (6); the other ends of the single-head inner cross bar (6) are provided with a ball end, and one side of the ball end of the single-head inner cross bar (6) is hingedly connected with an inner longitudinal bar (7); the outer side of the inner longitudinal bar (7) is slidably equipped with an outer longitudinal bar (8) through a rectangular opening; the bottom of the outer longitudinal bar (8) is hingedly connected with a ball end. The end is equipped with an outer truncated cone (9), and four outer cross bars (10) are installed between the I-shaped rib plate 1 (11) and the I-shaped rib plate 2 (12) and the outer truncated cone (9); the grasping finger module (5) is composed of two sets of hinged components 3; the hinged component 3 includes an I-shaped rib plate 3 (13) and an I-shaped rib plate 4 (14), and the outer sides of the I-shaped rib plate 3 (13) and the I-shaped rib plate 4 (14) are hinged with double-headed inner cross bars (15), and the two sides of the double-headed inner cross bars (15) are provided with ball head ends, and each side of the ball head end is hinged with an inner longitudinal rod (7), and the outer side of the inner longitudinal rod (7) is slidably equipped with an outer The longitudinal rod (8) is provided with an outer cone (9) at the bottom end of the outer longitudinal rod (8) on both sides; four outer cross rods (10) are provided between the I-shaped rib plate three (13) and the I-shaped rib plate four (14) and the two sets of outer cones (9); the I-shaped rib plate three (13) and the I-shaped rib plate four (14) are connected by a hinge joint between the inner side walls; the outer longitudinal rod (8) of the hinge assembly one is connected to the outer longitudinal rod (8) of the outer side of the hinge assembly three by a hinge joint between the inner side walls; the outer longitudinal rod (8) of the hinge assembly two is connected to the outer longitudinal rod (8) of the outer side of the hinge assembly three by a hinge joint between the inner side walls.

5. The deployable rigid capturer for non-cooperative space targets according to claim 4, characterized in that: The inner longitudinal rod (7) is L-shaped, a ball groove for cooperating with the ball shaft is provided at the short side end of the inner longitudinal rod (7), a nut for positioning the ball shaft is screwed on the outer surface of the short side end of the inner longitudinal rod (7), and a single-head connector is welded on the outer side of the long side of the inner longitudinal rod (7).

6. The deployable rigid capturer for non-cooperative space targets according to claim 5, characterized in that: The outer longitudinal rod (8) is divided into two types. Both telescopic outer longitudinal rods (8) include a connecting rod (801). A sleeve (802) is welded on one side of the telescopic connecting rod (801). The sleeve (802) and the outer surface of the long side of the inner longitudinal rod (7) are mutually sleeved, and the inner wall of the sleeve is provided with an opening that meshes with the outer surface of the long side of the inner longitudinal rod (7), and the opening is non-circular. A hinge hole is provided at the bottom end of the outer longitudinal rod (8). A double-headed connector 1 (803) is welded on the outer side of the sleeve (802) of one type of the outer longitudinal rod (8), and a single-headed connector 2 (804) is welded on the outer side of the sleeve (802) of the other type of the outer longitudinal rod (8). Adjacent connectors 1 (803) and 2 (804) can be hinged and positioned.

7. The deployable rigid capturer for non-cooperative space targets according to claim 6, characterized in that: The outer truncated table (9) is a nearly circular flat plate, with a rotating shaft provided on one side and an outer transverse hinge hole (401) and an outer longitudinal hinge hole (402) provided on the other side. The outer transverse hinge hole (401) of the outer truncated table (9) is perpendicular to the axis of the outer longitudinal hinge hole (402) of the outer truncated table (9), and the rotating shaft is hingedly positioned with the hinge hole at the bottom end of the outer longitudinal rod (8).

8. The deployable rigid capturer for non-cooperative space targets according to claim 4, characterized in that: The top outer ends of the straight-line rib plate three (13) and the straight-line rib plate four (14) are provided with hinge holes, and the bottom ends are provided with symmetrically distributed outer transverse hinge holes (401) and outer longitudinal hinge holes (402).

9. The deployable rigid capturer for non-cooperative space targets according to claim 4, characterized in that: The outer sides of the central L-shaped rib plate (4) are respectively welded with a central hinge hole one (17) and a central hinge hole two (18); the outer sides of the I-shaped rib plate one (11) and the I-shaped rib plate four (14) are welded with a central hinge hole one (17); and the outer sides of the I-shaped rib plate two (12) and the I-shaped rib plate three (13) are welded with a central hinge hole two (18).

10. The deployable rigid capturer for non-cooperative space targets according to claim 4, characterized in that: The top ends of the central L-shaped rib plate (4), the third straight-line rib plate (13) and the fourth straight-line rib plate (14) are all provided with a long through groove (16) with a single-side opening.

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