Locking device for space harpoon and space debris, space harpoon and locking method for space harpoon and space debris

Abstract

The invention discloses a locking device for a space harpoon and space debris, the space harpoon and a locking method for the space harpoon and the space debris, and belongs to the field of service satellite engineering and mechanical electronics. The problems that an existing space harpoon is not firmly connected with a target, and space debris may escape when dragged are solved. The locking device is driven by the penetrating power of the space harpoon to penetrate through the outer layer plate of the space debris, the locking barb is arranged at the front end of the locking device, and after the locking device penetrates through the outer layer plate of the space debris, the barb limiting sliding block is driven by the relative movement of the space debris and the space harpoon to move backwards; therefore, the barb limiting sliding block is provided with a barb outlet, the locking barb is unlocked, and the locking barb extending out of the barb outlet is hooked on the front end face of the space debris. In addition, the barb limiting sliding block is extruded by the limiting spring to abut against the space debris all the time, at the moment, the space debris is clamped by the four locking barbs and the barb limiting sliding block, and reliable connection of the space harpoon and the space debris is achieved.

Description

Technical Field

[0001] The present invention belongs to the fields of service satellite engineering and mechatronics, relates to a space capture device, and particularly relates to a locking device for a space harpoon and space debris, a space harpoon, and a locking method for a space harpoon and space debris. Background Art

[0002] With the rapid development of space activities, the number of orbital space debris has been continuously increasing, which has become a major hidden danger threatening the operation safety of service satellites and the sustainability of the orbital environment. Therefore, the active removal technology of space debris has received extensive attention. Since space debris often accompanies irregular three-axis tumbling motion, most current rigid or flexible contact removal means are difficult to directly complete the capture and require an additional despin system, significantly increasing the system complexity. The space harpoon system has become an ideal technical solution for capturing large-sized debris such as failed satellites due to its characteristics of simple structure, reliable operation, independence from target features, maintaining a safe operating distance, and having the ability to remove multiple targets. This device penetrates the external structure of the target satellite by launching a harpoon with a rope, establishes a flexible connection with the service satellite, and then the service satellite changes its orbit to drag the target to a garbage orbit for removal. For example, a device for capturing a space object disclosed in US20150151856A1 includes a harpoon element for penetrating the target and a penetration control device for controlling the penetration of the harpoon element into the object. The harpoon element is provided with a harpoon launched towards the target. When the harpoon penetrates the target, the barbs on the harpoon penetrate the target to fix the harpoon. However, the hardness of different targets is different, and the barbs on the harpoon may not be able to penetrate the target to fix the harpoon and the target, resulting in an insecure connection between the harpoon and the target. At the same time, this device cannot lock the space debris, and the space debris may escape during towing. Summary of the Invention

[0003] In view of this, the present invention provides a locking device for a space harpoon and space debris, a space harpoon, and a locking method for a space harpoon and space debris, which can penetrate and lock the outer layer plate of the space debris to achieve a reliable connection between the space harpoon and the space debris.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A locking device for a space harpoon and space debris, comprising a barb limiting housing, a locking barb, a barb limiting slider and a barb driving mechanism. The barb limiting housing is configured at the rear side of the harpoon warhead, and a barb outlet is provided on one side of the barb limiting housing close to the harpoon warhead; the locking barb is arranged in the barb limiting housing and is movable, and the locking barb is aligned with the barb outlet; the barb limiting slider is slidably connected to the barb limiting housing, and the barb limiting slider blocks the barb outlet to lock the locking barb; the barb driving mechanism is arranged in the barb limiting housing and is drivingly connected to the locking barb, and is used to drive the locking barb to extend out from the barb outlet and keep the position of the locking barb unchanged; after the barb limiting housing penetrates the outer layer plate of the space debris along with the harpoon warhead, the outer layer plate of the space debris squeezes the barb limiting slider to move backward, the barb limiting slider gives way to the barb outlet, and the barb driving mechanism pushes the locking barb to extend out from the barb outlet. After the locking barb extends in place, the barb driving mechanism keeps the locking barb immovable so that the locking barb locks the space debris.

[0006] Further, the front end face of the locking barb abuts against the rear end face of the harpoon warhead, and the tail end of the locking barb is rotatably installed on the barb driving mechanism. When the barb driving mechanism pushes the locking barb to move forward, the front end of the locking barb flips upward so that the locking barb extends out from the barb outlet.

[0007] Further, both the front end face and the rear end face of the locking barb are streamlined sliding surfaces.

[0008] Further, a lock hole for locking the barb driving mechanism is provided on the barb limiting housing. The barb locking mechanism includes a barb fixing base, a locking steel ball, a limiting ring and a driving spring; the barb fixing base is arranged in the barb limiting housing and is movable along the length direction of the barb limiting housing, the rear end of the locking barb is rotatably installed at the front end of the barb fixing base, the limiting ring is arranged at the rear end of the barb fixing base, the locking steel ball is arranged between the barb fixing base and the limiting ring, and the limiting ring contacts and can squeeze the locking steel ball to move outward; the driving spring is compressed to the rear end of the limiting ring and squeezes the limiting ring; after the barb limiting slider gives way to the barb outlet, the driving spring pushes the locking barb to flip upward through the limiting ring and the barb fixing base so that the locking barb extends out of the barb outlet; when the locking barb extends out of the barb outlet in place, the driving spring partially squeezes the locking steel ball into the lock hole of the barb limiting housing through the limiting ring to lock the barb driving mechanism.

[0009] Further, an annular groove and a steel ball positioning hole communicating with the annular groove are provided at the rear end of the barb fixing base. The locking steel ball is arranged in the steel ball positioning hole and partially exposed in the annular groove, and the limiting ring is arranged in the annular groove and contacts the locking steel ball.

[0010] Another technical solution adopted by the present invention is:

[0011] A space harpoon for locking space debris, comprising a harpoon warhead, a main harpoon rod, and a locking device for the space harpoon and space debris. One end of the main harpoon rod is connected to the harpoon warhead, and the other end is connected to the space harpoon launcher. The space debris locking device is sleeved on the main harpoon rod and fixed by the harpoon warhead and the main harpoon rod.

[0012] Furthermore, the harpoon warhead is a conical warhead, an ovoid warhead, a hemispherical warhead, a flat warhead, or a V-shaped grooved warhead.

[0013] Furthermore, the harpoon warhead is threadedly connected to the main harpoon rod. The main harpoon rod is provided with an axle shoulder. The locking device is sleeved on the main harpoon rod. One end of the locking device abuts against the axle shoulder of the main harpoon rod, and the other end is locked by the harpoon warhead.

[0014] Another technical solution adopted by the present invention is:

[0015] A method for locking a space harpoon and space debris, realized by using the space harpoon. The locking process includes the following steps:

[0016] S1. The space harpoon launcher launches the space harpoon. After the space harpoon penetrates the outer plate of the space debris, the outer plate of the space debris is sleeved outside the barb limit housing, and at the same time, it contacts and presses the barb limit slider. The barb limit slider moves backward along the length direction of the barb limit housing and gives way to the barb outlet. At this time, the locking barb is unlocked.

[0017] S2. The barb driving mechanism pushes the locking barb to gradually extend from the barb outlet.

[0018] S3. After the locking barb extends in place, the locking barb hooks on the front end face of the outer plate of the space debris, and the barb driving mechanism keeps the locking barb immobile to lock the space debris with the locking barb.

[0019] The beneficial effects of the present invention compared with the prior art are:

[0020] The present invention utilizes the penetration force of the space harpoon to drive the locking device to penetrate the outer plate of the space debris, and the locking barb is arranged at the front end of the locking device. After the locking device penetrates the outer plate of the space debris, the relative movement of the space debris and the space harpoon is utilized to drive the barb limit slider to move backward, so that the barb limit slider gives up the barb outlet, the locking barb is unlocked, and the locking barb extending from the barb outlet is hooked on the front end surface of the outer plate of the space debris. In addition, since the space debris is in contact with the barb limit slider, the barb limit slider is always pressed against the outer plate of the space debris by the compression of the limiting spring, and the outer plate of the space debris is clamped by four locking barbs and the barb limit slider, which not only realizes the capture of the space debris by the space harpoon, but also ensures the reliable connection between the space harpoon and the space debris, effectively suppresses the shaking of the space debris during the dragging process, and prevents the expansion of the bullet hole on the outer plate of the space debris, resulting in anchor failure. It can be seen from this that the locking device of the present invention achieves locking and fixing of space debris under the coordinated action of the barb limit housing, the barb limit slider, the locking barb and the barb drive mechanism, thereby achieving effective capture of space debris. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0022] Figure 1 It is a schematic diagram of the structure of the space harpoon of the present invention.

[0023] Figure 2 It is a schematic diagram of the state after the space harpoon of the present invention locks the outer plate of the space debris.

[0024] Figure 3 It is an exploded view of the space harpoon of the present invention.

[0025] Figure 4 It is a schematic diagram of the structure of the barb fixing base.

[0026] Description of reference numerals:

[0027] 100-harpoon warhead;

[0028] 200-harpoon main rod;

[0029] 300-locking device; 1-barb limit housing; 11-barb outlet; 12-limit plate; 13-locking hole; 2-barb limit slider; 21-square slide; 3-limit spring; 4-locking barb; 5-barb drive mechanism; 51-barb fixing base; 511-annular groove; 512-steel ball positioning hole; 52-locking steel ball; 53-limit ring; 54-drive spring;

[0030] 400 - Space debris outer plate. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] Embodiment 1:

[0033] Figure 1 The structural schematic diagram of a locking device for a space harpoon and space debris in this embodiment is shown. As Figure 1 shown, the space harpoon in this embodiment includes a harpoon warhead 100 and a harpoon main rod 200. The harpoon warhead 100 is screwed to one end of the harpoon main rod 200. The harpoon main rod 200 is provided with a shoulder. The locking device 300 is sleeved on the harpoon main rod 200 and is fixed to the position between the harpoon warhead 100 and the shoulder of the harpoon main rod 200. Combining Figure 1 , the locking device 300 in this embodiment includes a barb limiting outer shell 1, a barb limiting slider 2, a limiting spring 3, locking barbs 4 and a barb driving mechanism 5. As Figure 2 shown, the barb limiting outer shell 1 is a rectangular cylindrical shell, which is sleeved on the harpoon main rod 200. One end of the barb limiting outer shell 1 close to the harpoon warhead 100 is provided with four notches. Four barb outlets 11 are formed between the four notches and the rear end face of the harpoon warhead 100. One end of it far from the harpoon warhead 100 is provided with a limiting plate 12 with a diameter larger than that of the barb limiting outer shell 1. The limiting plate 12 and the barb limiting outer shell 1 are connected in a detachable manner, such as bolt connection, for easy disassembly. As Figure 2 shown, the barb limiting slider 2 has a "cross-shaped" structure. A square chute 21 is provided at the central position of the barb limiting slider 2. The barb limiting slider 2 is sleeved on the barb limiting outer shell 1 via the square chute 21 and can slide along the length direction of the barb limiting outer shell 1 to realize the sliding connection between the barb limiting slider 2 and the barb limiting outer shell 1. Before the space harpoon captures space debris, the barb limiting slider 2 is moved to one end of the barb limiting outer shell 1 close to the harpoon warhead 100, and the barb limiting slider 2 blocks the barb outlets 11 to prevent the locking barbs 4 arranged in the barb limiting outer shell 1 from protruding from the barb outlets 11 in advance, that is, the barb limiting slider 2 plays a role in locking the locking barbs 4. As Figure 1 shown, the limiting spring 3 is sleeved on the barb limiting outer shell 1. One end of the limiting spring 3 abuts against the limiting plate 12 at the tail end of the barb limiting outer shell 1, and the other end abuts against the rear end face of the barb limiting slider 2, so that the barb limiting slider 2 is kept at the barb outlets 11. At the same time, the limiting spring 3 also plays a role in resetting the barb limiting slider 2. As Figure 1 and Figure 2 shown, there are four locking barbs 4, and the four locking barbs 4 are arranged in the barb limiting outer shell 1 and are evenly arranged around the harpoon main rod 200. Each locking barb 4 corresponds to one barb outlet 11. As Figure 1As shown, the barb driving mechanism 5 is arranged in the barb limiting housing 1 and is sleeved on the harpoon main rod 200. The barb driving mechanism 5 is connected to four locking barbs 4. The barb driving mechanism 5 can drive the four locking barbs 4 to extend from their respective barb outlets 11, and at the same time keep the locking barbs 4 in place.

[0034] In this embodiment, the penetrating force of the space harpoon is used to drive the locking device 300 to penetrate the outer plate 400 of the space debris, and the locking barb 4 is arranged at the front end of the locking device 300. After the locking device 300 penetrates the outer plate 400 of the space debris, the relative movement of the space debris and the space harpoon is used to drive the barb limiting slider 2 to move backward, so that the barb limiting slider 2 makes way for the barb outlet 11, and the locking barb 4 is unlocked. The locking barb 4 extending from the barb outlet 11 is hooked on the front end surface of the outer plate 400 of the space debris, thereby achieving reliable fixation of the space debris and the space harpoon. Specifically, the space harpoon launcher launches the space harpoon, and the barb limit housing 1 continues to move forward under inertia after the harpoon warhead 100 penetrates the outer layer plate 400 of the space debris, and the outer layer plate 400 of the space debris is sleeved on the outside of the barb limit housing 1, and at the same time contacts and squeezes the barb limit slider 2, and the barb limit slider 2 moves backward along the length direction of the barb limit housing 1 and makes way for the barb outlet 11, at this time, the locking barb 4 is unlocked, and the barb limit slider 2 moves backward while squeezing the limit spring 3, and the limit spring 3 is compressed. The locking barb 4 is driven by the barb drive mechanism 5 to flip, and the locking barb 4 is extended from the barb outlet 11 while flipping, and at this time, the four locking barbs 4 are hooked on the front end surface of the outer layer plate 400 of the space debris, and the barb drive mechanism 5 fixes the position of the locking barb 4 to prevent the locking barb 4 from retracting into the barb limit housing 1. In addition, since the outer plate 400 of the space debris is in contact with the barb limit slider 2, the barb limit slider 2 is always pressed against the outer plate 400 of the space debris by the limiting spring 3. At this time, the outer plate 400 of the space debris is clamped by the four locking barbs 4 and the barb limit slider 2, which not only realizes the capture of the space debris by the space harpoon, but also ensures the reliable connection between the space harpoon and the space debris, effectively suppresses the shaking of the space debris during the dragging process, and prevents the bullet holes on the outer plate of the space debris from expanding, resulting in anchor failure. It can be seen that the locking device 300 of this embodiment realizes the locking and fixing of the space debris under the coordinated action of the barb limit housing 1, the barb limit slider 2, the locking barb 4 and the barb drive mechanism 5, thereby realizing the effective capture of the space debris.

[0035] Figure 1 , Figure 2 and Figure 3 FIG. 2 shows a schematic diagram of the structure of the barb drive mechanism of this embodiment. Figure 1 , Figure 2 and Figure 3, the barb driving mechanism 5 of this embodiment includes a barb fixing base 51, a locking steel ball 52, a limiting ring 53 and a driving spring 54. As Figure 2 shown, the locking barb 4 is a blade-like structure. The upper end face of the locking barb 4 is a plane, and the front end face and the rear end face are both continuous streamlined sliding surfaces. As Figure 1 shown, before the locking barb 4 is unlocked, the upper end face of the locking barb 4 is aligned with the barb outlet 11. The front end face of the locking barb 4 is attached to the rear of the harpoon warhead 100. The rear end face of the harpoon warhead 100 is aligned with the side wall surface of the barb outlet 11, and this side wall surface is an inclined surface that cooperates with the sliding surface at the rear end of the locking barb 4. In this way, when the locking barb 4 flips upward and extends out from the barb outlet 11, the locking barb 4 can be prevented from jamming with the barb outlet 11. From Figure 2 it can be seen that the barb fixing base 51 is sleeved on the harpoon main rod 200 and can slide along the harpoon main rod 200. The tails of the four locking barbs 4 are respectively rotatably installed at one end of the barb fixing base 51 facing the harpoon warhead 100 via barb fixing pins. It should be noted that the barb fixing base 51 is a square slider. The barb fixing base 51 cooperates with the barb limiting outer shell 1 to prevent the barb fixing base 51 from rotating in the circumferential direction, resulting in the locking barb 4 being unable to be opposite to the barb outlet 11. As Figure 4 shown, an annular groove 511 and four steel ball positioning holes 512 are provided at one end of the barb fixing base 51 facing away from the harpoon warhead 100. The four steel ball positioning holes 512 communicate with the annular groove 511. A locking steel ball 52 is arranged in each steel ball positioning hole 512. The locking steel ball 52 can move inward or outward in the steel ball positioning hole 512. The barb limiting outer shell 1 is provided with lock holes 13 for locking the position of the barb driving mechanism 5. There are four lock holes 13. Each lock hole 13 corresponds to a steel ball positioning hole 512 and a locking steel ball 52, and the aperture of the lock hole 13 is slightly smaller than the outer diameter of the locking steel ball 52. From Figure 1 it can be seen that the limiting ring 53 is arranged in the annular groove 511. An inclined extrusion surface is provided on the side of the limiting ring 53 facing the barb fixing base 51. The inclined extrusion surface of the limiting ring 53 contacts the locking steel ball 52. As the limiting ring 53 moves into the annular groove 511, the inclined extrusion surface of the limiting ring 53 can extrude the locking steel ball 52 to move outward. As shown in the figure Figure 2 shown, the driving spring 54 is sleeved on the harpoon main rod 200 and is compressed. One end of the driving spring 54 abuts against the limiting ring 53, and the other end abuts against the limiting plate 12.

[0036] The locking barb 4 of this embodiment extends out of the barb outlet 11 and is locked under the coordinated cooperation of the barb fixing base 51, the locking steel ball 52, the limiting ring 53, the driving spring 54, the harpoon warhead 100, and the barb limiting housing 1. Specifically, before the barb limiting slider 2 vacates the barb outlet 11, the locking barb 4 is at the barb outlet 11 inside the barb limiting housing 1, and the steel ball positioning hole 512 on the barb fixing base 51 is behind the locking hole 13. When the barb limiting slider 2 vacates the barb outlet 11, the movement of the locking barb 4 is no longer restricted. The driving spring 54 squeezes the limiting ring 53 and the barb fixing base 51 to move forward together (due to the limitation of the locking steel ball 52, there is no relative movement between the limiting ring 53 and the barb fixing base 51). The locking barb 4 rotates upward around the barb fixing pin under the extrusion of the barb fixing base 51 and the guidance of the rear end face of the harpoon body. As the locking barb 4 rotates, the upper end of the locking barb 4 gradually extends out of the barb outlet 11, and the upper end face of the locking barb 4 gradually abuts against the front end face of the outer layer plate 400 of the space debris. When the locking barb 4 rotates 90 degrees, the lower end face of the locking barb 4 abuts against the rear end of the harpoon warhead 100, and the upper end face of the locking barb 4 completely fits against the front end face of the outer layer plate 400 of the space debris. At this time, the locking barb 4 rotates in place. At the same time, the barb fixing base 51 is restricted by the locking barb 4 and stops moving. The steel ball positioning hole 512 of the barb fixing base 51 is opposite to the locking hole 13 on the barb limiting housing 1. The limiting ring 53 continues to move forward under the resilience of the driving spring 54. The limiting ring 53 squeezes the locking steel ball 52 through the inclined extrusion surface to move toward the locking hole 13 side of the barb limiting housing 1 until the locking steel ball 52 partially moves into the locking hole 13 of the barb limiting housing 1. At this time, the locking steel ball 52 fixes the barb fixing base 51 and the barb limiting housing 1, thus realizing the fixation of the positions of the barb driving mechanism 5 and the locking barb 4, and preventing the locking barb 4 from retracting into the barb limiting housing 1 driven by the barb driving mechanism 5.

[0037] Embodiment 2:

[0038] See Figure 1 、 Figure 2 and Figure 3The present embodiment provides a space harpoon capable of locking space debris, which includes a harpoon warhead 100, a harpoon main rod 200, and a locking device 300 for the space harpoon and the space debris. One end of the harpoon main rod 200 is connected to the harpoon warhead 100, and the other end is connected to the space harpoon launcher. The locking device 300 is mounted on the harpoon main rod 200 and fixed by the harpoon warhead 100 and the harpoon main rod 200. The harpoon warhead 100 can be a conical warhead, a mortise-shaped warhead, a hemispherical warhead, a flat warhead, or a V-grooved warhead. The harpoon warhead 100 and the harpoon main rod 200 can be connected in a detachable manner, such as a threaded connection, to facilitate the disassembly of the harpoon warhead 100 and the harpoon main rod 200. In this way, the harpoon main rod 200 of different diameters can be replaced to control the mass of the space harpoon, thereby being able to change the momentum and angular momentum transmitted when it hits the target.

[0039] It should be noted that the space harpoon of this embodiment not only has the function of capturing and locking space debris, but also can achieve de-rotation. The space harpoon is launched to the eccentric position of the space debris via the space harpoon launcher. The space debris reduces its rotation speed under the impact of the space harpoon. With the launch of multiple space harpoons, the de-rotation of the space debris can be achieved.

[0040] Embodiment 3:

[0041] This embodiment provides a method for locking a space harpoon and space debris, which is implemented using a space harpoon. The locking process includes the following steps:

[0042] S1, the space harpoon launcher launches the space harpoon, and the barb limiting shell 1 continues to move forward under inertia after penetrating the space debris outer plate 400 with the harpoon warhead 100, and the space debris outer plate 400 is sleeved on the outside of the barb limiting shell 1, and at the same time contacts and squeezes the barb limiting slider 2, and the barb limiting slider 2 moves backward along the length direction of the barb limiting shell 1 and makes way for the barb outlet 11, at this time, the locking barb 4 is unlocked, and the barb limiting slider 2 moves backward while squeezing the limiting spring 3, and the limiting spring 3 is compressed.

[0043] S2, the driving spring 54 squeezes the limit ring 53 and the barb fixing base 51 to move forward together, and the locking barb 4 is squeezed by the barb fixing base 51 and guided by the rear end surface of the harpoon body and flips upward around the barb fixing pin. As the locking barb 4 flips, the upper end of the locking barb 4 gradually extends from the barb outlet 11, and the upper end surface of the locking barb 4 gradually abuts against the front end surface of the outer layer plate of the space debris. When the locking barb 4 flips 90 degrees, the lower end surface of the locking barb 4 abuts against the rear end of the harpoon warhead 100, and the upper end surface of the locking barb 4 is completely attached to the front end surface of the outer layer plate of the space debris. At this time, the locking barb 4 flips into place.

[0044] In S3, the barb fixing base 51 is restricted by the locking barb 4 and no longer moves. The ball positioning hole 512 of the barb fixing base 51 is aligned with the lock hole 13 on the barb limiting outer shell 1. The limiting ring 53 continues to move forward under the resilience of the driving spring 54. The limiting ring 53 squeezes the locking ball 52 via the inclined extrusion surface to move towards the lock hole 13 side of the barb limiting outer shell 1 until a part of the locking ball 52 moves into the lock hole 13 of the barb limiting outer shell 1. At this time, the locking ball 52 fixes the barb fixing base 51 and the barb limiting outer shell 1. The barb limiting slider 2 is always pressed against the outer layer plate of the space debris by the limiting spring 3. At this time, the outer layer plate 400 of the space debris is clamped by the four locking barbs 4 and the barb limiting slider 2, realizing a reliable connection between the space harpoon and the space debris.

[0045] In S4, when the service satellite moves the space debris to the established orbit, the outer layer plate 400 of the space debris is detached from the space debris, thus realizing the separation of the space harpoon from the space debris, and the space debris is put into the established orbit, realizing the active removal of the space debris.

[0046] In S5, the harpoon warhead 100 is detached from the harpoon main rod 200, and the entire locking device 300 and the outer layer plate 400 of the space debris are moved towards the front end of the harpoon main rod 200. Then the limiting plate 12 is detached from the barb limiting outer shell 1. At this time, the limiting plate 12 no longer presses the limiting spring 3 and the driving spring 54, and the limiting spring 3 and the driving spring 54 return to their natural lengths. The limiting spring 3, the barb limiting slider 2 and the outer layer plate 400 of the space debris are moved towards the tail direction of the barb limiting outer shell 1 until the four lock holes 13 of the barb limiting outer shell 1 are exposed. Subsequently, four reset pins are inserted into the four lock holes 13 of the barb limiting outer shell 1 at the same time, and the four locking balls 52 are pushed into the ball positioning hole 512 of the barb fixing base 51. The locking ball 52 squeezes the limiting ring 53 to move towards the driving spring 54 side, thereby releasing the constraint of the locking barb 4. The locking barb 4 is squeezed towards the direction of the barb exit 11, so that the locking barb 4 retracts into the barb limiting outer shell 1. At this time, the constraint of the locking barb 4 on the outer layer plate 400 of the space debris has been released, and the outer layer plate 400 of the space debris is removed from the harpoon main rod 200, realizing the separation of the space harpoon from the outer layer plate 400 of the space debris.

[0047] In S6, the harpoon warhead 100 is screwed to the end of the harpoon main rod 200 again, and then the barb limiting slider 2 is moved to the barb exit 11 of the barb limiting outer shell 1 to block the barb exit 11, realizing the locking of the locking barb 4 again. The limiting plate 12 is installed at the tail of the barb limiting outer shell 1. At this time, the limiting spring 3 and the driving spring 54 are squeezed and compressed again, completing the reset of the space harpoon, and it can perform de-spinning or capture on the next space debris.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A locking device for a space harpoon and space debris, characterized in that It includes a barb limiting housing, a locking barb, a barb limiting slider and a barb driving mechanism. The barb limiting housing is configured at the rear side of the harpoon warhead, and a barb outlet is provided on the side of the barb limiting housing close to the harpoon warhead; the locking barb is arranged in the barb limiting housing and is movable, and the locking barb is aligned with the barb outlet; the barb limiting slider is slidably connected to the barb limiting housing, and the barb limiting slider blocks the barb outlet to lock the locking barb; the barb driving mechanism is arranged in the barb limiting housing and is drivingly connected to the locking barb, and is used to drive the locking barb to extend from the barb outlet and keep the position of the locking barb unchanged; after the barb limiting housing penetrates the outer layer plate of the space debris together with the harpoon warhead, the outer layer plate of the space debris squeezes the barb limiting slider to move backward, the barb limiting slider gives way to the barb outlet, the barb driving mechanism pushes the locking barb to extend from the barb outlet, and after the locking barb extends in place, the barb driving mechanism keeps the locking barb immovable so that the locking barb locks the space debris.

2. The locking device for a space harpoon and space debris according to claim 1, wherein, The front end face of the locking barb abuts against the rear end face of the harpoon warhead, and the tail end of the locking barb is rotatably installed on the barb driving mechanism. When the barb driving mechanism pushes the locking barb to move forward, the front end of the locking barb turns upward so that the locking barb extends from the barb outlet.

3. The locking device for a space harpoon and space debris according to claim 2, wherein Both the front end face and the rear end face of the locking barb are streamlined sliding surfaces.

4. A locking device for a space harpoon and space debris according to claim 2, characterized in that, A lock hole for locking the barb driving mechanism is provided on the barb limiting housing. The barb locking mechanism includes a barb fixing base, a locking steel ball, a limiting ring and a driving spring; the barb fixing base is arranged in the barb limiting housing and can move along the length direction of the barb limiting housing, the rear end of the locking barb is rotatably installed at the front end of the barb fixing base, the limiting ring is arranged at the rear end of the barb fixing base, the locking steel ball is arranged between the barb fixing base and the limiting ring, and the limiting ring contacts and can squeeze the locking steel ball to move outward; the driving spring is compressed to the rear end of the limiting ring and squeezes the limiting ring; after the barb limiting slider gives way to the barb outlet, the driving spring pushes the locking barb to turn upward through the limiting ring and the barb fixing base so that the locking barb extends out of the barb outlet; when the locking barb extends out of the barb outlet in place, the driving spring partially squeezes the locking steel ball into the lock hole of the barb limiting housing through the limiting ring to lock the barb driving mechanism.

5. A locking device for a space harpoon and space debris according to claim 4, characterized in that, An annular groove and a steel ball positioning hole communicating with the annular groove are provided at the rear end of the barb fixing base. The locking steel ball is arranged in the steel ball positioning hole and partially exposed in the annular groove, and the limiting ring is arranged in the annular groove and contacts the locking steel ball.

6. A space harpoon capable of locking space debris, characterized in that, It includes a harpoon warhead, a harpoon main rod and a locking device for the space harpoon and space debris according to any one of claims 1 to 5. One end of the harpoon main rod is connected to the harpoon warhead, and the other end is connected to the space harpoon launcher. The locking device for the space debris is sleeved on the harpoon main rod and fixed by the harpoon warhead and the harpoon main rod.

7. A space harpoon capable of locking space debris according to claim 6, characterized in that, The harpoon warhead is a conical warhead, an oval warhead, a hemispherical warhead, a flat warhead or a V-shaped grooved warhead.

8. A space harpoon capable of locking space debris according to claim 6, characterized in that, The harpoon warhead and the harpoon main rod are threadedly connected. The harpoon main rod is provided with an axial shoulder. The locking device is sleeved on the harpoon main rod. One end of the locking device abuts against the axial shoulder of the harpoon main rod, and the other end is locked by the harpoon warhead.

9. A locking method for a space harpoon and space debris, characterized in that It is realized by using the space harpoon according to claim 6. The locking process is as follows: S1. The space harpoon launcher fires a space harpoon. After the space harpoon penetrates the outer plate of the space debris, the outer plate of the space debris is sleeved outside the barb limit housing, and at the same time contacts and presses the barb limit slider. The barb limit slider moves backward along the length direction of the barb limit housing and makes way for the barb exit. At this time, the locking barb is unlocked. S2. The barb driving mechanism pushes the locking barb to gradually extend from the barb exit. S3. After the locking barb extends in place, the locking barb hooks on the front end face of the outer plate of the space debris, and the barb driving mechanism keeps the locking barb stationary to lock the space debris with the locking barb.

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