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Under-actuated three-arm non-cooperative target docking capture apparatus

A non-cooperative target and capture device technology, applied in the field of docking capture devices, can solve problems such as extremely high motion control precision, satellite nozzle collision, target satellite flying away, etc., achieve low measurement and motion control precision requirements, and reliable docking High reliability, reliable control effect

Inactive Publication Date: 2008-12-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention solves the problem that the existing non-cooperative target docking mechanism is prone to collide with the satellite nozzle during docking, causing the target satellite to fly away from the docking position, resulting in poor docking reliability, and the existing non-cooperative target docking mechanism controls the accuracy of its own motion extremely demanding problem, and thus provides an underactuated three-arm non-cooperative target docking capture device

Method used

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  • Under-actuated three-arm non-cooperative target docking capture apparatus
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  • Under-actuated three-arm non-cooperative target docking capture apparatus

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specific Embodiment approach 1

[0009] Specific implementation mode one: as figure 1 As shown in ~3, the underactuated three-arm type non-cooperative target docking capture device described in this embodiment is composed of a lifting mechanism, a front drive capture mechanism and an umbrella buffer mechanism; the front drive capture mechanism includes an underactuated mechanical arm motor 18 , ball screw 23, nut 21, mechanical arm driving plate 17, mechanical arm mounting platform 4, three mechanical arms, and the three mechanical arms are composed of end effector 12, end buffer device 6, upper arm 13, lower arm 14 , the third coupling link 15, the second coupling link 16 and the first coupling link 27; the umbrella buffer mechanism is composed of target docking platform 5, nozzle carrier plate 26, guide column 7, guide slider 9, Three to six buffer connecting rods 11, three to six buffer rods 10 and top cone 8 are formed; the underactuated mechanical arm motor 18 is arranged on the upper end surface of the...

specific Embodiment approach 2

[0012] Specific implementation mode two: as figure 2 As shown, the front drive capture mechanism in this embodiment also includes three manipulator guide posts 22, the upper ends of the three manipulator guide posts 22 pass through the manipulator drive plate 17 and are evenly distributed and fixed on the manipulator installation platform 4 on the lower end face. Three manipulator guide columns 22 are provided, which can play a guiding role, and can further ensure the motion accuracy of the three manipulators. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0013] Specific implementation mode three: as figure 1 As shown, the lifting mechanism described in this embodiment is composed of a central bearing cylinder 3, a guide plate 19, three lifting mechanism guide posts 1, a motor 20, a lifting mechanism screw 24, a screw nut 25 and a screw nut plate 2; The three lifting mechanism guide columns 1 respectively pass through the guide plate 19 located in the center bearing cylinder 3 and are evenly distributed in the center bearing cylinder 3, and the two ends of the three lifting mechanism guide columns 1 are respectively fixed on the two ends of the center bearing cylinder 3. On the inner wall of the end, the lifting mechanism screw rod 24 is located in the center bearing cylinder 3 and passes through the middle part of the guide plate 19. The lower end of the lifting mechanism screw rod 24 is connected with the output shaft of the motor 20, and the screw nut 25 is sleeved on the lifting mechanism screw rod 24. Above, the screw nut...

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Abstract

The invention provides an under-actuated three-arm type non-cooperative target docking-capturing device, relating to a docking-capturing device. The invention solves the problem that: the prior non-cooperative target docking mechanism is easy to collide with satellite spray pipes in a docking process, thereby causing poor docking reliability. An under-actuated manipulator motor (18) is arranged on an upper end face of a lead screw nut plate (2) on a lifting mechanism; an output shaft of the under-actuated manipulator motor (18) is connected with a ball lead screw (23); the ball lead screw (23) is sleeved with a nut (21); a manipulator driving plate (17) is fixed on the nut (21); three manipulators are evenly arranged on a manipulator mounting platform (4); the other ends of three first coupling-connecting rods are respectively in rotary connection with the manipulator driving plate (17); and an umbrella-shaped buffer mechanism is positioned above and flexibly connected with the manipulator mounting platform (4). The docking-capturing device has the advantages of high docking reliability, wide capture enveloping range, few drive elements, simple control, rapid capture, etc.

Description

technical field [0001] The invention relates to a docking and capturing device, in particular to a docking and capturing device for non-cooperative target satellites in space. Background technique [0002] The non-cooperative target docking technology is different from the previous docking technology, and its docking target is a satellite without a docking interface. Therefore, the apogee recoil engine (AKM) nozzle of the satellite is generally selected as the docking interface. The existing non-cooperative target docking mechanism using the apogee recoil engine as the docking interface is as follows: Figure 5 As shown, it includes a tension pin 116 , a docking rod 117 , a motor 118 , a sensor 119 , and a docking mechanism housing 120 . The working principle of the docking mechanism is: the tension pin 116 installed on the docking rod 117 is driven by the motor 118, and moves closer to the throat of the AKM nozzle. When the sensor 119 detects the insertion into the throat ...

Claims

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Application Information

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IPC IPC(8): B64G1/64
Inventor 张广玉柏合民丰飞李隆球陈志刚王晓雪
Owner HARBIN INST OF TECH
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