CN106628278A - Non-cooperative target satellite acquisition device and acquisition method - Google Patents

Abstract

The invention discloses a non-cooperative target satellite capturing device and capturing method, belonging to the technical field of aerospace. It consists of a housing, two four-link capturing claw mechanisms, four horizontal locking mechanisms, screw rods and a controller; the two four-link capturing claw mechanisms are arranged oppositely in the casing, and the lower part is fixedly connected to the installation base plate; the upper end of the screw rod is worn The lower part is connected to the driving mechanism through the installation base plate; the four horizontal locking mechanisms are respectively located on the outer sides of the two four-link catch claw mechanisms, and are installed on the upper part of the shell facing each other; the two sides of the upper part of the four-link catch claw mechanism are respectively installed with pressure When the rod mechanism and the four-link catching claw mechanism go down, the pressing rod mechanism presses the horizontal locking mechanism to slide horizontally inward; a photoelectric sensor is installed on the top of the shell, and the photoelectric sensor and the driving mechanism are electrically connected to the controller. The invention can be widely used in the capture of various spacecraft, and has the advantages of wide application range, large tolerance, fast response speed and high reliability.

Description

Non-cooperative target satellite acquisition device and acquisition method

technical field

The invention relates to a capture mechanism, in particular to a non-cooperative target satellite capture device and capture method, belonging to the technical field of aerospace.

Background technique

With the development of aerospace technology and the continuous expansion of space missions, on-orbit capture technology has become a research hotspot in the space field. The capture of non-cooperative targets can realize on-orbit service, space garbage removal and some military tasks, which is a very forward-looking and challenging subject in on-orbit capture technology. However, the capture of non-cooperative targets in space has not yet been demonstrated in orbit. In fact, many space missions involve the capture of non-cooperative targets, such as assisting satellites that fail to enter the predetermined orbit, repairing and replacing faulty unit instruments for satellites that have failed, and deploying auxiliary mechanisms (if the deployment fails to open normally). solar panels, antennas, etc.); refueling satellites that have run out of fuel but other systems are working normally to extend their life; sending abandoned satellites and space debris into graveyard orbits, etc.

Compared with cooperative targets, the biggest difference between non-cooperative targets is that the target to be docked has no special docking interface (such as using mechanical, electrical and other equipment to achieve a reliable connection between the serving spacecraft and the served spacecraft), which leads to the docking process. The randomness and high requirements for docking autonomy.

Traditional rigid capture technology needs to be dynamically and accurately aligned with the predetermined capture position, and the relative movement between the capture mechanism and the target aircraft must be accurately controlled during the capture process. If there is a relative displacement deviation or angular deviation during the capture process, the capture may fail. Most of the satellites launched at present have a mass of more than 1000KG. During the capture process, a large driving force is required to drag the target satellite. At the same time, a large impact force will be generated during the capture process, and even cause damage to the target satellite and the capture mechanism. In addition, due to the short capture time, it is difficult for the mechanical arm used to capture the target satellite to make a follow-up response in a short time. These factors greatly increase the difficulty of capture.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the defects of the prior art, and provide a non-cooperative target satellite capture device that can adapt to docking with various spacecraft, has little impact on target satellites, and has high self-stability.

In order to solve the above-mentioned technical problems, the present invention provides a non-cooperative target satellite capture device, including a housing, two four-link capture claw mechanisms, four horizontal locking mechanisms, screw rods and a controller;

The two four-link catch claw mechanisms are arranged oppositely in the shell, and the lower part is fixedly connected with the installation base plate; the screw rod is vertically arranged, the upper end of the screw rod passes through the installation base plate, and the lower part is connected to the driving mechanism, which can be driven when the screw rod rotates. The four-link catch claw mechanism expands to the outside of the shell or closes to the inside of the shell;

The four horizontal locking mechanisms are respectively located on the outer sides of the two four-link catch claw mechanisms, and are installed on the upper part of the shell facing each other;

The two sides of the upper part of the four-link catching claw mechanism are respectively equipped with a pressure rod mechanism, and when the four-link catching claw mechanism goes down, the pressure rod mechanism presses the horizontal locking mechanism to slide horizontally to the inside;

A photoelectric sensor is installed on the top of the housing, and both the photoelectric sensor and the driving mechanism are electrically connected to the controller.

The present invention also includes a pre-tightening force loading mechanism, which includes a pre-tightening force spring sleeve, a position sensor and a screw nut mounting plate; the pre-tightening force spring sleeve is movably installed on the installation base plate, and can Relative to the mounting base plate moving up and down, the pre-tightening force spring sleeve is provided with a spring, and the top surface of the pre-tightening force spring sleeve is installed with a lead screw nut mounting plate; the position sensor is located below the lead screw nut mounting plate and fixed with the mounting base plate connection; the position sensor is electrically connected to the controller; the screw rod passes through the pretightening force spring sleeve and the screw nut mounting plate.

In the present invention, the horizontal locking mechanism includes a horizontal guide rod, a horizontal locking block and a return spring; the horizontal guide rod is fixedly mounted on the casing, the horizontal locking block and the return spring are sleeved on the guide rod, and one end of the return spring Fixed, the other end is connected to the horizontal locking block.

In the present invention, the four-link catching claw mechanism includes a base, a short connecting rod, a main claw and a long connecting rod; Claw assembly; the connecting joints of the short connecting rod, the long connecting rod and the base are installed with a driving coil spring; the corresponding position of the short connecting rod is provided with a closing cam on the shell.

In the present invention, a slide rail mechanism is provided between the outer side of the four-link capturing claw mechanism and the inner side of the housing.

In the present invention, the housing is connected to a passive compliance mechanism through a turntable bearing, and the passive compliance mechanism includes a base flange, a sliding braking mechanism, a rotating braking mechanism and a bracket; the top surface of the base flange is provided with a linear slide Rail, the bottom of the bracket is provided with a chute, the chute is installed on the linear slide rail, and the slide brake mechanism is installed inside the flange of the base; the rotation brake mechanism is installed in the bracket to control the rotation of the turntable bearing; the shell A return spring is connected between both sides and the base flange.

In the present invention, the sliding brake mechanism includes an electromagnetic brake and a brake plate, the electromagnetic brake is located above the brake plate, and there is a gap between them, and the two ends of the brake plate are connected to the flange of the base through countersunk screws , A spring is arranged between the upper surface of the brake plate and the screw rod, and the brake plate can move up and down along the countersunk screw rod.

In the present invention, the pressure rod mechanism includes a pressure rod, a bearing and a nut, the pressure rod is fixedly connected with the four-link catch claw mechanism, and the bearing is assembled on the pressure rod through a nut.

The present invention also provides a capture method for non-cooperative target satellites, using the above-mentioned non-cooperative target satellite capture device, the specific steps are:

1) The control unit controls the driving mechanism to drive the lead screw to drive the four-link capturing claw mechanism to move upward. When it moves beyond the envelope range of the shell, the four-link capturing claw mechanism expands outward from the shell, and the horizontal locking block is horizontally outward. slide;

2) When the photoelectric sensor detects the docking frame of the non-cooperative target satellite, the control unit controls the drive mechanism to drive the screw to drive the four-link capture claw to move downward, so that the four-link capture claw mechanism is gradually closed, gradually moving The docking frame of the non-cooperative target satellite is enclosed within; while the four-link capturing claw mechanism is moving downward, the pressing bar mechanism on the four-link capturing claw mechanism drives the horizontal locking block to slide horizontally inward, gradually pulling the docking frame lock;

3) The locking force of the capture device on the docking frame is monitored through the pre-tightening force loading mechanism. When the locking force requirement is reached, the pre-tightening force loading mechanism sends a signal to stop the driving mechanism. At this time, the four-link capturing claw mechanism is located in the non-cooperative On the stepped surface of the target satellite, the horizontal locking block withstands the inner and outer diameters of the docking frame of the pre-tightening force loading mechanism, so as to realize the capture of the non-cooperative target satellite.

In the present invention, during the motion process, when the frame coordinate system of the non-cooperative target satellite and the capture device coordinate system have relative position and angle deviations, the two coordinate systems are aligned through the passive compliance mechanism.

The beneficial effects of the present invention are: (1), complete the capture of non-cooperative targets by docking with the 1194mm docking frame on the spacecraft, the φ1194 interface is an international standard interface size, which is widely used on various spacecraft, ensuring this The invention can adapt to the capture of various non-cooperative target spaceflight, and has the characteristics of wide application range, large tolerance, fast response speed, and high reliability; during the capture process, the main claw of the four-link capture claw is stuck on the docking of the non-cooperative target satellite On the 5.72mm step surface of the frame, the horizontal locking block withstands the inner and outer diameters of the docking frame, and the cooperation between the two ensures the stability of the capture process and effectively protects the non-cooperative target spacecraft from damage; (2), in satellite docking When there is a certain position error and angle offset between the frame and the capture device of the present invention, the capture of the pair is completed through the adjustment of the passive compliance mechanism at the bottom, which reduces the collision force in the capture process and greatly increases the capture success rate; (3) , The locking force of the four-link capture claw mechanism to the docking frame of the non-cooperative target space can be accurately controlled through the pre-tightening force loading mechanism, and while satisfying normal and stable capture, it can prevent the overload of the locking force from causing damage to the non-cooperative target satellite; 4) The function of this mechanism is highly integrated, the working method is direct, the envelope size is small, the weight of the whole machine is light, and the applicability is strong.

Description of drawings

Figure 1 is a schematic diagram of the docking frame of an existing non-cooperative target satellite;

Fig. 2 is a schematic diagram of the structure of the capture device;

Fig. 3 is a schematic structural diagram 2 of the capture device;

Figure 4 is a front view of the capture device;

Figure 5 is a side view of the capture device;

Figure 6 is a top view of the capture device;

Figure 7 is a schematic diagram of the internal structure of the capture device;

Fig. 8 is a schematic diagram 2 of the internal structure of the capture device;

Fig. 9 is a structural schematic diagram of a four-link catch claw mechanism;

Fig. 10 is a structural schematic diagram 2 of a four-link catch claw mechanism;

Fig. 11 is a structural schematic diagram of a horizontal locking mechanism;

Fig. 12 is a structural schematic diagram of a preloader;

Figure 13 is an exploded view of the pre-tightening force loading mechanism;

Fig. 14 is a capture flow chart of the capture device;

Figure 15 is a schematic diagram of the contact between the four-link catch claw mechanism, the horizontal locking mechanism and the docking frame;

Figure 16 is a schematic diagram 2 of the contact between the four-link catch claw mechanism, the horizontal locking mechanism and the docking frame;

Fig. 17 is an effect diagram of capturing a docking frame by a non-cooperative target satellite capturing device.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the capture target of the non-cooperative target satellite capture device of the present invention is a satellite (spacecraft) with a diameter of 1194 in the docking frame between the spacecraft and the launch vehicle, and the φ1194 interface is an international standard interface size and is widely used in various aerospace applications. device. The outer diameter of the docking frame is 1194mm, the inner diameter is 1133mm, there is a 5.72mm step surface on the outer edge, and the overall height of the docking frame is 320mm.

Three non-cooperative target satellite capture devices of the present invention are adopted during capture, and the three non-cooperative target satellite capture devices are distributed in a 120° array with respect to the docking frame axis of the non-cooperative target satellite, and the three non-cooperative target satellite capture devices are respectively passed through its base method. The blue plate 2 is installed at the end of the space manipulator. The space manipulator drives the non-cooperative target satellite capture device to extend into the docking frame of the non-cooperative target satellite, captures the docking frame of the non-cooperative target satellite in turn, and completes the overall capture of the non-cooperative target satellite.

As shown in 2 to 8, the capturing device in the present invention includes a housing 1, a four-link capturing claw mechanism, four horizontal locking mechanisms, a pre-tightening force loading mechanism and a passive compliance mechanism.

The passive compliance mechanism includes a base flange 2 , an electromagnetic brake 3 , a rotary brake 4 and a bracket 5 . The base flange 2 is used to connect with the end of the space manipulator. Two parallel linear slide rails 6 are installed on the top surface of the base flange 2, and the middle part is a hollow structure. The bracket 5 is provided with four supporting feet, and the bottoms of the four supporting feet are respectively provided with sliders 7, and the sliders 7 are installed on the linear slide rail 6, so that the bracket 5 is installed on the base flange 2 and can be moved along the linear slide rail. 6 for linear motion. The electromagnetic brake 3 passes through the base flange 2 and is fixedly connected to the support 5 , and the hollow structure in the middle of the base flange 2 is used for the electromagnetic brake 3 to slide left and right following the support 5 . A brake plate 8 is arranged below the electromagnetic brake 3, and there is a gap between the two. The brake plate 8 is a strip structure, and the two ends of the brake plate 8 are respectively connected to the bottom of the base flange 2 through two screw rods 9, and a spring is arranged between the upper surface of the brake plate 8 and the top surface of the screw rod 9 to make The moving plate 8 can move up and down along the screw rod 9 . The electromagnetic brake 3 is electrically connected to the controller. When the electromagnetic brake 3 is energized, the attractive force generated by the electromagnetic brake 3 will cause the brake plate 8 to overcome the force of the spring and move upward, and it will be tightly attracted to the electromagnetic brake 3, thereby braking the bracket 5. Locking; after the electromagnetic brake 3 is powered off, the brake plate 8 returns automatically under the force of the spring, and now the support 5 can slide along the linear slide rail 6 .

The rotary brake 4 is installed in the bracket 5, and the turntable bearing 10 is installed on the top of the bracket 5. The rotary brake 4 is electrically connected to the controller, and the rotary brake 4 controls the rotation of the turntable bearing 10 by turning on/off the power. This part is a prior art. No further description here.

The shell 1 is fixedly mounted on the turntable bearing 10 through the bottom plate with a shaft, and two rotary springs 11 are respectively connected between the left and right sides of the bottom plate with a shaft and the left and right sides of the base flange 2 . During the capture process, when there is a position tolerance of ±50m and an angle tolerance of ±10° between the docking frame coordinate system of the non-cooperative target satellite and the capture device coordinate system, the passive compliance mechanism can provide the capture device with sliding passive compliance and The rotation is passive and smooth, and the capture of the docking frame is completed, and the locking can be completed through the electromagnetic brake 3 and the rotation brake 4 after the capture is completed.

The two four-link capturing claw mechanisms have the same structure, and are symmetrically arranged in the shell 1 . The bottoms of the two four-link capturing claw mechanisms are fixedly connected to the installation base plate 12 . A cylindrical groove is provided in the middle of the installation base 12 , and the cylindrical groove is located between two four-link catch claw mechanisms for accommodating the pre-tightening force loading mechanism. The pre-tightening force loading mechanism is fixedly installed on the installation base 12 . The bottom of the mounting base 12 is provided with a vertical screw 13, the screw 13 passes through the mounting base 12 and the pre-tightening force loading mechanism through the through hole at the bottom of the cylindrical groove, and the driven wheel 14 is installed on the bottom of the screw 13. The outer side of shell 1 is fixedly installed driving motor 15, and the output shaft of driving motor 15 is installed driving wheel 16, is connected by synchronous belt 17 between driving wheel 16 and driven wheel 14, realizes transmission. The drive motor 15 is electrically connected to the controller, and the controller controls the forward and reverse rotation of the drive motor 15 , and then drives the four-link catch claw mechanism to move up and down along the inner side of the housing 1 through the installation base plate 12 .

The four horizontal locking mechanisms are located outside the two four-link catch claw mechanisms, and the two horizontal locking mechanisms on the same side are arranged opposite to each other, and the horizontal locking mechanisms are fixedly installed on the upper part of the shell 1 .

Four photoelectric sensors 18 are respectively installed on the top four corners of the housing 1, and the photoelectric sensors 18 are electrically connected to the controller for monitoring the docking frame of the non-cooperative target satellite.

As shown in FIGS. 9 and 10 , the four-link capture claw mechanism includes a base 19 , a short link 20 , a main claw 21 , a long link 22 and a drive coil spring 23 . The lower ends of the short connecting rod 20 and the long connecting rod 22 are respectively assembled with the base 19 through the shaft, and the upper ends are respectively assembled with the main claw 21 through the shaft, and the base 19 is used to be fixedly connected with the installation base plate 12 . The connecting joints of the short connecting rod 20 and the base 19 and the connecting joints of the long connecting rod 22 and the base 19 are respectively equipped with driving coil springs 23; The fingertips of the main claw 21 are covered with buffer rubber 24 to reduce the collision force during the capture process and protect the docking frame of the non-cooperative target satellite.

Both sides of the top of the main claw 21 are respectively provided with pressing bar mechanisms that expand outward. The pressure rod mechanism includes a pressure rod 25, a bearing 26 and a nut 27. The pressure rod 25 is fixed on the main claw 21, and the bearing 26 is assembled on the pressure rod 25 by the nut 27 and rotates around the pressure rod 25. The pressing rod mechanism is used to control the movement of the horizontal locking mechanism during the downward movement of the main claw 21 .

The lower part of the outer surface of the main claw 21 is provided with two first guide sliders 28 arranged vertically.

As shown in Figures 1, 3 and 5, first guide rails 29 vertically arranged on both sides of the housing 1 are installed respectively. A guide slider 28 is placed in the first guide rail 29 for guiding the up and down movement of the four-link catch claw mechanism. Four cams are respectively arranged on the outer side of the shell 1 and corresponding to the short connecting rod 20 .

When the four-link capture claw mechanism is driven by the screw rod 13 to move out of the envelope of the housing 1, the main claw 21 is driven to expand by driving the coil spring 23; the four-link capture claw mechanism moves under the drive of the screw rod 13 When it is within the enveloping range of the shell 1, the four cam mechanisms on the shell 1 push the short connecting rod 20 to realize the gradual closing of the main claw 21 and complete the capture of the docking frame.

As shown in Figures 3, 5 and 11, the four horizontal locking mechanisms are respectively arranged on the outer sides of the two four-link capturing claw mechanisms, and the horizontal locking mechanisms located on the same side of the two four-link capturing claw mechanisms are arranged opposite to each other. The horizontal locking mechanism is fixedly installed on the casing 1 . The horizontal locking mechanism includes a horizontal guide rod 31, a horizontal locking block 32, a support platform 33 and a return spring 34. The horizontal guide rod 31 is fixedly mounted on the inside of the housing 1, and the support platform 33 is installed parallel to the top of the horizontal guide rod 31. The outside of horizontal locking block 32 is provided with guide block, and support platform 33 inner side is provided with horizontal locking mechanism guide rail 35 with guide block corresponding position, and horizontal locking block 32 moves along horizontal locking mechanism guide rail 35, improves the stability of operation.

The horizontal locking block 32 and the return spring 34 are sleeved on the transverse guide rod 31 , one end of the return spring 34 bears against the stopper at the inner end of the transverse guide rod 31 , and the other end is on the inner side of the horizontal locking block 32 .

The position of the horizontal locking block 32 is corresponding to the pressing bar mechanism on the main claw 21 . During the downward movement of the main claw 21, the pressure rod mechanism exerts pressure on the horizontal locking block 32, so that the return spring 34 contracts, and the horizontal locking block 32 moves inward along the transverse guide rod 31; when the main claw 21 moves upward, the horizontal locking is released. The pressing of block 32, under the effect of back-moving spring 34, horizontal locking block 32 gets back to the initial position of lateral guide rod 31 outer ends.

As shown in FIGS. 8 , 12 and 13 , the pre-tightening force loading mechanism includes a pre-tightening force spring 36 , a position sensor 37 , a pre-tightening force spring sleeve 38 , a second guide slider 39 and a lead screw nut mounting plate 40 . The preload spring sleeve 38 is installed in the middle cylindrical groove of the installation base plate 12, and the preload spring 36 is arranged in the preload spring sleeve 38; the bottom of the installation base plate 12 is provided with an adjustment sleeve 41, and the adjustment sleeve 41 A vertical adjustment waist hole 42 is formed on the top, and the adjustment waist hole 42 is used for connecting an adjustment bolt 46 . Both sides of the bottom of the preload spring sleeve 38 are connected with the adjustment sleeve 41 through the adjustment bolt 46, the adjustment sleeve 41 can move up and down relative to the installation base plate 12, and the preload spring 36 is controlled by the adjustment bolt 46 installed on the adjustment sleeve 41 The amount of precompression to control the preload. The top of the preload spring sleeve 38 is equipped with a lead screw nut mounting plate 40 , and the lead screw nut mounting plate 40 is fixed on the preload spring sleeve 38 by a lead screw nut mounting bolt 43 and a lead screw nut 44 .

Position sensor 37 is positioned at the below of leading screw nut mounting plate 40, and position sensor 37 is installed on the installation base plate 12 by position sensor mounting bracket 45, and position sensor 37 is electrically connected with controller, between position sensor 37 and leading screw nut mounting plate 40 Leave gaps. By adjusting the distance between the position sensor 37 and the screw nut mounting plate 40 , the position sensor 37 is controlled to trigger the locking force of the capture device on the docking frame of the non-cooperative target satellite.

The front and rear sides of the screw nut mounting plate 40 and the installation base plate 12 are respectively equipped with a second guide slide 39 vertically arranged, and the inside of the housing 1 is provided with a second guide slide on the two sides corresponding to the second guide slide 39 (not shown in the figure), the second guide slider 39 slides up and down along the second guide rail, thereby further ensuring the stability and reliability of the four-link catch claw mechanism and the pre-tightening force loading mechanism moving up and down.

As shown in Figures 14 to 17, the specific process of the capture method of the present invention is as follows:

Step 1: The controller starts the driving motor to work at the speed of n1, and the synchronous belt drives the lead screw to drive the four-link capture claw mechanism to move upwards along the first guide rail and the second guide rail, and when it moves out of the envelope range of the shell, Drive the coil spring to drive the four-link catch claw mechanism to expand outwards, and the state is shown in A in Figure 14 .

Step 2: The space manipulator drives the capture device into the docking frame of the non-cooperative target satellite. When the docking frame of the non-cooperative target satellite blocks the photoelectric sensor, the photoelectric sensor feeds back the signal to the controller, and the controller controls the drive motor to drive with n2 The rotation speed is reversed, and the lead screw drives the four-link capture claw to move downward. When the movement reaches the envelope range of the shell, the cam pushes the short link of the four-link capture claw to make the four-link capture claw mechanism gradually move toward the shell. Closed inside, gradually enveloping the docking frame. During the movement, if the coordinate system of the docking frame of the non-cooperative target satellite is not completely aligned with the coordinate system of the capture device, and there is a relative position offset and angle offset, the linear slide rail and the turntable bearing in the passive compliance mechanism provide follow-up , align the two coordinate systems, and the process state is shown as B and C in Figure 14.

During the gradual closing process of the four-link capturing claw mechanism, the pressure bar mechanism installed on the main claw of the four-link capturing claw drives the horizontal locking block to move inward along the guide rail of the horizontal locking mechanism, gradually moving the docking frame of the non-cooperative target satellite Locked, the state is shown as D in Figure 14.

Step 3: The controller controls the drive motor to reversely rotate at the speed of n3. Since the body of the non-cooperative target satellite does not move during the capturing process, the four-link capturing claw mechanism moves downward along the lead screw, dragging the capture mechanism of the present invention. The device as a whole moves towards the captured non-cooperative target satellite. When the set locking force requirement is reached, the screw nut mounting plate is pressed down to trigger the position sensor, and the position sensor feeds back the signal to the controller. The controller stops the drive motor and controls The electromagnetic brake and the rotary brake supply power to realize the locking. At this time, the docking frame is docked on the support platform, the main claw of the four-link capturing claw is stuck on the 5.72mm step surface of the docking frame, and the horizontal locking block is tightly against the inner and outer diameter of the docking frame. E in Figure 14, as shown in Figures 15 and 16; finally achieve the capture of non-cooperative target satellites, as shown in Figure 17.

There are many specific application approaches of the present invention, and the above description is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can also be made without departing from the principles of the present invention. Improvements should also be regarded as the protection scope of the present invention.

Claims (10)

1. a kind of noncooperative target acquiring satellite device, including shell, it is characterised in that：Also include that two double leval jibs capture pawl machine Structure, four horizontal retaining mechanisms, screw mandrel and controllers；

Described two double leval jib capture pawl mechanisms are oppositely arranged in inside the shell, and bottom is connected with mounting base；The screw mandrel is vertical Arrange, screw mandrel upper end pass through mounting base, bottom connection drive mechanism, screw mandrel rotate when can drive double leval jib capture pawl mechanism to Launch outside shell or to inside the shell closure；

Four horizontal retaining mechanisms are located at respectively the outside of two double leval jib capture pawl mechanisms, are arranged on shell in opposite directions two-by-two Top；

The both sides on double leval jib capture pawl mechanism top are respectively mounted pressure lever mechanism, depression bar when double leval jib capture pawl mechanism is descending Mechanism oppresses horizontal retaining mechanism to inner side sliding horizontal；

Photoelectric sensor is installed at the top of the shell, and the photoelectric sensor and drive mechanism electrically connect controller.

2. noncooperative target acquiring satellite device according to claim 1, it is characterised in that：Including pretightning force plus carrier aircraft Structure, the pretightning force load maintainer includes prefastening force spring sleeve, position sensor and feed screw nut installing plate；

The prefastening force spring sleeve is movably arranged on mounting base, can be moved up and down relative to mounting base, pretightning force bullet Spring is set in spring sleeve, and the top surface of prefastening force spring sleeve installs feed screw nut installing plate；

The position sensor is located at the lower section of feed screw nut installing plate, is fixedly connected with mounting base；Position sensor is electrically connected Connect controller；

The screw mandrel is through prefastening force spring sleeve and feed screw nut installing plate.

3. noncooperative target acquiring satellite device according to claim 1, it is characterised in that：The horizontal retaining mechanism bag Include horizontal guide rod, horizontal latch segment and back-moving spring；The horizontal guide rod is fixedly mounted on shell, horizontal latch segment and reset Spring housing on the guide bar, fix by back-moving spring one end, and the other end connects horizontal latch segment.

4. the noncooperative target acquiring satellite device according to right wants 1, it is characterised in that：The double leval jib capture pawl mechanism Including base, short connecting rod, axial prong and long connecting rod；The lower end of the short connecting rod and long connecting rod is assembled respectively by axle with base, on Assembled with axial prong by axle respectively at end；The connection joint of the short connecting rod, long connecting rod and base is installed and drives wind spring；It is described outer Closing cam is provided with shell with short connecting rod correspondence position.

5. the noncooperative target acquiring satellite device according to right wants 1, it is characterised in that：The double leval jib capture pawl mechanism Outside and shell inner side between be provided with sliding track mechanism.

6. the noncooperative target acquiring satellite device according to right wants 1, it is characterised in that：The shell passes through turntable bearing Connection passive compliance mechanism, the passive compliance mechanism includes base flange plate, sliding brake function mechanism, rotation brake mechanism and props up Frame；The base flange plate top surface is provided with line slide rail, and the bottom of support is provided with chute, and chute is arranged on line slide rail, bottom The interior installation sliding brake function mechanism of seat ring flange；The rotation brake mechanism is arranged on the rotation of control turntable bearing in support； Connect main spring between the shell both sides and base flange plate.

7. noncooperative target acquiring satellite device according to claim 6, it is characterised in that：The sliding brake function mechanism bag Electromagnetic brake and keep plate are included, electromagnetic brake is located at the top of keep plate, gap is provided between the two, the two ends of keep plate lead to Cross countersunk head screw rod to be connected with base flange plate, spring is set between keep plate upper surface and screw rod, keep plate can be along countersunk head screw rod Move up and down.

8. noncooperative target acquiring satellite device according to claim 1, it is characterised in that：The pressure lever mechanism includes pressure Bar, bearing and nut, the depression bar is connected with double leval jib capture pawl mechanism, and bearing is assemblied on depression bar by nut.

9. a kind of catching method of noncooperative target satellite, it is characterised in that using the non-conjunction described in any one of claim 1 to 8 Make target satellite acquisition equipment, concretely comprise the following steps：

1), control unit control drive mechanism drives leading screw to drive double leval jib capture pawl mechanism to move upwards, moves to shell bag When outside network scope, double leval jib capture pawl mechanism opens to shell abduction, while the outside sliding horizontal of horizontal latch segment；

2), photoelectric sensor monitors that when the interface frame, mating frame of noncooperative target satellite control unit control drive mechanism drives silk Thick stick drives leading screw to drive double leval jib capture pawl to move downward, and double leval jib capture pawl mechanism is gradually closed, gradually by non-cooperative target Including the interface frame, mating frame envelope of mark satellite；While double leval jib capture pawl mechanism moves downward, in double leval jib capture pawl mechanism Pressure lever mechanism drives the inside sliding horizontal of horizontal latch segment, gradually locks interface frame, mating frame；

3), acquisition equipment is monitored to interface frame, mating frame coupling mechanism force, after coupling mechanism force requirement is reached, pretightning force by pretightning force load maintainer Load maintainer sends signal and stops drive mechanism work, and now double leval jib capture pawl mechanism is located at the step of noncooperative target satellite On face, horizontal latch segment withstands the interface frame, mating frame internal-and external diameter of pretightning force load maintainer, realizes the capture of noncooperative target satellite.

10. the catching method of the noncooperative target satellite described in claim 9, it is characterised in that:In motion process, when to non- There is relative offset and angle skew in the frame coordinate system that connects of cooperative target satellite, with acquisition equipment coordinate system by passive soft Two coordinate system is aligned along mechanism.