CN108945532A - A kind of arresting agency suitable for spacecraft universal architecture surface - Google Patents

Abstract

The invention relates to a capture mechanism suitable for the surface of a general structure of a spacecraft, which belongs to the field of on-orbit service and robot technology. The catching mechanism includes a support assembly, a transmission assembly, a push plate, a sliding plate, a catching assembly, a spring, and a locking release assembly. The catching assembly includes a connecting rod and a claw. The sliding plate locked in the first position is unlocked from the first position, and the sliding plate is moved to the direction of the capture target by using the spring force, thereby driving the connecting rod to move, so that the connecting rod drives the claws to stab the capture target, no matter the space cooperation target or For non-cooperative targets, most of the surface of the spacecraft is covered by a general-purpose structural surface, that is, aluminum honeycomb panels, and the claws can pierce the surface of the captured target to achieve capture; the capture mechanism does not need to provide cooperative capture features, and is suitable for All kinds of spacecraft have strong versatility and a wide range of applications; they can perform repeated and effective capture, connection and release separation.

Description

A Catching Mechanism Suitable for General Structure Surface of Spacecraft

technical field

The invention relates to a capture mechanism suitable for the surface of a general structure of a spacecraft, which belongs to the field of on-orbit service and robot technology.

Background technique

Failure or failure of satellites in orbit will cause a huge waste of space assets. Capture and implement on-orbit service operations such as maintenance or de-orbiting, so that the mission capacity of the failed satellite can be continued, or important orbital resources can be released. important economic and social benefits. The capture of satellites is a prerequisite for on-orbit service operations, and the design of the capture mechanism is the core component of satellite capture and one of the important factors that affect the normal on-orbit service operations of satellites.

At present, the on-orbit service technology for space cooperation targets has reached a certain degree of maturity, and some on-orbit verifications have been carried out, and the capture agencies can effectively capture the cooperation targets. Cooperative targets are designed with capture feature parts that are specially suitable for capture agencies, while non-cooperative targets do not have applicable capture feature parts.

The satellites currently in orbit and developed on the ground are not designed to receive in-orbit services, and they are all space non-cooperative targets. The core of implementing in-orbit service operations on satellites is to complete the capture and docking operations of satellite targets. At present, typical foreign technical solutions include the American FREND robotic arm + replaceable end effector solution, the German DEOS and the European SMART-OLEV cone-rod capture mechanism solutions, all of which require the capture target to have specific characteristic parts that can be captured. It is difficult to apply to the capture of non-cooperative targets in space.

Therefore, there is an urgent need for a capture mechanism suitable for the surface of the general structure of the spacecraft to meet the capture of non-cooperative targets in space.

Contents of the invention

The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, the present invention provides a capture mechanism suitable for the surface of a general structure of a spacecraft, so as to satisfy the capture of cooperative targets and non-cooperative target spacecraft.

In order to realize the foregoing invention object, the present invention provides following technical scheme:

A catching mechanism suitable for a general structural surface of a spacecraft, comprising a support assembly, a transmission assembly, a push plate, a sliding plate, a catching assembly, a spring and a locking release assembly, the support assembly includes a first support plate, a second a support plate and a guide part supported between the first support plate and the second support plate, the transmission assembly is used to drive the push plate to the first support plate or the second support plate along the guide part The support plate moves, and the catching assembly includes a connecting rod and claws, the first end of the connecting rod is rotatably connected with the sliding plate, the second end of the connecting rod is rotatably connected with the claws, and the claws The first end of the second support plate is rotatably connected, and the locking release assembly is used to lock the sliding plate at the first position, and to release the sliding plate from the first position under preset conditions. unlock, the sliding plate is located between the push plate and the first support plate, the spring is located between the first support plate and the sliding plate, when the sliding plate is in the first position When the preset condition is triggered, the spring is in a compressed state. Before the preset condition is triggered, the transmission assembly drives the push plate to move toward the second support plate. When the preset condition is triggered, the sliding plate moves from the The first position is unlocked, and under the force of the spring, it moves toward the second support plate along the guide part, and the connecting rod pushes the claw so that the second end of the claw penetrates into the catch target surface for capture.

In an optional embodiment, the second end of the claw is provided with a first blade and a second blade, the first blade is opposite to the second blade, and the intersection of the first blade and the second blade forms a sharp hook.

In an optional embodiment, the first blade is a single-sided sharp blade, the second blade is an arc blade, and the second blade is used to bear the breakaway force of the captured target.

In an optional embodiment, the lock release assembly includes a fixed hook, a rocker, an adapter rod and a buffer rod, the fixed hook is fixed on the sliding plate, and the first end of the rocker is connected to the The first support plate is rotatably connected, the buffer rod is passed through the first support plate and the second support plate, and is in clearance fit with the first support plate and the second support plate. The first end of the transfer rod is rotatably connected to the middle part of the rocker, and the second end of the transfer rod is rotatably connected to the buffer rod. When the sliding plate is at the first position, the fixed The hook is hooked to the second end of the rocker, and when the buffer rod is subjected to an impact force, it moves upward, and the connecting rod drives the rocker to rotate, so that the fixed hook and the second end of the rocker Both ends tripped.

In an optional embodiment, the fixing hook is provided with a guiding surface, and the lock release assembly further includes a roller, the roller is arranged at the second end of the rocker, and when the sliding plate moves toward the second When a position is moved, the roller rolls along the guiding surface, so that the fixing hook is buckled with the second end of the rocker.

In an optional embodiment, the lock release assembly further includes a buffer portion, the first end of the buffer rod sticks out of the second support plate, and moves away from the first support plate and the second support plate. The direction of the buffer extends, and the buffer part is fixedly connected with the first end of the buffer rod.

In an optional embodiment, a buffer spring is provided between the buffer portion and the second support plate.

In an optional embodiment, the transmission assembly includes a transmission motor and a lead screw, and the push plate is adapted to the lead screw.

In an optional embodiment, the capture mechanism applicable to the surface of a general structure of a spacecraft includes at least three sets of capture components arranged symmetrically.

In an optional embodiment, the capture mechanism applicable to the general structure surface of spacecraft also includes an upper limit switch and a lower limit switch, the upper limit switch is arranged on the slide plate, and the lower limit switch It is arranged on the second support plate and is used to limit the moving position of the push plate.

The advantage of the present invention compared with prior art is:

(1) The embodiment of the present invention provides a catch mechanism suitable for the surface of a general structure of a spacecraft. When the preset condition is triggered, the sliding plate locked at the first position is unlocked from the first position, and the elastic force of the spring is used to make the The sliding plate moves in the direction of capturing the target, thereby driving the connecting rod to move, so that the connecting rod drives the claws to stab the capturing target. Regardless of the space cooperative target or the non-cooperative target, most of the surface area of the spacecraft is composed of a common structural surface, that is, Covered with aluminum honeycomb panels, the claws can penetrate into the surface of the target to achieve capture;

(2) The capture mechanism does not need to provide cooperative capture feature parts, is applicable to various spacecraft, has strong versatility, and has a wide range of applications;

(3) It can carry out repeated and effective catch connection and release separation;

(4) By arranging the opposite first blade and the second blade, and making the two intersecting positions form sharp hooks, so as to penetrate into the surface of the spacecraft;

(5) By setting the first blade as a single-sided sharp blade, it is convenient to scratch the surface layer of the captured target, so that the second end of the claw penetrates into the aluminum honeycomb panel of the surface layer of the captured target to ensure the fastening force, and the second blade It is a circular-arc blade, which is used to withstand the break-away force of the captured target, and prevents the thorns from piercing into the aluminum honeycomb panel from cutting the honeycomb panel, causing the claws to fall off from the aluminum honeycomb panel. In the embodiment of the present invention, the claws are realized by processing elastic steel with high strength and certain toughness;

(6) When the catch mechanism meets the catch target, a collision will occur. The locking release device of this structure can use the impact force between the catch mechanism and the catch target as the unlocking condition. The unlocking timing is accurate and the reliability is high. Moreover, the structure is simple, light in weight, no need to configure a separate control unit, and meets the requirements of lightweight development.

Description of drawings

Fig. 1 is a front view of a catch mechanism suitable for a general structural surface of a spacecraft provided by an embodiment of the present invention;

Fig. 2 is a side view of a catch mechanism suitable for a general structural surface of a spacecraft provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of the claw structure provided by the embodiment of the present invention;

Fig. 4 is a schematic diagram of the working state of the lock release assembly provided by the embodiment of the present invention;

Fig. 5 is a schematic diagram of the fixed hook and the rocker hanging buckle provided by the embodiment of the present invention;

Fig. 6 is a schematic diagram of the pre-triggering state of the catch mechanism provided by the embodiment of the present invention;

Fig. 7 is a schematic diagram of the claw locking state of the catch mechanism provided by the embodiment of the present invention.

Detailed ways

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings and specific examples.

Referring to Fig. 1 and 2, the embodiment of the present invention provides a kind of grasping mechanism that is suitable for the common structure surface of spacecraft, comprises support assembly, transmission assembly, push plate 1, sliding plate 2, catches assembly, spring 3 and locking release assembly, the support assembly includes a first support plate 4, a second support plate 5 and a guide part 6 supported between the first support plate 4 and the second support plate 5, the transmission assembly is used to drive the The push plate 1 moves toward the first support plate 4 or the second support plate 5 along the guide portion 6, the catch assembly includes a connecting rod 7 and claws 8, the first end of the connecting rod 7 is connected to the The sliding plate 2 is rotationally connected, and the second end of the connecting rod 7 is rotationally connected with the claw 8. The connection part is located between the first end and the second end of the claw 8, preferably the middle part. The first end of the claw 8 is connected to the second support. The plate 5 is rotatably connected, and the locking release assembly is used to lock the sliding plate 2 at the first position and unlock the sliding plate 2 from the first position under preset conditions. The sliding plate 2 is located between the push plate 1 and the Between the first supporting plate 4, the spring 3 is located between the first supporting plate 4 and the sliding plate 2. When the sliding plate 2 is in the first position, the spring 3 is in a compressed state, and the push plate 1 and the sliding plate 2 Contact, before the preset condition is triggered, the transmission assembly drives the push plate 1 to move towards the second support plate 5, when the preset condition is triggered, the sliding plate 2 is unlocked from the first position, and the spring 3 Under the active force, it moves along the guide part 6 to the second support plate 5, and the connecting rod 7 drives the claws 8 so that the second end of the claws 8 penetrates the surface of the target to be captured. Similarly, when the capture is completed, The transmission assembly drives the push plate 1 to move toward the first support plate 4, the sliding plate 2 moves toward the first support plate 4 along the guide part 6 under the thrust of the push plate 1, and the connecting rod 7 drives the claws 8 to make the claws 8 The second end of the second end releases the capture target, and when the sliding plate 2 moves to the first position under the push force of the push plate 1, the lock release assembly locks the sliding plate 2 in the first position.

Specifically, in the embodiment of the present invention, the transmission assembly may include belt transmission, friction wheel transmission, chain transmission, screw transmission, etc., which is not limited in the present invention; in order to save space and weight, the transmission assembly in the present invention preferably includes The transmission motor 9 and the leading screw 10, the push plate 1 is adapted to the leading screw 10, and can move to the first end or the second end of the leading screw under the drive of the leading screw 10; The locking and releasing components of mechanical structures such as hoops and hooks can also be electromagnetic suction and release locking and releasing components, which is not limited in the present invention; the guide part 6 can be structural forms such as guide rods, guide cylinders, and guide blocks, which are not used in the present invention. Restrictions; the first support plate and the second support plate can be circular plates, square plates, triangular plates, etc., and the present invention is not limited; the preset conditions can be electrical signals such as vibration signals, impact force signals, and obstacle signals. Conditions such as impact force may also be used, which are not limited in the present invention.

The embodiment of the present invention provides a catch mechanism suitable for the surface of a general structure of a spacecraft. When a preset condition is triggered, the sliding plate locked at the first position is unlocked from the first position, and the sliding plate is moved toward the The direction of capturing the target moves, thereby driving the connecting rod to move, so that the connecting rod pushes the claws to stab the capturing target. Regardless of the space cooperative target or the non-cooperative target, most of the surface of the spacecraft is covered by the general structural surface, that is, the aluminum honeycomb panel. , the claws can penetrate the surface of the captured target to achieve capture; the capture mechanism does not need to provide cooperative capture feature parts, it is suitable for various spacecraft, has strong versatility, and has a wide range of applications; it can perform repeated and effective capture Connection and release are separated.

Referring to Fig. 3, in an optional embodiment, the second end of the claw thorn 8 is provided with a first blade 81 and a second blade 82, the first blade 81 is opposite to the second blade 82, and the first blade 81 is connected to the second blade. Blade 82 intersecting position forms sharp hook, so that penetrate spacecraft surface, and first blade 81 is a single-sided sharp blade, so that the surface layer of catching target is scratched, and the second end of claw 8 is penetrated into the surface layer of catching target In the aluminum honeycomb panel to ensure the fastening force, the second blade 82 is an arc blade, and the second blade 82 is used to withstand the breakaway force of the captured target, preventing the thorns from piercing into the aluminum honeycomb panel to cut the honeycomb panel, Cause the claws to fall off from the aluminum honeycomb panel. In the embodiment of the present invention, the claws are realized by processing elastic steel with high strength and certain toughness.

Referring to Fig. 4, the lock release assembly includes a fixed hook 11, a rocker 12, an adapter rod 13 and a buffer rod 14, the fixed hook 11 is fixed on the sliding plate 2, and the first end of the rocker 12 is connected to the first end of the rocker 12 through a pin shaft. A support plate 4 is rotationally connected, the buffer rod 14 is passed through the first support plate and the second support plate, and is in clearance fit with the first support plate and the second support plate, and the transfer rod 13 The first end of the connecting rod 13 is rotatably connected to the middle part of the rocker 12, and the second end of the transfer rod 13 is rotatably connected to the buffer rod 14. As shown in FIG. The second end of the rocking bar 12 is buckled and is in a locked state. As shown in Figure 4b, when the buffer bar 14 is subjected to an impact force, it moves upwards, and the connecting rod 13 drives the rocking bar 12 to rotate, so that the fixed hook 11 and the rocking bar 12 The second end of the rocker 12 is released, as shown in Figure 4c, when the sliding plate 2 is about to reach the first position under the push of the push plate 1, the second end of the rocker 12 is hooked to the fixed hook again. When the catch mechanism meets the catch target, a collision will occur. The locking release device of this structure can use the impact force between the catch mechanism and the catch target as the unlocking condition. The unlocking timing is accurate and the reliability is high, and the structure Simple and light in weight, no need to configure a separate control unit, meeting the requirements of lightweight development.

As shown in Figures 4 and 5, the fixed hook 11 is provided with a guide surface a, and the lock release assembly also includes a roller 15, which is arranged on the second end of the rocker 12, when the sliding plate 2 moves to the first position When moving, the roller 15 can self-adaptively roll along the guide surface a, so that the fixed hook 11 is buckled with the second end of the rocker 12 . By setting the guide surface and rollers, the fixed hook is accurately hooked to the rocker, avoiding the problem of capture failure caused by hooking failure.

Referring to FIG. 1 , the lock release assembly further includes a buffer portion 16, the first end of the buffer rod 14 sticks out of the second support plate 5, and extends away from the first support plate 4 and the second support plate 5, the buffer The portion 16 is fixedly connected to the first end of the buffer rod 14 . Specifically, in the embodiment of the present invention, the buffer part 16 is made of a plastic material (such as polyurethane) with certain elasticity, and preferably, the side contacting with the captured target is an arc-shaped surface protruding toward the captured target.

The following is a specific embodiment of the present invention:

As shown in Figures 1 and 2, this embodiment provides a catch mechanism suitable for the general structure surface of satellites, including a support assembly, a transmission assembly, two sets of lock release assemblies, a push plate 1, a slide plate 2, three sets of Catch components, spring 3, upper limit switch 17, lower limit switch 18 and other components.

The support assembly includes a circular upper plate (first support plate 4), two guide rods (guide part 6) and a circular lower plate (second support plate 5), the upper plate and the lower plate are facing each other, and the upper plate and the lower plate The central connection line of the two guide rods is symmetrically supported between the upper plate and the lower plate, and the guide rods and the upper plate, and the guide rods and the lower plate are threaded respectively. The support assembly acts as a fixed support.

The transmission assembly includes a transmission motor 9 and a screw rod 10. The transmission motor 9 provides power for the release of claws and is installed on the upper plate. The upper end of the screw rod 10 is fixed on the center of the upper plate through a rotating pair, and the lower end is fixed on the lower plate through a rotating pair. center of the board. The center position of the push plate 1 is provided with a threaded hole adapted to the lead screw 10, which is threaded on the lead screw 10 to form a screw transmission with the lead screw 10. At the same time, the push plate 1 is also set on two guide rods, and the lead screw 10 rotates under the driving of the transmission motor 9, and drives the push plate 1 to move to the upper plate or the lower plate along the guide rod; two guide rods can be symmetrically arranged to prevent the push plate from rotating around the leading screw.

The center position of the sliding plate 2 is set on the screw rod 10, and the gap fits with the screw rod 10. The sliding plate 2 is located between the upper plate and the push plate 1; Cooperate, the spring 3 is located between the sliding plate 2 and the upper plate; the upper limit switch 17 is arranged on the sliding plate 2, and the lower limit switch 18 is arranged on the lower plate.

The catch assembly includes a connecting rod 7 and a sickle-shaped claw thorn 8, the upper end of the connecting rod 7 is connected with the sliding plate 2 through a rotating pair, the upper end of the claw thorn 8 is connected with the lower plate through a rotating pair, and the bending part is connected with the sliding plate through a rotating pair. The lower end of the connecting rod 7 is connected, as shown in Figure 3, the lower end of the claw thorn 8 is provided with a first blade 81 and a second blade 82, the first blade 81 is located on the outer surface, the second blade is located on the inner surface, and the first blade 81 is connected to the second blade. The intersecting positions of two blades 82 form sharp hooks, so as to penetrate into the surface of the spacecraft, and the first blade 81 is a single-sided sharp blade, so that the surface layer of the target is scratched, and the second end of the claw 8 is penetrated into the surface layer of the target. In order to ensure fastening force in the aluminum honeycomb panel, the second blade 82 is an arc blade, and the second blade 82 is used to withstand the breakaway force of the captured target, preventing the thorns from piercing into the aluminum honeycomb panel to cut the honeycomb panel . The point on the line connecting the centers of the upper plate and the lower plate is the center of symmetry, and three sets of capture components are arranged symmetrically to ensure stable capture.

The lock release assembly includes a fixed hook 11, a rocking lever 12, an adapter rod 13, a buffer spring 19, a buffer portion 16 and a buffer rod 14. The fixed hook 11 is fixed on the slide plate 2, and the upper end of the rocking lever 12 is connected to the upper end by a pin shaft. The boards are rotationally connected, the buffer rod 14 is installed on the upper board and the lower board, and is in clearance fit with the upper board and the lower board, the first end of the transfer rod 13 is connected with the middle part of the rocker 12 in rotation, and the transfer rod 13 The second end of the buffer rod 14 is rotatably connected to the position near the upper end of the buffer rod 14, as shown in Figure 4a, when the sliding plate 2 is located at the first position, the second end of the fixed hook 11 and the rocker rod 12 are hooked and locked, and are in a locked state , as shown in Figure 4b, when the buffer rod 14 is subjected to an impact force, it moves upwards, and the connecting rod 13 drives the rocker 12 to rotate, so that the fixed hook 11 and the second end of the rocker 12 are released, as shown in Figure 4c, When the sliding plate 2 is about to reach the first position under the push of the push plate 1, the second end of the rocking bar 12 is hooked to the fixed hook again. When the catch mechanism meets the catch target, a collision will occur. The locking release device of this structure can use the impact force between the catch mechanism and the catch target as the unlocking condition. The unlocking timing is accurate and the reliability is high, and the structure Simple and light in weight, no need to configure a separate control unit, meeting the requirements of lightweight development. The lower end of the buffer rod 14 protrudes from the lower plate and extends downward, and the buffer portion 16 is fixed on the lower end of the buffer rod 14 . The buffer part 16 is made of polyurethane material, and the lower surface is a downwardly convex arc surface. The buffer spring 19 is set at the lower end of the buffer rod, and is located between the lower plate and the buffer part 16 . The two groups of unlocking and releasing components are symmetrically distributed, and are used to sense the impact force between the capture mechanism and the surface of the aluminum honeycomb panel that captures the target, and under the action of the impact force, the claws are activated to lock inwardly. The impact force between the capture mechanism and the capture target can be buffered by setting the buffer part and the buffer spring, so as to avoid damage to the mechanism or the target caused by excessive force and ensure the smooth progress of capture.

The invention relates to a capture mechanism applicable to the surface of a general structure of a satellite, which can realize the capture connection and release separation of the aluminum honeycomb panels occupying most of the surface area of the satellite.

1) Capture process

In order to achieve penetrating capture of the aluminum honeycomb panel, the capture mechanism first needs to be in a fastened state. The sliding plate 2 is located at the uppermost position, compressing the spring 3 to make it gather the maximum elastic force. Since the sliding plate 2 is located at the uppermost position, it also drives the connecting rod 7 to be located at the uppermost position, and the connecting rod 7 drives the claws 8 to open thereupon. The fixed hook 11 is hung together with the rocking bar 12. At this time, the upper plate, the buffer bar 14, the transfer bar 13, the rocking bar 12, the fixed hook 11, and the sliding plate 2 form a stable fixed connection relationship. The spring force is balanced.

Before the catch mechanism buffer 16 contacts the aluminum honeycomb panel of the catch target, the catch mechanism enters the pre-trigger state, and the transmission motor 9 moves the push plate 1 downward through the screw rod 10. When the push plate 1 touches the lower limit switch 18 The rear transmission motor 9 stops rotating, and the push plate 1 stops moving. Now upper plate, buffer bar 14, adapter bar 13, rocking bar 12, fixed hook 11, sliding plate 2 six keep stable fixed connection relationship, so sliding plate 2 can still keep the position still. The catching mechanism is equipped with 2 sets of locking and releasing components, which can keep the balance on both sides of the sliding plate 2 . The spring 3 is tightened under the action of the locking release assembly to maintain the maximum elastic force, and the claws 8 remain in an open state. The pre-trigger state is shown in Figure 6.

When the buffer portion 16 touches the surface of the aluminum honeycomb panel, the catch mechanism enters the claw-stab locking state. The buffer part 18 collides with the surface of the aluminum honeycomb panel. Under the action of the collision reaction force, the buffer part 16 overcomes the elastic force of the buffer spring and moves upward, and the buffer rod 14 also moves upward accordingly, thereby driving the rocker 12 to rotate counterclockwise, and the rocker 12 After turning counterclockwise for a certain range, it is released from the fixed hook 11. At this time, the stable fixed connection relationship between the upper plate, the buffer rod 14, the adapter rod 13, the rocker 12, the fixed hook 11 and the sliding plate 2 disappears. Under the elastic force of the instantaneous release of the spring 3, the sliding plate 2 slides downward, driving the connecting rod 7 to slide downward, and the claws 8 are locked inwardly, penetrating into the aluminum honeycomb panel to realize the capture of the aluminum honeycomb panel . The locked state of the claws is shown in Figure 7.

2) Release process

The release process is to change from the locked state of the claws 8 to the fastened state, the claws 8 are separated from the aluminum honeycomb panel, and the catch mechanism realizes the release of the aluminum honeycomb panel.

Under the action of the transmission motor 9, the screw rod 10 rotates in the opposite direction to drive the push plate 1 to move upward. During the upward movement of the push plate 1, the sliding plate 2 is pushed to slide upward, and the connecting rod 7 slides upward accordingly, driving the claws 8 to expand outward. Open and detach from the aluminum honeycomb panel. During the upward movement of the slide plate 2, the compression spring 3 stores energy for the next capture of the aluminum honeycomb panel. The fixed hook 11 moves up with the sliding plate 2, and the top inclined surface (guiding surface a) of the fixed hook 11 touches the roller 15 at the lower end of the rocker 12, and the roller 15 can adaptively roll along the top inclined surface of the fixed hook 11 until it reaches the end of the top inclined surface. Enter the inner side of the fixed hook 11 and hang it to complete the buckle action. At this time, the stable fixed connection relationship between the upper plate, the buffer rod 14, the transfer rod 13, the rocker 12, the fixed hook 11, and the sliding plate 2 is restored. . During the upward movement of the sliding plate 2, when the upper limit switch 17 touches the upper plate, the transmission motor 9 stops rotating, and the push plate 1 stops moving.

The above description is only the best specific implementation mode of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or modifications within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention.

The content that is not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims (10)

1. a catch mechanism applicable to the general structure surface of spacecraft, is characterized in that, comprises support assembly, transmission assembly, push plate, slide plate, catch assembly, spring and locking release assembly, and described support assembly includes the first A support plate, a second support plate and a guide part supported between the first support plate and the second support plate, the transmission assembly is used to drive the push plate to the first support along the guide part The plate or the second support plate moves, and the catch assembly includes a connecting rod and claws, the first end of the connecting rod is connected to the sliding plate in rotation, and the second end of the connecting rod is rotated with the claws connected, the first end of the claw is rotatably connected with the second support plate, and the locking release assembly is used to lock the sliding plate at the first position and lock the sliding plate under preset conditions Unlocked from the first position, the slide plate is located between the push plate and the first support plate, the spring is located between the first support plate and the slide plate, when the slide plate When located at the first position, the spring is in a compressed state. Before the preset condition is triggered, the transmission assembly drives the push plate to move toward the second support plate. When the preset condition is triggered, The sliding plate is unlocked from the first position, and moves toward the second support plate along the guide part under the force of the spring, and the connecting rod pushes the claw so that the first claw of the claw The two ends pierce the surface of the captured target to achieve capture. 2. The arresting mechanism applicable to the surface of a general structure of a spacecraft according to claim 1, wherein the second end of the claw thorn is provided with a first blade and a second blade, and the first blade and the second blade are connected to each other. The two blades face away from each other, and the intersection of the first blade and the second blade forms a pointed hook. 3. The arresting mechanism applicable to the surface of a general structure of a spacecraft according to claim 2, wherein the first blade is a single-sided sharp blade, the second blade is an arc blade, and the second blade is an arc blade. The blade is used to bear the breakaway force of the captured target. 4. The arresting mechanism applicable to the surface of a general structure of a spacecraft according to claim 1, wherein the locking release assembly includes a fixed hook, a rocker, an adapter rod and a buffer rod, and the fixed hook is fixed On the slide plate, the first end of the rocker is rotatably connected to the first support plate, the buffer rod is passed through the first support plate and the second support plate, and is connected to the first support plate. Both the first support plate and the second support plate are clearance fit, the first end of the transfer rod is rotatably connected to the middle part of the rocker, and the second end of the transfer rod is rotatably connected to the buffer rod , when the sliding plate is at the first position, the fixed hook is buckled with the second end of the rocker, and when the buffer rod is subjected to an impact force, it moves upward, and the connecting rod drives the The rocker is rotated to release the fixing hook from the second end of the rocker. 5. The catching mechanism suitable for general structural surfaces of spacecraft according to claim 4, wherein the fixed hook is provided with a guide surface, and the locking and releasing assembly also includes rollers, and the rollers are arranged on the When the sliding plate moves to the first position, the roller rolls along the guide surface, so that the fixed hook is buckled with the second end of the rocking bar. 6. The catch mechanism applicable to the surface of a general structure of a spacecraft according to claim 4, wherein the locking release assembly further comprises a buffer, and the first end of the buffer rod sticks out of the second The support plate extends in a direction away from the first support plate and the second support plate, and the buffer portion is fixedly connected to the first end of the buffer rod. 7 . The catching mechanism suitable for general structural surfaces of spacecraft according to claim 6 , wherein a buffer spring is provided between the buffer portion and the second support plate. 8 . 8 . The capture mechanism suitable for general structural surfaces of spacecraft according to claim 1 , wherein the transmission assembly includes a transmission motor and a lead screw, and the push plate is adapted to the lead screw. 9 . The capture mechanism suitable for general structural surfaces of spacecraft according to claim 1 , characterized in that it comprises at least three sets of capture components arranged symmetrically. 10. The arresting mechanism applicable to the general structure surface of spacecraft according to claim 1, further comprising an upper limit switch and a lower limit switch, the upper limit switch being arranged on the slide plate, the The lower limit switch is arranged on the second support plate and is used to limit the moving position of the push plate.