阅读说明：本技术 一种空间仿生柔性捕获装置及其地面试验系统 (Space bionic flexible capturing device and ground test system thereof ) 是由 杨跃能 徐博婷 闫野 张士峰 郑伟 徐昕 刘二江 胡文俊 于 2019-10-08 设计创作，主要内容包括：本发明公开一种空间仿生柔性捕获装置及其地面试验试验系统,包括捕获组件、传动组件、驱动组件；捕获组件包括中心刚体、捕获网与质量块,中心刚体连接在捕获网的中心位置,质量块的数量为多个且沿间隔设在捕获网的边缘位置；传动组件包括传动轴,传动轴的一端与驱动组件传动相连,中心刚体、质量块吸附连接在传动轴的另一端,以使得中心刚体、质量块在传动轴旋转过程中脱落并使捕获网在旋转离心力的作用下展开释放。通过将中心刚体、质量块吸附连接在传动轴上,使得中心刚体、质量块在传动轴旋转过程中脱落并使捕获网在旋转离心力的作用下展开释放,进而有效的解决了网体展开过程中的缠绕问题以及构成保持问题。(The invention discloses a space bionic flexible capturing device and a ground test testing system thereof, wherein the space bionic flexible capturing device comprises a capturing component, a transmission component and a driving component; the capturing component comprises a central rigid body, a capturing net and a plurality of mass blocks, wherein the central rigid body is connected to the central position of the capturing net, and the mass blocks are arranged at the edge position of the capturing net at intervals; the transmission assembly comprises a transmission shaft, one end of the transmission shaft is in transmission connection with the driving assembly, and the central rigid body and the mass block are in adsorption connection with the other end of the transmission shaft, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, and the capture net is unfolded and released under the action of rotation centrifugal force. The central rigid body and the mass block are connected to the transmission shaft in an adsorption manner, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, the capture net is unfolded and released under the action of rotation centrifugal force, and the winding problem and the composition maintaining problem in the unfolding process of the net body are effectively solved.)

1. A space bionic flexible capturing device is characterized by comprising a capturing component, a transmission component and a driving component;

the capturing assembly comprises a central rigid body, a capturing net and a plurality of mass blocks, wherein the central rigid body is connected to the central position of the capturing net, and the mass blocks are arranged at the edge position of the capturing net at intervals;

the transmission assembly comprises a transmission shaft, one end of the transmission shaft is in transmission connection with the driving assembly, and the central rigid body and the mass block are in adsorption connection with the other end of the transmission shaft, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft, and the capture net is unfolded and released under the action of rotating centrifugal force.

2. The spatially biomimetic flexible capture device according to claim 1, wherein the capture net is a biomimetic flexible net;

the bionic flexible net comprises a plurality of first capturing cables distributed in a radial mode, and every two adjacent first capturing cables are connected through a plurality of second capturing cables at intervals so that the bionic flexible net forms a spider net structure;

the inward ends of the first capturing cables are connected to the central rigid body to form an annular structure, the number of the mass blocks corresponds to that of the first capturing cables, the mass blocks are connected to the other ends of the corresponding first capturing cables, and the first capturing cables and the second capturing cables are made of flexible materials.

3. The space bionic flexible capturing device of claim 1, wherein a tray is arranged on one end of the transmission shaft corresponding to the capturing net, the central rigid body is connected to the end of the transmission shaft in an absorption mode, the mass block is connected in the tray in an absorption mode, and the capturing net is coiled in the tray.

4. The space bionic flexible capturing device of claim 1, further comprising a power assembly, wherein the driving assembly is electrically connected with the power assembly, the transmission shaft is made of an electromagnet material, a conductive slip ring is rotatably connected to the transmission shaft, the transmission shaft is electrically connected with the power assembly through the conductive slip ring, and the mass block and the central rigid body are both attracted to the transmission shaft through magnetic force.

5. The space bionic flexible capturing device of claim 1, further comprising an adsorption component, wherein the adsorption component comprises a plurality of electromagnets surrounding the transmission shaft, and each electromagnet is electrically connected with the power component.

6. The space bionic flexible capturing device as claimed in claim 5, further comprising a bracket assembly, wherein the bracket assembly comprises a mounting frame, a connecting barrel and a containing barrel which are connected in sequence, the connecting barrel is open at two ends, one end of the containing barrel is open, and the other end of the containing barrel is provided with a communication hole;

drive assembly establishes on the mounting bracket, adsorption component is located the receiver, the one end of transmission shaft is located the mounting bracket and links to each other with the drive assembly transmission, the other end of transmission shaft passes and lies in the receiver behind connecting cylinder, the intercommunicating pore and is close to the receiver open-ended position.

7. The space bionic flexible capturing device as claimed in claim 6, wherein the transmission assembly further comprises a bearing seat, a shaft snap spring and a bearing which are arranged in the connecting cylinder, the bearing seat is fixedly connected to the connecting cylinder, the bearing is sleeved on the connecting shaft and is connected with the bearing seat in a rotating manner, and the shaft snap spring is sleeved on the connecting shaft and is attached to the bearing to prevent the bearing from axially moving.

8. A ground test system for a space bionic flexible capture device is characterized by comprising a test stand, a target platform, a camera device, a data acquisition device and the space bionic flexible capture device of any one of claims 1 to 7;

the space bionic flexible capturing device is arranged on the test stand, and one end of the space bionic flexible capturing device, which is provided with the capturing component, faces the target platform;

the space between the target platform and the space bionic flexible capturing device is located in a shooting field of the camera device, and the data acquisition device is electrically connected with the camera device.

9. The ground test system for the space bionic flexible capture device of claim 8, further comprising a light source, wherein the space between the target platform and the space bionic flexible capture device is located on the light path of the light source.

10. The ground test system for the space bionic flexible capture device according to claim 8, wherein the camera device is a high-speed camera.

Technical Field

The invention relates to the technical field of spaceflight, in particular to a space bionic flexible capturing device and a ground test system thereof.

Background

The space flexible rope net capturing technology is characterized in that a rope net capturing device platform is used for unfolding a large net woven by high-strength light fiber materials towards a space target body, the rope net wraps the target after the large net collides with the target, and a net opening is tightened through a closing mechanism to complete capturing, so that the space flexible rope net capturing technology is a novel space on-orbit operation mode. The method is suitable for capturing space targets with different shapes and sizes, and has the advantages of strong universality, high fault tolerance, low energy consumption and the like.

In recent years, researchers in the aerospace field of various countries have intensively and comprehensively researched the flexible rope net capturing technology. At present, the foreign space flexible rope net structure enters the on-Orbit verification stage, and the European space agency proposes a Robotic Geostationary Orbit Restorer (ROGER) project in 2001, and the rope net is supposed to be used for capturing earth stationary Orbit abandoned satellites. In 2012, a student test device, Suaineadh, sponsored by ESA carries an airborne rocket REXUS 12 to ascend for verifying the feasibility of the technology of utilizing a rotating part to deploy a spatial rope net, but test failure may be caused by the fact that the attitude of the detection rocket rolls over and the communication system of the test device is interrupted. According to the message scale issued by the U.S. C4isrnet website in 2019, 2, 17, the European Union DEBRIS cleaning satellite (Remove DEBRIS) deployed in the international space station successfully completes the 'harpoon' puncture demonstration test and captures space DEBRIS, and the feasibility of the scheme of capturing the space DEBRIS by using the flexible rope net is proved. The research in the field of the spatial flexible rope net structure is relatively late in China, related research works are still in the engineering model and ground verification stage at present, and relevant researches are carried out in Harbin industry university, Qinghua university, Beijing aviation and aerospace university and the like, and specifically comprise the steps of flexible net capture system overall scheme design, mass block traction, projection and expansion mode dynamic modeling and characteristic analysis, related ground verification tests and the like.

The traditional flexible net capturing system is structurally characterized in that a flexible net, a mass block, a tether and a net body ejection device are adopted, the mass block is ejected out through the ejection device, the mass block pulls the tether to drive the flexible net to expand through inertial motion, and after the net body is expanded, a closing device in the mass block controls a rope net to tighten a net port to wrap a target body, as shown in figure 1. The traditional flexible net capturing system has certain limitations and disadvantages: 1) the net body is easy to wind in the unfolding process; 2) the net body is difficult to maintain the spatial configuration after being unfolded.

Disclosure of Invention

Aiming at the problems that the net body is easy to wind in the unfolding process and the space configuration of the net body is difficult to maintain after the net body is unfolded in the prior art, the invention provides the space bionic flexible capturing device and the ground test system thereof, which realize the unfolding of the net body by utilizing the rotary centrifugal force and effectively solve the winding problem and the constitution maintaining problem in the unfolding process of the net body.

In order to achieve the aim, the invention provides a space bionic flexible capturing device which comprises a capturing component, a transmission component and a driving component, wherein the capturing component is arranged on the capturing component;

the capturing assembly comprises a central rigid body, a capturing net and a plurality of mass blocks, wherein the central rigid body is connected to the central position of the capturing net, and the mass blocks are arranged at the edge position of the capturing net at intervals;

the transmission assembly comprises a transmission shaft, one end of the transmission shaft is in transmission connection with the driving assembly, and the central rigid body and the mass block are in adsorption connection with the other end of the transmission shaft, so that the central rigid body and the mass block fall off in the rotation process of the transmission shaft and the capture net is unfolded and released under the action of rotation centrifugal force.

Further preferably, the capture net is a bionic flexible net;

the bionic flexible net comprises a plurality of first capturing cables which are distributed in a radial mode, and every two adjacent first capturing cables are connected through a plurality of second capturing cables at intervals so that the bionic flexible net forms a spider net structure;

the inward ends of the first capturing cables are connected to the central rigid body to form an annular structure, the number of the mass blocks corresponds to that of the first capturing cables, the mass blocks are connected to the other ends of the corresponding first capturing cables, and the first capturing cables and the second capturing cables are made of flexible materials.

Preferably, a tray is arranged at one end, corresponding to the capturing net, of the transmission shaft, the central rigid body is connected to the end portion of the transmission shaft in an absorbing mode, the mass block is connected in the tray in an absorbing mode, and the capturing net is wound in the tray.

Preferably, the space bionic flexible capturing device further comprises a power assembly, the driving assembly is electrically connected with the power assembly, the transmission shaft is made of an electromagnet material, a conductive slip ring is rotatably connected to the transmission shaft, the transmission shaft is electrically connected with the power assembly through the conductive slip ring, and the mass block and the central rigid body are both adsorbed on the transmission shaft through magnetic force.

Further preferably, the space bionic flexible capturing device further comprises an adsorption component, the adsorption component comprises a plurality of electromagnets surrounding the transmission shaft, and each electromagnet is electrically connected with the power component.

Preferably, the space bionic flexible capturing device further comprises a support assembly, wherein the support assembly comprises a mounting frame, a connecting cylinder and a containing barrel which are sequentially connected, two ends of the connecting cylinder are opened, one end of the containing barrel is opened, and the other end of the containing barrel is provided with a communicating hole;

drive assembly establishes on the mounting bracket, adsorption component is located the receiver, the one end of transmission shaft is located the mounting bracket and links to each other with the drive assembly transmission, the other end of transmission shaft passes and lies in the receiver behind connecting cylinder, the intercommunicating pore and is close to the receiver open-ended position.

Further preferably, the transmission assembly further comprises a bearing seat arranged in the connecting cylinder, a shaft snap spring and a bearing, the bearing seat is fixedly connected with the connecting cylinder, the bearing is sleeved on the connecting shaft and is connected with the bearing seat in a rotating mode, and the shaft snap spring is sleeved on the connecting shaft and is attached to the bearing to prevent axial movement of the bearing.

In order to achieve the purpose, the invention also discloses a ground test system of the space bionic flexible capturing device, which comprises a test frame, a target platform, a camera device, a data acquisition device and the space bionic flexible capturing device;

the space bionic flexible capturing device is arranged on the test stand, and one end of the space bionic flexible capturing device, which is provided with the capturing component, faces the target platform;

the space between the target platform and the space bionic flexible capturing device is located in a shooting field of the camera device, and the data acquisition device is electrically connected with the camera device.

Further preferably, the bionic space capture device further comprises a light source, and the space between the target platform and the space bionic flexible capture device is located on the light path of the light source.

More preferably, the imaging device is a high-speed camera.

According to the space bionic flexible capturing device and the ground test system thereof, the central rigid body and the mass block are connected to the transmission shaft in an adsorption mode, so that the central rigid body and the mass block fall off in the rotating process of the transmission shaft, the capturing net is unfolded and released under the action of rotating centrifugal force, and the winding problem and the composition maintaining problem in the unfolding process of the net body are further effectively solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a spatial bionic flexible capture device in an embodiment of the invention;

FIG. 2 is a schematic diagram of a capture net according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a ground testing system in an embodiment of the present invention;

FIG. 4is a physical schematic diagram of an acquisition network in an embodiment of the invention;

FIG. 5 is a solid line diagram of a capture net in an embodiment of the invention;

FIG. 6 is a schematic illustration of a capture net rotation deployment test procedure in an embodiment of the present invention;

FIG. 7 is a line drawing illustrating a test procedure for the rotational deployment of a capture net in an embodiment of the present invention;

FIG. 8 is a schematic diagram of a capture net capture test scenario in an embodiment of the present invention;

FIG. 9 is a line drawing of a capture net capture test scenario in an embodiment of the present invention;

FIG. 10 is a schematic diagram of a capture net capture test process in an embodiment of the invention;

FIG. 11 is a line drawing of a capture net capture test process in an embodiment of the present invention;

FIG. 12 is a schematic illustration of the results of a capture net capture test in an embodiment of the invention;

fig. 13 is a line graph of the results of the capture net capture test in the example of the invention.

The reference numbers illustrate: 1-a motor base; 2-a drive assembly; 3, driving a shaft; 5-a power assembly; 601-bearing seat 601; 602-snap spring for shaft; 603-a bearing; 604-conductive slip rings; 701-capture net; 702-a central rigid body; 703-a tray; 704-a mass; 801-an electromagnet; 901-a light source; 902-test rack; 903-target platform; 904-camera means; 905-data acquisition means.

The implementation, functional features and advantages of the objects of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implying any number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable manner, unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present invention.

The space bionic flexible capturing device shown in fig. 1 comprises a capturing component, a transmission component, a driving component 2 and a power component 5. The capturing assembly comprises a central rigid body 702, a capturing net 701 and a mass body 704, wherein the central rigid body 702 is connected to the central position of the capturing net 701, the number of the mass bodies 704 is multiple, the mass bodies are arranged at the edge position of the capturing net 701 at intervals, and the mass body 704 and the central rigid body 702 are both made of metal with magnetic adsorption capacity.

Referring to fig. 2, in this embodiment, the capturing net 701 is a bionic capturing net 701, and specifically includes a plurality of radially distributed first capturing cables, and every two adjacent first capturing cables are connected by a plurality of spaced second capturing cables, so that the bionic capturing net 701 forms a spider-web structure. The first catching rope 21 and the second catching rope 22 are made of PE fishing lines. The inward ends of the first capturing cables are connected to the central rigid body 702 to form an annular structure, the number of the mass blocks 704 corresponds to the number of the first capturing cables, the mass blocks 704 are connected to the other ends of the corresponding first capturing cables, and the first capturing cables and the second capturing cables are made of flexible materials.

Preferably, the central rigid body 702 has an octagonal plate-shaped structure, and the number of the first catching cables is eight, so that the catching net 701 forms an octagonal spider net structure, and the catching net 701 of the spider net structure can effectively improve the stability of the net structure and accelerate energy dissipation after catching space debris.

The transmission assembly comprises a transmission shaft 3, one end of the transmission shaft 3 is in transmission connection with the driving assembly 2, and the central rigid body 702 and the mass block 704 are in adsorption connection with the other end of the transmission shaft 3, so that the central rigid body 702 and the mass block 704 fall off in the rotation process of the transmission shaft 3 and the capture net 701 is unfolded and released under the action of rotation centrifugal force. Wherein, the central rigid body 702 and the mass block 704 are adsorbed on the transmission shaft 3 by magnetic force adsorption or a sucker; specifically, the transmission shaft 3 is made of an electromagnet 801 material, the transmission shaft 3 is rotatably connected with a conductive slip ring 604, the transmission shaft 3 is electrically connected with the power assembly 5 through the conductive slip ring 604, the transmission assembly generates magnetic force under the condition that the power assembly 5 provides electric power, and then the mass block 704 and the central rigid body 702 are adsorbed on the transmission shaft 3 through the magnetic force.

Preferably, a tray 703 is provided on the end of the transmission shaft 3 corresponding to the capturing net 701, the central rigid body 702 is connected to the end of the transmission shaft 3 in an absorbing manner, the mass 704 is connected to the tray 703 in an absorbing manner, and the capturing net 701 is wound around the tray 703. The tray 703 is made by the electro-magnet 801 material, through add tray 703 at the tip of transmission shaft 3, can play the effect of accomodating the storage to catching net 701, also can play the effect that the area expands to the tip of transmission shaft 3 for the tip of transmission shaft 3 has bigger area and is used for adsorbing center rigid body 702 and quality piece 704, further makes catching net 701 can regular coiling at transmission shaft 3 tip, in order to promote subsequent rotatory effect of expandeing.

Preferably, the space bionic flexible capturing device further comprises an adsorption component, the adsorption component comprises a plurality of electromagnets 801 surrounding the middle part of the transmission shaft 3 and corresponding to the mass blocks 704 one by one, and specifically, a straight line where the electromagnets 801 and the corresponding mass blocks 704 are located is parallel to the axis of the transmission shaft 3; each electromagnet 801 is electrically connected with the power assembly 5; the electromagnet 801 generates a magnetic force when the power assembly 5 provides power, and further generates an inward attraction effect on the mass block 704, wherein the inward direction is from one end of the transmission shaft 3 to the other end of the capturing net 701, so that the mass block 704 can be attracted onto the transmission shaft more stably.

The space bionic flexible capturing device also comprises a support assembly, wherein the support assembly comprises a mounting frame, a connecting cylinder and a containing barrel which are sequentially connected, two ends of the connecting cylinder are opened, one end of the containing barrel is opened, and the other end of the containing barrel is provided with a communicating hole; drive assembly 2 establishes on the mounting bracket, and adsorption component is located the receiver, and the one end of transmission shaft 3 is located the mounting bracket and links to each other with drive assembly 2 transmission, and the other end of transmission shaft 3 passes and lies in the receiver behind connecting cylinder, the intercommunication hole and be close to the receiver open-ended position.

The transmission assembly further comprises a bearing seat 601, a shaft clamp spring 602 and a bearing 603 which are arranged in the connecting cylinder, the bearing seat 601 is fixedly connected to the connecting cylinder, the bearing 603 is sleeved on the connecting shaft and is rotationally connected with the bearing seat 601, and the shaft clamp spring 602 is sleeved on the connecting shaft and is attached to the bearing 603 to prevent the bearing 603 from axially shifting.

In the embodiment, the mounting frame is cylindrical, the diameter of the mounting frame is 100mm, and a 6061 aluminum alloy material is selected as the motor base 1; the driving component 2 is a Rasai 57CM12X stepping motor, the motor holding torque is 1.2 N.M, the rated voltage is 2.4V, the positioning torque is 0.026 N.M, and the weight is 0.7 kg; the electromagnet 801 is a P20/15 direct current suction cup type electromagnet 801; the power assembly 5 adopts a 24V direct current adapter; the conductive slip ring 604 is a 6-way, 5A type conductive slip ring 604.

The working process of the space bionic flexible capturing device in the embodiment is as follows: in an initial state, the capturing net 701 is coiled in the tray 703, and the power assembly 5 is started to enable the power assembly 5 to provide power for the transmission shaft 3 and the electromagnet 801, so that the central rigid body 702 is adsorbed at the end of the transmission shaft 3, and the mass blocks 704 are adsorbed in the tray 703 along the annular interval; when space debris needs to be captured, the power assembly 5 provides power for the driving assembly 2 to enable the team assembly to start running, and further drive the transmission shaft 3 to rotate, after the rotating speed of the transmission shaft 3 reaches a certain numerical value, the power assembly 5 stops supplying power to the transmission shaft 3 and the electromagnet 801, so that the magnetic force of the transmission shaft 3 and the electromagnet 801 disappears, so that the central rigid body 702, the mass block 704 falls off from the transmission shaft 3 and the tray 703, and the capturing net 701 is driven to rotate, so that the capturing net 701 is unfolded and released under the action of rotating centrifugal force, and further the winding problem and the maintenance problem of the net body in the unfolding process are effectively solved.

In order to verify the effectiveness of the capture net 701 in rotating and expanding a dynamic model and a collision dynamic model, ground test research of a flexible capture device of the spider net is developed. As shown in fig. 3, the present embodiment further discloses a ground testing system for a space bionic flexible capturing device, which includes a light source 901, a testing stand 902, a target platform 903, a camera 904, a data acquisition device 905, and the space bionic flexible capturing device, wherein the camera is a high-speed camera, and the data acquisition device is a general-purpose computer. The space bionic flexible capturing device is arranged on the test stand, and one end with the capturing component faces the target platform; the space between the target platform and the space bionic flexible capturing device is positioned in a shooting field of the image pickup device, and the data acquisition device is electrically connected with the image pickup device. The space between the target platform and the space bionic flexible capturing device is positioned on the light path of the light source.

The ground testing system employs a small capture net 701. As shown in figures 4-5, the catching net 701 is of an octagonal structure, the diagonal diameter of the net body structure is 1000mm, the diameter of the rope section is 0.3mm, the net body is woven by polyethylene fiber materials, and the material parameters are shown in Table 1. The mass block 704 is a magnetic iron block, and the mass of a single magnetic mass block 704 is 5 g.

Table 1 acquisition web 701 material parameters

Firstly, a ground verification test of the rotation and the expansion of a capture net 701 net is carried out

The shooting frequency selected by the high-speed camera adopted in the test is 400HZ, namely the camera can obtain 400 frame sequence images per second. The main purpose of the test is to verify the feasibility of the rotary expansion of the capture net 701, the transmission shaft 3 is driven to rotate by the speed regulating motor when the test is started, after the test is debugged for many times, the net body is demagnetized and pulled by the magnetic quality block 704 to realize the rotary expansion effect after the rotating speed of the motor reaches 460 revolutions/mi n. It can be seen from the dynamic process of the high-speed camera shooting that the numerical simulation result is basically consistent with the actual rotating and unfolding effect, the accuracy of the rotating and unfolding dynamic model and the feasibility of the rotating and unfolding of the capture net 701 are fully verified, the dynamic display of the rotating and unfolding ground test is shown in fig. 6-7, and the typical state of the capture net 701 in the unfolding process is selected in fig. 6-7.

Secondly, a ground verification test of the capturing effect of the capturing net 701 is carried out

The purpose of the test is to test the capture effect of the "spider web" flexible capture device and to verify the collision dynamics model, and fig. 8 to 9 show the capture test scene of the capture web 701. The dynamic pictures shot by the high-speed camera are analyzed by selecting the typical change time of the net shape posture during the collision process of the capture net 701 and the target body, as shown in fig. 10-11. As can be seen from fig. 10 to 11, in the process of the capturing net 701 colliding with the target body and wrapping, the simulated net body form change based on the collision dynamics model is basically consistent with the net body form change in the ground test, and the closing state of the net body after capturing the target is slightly different due to the influence of the earth gravity, the weaving error of the capturing net 701 in the ground test, and the like. Catch effect ground validation test results are shown in fig. 12-13. In general, the test result can better verify the accuracy of the collision dynamics model.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.