Single-Driven Space Truss Type Deployable Variable Cell Capture Manipulator

Abstract

The present invention provides a single-driven spatial truss type deployable variable-cell capture manipulator, which comprises a base and a plurality of truss type deployable mechanical fingers; the plurality of truss type deployable mechanical fingers are evenly distributed on the base; the first ends of the truss type deployable mechanical fingers are connected to the base, and the second ends of the plurality of truss type deployable mechanical fingers are close to each other to form a grasping action; the truss type deployable mechanical finger comprises a first deployable unit and a second deployable unit, the first end of the first deployable unit is connected to the side wall of the base, and the second end of the first deployable unit is connected to one end of the second deployable unit. The present invention realizes the grasping action through the mutual cooperation between the plurality of truss type deployable mechanical fingers. The truss type deployable mechanical fingers are assembled by a plurality of scissor assemblies, which simplifies the overall structure of the device. Moreover, only active driving is relied on in the deployable unit, making the device easy to operate.

Description

Technical Field

[0001] The invention belongs to the field of large deployable space mechanisms, and particularly relates to a single-drive space truss-type deployable variable cell capture manipulator, which can be applied to the capture task of large non-cooperative targets in aerospace space. Background Art

[0002] With the progress and development of human science and technology, countries have explored the cosmic space more deeply. A large number of detectors and satellites have been launched into the circumterrestrial orbit, and more and more detectors have accumulated in the orbits around the earth. Some of them have failed due to mechanical failures, fuel exhaustion, or electromagnetic interference, not only cannot be used continuously but also occupy the operating orbit space, hindering subsequent exploration and launch work. If these failed devices can be captured and recycled in orbit, a large amount of cost can be saved. On the other hand, there are a large number of asteroids or meteorite fragments around the earth's orbit, which not only pose a threat to the detectors operating in orbit but also may carry minerals or elements unknown to humans at present, having certain capture value.

[0003] Among the existing common space capture technologies, generally, they are all for capturing cooperative targets, such as flying claw capture, docking ring capture, etc. Due to the lack of docking devices, they cannot effectively capture non-cooperative targets. And currently, the flying net technology and truss-type grasping technology applied to the capture of non-cooperative targets. The former is extremely complex to adjust the pose due to the flexible net and is difficult to operate; the latter occupies too much space during the transportation process. Therefore, there is an urgent need to study a new manipulator to solve the above deficiencies. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the invention provides a single-drive space truss-type deployable variable cell capture manipulator. For the above problems, in an ideal space capture task, the grasping manipulator should maintain a compact state during transportation to save transportation space; it can be deployed to obtain a large enough configuration during grasping, and the deployment movement and the grasping movement are decoupled; it has the advantages of high stiffness, good maneuverability, simple drive, and can capture non-cooperative targets. Specifically, by arranging a plurality of deployable units in the truss-type deployable mechanical finger, the complete truss-type deployable mechanical finger is realized. At the same time, the plurality of deployable units are only driven by one active drive rod, so that synchronization can be carried out everywhere, thus realizing a convenient and fast grasping action; the mutual cooperation between the first slider, the second slider, the first scissors rod and the second scissors rod makes the operation of the device more flexible and convenient.

[0005] To achieve the above object, the invention discloses the following technical solutions:

[0006] A single-driven space truss type deployable variable cell capture manipulator, which comprises a base and a plurality of truss type deployable mechanical fingers; the plurality of truss type deployable mechanical fingers are evenly distributed on the base; the first ends of the truss type deployable mechanical fingers are connected to the base, and the second ends of the plurality of truss type deployable mechanical fingers approach each other to form a grasping action; the truss type deployable mechanical finger comprises a first deployable unit and a second deployable unit, the first end of the first deployable unit is connected to the side wall of the base, and the second end of the first deployable unit is connected to one end of the second deployable unit; the first deployable unit and the second deployable unit have the same structure and both comprise a first platform, a second platform and a scissor assembly; the first platform and the second platform have the same structure and are both provided with a first support rod and a second support rod; both ends of the scissor assembly are respectively connected to the first support rods of the first platform and the second platform; the scissor assembly comprises a first slider, a second slider, a first scissor rod and a second scissor rod; the first end of the first scissor rod is hinged to one end of the first slider, the first slider is sleeved on the first support rod of the first platform, and the first slider can move on the first support rod of the first platform, the second end of the first scissor rod is hinged to the first end of the second scissor rod, the second end of the second scissor rod is connected to one end of the second slider, the second slider is sleeved on the first support rod of the second platform, and the second slider can move on the first support rod of the second platform; a driving rod is arranged in the first deployable unit, the first end of the driving rod is connected to the first platform of the first deployable unit, the second end of the driving rod is connected to the second platform of the first deployable unit, and the second end of the driving rod is in gear engagement with one end of the driven rod, so as to drive the driven rod to move; a driven rod is arranged in the second deployable unit, the first end of the driven rod is connected to the first platform of the second deployable unit, and the second end of the driven rod is connected to the second platform.

[0007] Preferably, a plurality of second deployable units are provided on the truss-type deployable robotic finger, and the plurality of second deployable units are connected to each other; the scissor assembly includes two first sliders, two second sliders, two first scissor rods, and two second scissor rods; the two first scissor rods are arranged in a crosswise manner; the two second scissor rods are arranged in a crosswise manner; a platform and a slider are shared between adjacent second deployable units; the driven rod includes a first driven rod and a second driven rod, and the first driven rod and the second driven rod are alternately arranged on the plurality of second deployable units; the first end of the first driven rod is connected to the apex angle of the first platform and is engaged with a lower-layer driven rod or an active driving rod by gears; the second end of the first driven rod is connected to the second support rod of the second platform and is engaged with the second driven rod of the upper layer by gears or left vacant; the first end of the second driven rod is connected to the second support rod of the first platform and is engaged with the first driven rod of the lower layer by gears, and the second end of the second driven rod is connected to the apex angle of the second platform and is engaged with the first driven rod of the upper layer by gears or left vacant; when the active driving rod moves, it drives the plurality of driven rods above through gear engagement to drive the separation of the first platform and the second platform to realize the deployment of the truss-type deployable robotic finger, and finally, through the movement of a plurality of active driving rods, a plurality of truss-type deployable robotic fingers complete the grasping action.

[0008] Preferably, a slide rail is provided on the first deployable unit, and the intersection of the two first scissor rods of the first deployable unit is connected to the slide rail through a third slider. A bearing is provided at the connection between the third slider and the intersection of the two first scissor rods of the first deployable unit, so that the two first scissor rods of the first deployable unit can slide up and down along the slide rail, so that the second scissor rod above and the first and second scissor rods of the second deployable unit all extend along the sliding direction of the slide rail.

[0009] Preferably, the second end of the second scissor rod is arranged at an angle of 130° with the first end of the second scissor rod, so that the second ends of the two second scissor rods are in a parallel state when the deployable unit is deployed.

[0010] Preferably, the first slider and the second slider have the same structure, and both include a hinge joint and a sliding block. The hinge joint is arranged at the first end of the sliding block, and a through hole for the first support rod or the second support rod to pass through is provided on the side wall of the sliding block.

[0011] Preferably, a spherical shell is further provided on the second slider of the first deployable unit and the second deployable unit and the first slider of the second deployable unit. The spherical shell is arranged at the second end of the sliding block, and a groove for restricting the movement direction of the ball head of the connecting piece on the second scissor rod is provided on the spherical shell.

[0012] Preferably, a connecting member is provided at the joint between the spherical shell of the second scissors rod and the second slider. The first end of the connecting member is inserted into the groove at the second end of the second scissors rod and fixedly connected to the second scissors rod. The second end of the connecting member is inserted into the spherical shell to form a spherical kinematic pair.

[0013] Preferably, when the truss-type deployable robotic finger is deployed to a specific position, a constraint occurs between the first end of the connecting member and the spherical shell. The first end of the connecting member then moves along the direction of another groove of the spherical shell. At this time, each layer of deployable unit reaches the maximum deployment position and stops lengthwise deployment. At this time, if the active driving rod continues to extend, the parallel state between the first platform and the second platform of each layer gradually changes to a crossed state, and the crossing angle gradually increases, finally realizing the bending of the truss-type deployable robotic finger. The bending of multiple truss-type deployable robotic fingers realizes the grasping action of the robotic hand.

[0014] Preferably, in the truss-type deployable robotic finger, the active driving rod and the driven rod drive the first scissors rod and the second scissors rod of each layer respectively, so as to realize the separation and approach of the first platform and the second platform. When the second scissors rod and the second slider of each layer reach the designated position, the cooperation between the spherical shell and the connecting member of each layer will limit the displacement of the two second scissors rods and the two first scissors rods, so that the first scissors rod and the second scissors rod stop moving to meet the bending action of the truss-type deployable robotic finger.

[0015] Preferably, when multiple truss-type deployable robotic fingers are in an aggregated state, multiple truss-type deployable robotic fingers are in the same plane state; when multiple truss-type deployable robotic fingers are in a deployed state, multiple truss-type deployable robotic fingers form the shape of a robotic hand.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) By providing multiple truss-type deployable robotic fingers, the present invention enables them to maintain a folded state during transportation, saving transportation space; during the grasping action, the deployable unit, through the cooperation of the first slider, the second slider, the first scissors rod, the second scissors rod, the active driving rod and the driven rod, enables the device to have high stiffness and can apply a stable grasping force to the grasping target, being suitable for large non-cooperative target grasping tasks with high reliability.

[0018] (2) The present invention adopts single drive. The active driving rod and the driven rod are connected by gear meshing. Only the active driving in each truss-type deployable robotic finger provides driving force, and the first scissors rod and the second scissors rod are driven. When reaching a specific position, the spherical shell will limit the operation of the first scissors rod and the second scissors rod, while the active driving still extends, so that the mechanism undergoes an angular change, and then the overall deployable unit of each layer of the robotic hand undergoes synchronous changes.

[0019] (3) The present invention has high expandability and can expand the number of deployable units according to the size range of the captured target. The second deployable unit can be increased according to requirements, increasing the envelope area of the grasping surface and improving the grasping reliability. At the same time, there are many common parts between the deployable units, and the structure is simple and easy to implement engineering manufacturing. Description of the Drawings

[0020] Figure 1 is a schematic diagram of the overall structure in the fully deployed state of the present invention;

[0021] Figure 2 is a schematic diagram of the overall structure in the capturing state of the present invention;

[0022] Figure 3 is a schematic diagram of the folding state after the combination of the first deployable unit and the second deployable unit of the present invention;

[0023] Figure 4 is an axonometric view after the combination of the first deployable unit and the second deployable unit of the present invention;

[0024] Figure 5 is a schematic diagram of the structure of the first deployable unit of the present invention;

[0025] Figure 6 is a schematic diagram of the combined structure of the first driven rod and the second deployable unit of the present invention;

[0026] Figure 7 is a schematic diagram of the combined structure of the second driven rod and the second deployable unit of the present invention;

[0027] Figure 8 is a schematic diagram of the structure of the active drive rod and the driven drive rod of the present invention;

[0028] Figure 9 is a schematic diagram of the structure of the first platform and the second platform of the present invention;

[0029] Figure 10 is a schematic diagram of the combined structure of the first scissor rod and the second scissor rod of the present invention;

[0030] Figure 11 is a schematic diagram of the structure of the first slider and the second slider of the present invention;

[0031] Figure 12 is a schematic diagram of the structure of the third slider of the present invention;

[0032] Figure 13 is an enlarged view of the meshing part of the active drive rod and the driven rod of the present invention.

[0033] Descriptions of some of the drawings in the drawings are as follows:

[0034] 1. Base; 2. Truss-type deployable robotic finger; 3. First platform; 4. Second platform; 5. Active drive rod; 6. Third slider; 7. First slider; 8. Second slider; 9. First scissor rod; 10. Second scissor rod; 11. Slide rail; 12. Hinge joint; 13. Spherical shell; 14. Sliding block; 15. Scissor assembly; 16. First support rod; 17. Second support rod; 18. Connection end; 19. Connector; 20. Driven rod; 21. Slider end. Detailed implementation

[0035] The exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. Identical reference numerals in the drawings denote functionally identical or similar elements. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0036] The present invention provides a single-drive spatial truss-type deployable variable-cell capture manipulator, as Figures 1-13 shown, comprising a base 1 and a plurality of truss-type deployable robotic fingers 2; the plurality of truss-type deployable robotic fingers 2 are evenly distributed on the base 1; the first ends of the truss-type deployable robotic fingers 2 are connected to the base 1, and the second ends of the plurality of truss-type deployable robotic fingers 2 approach each other to form a grasping action.

[0037] The truss-type deployable robotic finger 2 includes a first deployable unit and a second deployable unit. The first end of the first deployable unit is connected to the side wall of the base 1, and the second end of the first deployable unit is connected to one end of the second deployable unit.

[0038] The first deployable unit and the second deployable unit have the same structure and both include a first platform 3, a second platform 4, and a scissor assembly 15; both ends of the scissor assembly 15 are respectively connected to the first support rod 16 of the first platform 3 and the first support rod 16 of the second platform 4; the scissor assembly 15 includes a first slider 7, a second slider 8, a first scissor rod 9, and a second scissor rod 10; the first end of the first scissor rod 9 is hinged to one end of the first slider 7, the first slider 7 is sleeved on the first support rod 16 of the first platform 3, and the first slider 7 can move on the first support rod 16 of the first platform 3. The second end of the first scissor rod 9 is hinged to the first end of the second scissor rod 10, the second end of the second scissor rod 10 is connected to one end of the second slider 8, the second slider 8 is sleeved on the first support rod 16 of the second platform 4, and the second slider 8 can move on the first support rod 16 of the second platform 4.

[0039] The first platform 3 and the second platform 4 have the same structure and are both provided with a first support rod 16 and a second support rod 17.

[0040] An active driving rod 5 is arranged in the first deployable unit. The first end of the active driving rod 5 is connected to the first platform 3 of the first deployable unit, and the second end of the active driving rod 5 is connected to the second platform 4 of the first deployable unit. Moreover, the second end of the active driving rod 5 is in gear engagement with one end of a driven rod 20, thereby driving the driven rod 20 to move.

[0041] A driven rod 20 is arranged in the second deployable unit. The first end of the driven rod 20 is connected to the first platform 3 of the second deployable unit, and the second end of the driven rod 20 is connected to the second platform 4.

[0042] A plurality of second deployable units are arranged on the truss - type deployable robotic finger 2, and the plurality of second deployable units are connected to each other; the scissor assembly 15 includes two first sliders 7, two second sliders 8, two first scissor rods 9 and two second scissor rods 10.

[0043] The two first scissor rods 9 are arranged in a cross - shape; the two second scissor rods 10 are arranged in a cross - shape.

[0044] Adjacent second deployable units share a platform and a slider; the driven rod 20 includes a first driven rod and a second driven rod, and the first driven rod and the second driven rod are alternately arranged on the plurality of second deployable units.

[0045] The first end of the first driven rod is connected to the vertex angle of the first platform 3 and is in gear engagement with the lower - layer driven rod 20 or the active driving rod 5.

[0046] The second end of the first driven rod is connected to the second support rod 17 of the second platform 4 and is in gear engagement with the upper - layer second driven rod or is vacant.

[0047] The first end of the second driven rod is connected to the second support rod 17 of the first platform 3 and is in gear engagement with the lower - layer driven rod 20.

[0048] The second end of the second driven rod is connected to the vertex angle of the second platform 4 and is in gear engagement with the upper - layer first driven rod or is vacant.

[0049] When the active driving rod 5 moves, it drives the plurality of driven rods 20 above through gear engagement, realizes the separation of the first platform 3 and the second platform 4 to deploy the truss - type deployable robotic finger 2, and finally, through the movement of the plurality of active driving rods 5, enables the plurality of truss - type deployable robotic fingers 2 to complete the grasping action.

[0050] A slide rail 11 is provided on the first deployable unit. The intersection of the two first scissor bars 9 of the first deployable unit is connected to the slide rail 11 through a third slider 6. A bearing is provided at the connection between the third slider 6 and the intersection of the two first scissor bars 9 of the first deployable unit, so that the two first scissor bars 9 of the first deployable unit can slide up and down along the slide rail 11, thereby enabling the upper second scissor bar 10 and the first scissor bar 9 and the second scissor bar 10 of the second foldable and deployable unit to all extend along the sliding direction of the slide rail 11.

[0051] The second end of the second scissor bar 10 is arranged at an angle of 130° with the first end of the second scissor bar 10, so that when the deployable unit is deployed, the second ends of the two second scissor bars 10 are in a parallel state, thereby strengthening the support strength for the upper deployable unit.

[0052] The first slider 7 and the second slider 8 have the same structure, and both include a hinge head 12 and a sliding block 14. The hinge head 12 is arranged at the first end of the sliding block 14, and a through hole for the first support rod 16 or the second support rod 17 to pass through is provided on the side wall of the sliding block 14.

[0053] A spherical shell 13 is further provided on the second slider 8 of the first deployable unit and the second deployable unit and the first slider 7 of the second deployable unit. The spherical shell 13 is arranged at the second end of the sliding block 14, and a groove for restricting the movement direction of the ball head of the connecting member 19 on the second scissor bar 10 is provided on the spherical shell 13.

[0054] The spherical shell 13 is not provided on the first slider 7 on the first deployable unit, so as to prevent damage to the base 1 when the first scissor bar 9 and the second scissor bar 10 are expanded and contracted, and facilitate the movement of the first deployable unit.

[0055] A connecting member 19 is provided at the connection between the second scissor bar 10 and the spherical shell 13 of the second slider 8. The first end of the connecting member 19 is inserted into the groove at the second end of the second scissor bar 10 and fixedly connected to the second scissor bar 10. The second end of the connecting member 19 is inserted into the spherical shell 13 to form a spherical kinematic pair, so that the second scissor bar 10 can rotate freely when extending or contracting without jamming.

[0056] When the truss-type deployable robotic finger 2 is deployed to a specific position, a constraint occurs between the first end of the connecting member 19 and the spherical shell 13. The first end of the connecting member 19 then moves along the direction of another groove of the spherical shell 13. At this time, each layer of the deployable unit reaches the maximum deployment position and stops expanding in length. At this time, when the active driving rod 5 continues to extend, the parallel state between the first platform 3 and the second platform 4 of each layer gradually changes to a crossed state, and the crossing angle gradually increases, finally realizing the bending of the truss-type deployable robotic finger 2. The bending of multiple truss-type deployable robotic fingers 2 realizes the grasping action of the manipulator.

[0057] In the truss - type deployable robotic finger 2, the active drive rod 5 and the driven rod 20 drive the first scissor rods 9 and the second scissor rods 10 of each layer to move respectively, so as to realize the separation and approach of the first platform 3 and the second platform 4. When the second scissor rods 10 of each layer and the second sliders 8 reach the designated positions, the cooperation between the spherical shells 13 and the connectors 19 of each layer will limit the displacements of the two second scissor rods 10 and the two first scissor rods 9, so that the first scissor rods 9 and the second scissor rods 10 stop moving to meet the bending action of the truss - type deployable robotic finger 2.

[0058] When multiple truss - type deployable robotic fingers 2 are in the aggregated state, the multiple truss - type deployable robotic fingers 2 are in the same plane; when multiple truss - type deployable robotic fingers 2 are in the deployed state, the multiple truss - type deployable robotic fingers 2 form the shape of a manipulator.

[0059] The third slider 6 includes a slider end 21 and a connection end 18. The slider end 21 is arranged in the slide rail 11 and can slide in the slide rail 11. The connection end 18 is connected to the intersection of the two first scissor rods 9 of the first deployable unit through a bearing, so that the angle change of the two first scissor rods 9 is not affected by the third slider 6.

[0060] The connections between the first scissor rods 9 and the second scissor rods 10, between the first scissor rods 9 and the first platform 3, between the active drive rod 5 and the first platform 3 and the second platform 4, and between the driven rod 20 and the first platform 3 and the second platform 4 are all movable connections. When changing angles, they are not affected by each other, but they are all driven by each other to move or change angles.

[0061] During the working state:

[0062] A plurality of truss - type deployable robotic fingers 2 around the base 1 change from the folded state to the bent form, i.e., the capture form; during this process, the active drive rod 5 in each truss - type deployable robotic finger 2 starts to push, so that the first scissor rod 9 and the second scissor rod 10 in the first deployable unit are gradually extended. At the same time, the active drive rod 5 drives the driven rod 20 to move through the gear meshing with the driven rod 20, so that the driven rod 20 drives the first scissor rod 9 and the second scissor rod 10 in the second deployable unit to be gradually extended. This process is carried out synchronously, so it can be deployed synchronously and rapidly; when the connecting piece 19 on the second scissor rod 10 in each of the first deployable unit and the second deployable unit, in this embodiment, the connecting piece 19 is a ball head with a connecting rod, and the connecting piece 19 rotates to a specific angle with the ball shell 13 of the second slider 8 and gets stuck, restricting the extension of the second scissor rod 10 and at the same time restricting the extension of the first scissor rod 9. At this time, the second end of the second scissor rod 10 is in a relatively parallel state with the second platform 4. After reaching this state, the first platform 3 and the second platform 4 in the deployable unit gradually deviate from the parallel state, that is, the distance between the first platform 3 and the second platform 4 on one side of the first scissor rod 9 and the second scissor rod 10 remains unchanged, and the distance on the opposite side gradually increases because the active drive rod 5 drives the driven rod 20 to continue to move, so as to finally realize the bending of the truss - type deployable robotic finger 2. When all the truss - type deployable robotic fingers 2 reach the bent state, the capture form transformation is completed.

[0063] When retracting back to the folded state, the active drive rod 5 drives the driven drive rod to do the reverse movement of the above - mentioned process, thereby reducing the distance between the first platform 3 and the second platform 4, making the first platform 3 and the second platform 4 gradually become parallel. After the first platform 3 and the second platform 4 are in a parallel state, the active drive rod 5, the driven rod 20, the first scissor rod 9 and the second scissor rod 10 move synchronously, so that the first platform 3 and the second platform 4 gradually reduce the distance between them while maintaining the parallel state.

[0064] A slide rail 11 is arranged on the first deployable unit. When changing to the capture state, by restricting the movement of the third slider 6 on the slide rail 11, the movement directions of the first scissor rod 9 and the second scissor rod 10 of the first deployable unit are restricted, thereby controlling the deployment directions of the plurality of second deployable units above.

[0065] The above - mentioned embodiments only describe the preferred implementation manners of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A single-driven spatial truss type deployable variable cell capture manipulator, characterized in that, It includes a base and multiple truss - type deployable robotic fingers; the multiple truss - type deployable robotic fingers are evenly distributed on the base; the first end of the truss - type deployable robotic finger is connected to the base, and the second ends of the multiple truss - type deployable robotic fingers approach each other to form a grasping action. The truss - type deployable robotic finger includes a first deployable unit and a second deployable unit. The first end of the first deployable unit is connected to the side wall of the base, and the second end of the first deployable unit is connected to one end of the second deployable unit. The first deployable unit and the second deployable unit have the same structure, both including a first platform, a second platform, and a scissor assembly. The first platform and the second platform have the same structure, both being provided with a first support rod and a second support rod. Both ends of the scissor assembly are respectively connected to the first support rods of the first platform and the second platform; the scissor assembly includes a first slider, a second slider, a first scissor rod, and a second scissor rod. The first end of the first scissor rod is hinged to one end of the first slider. The first slider is sleeved on the first support rod of the first platform, and the first slider can move on the first support rod of the first platform. The second end of the first scissor rod is hinged to the first end of the second scissor rod. The second end of the second scissor rod is connected to one end of the second slider. The second slider is sleeved on the first support rod of the second platform, and the second slider can move on the first support rod of the second platform. An active driving rod is arranged in the first deployable unit, and a driven rod is arranged in the second deployable unit. The first end of the active driving rod is connected to the first platform of the first deployable unit, and the second end of the active driving rod is connected to the second platform of the first deployable unit. And the second end of the active driving rod is in gear engagement with one end of the driven rod, thereby driving the driven rod to move. The first end of the driven rod is connected to the first platform of the second deployable unit, and the second end of the driven rod is connected to the second platform. The first slider and the second slider have the same structure, both including a hinge head and a sliding block. The hinge head is arranged at the first end of the sliding block, and through - holes for the first support rod or the second support rod to pass through are formed in the side wall of the sliding block. Spherical shells are further arranged on the second sliders of the first deployable unit and the second deployable unit and the first slider of the second deployable unit. The spherical shells are arranged at the second end of the sliding block, and grooves for restricting the movement direction of the spherical head of the connecting part on the second scissor rod are formed in the spherical shells.

2. The single-drive spatial truss type deployable variable-cell capture manipulator according to claim 1, characterized in that: Multiple second deployable units are arranged on the truss - type deployable robotic finger, and the multiple second deployable units are connected to each other. The scissor assembly includes two first sliders, two second sliders, two first scissor rods, and two second scissor rods; the two first scissor rods are cross - arranged; the two second scissor rods are cross - arranged; adjacent second deployable units share a platform and a slider. The driven rod includes a first driven rod and a second driven rod, and the first driven rod and the second driven rod are alternately arranged on multiple second deployable units. The first end of the first driven rod is connected to the vertex angle of the first platform and is in gear engagement with the lower-layer driven rod or the active driving rod; the second end of the first driven rod is connected to the second support rod of the second platform and is in gear engagement with or vacant from the second driven rod of the upper layer. The first end of the second driven rod is connected to the second support rod of the first platform and is in gear engagement with the first driven rod of the lower layer. The second end of the second driven rod is connected to the vertex angle of the second platform and is in gear engagement with or vacant from the first driven rod of the upper layer. When the active driving rod moves, it drives the multiple driven rods above through gear engagement, realizes the separation of the first platform and the second platform to achieve the unfolding of the truss-type deployable robotic finger, and finally completes the grasping action of the multiple truss-type deployable robotic fingers through the movement of the multiple active driving rods.

3. The single-drive space truss type deployable variable-cell capture manipulator according to claim 2, characterized in that: A slide rail is provided on the first deployable unit. The intersection of the two first scissor rods of the first deployable unit is connected to the slide rail through a third slider. A bearing is provided at the connection between the third slider and the intersection of the two first scissor rods of the first deployable unit, so that the two first scissor rods of the first deployable unit can slide up and down along the slide rail, so that the second scissor rods above and the first and second scissor rods of the second deployable unit all extend along the sliding direction of the slide rail.

4. The single-drive space truss type deployable variable-cell capture manipulator according to claim 2, wherein: The second end of the second scissor rod is arranged at an angle of 130° with the first end of the second scissor rod, so that the second ends of the two second scissor rods are in a parallel state when the deployable unit unfolds.

5. The single-drive spatial truss type deployable variable cell capture manipulator according to claim 1, characterized in that: A connecting piece is provided at the connection between the second scissor rod and the spherical shell of the second slider. The first end of the connecting piece is inserted into the groove at the second end of the second scissor rod and is fixedly connected to the second scissor rod. The second end of the connecting piece is inserted into the spherical shell to form a spherical kinematic pair.

6. The single-drive spatial truss type deployable variable cell capture manipulator according to claim 5, characterized in that: When the truss-type deployable robotic finger unfolds to a specific position, a constraint occurs between the first end of the connecting piece and the spherical shell. The first end of the connecting piece then moves along the direction of another groove of the spherical shell. At this time, each layer of the deployable unit reaches the maximum unfolding position and stops unfolding in length. At this time, when the active driving rod continues to extend, the parallel state between the first platform and the second platform of each layer gradually changes to a crossed state, and the crossing angle gradually increases, and finally the bending of the truss-type deployable robotic finger is realized. The bending of the multiple truss-type deployable robotic fingers realizes the grasping action of the robotic hand.

7. The single-drive space truss type deployable variable cell capture manipulator according to claim 6, wherein: In the truss-type deployable robotic finger, the active driving rod and the driven rod drive the first and second scissor rods of each layer to move respectively, so as to realize the separation and approach of the first platform and the second platform. When the second scissor rod and the second slider of each layer reach the specified position, the cooperation between the spherical shell and the connecting piece of each layer will limit the displacement of the two second scissor rods and the two first scissor rods, so that the first and second scissor rods stop moving to meet the bending action of the truss-type deployable robotic finger.

8. The single-drive spatial truss type deployable variable cell capture manipulator according to claim 1, characterized in that: When multiple truss-type deployable robotic fingers are in a converged state, the multiple truss-type deployable robotic fingers are in the same plane state; when multiple truss-type deployable robotic fingers are in an unfolded state, the multiple truss-type deployable robotic fingers form the shape of a robotic hand.

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