Unit array integrated single degree of freedom space capture hand

Abstract

The application relates to a unit array integrated single-degree-of-freedom space capturing hand which comprises an expandable base and a plurality of truss capturing hands arranged on the expandable base, the expandable base is a ring-shaped truss expandable mechanism composed of N groups of scissors levers, the plurality of truss capturing hands are arranged around the front end of the expandable base, the inner disc and the outer disc in each truss capturing hand are connected with the second disc in the expandable base through first coupling branch chains and second coupling branch chains respectively, the first connecting rod and the fourth connecting rod in the four-bar linkage are connected with the inner disc and the outer disc respectively, and the capturing hand claws are arranged at the upper end of the first connecting rod, the expansion and contraction of the expandable base are driven to make the coupling branch chains move and drive the four-bar linkage to move, so that the capturing hand claws are gripped and released. The application adopts modular connection, can be connected and expanded according to the demand of the capturing task of the capturing hand, and has the advantages of simple structure, easy engineering manufacturing, high rigidity, strong stability, large folding rate and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of space capture mechanism, and particularly relates to a unit array integrated single-degree-of-freedom space capture hand. BACKGROUND

[0002] Space on-orbit capture technology is a frontier space technology research hotspot. With the development of science and technology, humans have launched a large number of spacecraft into space. The harsh environment in space can have a serious impact on the safety and life of the spacecraft, resulting in a large number of failed spacecraft in space, occupying space resources. Space capture mechanism can capture failed spacecraft for on-orbit repair and reuse, or drag them to a graveyard orbit to release space resources. Space capture technology is mainly applied to the capture of non-cooperative targets outside the spacecraft or space station, so the space capture should have basic capture, sensing analysis function, flexible working space, working mode for different capture targets, controllable capture stiffness and force, and also needs to consider on-orbit service. The capture hand also needs to be light in quality, small in size, high in folding ratio and suitable for the working environment of vacuum weightlessness.

[0003] Among the existing common space capture technologies, they are generally aimed at cooperative targets for capture, such as flying claw capture, docking ring capture, etc. Since there is no docking device, it is difficult to effectively capture non-cooperative targets. The flying net technology and truss type capture technology currently applied to non-cooperative target capture are extremely complex to adjust the pose due to the flexible net, which is difficult to operate. The latter occupies too much space during transportation. Therefore, it is urgent to research a new mechanical hand to solve the above problems. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a unit array integrated single-degree-of-freedom space capture hand. The capture mechanical hand can maintain the minimum folded state during use to save space, and can be unfolded as much as possible during grabbing to obtain sufficient grabbing range. At the same time, multiple deployable bases can be arranged in the truss type capture hand, thereby improving the expansion of the capture hand design. At the same time, multiple capture hands are driven by the deployable bases, so that each part can be synchronized, thereby realizing convenient and fast grabbing action. The present application has the advantages of high rigidity, good manipulability, single-degree-of-freedom, and the ability to capture non-cooperative targets.

[0005] The technical scheme adopted by the present application is a unit array integrated single degree of freedom space capturing hand, which comprises an expandable base and a plurality of truss type capturing hands arranged on the expandable base. The expandable base comprises a first flower disc, a second flower disc and N pairs of equal length scissors rods. The first flower disc is evenly arranged around the bottom of the expandable base, and the second flower disc is evenly arranged around the top of the expandable base. Each pair of scissors rods comprises a first scissors rod and a second scissors rod, and the middle part of the first scissors rod is rotationally connected with the middle part of the second scissors rod. The first end of the first scissors rod is rotationally connected with a first branch on the first flower disc, and the second end of the first scissors rod is rotationally connected with a second lower branch on the second flower disc. The first end of the second scissors rod is rotationally connected with a second branch on the first flower disc, and the second end of the second scissors rod is rotationally connected with a first lower branch on the second flower disc. The first flower disc, the second flower disc and the plurality of pairs of scissors rods are correspondingly connected to form the expandable base. The plurality of truss type capturing hands are arranged around the front end of the expandable base, and each truss type capturing hand comprises an inner flower disc, an outer flower disc, a first coupling branch, a second coupling branch, a four-bar linkage mechanism and a capturing hand claw. The inner flower discs of the plurality of truss type capturing hands are evenly arranged on the inner side of the truss type capturing hands, and the outer flower discs of the plurality of truss type capturing hands are arranged on the outer side of the corresponding inner flower discs. The outer flower disc and the bottom inner flower disc are located in the same plane, and the second flower disc in the expandable base is connected with the inner flower disc through the first coupling branch. The second flower disc in the expandable base is connected with the outer flower disc through the second coupling branch. The first coupling branch and the second coupling branch are symmetrical about the plane in which the scissors rods are located. The first end of the first link in the four-bar linkage mechanism is rotationally connected with a middle inner branch on the inner flower disc, and the first end of the fourth link in the four-bar linkage mechanism is rotationally connected with a middle outer branch on the outer flower disc. The capturing hand claw has a fan-shaped structure, and the contact surface of the capturing hand claw faces the center of the plurality of truss type capturing hands. The capturing hand claw is arranged on the upper end of the first link. By driving the expandable base to expand or contract, the first coupling branch and the second coupling branch drive the four-bar linkage mechanism to move, thereby completing the capturing, grabbing and releasing operations of the capturing hand claw.

[0006] Further, the deployable base can also be provided with a plurality of deployable bases connected in sequence, the middle part of the first scissor lever and the middle part of the second scissor lever in each deployable base are rotationally connected, the first end of the first scissor lever in the rear deployable base is rotationally connected with the first branch on the first flower disc in the rear deployable base, the second end of the first scissor lever in the rear deployable base is rotationally connected with the second branch on the first flower disc in the front deployable base, the first end of the second scissor lever in the rear deployable base is rotationally connected with the second branch on the first flower disc in the rear deployable base, and the second end of the second scissor lever in the rear deployable base is rotationally connected with the first branch on the first flower disc in the front deployable base.

[0007] Preferably, the first flower disc is in a V-shaped structure, and the first flower disc is symmetrically provided with a first branch and a second branch, and the included angle between the center line of the first branch and the center line of the second branch is 180°(N-2) / N.

[0008] (N-2) / N.

[0009] Preferably, the second flower disc is provided with an upper disc body and a lower disc body, the upper disc body and the lower disc body are connected by a connecting piece, the upper disc body is in an isosceles trapezoidal structure, the upper disc body is provided with a first upper branch, a second upper branch, a third upper branch and a fourth upper branch at four vertices respectively, the lower disc body is in a V-shaped structure, and the lower disc body is symmetrically provided with a first lower branch and a second lower branch, and the included angle between the center line of the first lower branch and the center line of the second lower branch is 180°(N-2) / N.

[0010] Preferably, the inner flower disc is in a V-shaped structure, and the top of the inner flower disc is provided with a middle inner branch, the two sides of the middle inner branch are symmetrically provided with a first inner branch and a second inner branch, and the included angle between the center line of the first inner branch and the center line of the second inner branch is 180°(N-2) / N.

[0011] Further, the first coupling branch includes a first coupling connecting rod and a second coupling connecting rod, the first end of the first coupling connecting rod is rotationally connected with the first upper branch in the second flower disc, the second end of the first coupling connecting rod is rotationally connected with the first inner branch on the inner flower disc, the first end of the second coupling connecting rod is rotationally connected with the third upper branch on the adjacent second flower disc in the deployable base, and the second end of the second coupling connecting rod is rotationally connected with the second inner branch on the inner flower disc.

[0012] Preferably, the outer flower disc is in a V-shaped structure, and the top of the outer flower disc is provided with a middle outer branch, the two sides of the middle outer branch are symmetrically provided with a first outer branch and a second outer branch, and the included angle between the center line of the first outer branch and the center line of the second outer branch is 180°(N-2) / N.

[0013] Further, the second coupling branch comprises a third coupling link and a fourth coupling link, and a first end of the second coupling branch is rotationally connected with a second upper branch in the second flower disc, a second end of the third coupling link is rotationally connected with a first outer branch on the outer flower disc, a first end of the fourth coupling link is rotationally connected with a fourth upper branch on the adjacent second flower disc in the deployable base, and a second end of the fourth coupling link is rotationally connected with a second outer branch on the outer flower disc.

[0014] Further, the four-bar linkage comprises a first link, a second link, a third link and a fourth link, a first end of the first link is rotationally connected with a middle inner branch on the inner flower disc, a second end of the first link is rotationally connected with a first end of the second link, a first end of the fourth link is rotationally connected with a middle outer branch on the outer flower disc, a second end of the fourth link is rotationally connected with a second end of the second link, a first end of the third link is rotationally connected with a middle of the first link, and a second end of the third link is rotationally connected close to the first end of the fourth link, a length of the second link is equal to a length of the third link, and a straight line distance between the first end of the second link and the first end of the third link is equal to a straight line distance between the second end of the second link and the second end of the third link.

[0015] Preferably, the scissor link, the first coupling link, the second coupling link, the third coupling link, the fourth coupling link, the first link and the fourth link are all tubular links, and mounting holes for mounting driving ropes are arranged at joints at both ends of the tubular links.

[0016] The present application has the following characteristics and advantages:

[0017] 1. The unit array integrated single-degree-of-freedom space capturing hand provided by the present application adopts a scissor-type deployable base, and the whole capturing hand can expand the capturing workspace by increasing the number of scissor links in the deployable base, and the capturing hand can still be folded to the most compact state after increasing the number of scissor links, thereby having a capturing ability in the whole workspace range, and in addition, a multi-stage deployable base can be arranged to increase the workspace in the degree-of-freedom direction of the capturing hand.

[0018] 2. The unit array integrated single-degree-of-freedom space capturing hand provided by the present application is decoupled between each capturing hand, and the number of capturing hands carried on the deployable base can be arranged according to the capturing target situation, the number of capturing fingers can be increased for a non-cooperative target with a complex external contour to increase the probability of successful capturing, and the number of capturing fingers can be reduced for a target with a simple external contour to realize the lightweight requirement of the capturing hand.

[0019] 3. The unit array integrated single degree of freedom space capturing hand provided by the application, the truss type capturing hand drives the coupled branch movement and then drives the closed loop four-bar linkage movement through the deployable base, so as to realize the grasping and releasing of the capturing hand claw. When the capturing hand claw touches the capturing target, the closing force of the deployable base can be converted into the pressure between the capturing hand claw and the capturing target under the action of the coupled movement, so that the capturing hand claw can have stronger non-cooperative target capturing capacity.

[0020] 4. The unit array integrated single degree of freedom space capturing hand provided by the application adopts the modular design idea, the number of modules can be changed at will according to the antenna aperture, the unit size and the capturing task demand, the module expansion is strong, the modular production can be realized, so as to effectively reduce the manufacturing cost and difficulty, and the overall structure has the advantages of easy engineering manufacturing, high rigidity, strong stability, large folding and unfolding rate and the like. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the overall structure schematic diagram of the unit array integrated single degree of freedom space capturing hand of the application;

[0022] Figure 2 is the half-unfolding state schematic diagram of the unit array integrated single degree of freedom space capturing hand of the application;

[0023] Figure 3 is the structure schematic diagram of the deployable base of the application;

[0024] Figure 4 is the structure schematic diagram of the first flower disc of the application;

[0025] Figure 5 is the structure schematic diagram of the second flower disc of the application;

[0026] Figure 6 is the overall structure schematic diagram of the truss type capturing hand of the application;

[0027] Figure 7 is the structure schematic diagram of the single truss type capturing hand of the application;

[0028] Figure 8 is the structure schematic diagram of the inner flower disc of the application;

[0029] Figure 9 is the structure schematic diagram of the outer flower disc of the application;

[0030] Figure 10 is the connection schematic diagram of the inner flower disc, the outer flower disc, the first coupled branch and the second coupled branch of the application;

[0031] Figure 11 is the connection schematic diagram of the four-bar linkage and the capturing hand claw of the application.

[0032] Main reference signs: deployable base 1; first flower disc 11; first branch 111; second branch 112; second flower disc 12; upper disc body 121; first upper branch 1211; second upper branch 1212; third upper branch 1213; fourth upper branch 1214; lower disc body 122; first lower branch 1221; second lower branch 1222; scissor lever 13; first scissor lever 131; second scissor lever 132; truss type capturing hand 2; inner flower disc 21; middle inner branch 210; first inner branch 211; second inner branch 212; outer flower disc 22; middle outer branch 220; first outer branch 221; second outer branch 222; first coupling branch chain 23; first coupling connecting rod 231; second coupling connecting rod 232; second coupling branch chain 24; third coupling connecting rod 241; fourth coupling connecting rod 242; four-bar linkage 25; first connecting rod 251; second connecting rod 252; third connecting rod 253; fourth connecting rod 254; capturing hand claw 26. DETAILED DESCRIPTION

[0033] To make the technical contents, structural features, achieved purposes and effects of the present application clear, the following will be described in detail in combination with the drawings of the specification.

[0034] One unit array integrated single degree of freedom space capturing hand of the present application, as shown in Figure 1 and Figure 2 , comprises a deployable base 1 and a plurality of truss type capturing hands 2 arranged on the deployable base 1.

[0035] As shown in Figure 3 , the deployable base 1 comprises a first flower disc 11, a second flower disc 12 and N pairs of equal-length scissor levers 13, the first flower disc 11 is evenly arranged around the bottom of the deployable base 1, and the second flower disc 12 is evenly arranged around the top of the deployable base 1, each pair of scissor levers 13 comprises a first scissor lever 131 and a second scissor lever 132, the middle part of the first scissor lever 131 is rotationally connected with the middle part of the second scissor lever 132, the first end of the first scissor lever 131 is rotationally connected with the first branch 111 on the first flower disc 11, and the second end of the first scissor lever 131 is rotationally connected with the second lower branch 1222 on the second flower disc 12, the first end of the second scissor lever 132 is rotationally connected with the second branch 112 on the first flower disc 11, and the second end of the second scissor lever 132 is rotationally connected with the first lower branch 1221 on the second flower disc 12, the first flower disc 11, the second flower disc 12 and the plurality of pairs of scissor levers 13 are correspondingly connected to constitute the deployable base 1. The deployable base 1 adopts a scissor type design, the entire capturing hand can expand the capturing working space by increasing the number of scissor levers 13 constituting the deployable base 1, and the capturing hand can still be folded to the most compact state after increasing the number of scissor levers 13, thereby having the ability to capture within the entire working space range.

[0036] In a specific embodiment, the deployable base 1 can also be provided with a plurality of deployable bases 1 connected in sequence, the middle part of the first scissor lever 131 and the middle part of the second scissor lever 132 in each deployable base 1 are rotationally connected, the first end of the first scissor lever 131 in the next deployable base 1 is rotationally connected with the first branch 111 on the first flower disc 11 in the next deployable base 1, the second end of the first scissor lever 131 in the next deployable base 1 is rotationally connected with the second branch 112 on the first flower disc 11 in the previous deployable base 1, the first end of the second scissor lever 132 in the next deployable base 1 is rotationally connected with the second branch 112 on the first flower disc 11 in the next deployable base 1, and the second end of the second scissor lever 132 in the next deployable base 1 is rotationally connected with the first branch 111 on the first flower disc 11 in the previous deployable base 1. The deployable base 1 is beneficial to increase the working space of the freedom degree direction of the captured hand by being provided with a plurality of deployable bases.

[0037] As shown in Figure 4 , the first flower disc 11 is in a V-shaped structure, and the first flower disc 11 is symmetrically provided with a first branch 111 and a second branch 112, and the included angle between the center line of the first branch 111 and the center line of the second branch 112 is 180°(N-2) / N.

[0038] As shown in Figure 5 , the second flower disc 12 is provided with an upper disc body 121 and a lower disc body 122, the upper disc body 121 and the lower disc body 122 are connected by a connecting piece, the upper disc body 121 is in an isosceles trapezoidal structure, the upper disc body 121 is provided with a first upper branch 1211, a second upper branch 1212, a third upper branch 1213 and a fourth upper branch 1214 at four vertices respectively, the lower disc body 122 is in a V-shaped structure, and the lower disc body 122 is symmetrically provided with a first lower branch 1221 and a second lower branch 1222, and the included angle between the center line of the first lower branch 1221 and the center line of the second lower branch 1222 is 180°(N-2) / N.

[0039] As shown in Figure 6 and Figure 7As shown, the plurality of truss-type capture hands 2 are arranged around the front end of the deployable base 1, and each truss-type capture hand 2 comprises an inner flower disc 21, an outer flower disc 22, a first coupling branch 23, a second coupling branch 24, a four-bar linkage mechanism 25, and a capture hand claw 26. The inner flower discs 21 of the plurality of truss-type capture hands 2 are arranged around the inner side of the truss-type capture hands 2, and the outer flower discs 22 of the plurality of truss-type capture hands 2 are arranged outside the corresponding inner flower discs 21. The outer flower discs 22 are in the same plane as the inner flower discs 21, and the second flower disc 12 of the deployable base 1 is connected to the inner flower disc 21 through the first coupling branch 23, and the second flower disc 12 of the deployable base 1 is connected to the outer flower disc 22 through the second coupling branch 24. The first coupling branch 23 and the second coupling branch 24 are symmetrical about the plane in which the scissors lever 13 is located. The first end of the first connecting rod 251 of the four-bar linkage mechanism 25 is rotationally connected to the middle inner branch 210 on the inner flower disc 21, and the first end of the fourth connecting rod 254 of the four-bar linkage mechanism 25 is rotationally connected to the middle outer branch 220 on the outer flower disc 22. The capture hand claw 26 has a fan-shaped structure, and the contact surface of the capture hand claw 26 faces the center of the plurality of truss-type capture hands, and the capture hand claw 26 is arranged at the upper end of the first connecting rod 251.

[0040] Specifically, the deployable base 1 drives the coupling branch to move and further drives the closed-loop four-bar linkage mechanism 25 to move, so as to realize the grasping and releasing of the capture hand claw 26. When the capture hand claw 26 touches the capture target, the folding force of the deployable base can be converted into pressure between the capture hand claw and the capture target under the action of coupling movement, so that the capture hand claw 26 can have stronger non-cooperative target capturing capability. In addition, each truss-type capture hand 2 is decoupled from each other, and the number of truss-type capture hands 2 carried on the deployable base 1 can be arranged according to the capture target. For non-cooperative targets with complex external contours, the number of capture fingers can be increased to increase the probability of successful capture; for targets with simple external contours, the number of capture fingers can be reduced to realize the lightweight requirement of the capture hand.

[0041] As shown in Figure 8 The inner flower disc 21 has a V-shaped structure, and the top of the inner flower disc 21 is provided with a middle inner branch 210. The first inner branch 211 and the second inner branch 212 are symmetrically arranged on the two sides of the middle inner branch 210, and the included angle between the center line of the first inner branch 211 and the center line of the second inner branch 212 is 180°(N-2) / N.

[0042] As shown in Figure 7 and Figure 10As shown, the first coupling branch 23 comprises a first coupling link 231 and a second coupling link 232, and the first end of the first coupling link 231 is rotatably connected with the first upper branch 1211 in the second flower disc 12, and the second end of the first coupling link 231 is rotatably connected with the first inner branch 211 on the inner flower disc 21, the first end of the second coupling link 232 is rotatably connected with the third upper branch 1213 on the adjacent second flower disc 12 in the deployable base 1, and the second end of the second coupling link 232 is rotatably connected with the second inner branch 212 on the inner flower disc 21.

[0043] As shown in FIG. 2, Figure 9 As shown, the outer flower disc 22 is in a V-shaped structure, and the top of the outer flower disc 22 is provided with a middle outer branch 220, and the two sides of the middle outer branch 220 are symmetrically provided with a first outer branch 221 and a second outer branch 222, and the included angle between the center line of the first outer branch 221 and the center line of the second outer branch 222 is 180°(N-2) / N.

[0044] As shown in FIG. 2, Figure 7 and Figure 10 As shown, the second coupling branch 24 comprises a third coupling link 241 and a fourth coupling link 242, and the first end of the second coupling branch 24 is rotatably connected with the second upper branch 1212 in the second flower disc 12, and the second end of the third coupling link 241 is rotatably connected with the first outer branch 221 on the outer flower disc 22, the first end of the fourth coupling link 242 is rotatably connected with the fourth upper branch 1214 on the adjacent second flower disc 12 in the deployable base 1, and the second end of the fourth coupling link 242 is rotatably connected with the second outer branch 222 on the outer flower disc 22.

[0045] As shown in FIG. 2, Figure 11As shown, the four-bar linkage 25 includes a first link 251, a second link 252, a third link 253, and a fourth link 254, a first end of the first link 251 is rotatably connected to the middle inner branch 210 on the inner flower disc 21, and a second end of the first link 251 is rotatably connected to a first end of the second link 252, a first end of the fourth link 254 is rotatably connected to the middle outer branch 220 on the outer flower disc 22, and a second end of the fourth link 254 is rotatably connected to a second end of the second link 252, a first end of the third link 253 is rotatably connected to a middle of the first link 251, and a second end of the third link 253 is rotatably connected to a position close to the first end of the fourth link 254, the second link 252 has a length equal to that of the third link 253, and a straight-line distance between the first end of the second link 252 and the first end of the third link 252 is equal to a straight-line distance between the second end of the second link 252 and the second end of the third link 252, during movement of the four-bar linkage 25, the second link 252 and the third link 253, and the first link 251 and the fourth link 254 are always in parallel state, and meanwhile, the movement trajectory of the capturing gripper 26 can be planned and designed by changing the lengths of the links of the four-bar linkage 25.

[0046] Preferably, the scissors rod 13, the first coupling link 231, the second coupling link 232, the third coupling link 241, the fourth coupling link 242, the first link 251, and the fourth link 254 are all tubular links, and mounting holes for mounting driving ropes are arranged at the joints at both ends of the tubular links.

[0047] Preferably, the included angle between the center lines of the first branch 111 and the second branch 112 in the first flower disc 11, the included angle between the center lines of the first lower branch 1221 and the second lower branch 1222 in the second flower disc 12, the included angle between the center lines of the first inner branch 211 and the second inner branch 212 in the inner flower disc 21, and the included angle between the center lines of the first outer branch 221 and the second outer branch 222 in the outer flower disc 22 are determined according to the number of the scissors rods 13 introduced in the deployable base 1.

[0048] A single-unit array integrated single-degree-of-freedom space capturing hand according to the present application, as shown, includes a deployable base 1 and a plurality of truss-type capturing hands 2 arranged on the deployable base 1. Figures 1-11

[0049] ​When the working state, the expandable base 1 is driven by the traction rope or the motor installed at the joint to gradually expand to a caliber sufficient to accommodate the captured target, at this time, the expandable base 1 drives the first coupling branch chain 23 and the second coupling branch chain 24 to move, so that the distance between the inner disc 21 and the outer disc 22 gradually increases. The distance between the inner disc 21 and the outer disc 22 gradually increases, which makes the first connecting rod 25 and the fourth connecting rod 254 in the four-bar linkage mechanism 25 gradually transition from the vertical state to the horizontal state, thereby completing the preparation stage of the capturing action.

[0050] When the expandable base 1 is retracted, the expandable base 1 drives the first coupling branch chain 23 and the second coupling branch chain 24 to move, so that the distance between the inner disc 21 and the outer disc 22 gradually decreases. In turn, the four-bar linkage mechanism 25 gradually converges to the center. During the convergence of the four-bar linkage mechanism 25, the contact surfaces of the capture gripper 26 from the full circumference first touch the captured target and gradually apply a load as the mechanism converges, thereby completing the stable capturing process.

[0051] The present application adopts the modular design idea, the number of modules can be changed according to the antenna caliber, the unit size and the demand of the capture task, the module expansion is strong, the modular production can be realized, thereby effectively reducing the manufacturing cost and difficulty, the overall structure has the advantages of simple structure, easy engineering manufacturing, high stiffness, strong stability, large folding rate and the like.

[0052] The above-described embodiments are only preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A unit array integrated single degree of freedom space capture hand, characterized in that, It includes a deployable base and a plurality of truss-type capturing hands arranged on the deployable base, The deployable base includes a first flower disc, a second flower disc and N pairs of equal length scissors rods, the first flower disc is evenly arranged around the bottom of the deployable base, and the second flower disc is evenly arranged around the top of the deployable base, each pair of scissors rods includes a first scissors rod and a second scissors rod, and the middle part of the first scissors rod is rotationally connected with the middle part of the second scissors rod, the first end of the first scissors rod is rotationally connected with a first branch on the first flower disc, and the second end of the first scissors rod is rotationally connected with a second lower branch on the second flower disc, the first end of the second scissors rod is rotationally connected with a second branch on the first flower disc, and the second end of the second scissors rod is rotationally connected with a first lower branch on the second flower disc, the first flower disc, the second flower disc and the plurality of pairs of scissors rods are connected correspondingly to form the deployable base; The plurality of truss-type capturing hands are arranged around the front end of the deployable base, and each truss-type capturing hand includes an inner flower disc, an outer flower disc, a first coupling branch, a second coupling branch, a four-bar linkage mechanism and a capturing hand claw, the inner flower discs in the plurality of truss-type capturing hands are evenly arranged on the inner side of the truss-type capturing hands, and the outer flower discs in the plurality of truss-type capturing hands are arranged on the outer side of the corresponding inner flower discs, the outer flower disc and the inner flower disc are located in the same plane, and the second flower disc in the deployable base and the inner flower disc are connected through the first coupling branch, the second flower disc in the deployable base and the outer flower disc are connected through the second coupling branch, and the first coupling branch and the second coupling branch are symmetrical about the plane in which the scissors rods are located, the first end of the first link in the four-bar linkage mechanism is rotationally connected with a middle inner branch on the inner flower disc, and the first end of the fourth link in the four-bar linkage mechanism is rotationally connected with a middle outer branch on the outer flower disc, the capturing hand claw has a fan-shaped structure, the contact surface of the capturing hand claw faces the center of the plurality of truss-type capturing hands, and the capturing hand claw is arranged on the upper end of the first link, by driving the deployable base to expand or contract, the first coupling branch and the second coupling branch drive the four-bar linkage mechanism to move, and the capturing and releasing operation of the capturing hand claw is completed. The four-bar linkage mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, a first end of the first connecting rod is rotationally connected with a middle inner branch on the inner flower disc, and a second end of the first connecting rod is rotationally connected with a first end of the second connecting rod, a first end of the fourth connecting rod is rotationally connected with a middle outer branch on the outer flower disc, and a second end of the fourth connecting rod is rotationally connected with a second end of the second connecting rod, a first end of the third connecting rod is rotationally connected with a middle part of the first connecting rod, and a second end of the third connecting rod is rotationally connected with a part close to the first end of the fourth connecting rod, a length of the second connecting rod is equal to a length of the third connecting rod, and a straight line distance between the first end of the second connecting rod and the first end of the third connecting rod is equal to a straight line distance between the second end of the second connecting rod and the second end of the third connecting rod.

2. The unit array integrated single degree of freedom spatial capture hand of claim 1, wherein, The deployable base can also be provided with a multi-stage deployable base, and the multi-stage deployable base is sequentially connected in head-tail order, the middle part of the first scissor rod and the middle part of the second scissor rod in each stage of the deployable base are rotationally connected, and the first end of the first scissor rod in the rear stage of the deployable base is rotationally connected with a first branch on the first flower disc in the rear stage of the deployable base, the second end of the first scissor rod in the rear stage of the deployable base is rotationally connected with a second branch on the first flower disc in the front stage of the deployable base, the first end of the second scissor rod in the rear stage of the deployable base is rotationally connected with the second branch on the first flower disc in the rear stage of the deployable base, and the second end of the second scissor rod in the rear stage of the deployable base is rotationally connected with the first branch on the first flower disc in the front stage of the deployable base.

3. The unit array integrated single degree of freedom spatial capture hand of claim 1, wherein, The first flower disc is in a V-shaped structure, and the first flower disc is symmetrically provided with a first branch and a second branch, and an included angle between a center line of the first branch and a center line of the second branch is 180°(N-2) / N.

4. The unit array integrated single degree of freedom spatial capture hand of claim 2, wherein, The second flower disc is provided with an upper disc body and a lower disc body, the upper disc body and the lower disc body are connected through a connecting piece, the upper disc body is in an isosceles trapezoidal structure, four vertexes of the upper disc body are respectively provided with a first upper branch, a second upper branch, a third upper branch and a fourth upper branch, the lower disc body is in a V-shaped structure, and the lower disc body is symmetrically provided with a first lower branch and a second lower branch, and an included angle between a center line of the first lower branch and a center line of the second lower branch is 180°(N-2) / N.

5. The unit array integrated single degree of freedom spatial capture hand of claim 1, wherein, The inner flower disc is in a V-shaped structure, and the inner flower disc is provided with a middle inner branch at the top, two sides of the middle inner branch are symmetrically provided with a first inner branch and a second inner branch, and an included angle between a center line of the first inner branch and a center line of the second inner branch is 180°(N-2) / N.

6. The unit array integrated single degree of freedom spatial capture hand of claim 5, wherein, The first coupling branch chain comprises a first coupling connecting rod and a second coupling connecting rod, a first end of the first coupling connecting rod is rotationally connected with a first upper branch in the second flower disc, and a second end of the first coupling connecting rod is rotationally connected with a first inner branch on the inner flower disc, a first end of the second coupling connecting rod is rotationally connected with a third upper branch on an adjacent second flower disc in the deployable base, and a second end of the second coupling connecting rod is rotationally connected with a second inner branch on the inner flower disc.

7. The unit array integrated single degree of freedom spatial capture hand of claim 1, wherein, The outer flower disc is in a V-shaped structure, and a middle outer branch is arranged at the top of the outer flower disc, first and second outer branches are symmetrically arranged at both sides of the middle outer branch, and the included angle between the center line of the first outer branch and the center line of the second outer branch is 180° (N-2) / N.

8. The unit array integrated single degree of freedom spatial capture hand of claim 7, wherein, The second coupling branch includes a third coupling link and a fourth coupling link, a first end of the second coupling branch is rotationally connected with a second upper branch in the second flower disc, a second end of the third coupling link is rotationally connected with a first outer branch on the outer flower disc, a first end of the fourth coupling link is rotationally connected with a fourth upper branch on an adjacent second flower disc in the deployable base, and a second end of the fourth coupling link is rotationally connected with a second outer branch on the outer flower disc.

9. The unit array integrated single degree of freedom spatial capture hand of claim 1, wherein, The scissors link, the first coupling link, the second coupling link, the third coupling link, the fourth coupling link, the first link and the fourth link are all tubular links, and mounting holes for mounting driving ropes are arranged at the joints at both ends of the tubular links.

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