Rope-driven truss deployable capture manipulator

Abstract

The present application belongs to the field of capturing manipulator, and particularly relates to a rope-driven truss type foldable capturing manipulator, which comprises a base and a manipulator finger, the manipulator finger is arranged on the side of the base through a bottom plate, a screw rod is driven by a screw rod motor to realize the folding and stretching of the manipulator finger through the driving of the screw rod forward and reverse rotation to drive the scissor bar to open and retract, the rotation of the winding rope shaft is driven by a motor to tighten and loosen the rope, and the rotary hinge base is automatically returned under the action of a coil spring to realize the stretching and bending of the manipulator finger, so as to complete the grabbing and releasing of the target object, meanwhile, the number of the expandable units of the manipulator finger can be expanded according to the requirement, the envelope area of the grabbing surface can be adjusted, and the grabbing reliability is improved, the present application has the characteristics of less driving, high expansibility, strong self-adaptive ability, folding and convenient transportation, and can be applied to satellites, space stations and space probes.

Description

Technical Field

[0001] This invention belongs to the field of capture robot technology, specifically relating to a rope-driven truss-type foldable capture robot. Background Technology

[0002] As our exploration of outer space deepens, numerous probes and satellites have been launched into Earth orbit. This accumulation of probes and satellites in orbit leads to the failure of some due to mechanical malfunctions or fuel depletion. These abandoned probes and satellites remain in Earth orbit for extended periods, gradually becoming space debris and posing a threat to the space environment and other spacecraft in orbit. Therefore, the recycling and reuse of abandoned probes and satellites is of great significance. On the other hand, a large number of unknown meteorites of significant research value exist around Earth's orbit, and capturing and studying them is also of scientific value.

[0003] Currently, common space capture technologies are mainly divided into two categories: those targeting cooperative targets and those targeting non-cooperative targets. Capture of cooperative targets, such as robotic arm capture and docking capture, requires the installation of docking devices on the target object, making it ineffective against numerous non-cooperative targets. Capture of non-cooperative targets is mainly achieved through net-flying and fork-flying techniques. Net-flying capture, due to the flexibility of the net, can only be used once, resulting in excessively high capture costs; fork-flying capture has poor versatility and is difficult to execute.

[0004] Therefore, it is essential to design a rope-driven truss-type foldable capture robot to address the shortcomings of existing technologies, such as high cost, poor versatility, and difficulty in grasping. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this invention provides a rope-driven truss-type foldable capture manipulator. Multiple mechanical fingers are evenly arranged on a base. A motor drives a winding shaft to rotate, tightening and loosening the rope, while a rotating hinge automatically returns to its original position under the action of a coil spring. This allows the mechanical fingers to extend and bend, enabling the capture manipulator to grasp and release target objects. Furthermore, the number of expandable units for each mechanical finger can be increased as needed, thereby adjusting the envelope area of ​​the grasping surface. This manipulator features fewer driving elements, high grasping reliability, high scalability, strong adaptability, and foldability for easy transport. It can be applied to satellites, space stations, and space probes.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a rope-driven truss-type deployable capture robot, comprising a base and mechanical fingers. The mechanical fingers are mounted on the sides of the base via a base plate, and each side of the base is provided with a mechanical finger. The mechanical finger includes a base plate, a lead screw motor, a first coupling, a lead screw support, a lead screw nut, a lead screw, a first guide rail, a second guide rail, a slider, an L-shaped connecting seat, a rope-driven platform assembly, a first deployable unit, a second deployable unit, and an Nth deployable unit. The lead screw motor is located at the first end of the base plate, and the output shaft of the lead screw motor is connected to the first end of the lead screw via a first coupling. The shaft is connected, with a lead screw support located at the second end of the base plate. Both ends of the lead screw pass through the lead screw support, and a lead screw nut is fitted onto the lead screw. A first guide rail is located at the third end of the base plate, and a second guide rail is located at the fourth end. A slider is connected to both the first and second guide rails. An L-shaped connecting seat is connected to the slider above the second guide rail. The rope-driven platform assembly is located at the fifth end of the base plate. A rotating hinge in the first deployable unit is connected to both the lead screw nut and the slider above the first guide rail. A small adapter in the first deployable unit is rotatably connected to the L-shaped connecting seat. The first deployable unit includes a side plate, a square guide rail, a square slider, a trapezoidal guide rail, a rotating hinge, a C-shaped slider, a side connector, a small adapter, a large adapter, a long scissor bar, a medium scissor bar, and a short scissor bar. The square guide rail is connected to the first end of the side plate. The square slider is fitted onto the square guide rail. Both ends of the long scissor bar are rotatably connected to the rotating hinge. The long scissor bars are connected together in pairs in the middle. Two trapezoidal guide rails are respectively located at the second and third ends of the side plate. The C-shaped slider is fitted onto the outside of the two trapezoidal guide rails through the trapezoidal notch above it. The rotating hinge seats are respectively located below the square slider and the C-shaped slider. The side connector is located in the middle of the two trapezoidal guide rails. The side connector can move linearly along the trapezoidal guide rails. The second connecting end on the side connector is rotatably connected to the first end of the small adapter. The middle scissor bars are connected together in pairs. The second end of the small adapter is rotatably connected to the first end of the middle scissor bar. The second end of the middle scissor bar is rotatably connected to the first end of the large adapter. The middle short scissor bars are connected together in pairs. The second end of the short scissor bars is rotatably connected to the second end of the large adapter.

[0008] Preferably, the side connector has a trapezoidal groove, a first connecting end, and a second connecting end on its upper part. The trapezoidal groove is symmetrically arranged in the middle of the side connector, and the first connecting end and the second connecting end are respectively arranged at both ends of the side connector.

[0009] Preferably, the rope-driven platform assembly includes a base, a motor, a second coupling, a rope winding shaft, and a shaft seat. The base is located at the fifth end of the base plate, the motor is located at the first end of the base, the shaft seat is located at the second end of the base, and both ends of the rope winding shaft pass through the shaft seat. The motor output shaft is connected to the first end of the rope winding shaft through the second coupling.

[0010] Preferably, the rotary hinge includes a housing, a rotary shaft, a rotary head, and a coil spring. The rotary shaft is located at the central circular hole of the housing, the rotary head is sleeved on the rotary shaft, the housing has a notch, the rotary head has a slot, the first end of the coil spring is located in the notch on the housing, and the second end of the coil spring is located in the slot on the rotary head.

[0011] Preferably, the lead screw consists of two parts, one part being left-handed and the other part being right-handed.

[0012] Preferably, the opening angle of the trapezoidal groove of the side connector is the same as the inclination angle of the trapezoidal guide rail, and the inclination angle of the trapezoidal notch of the C-shaped slider is the same as the inclination angle of the trapezoidal guide rail.

[0013] Preferably, each large adapter is provided with a pulley system on its side, and the base is provided with vertically arranged and horizontally arranged pulley systems respectively.

[0014] Preferably, the first end of the rope is located on the Nth deployable unit, passes sequentially through the pulley group on each large adapter, then passes through the pulley groups arranged vertically and horizontally above the base, and is wound on the rope reel, with the second end of the rope located on the rope reel.

[0015] Preferably, the first deployable unit, the second deployable unit, and the Nth deployable unit have the same structure and are connected in series. The rotating hinge of the second deployable unit is connected to the upper ends of the square slider and the C-shaped slider of the first deployable unit, respectively. The small adapter of the second deployable unit is rotatably connected to the first connecting end of the side connector. The connection method between the Nth deployable unit and the previous deployable unit is the same as the connection method between the second deployable unit and the first deployable unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] (1) The rope-driven truss-type foldable capture robot of the present invention can keep the capture robot in a folded state during transportation by setting multiple mechanical fingers, saving space; when performing the capture action, the control screw motor drives the screw rod to drive the scissor bar to unfold, so that each deployable unit extends and the mechanical fingers extend. Then, the rope-driven platform assembly drives the mechanical fingers to bend towards the central axis of the base to complete the grasping action; after the grasping is completed, the coil spring automatically resets, and the mechanical fingers are deformed from the bent grasping state to the unfolded state. The control screw motor can rotate in the opposite direction to retract the capture robot from the unfolded state to the folded and retracted state.

[0018] (2) Each movement of the rope-driven truss-type foldable capture robot of the present invention is driven by a single motor. Through mechanical connection, each deployable unit in the mechanical finger changes synchronously. When grasping the target object, the rope is retracted through the rope-driven platform component to drive each deployable unit to move synchronously, so as to realize the bending of the mechanical finger until the mechanical finger contacts the target object and applies a preset pressure, and then stops tightening the rope to realize adaptive grasping of target objects of different shapes.

[0019] (3) The rope-driven truss-type foldable capture robot of the present invention has high expandability. It can expand the number of deployable units according to the shape and size of the target to increase the enveloping area of ​​the grasping surface and improve the grasping reliability. At the same time, there are many common parts between the deployable units, and the interchangeability is strong, which has high manufacturability.

[0020] (4) The mechanical fingers of the rope-driven truss-type foldable capture manipulator of the present invention adopt a spatial truss structure and use fewer drives, and have the advantages of large folding ratio and light weight. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the rope-driven truss-type foldable capture robot in the retracted state of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall structure of the rope-driven truss-type foldable capture robot of the present invention in its unfolded state.

[0023] Figure 3 This is a schematic diagram of the overall structure of the rope-driven truss-type foldable capture robot in the grasping state of the present invention.

[0024] Figure 4 This is a schematic diagram of the mechanical finger structure of the rope-driven truss-type foldable capture manipulator of the present invention;

[0025] Figure 5 This is a schematic diagram of the bottom structure of the mechanical finger of the rope-driven truss-type foldable capture manipulator of the present invention.

[0026] Figure 6 This is a schematic diagram of the first deployable unit structure of the rope-driven truss-type deployable capture robot of the present invention;

[0027] Figure 7 This is a schematic diagram of the side connector structure of the rope-driven truss-type foldable capture robot of the present invention;

[0028] Figure 8 This is a schematic diagram of the rotating hinge structure of the rope-driven truss-type foldable capture robot of the present invention;

[0029] Figure 9 This is a cross-sectional view of the rotating hinge seat of the rope-driven truss-type foldable capture robot of the present invention.

[0030] Key reference numerals:

[0031] Base-1, Mechanical Finger-2, Base Plate-3, Lead Screw Motor-4, First Coupling-5, Lead Screw Support-6, Lead Screw Nut Seat-7, Lead Screw-8, First Guide Rail-9, Second Guide Rail-10, Slider-11, L-shaped Connector-12, Rope Drive Platform Assembly-13, Base-1301, Motor-1302, Second Coupling-1303, Rope Winding Shaft-1304, Shaft Seat-1305, First Deployable Unit-14, Side Plate-1401, Square Guide Rail-1402, Square Slider-1403, Trapezoidal Guide Rail-1404, Rotation Hinge base-1405, outer shell-14051, rotating shaft-14052, rotating head-14053, coil spring-14054, C-shaped slider-1406, side connector-1407, trapezoidal groove-14071, first connecting end-14072, second connecting end-14073, small adapter-1408, large adapter-1409, long scissor bar-1410, medium scissor bar-1411, short scissor bar-1412, second deployable unit-15, Nth deployable unit-16, pulley block-17, rope-18. Detailed Implementation

[0032] To provide a detailed description of the technical content, objectives, and effects of this invention, the following description will be provided in conjunction with the accompanying drawings.

[0033] Rope-driven truss-type deployable capture robot, such as Figure 1 , Figure 2 and Figure 3 As shown, it includes a base 1 and a mechanical finger 2. The mechanical finger 2 is disposed on the side of the base 1 via a base plate 3, and each side of the base 1 is provided with a mechanical finger 2.

[0034] like Figure 4 and combined Figure 5As shown, the mechanical finger includes a base plate 3, a lead screw motor 4, a first coupling 5, a lead screw support 6, a lead screw nut 7, a lead screw 8, a first guide rail 9, a second guide rail 10, a slider 11, an L-shaped connecting seat 12, a rope-driven platform assembly 13, a first deployable unit 14, a second deployable unit 15, and an Nth deployable unit 16. The lead screw motor 4 is located at the first end of the base plate 3, and the output shaft of the lead screw motor 4 is connected to the first end of the lead screw 8 through the first coupling 5. The lead screw support 6 is located at the second end of the base plate 3, and both ends of the lead screw 8 pass through the lead screw support 6 respectively. The lead screw nut 7 is sleeved on the lead screw 8. The lead screw 8 consists of two sections of lead screw. The system consists of a screw with one section being left-handed and the other right-handed. The first guide rail 9 is located at the third end of the base plate 3, and the second guide rail 10 is located at the fourth end of the base plate 3. The slider 11 is connected to the first guide rail 9 and the second guide rail 10 respectively. The L-shaped connecting seat 12 is connected to the slider 11 above the second guide rail 10. The rope-driven platform assembly 13 is located at the fifth end of the base plate 3. The rotating hinge seat 1405 in the first deployable unit 14 is connected to the screw nut seat 7 and the slider 11 above the first guide rail 9 respectively. The small adapter 1408 in the first deployable unit 14 is rotatably connected to the L-shaped connecting seat 12.

[0035] Furthermore, the first deployable unit 14, the second deployable unit 15, and the Nth deployable unit 16 have the same structure and are connected in series. The rotating hinge 1405 of the second deployable unit 15 is connected to the upper ends of the square slider 1403 and the C-shaped slider 1406 of the first deployable unit 14, respectively. The small adapter 1408 of the second deployable unit 15 is rotatably connected to the first connecting end 14071 of the side connector 1407. The connection method between the Nth deployable unit 16 and the previous deployable unit is the same as the connection method between the second deployable unit 15 and the first deployable unit 14.

[0036] The rope-driven platform assembly 13 includes a base 1301, a motor 1302, a second coupling 1303, a rope winding shaft 1304, and a shaft seat 1305. The base 1301 is located at the fifth end of the base plate 3, the motor 1302 is located at the first end of the base 1301, and the shaft seat 1305 is located at the second end of the base 1301. Both ends of the rope winding shaft 1304 pass through the shaft seat 1305 respectively. The output shaft of the motor 1302 is connected to the first end of the rope winding shaft 1304 through the second coupling 1303. Vertically arranged and horizontally arranged pulley groups 17 are respectively provided above the base 1301. The first end of the rope 18 is located on the Nth deployable unit 16, passes through the pulley group 17 on each large adapter 1409 in sequence, and then passes through the vertically arranged and horizontally arranged pulley groups 17 above the base 1301 respectively, and is wound on the rope winding shaft 1304. The second end of the rope 18 is located on the rope winding shaft 1304.

[0037] First deployable unit 14, such as Figure 6As shown, the device includes a side plate 1401, a square guide rail 1402, a square slider 1403, a trapezoidal guide rail 1404, a rotating hinge 1405, a C-shaped slider 1406, a side connector 1407, a small adapter 1408, a large adapter 1409, a long scissor bar 1410, a medium scissor bar 1411, and a short scissor bar 1412. The square guide rail 1402 is connected to the first end of the side plate 1401. The square slider 1403 is fitted onto the square guide rail 1402 and can move along the square guide rail. 1402 moves linearly. Both ends of the long scissor bar 1410 are rotatably connected to the rotating head 14053 in the rotating hinge seat 1405. The long scissor bars 1410 are connected in pairs in the middle, and the long scissor bars 1410 can rotate around the middle. Two trapezoidal guide rails 1404 are respectively set at the second and third ends of the side plate 1401. C-shaped sliders 1406 are respectively fitted onto the outside of the two trapezoidal guide rails 1404 through the trapezoidal notches above them. The inclination angle of the trapezoidal notches of the C-shaped sliders 1406 is the same as that of the trapezoidal guide rails 1404. The tilt angles of the 04 are the same. The C-shaped slider 1406 can move linearly along the trapezoidal guide rail 1404. The rotating hinge seat 1405 is respectively set below the square slider 1403 and the C-shaped slider 1406. The side connector 1407 is set in the middle of the two trapezoidal guide rails 1404. The side connector 1407 can move linearly along the trapezoidal guide rail 1404. The second connecting end 14073 on the side connector 1407 is rotatably connected to the first end of the small adapter 1408. The middle scissor bar 1411 is in the middle. The scissor lifts 1411 are connected in pairs, with the middle scissor lift 1411 rotatable around its center. The second end of the small adapter 1408 is rotatably connected to the first end of the middle scissor lift 1411, and the second end of the middle scissor lift 1411 is rotatably connected to the first end of the large adapter 1409. The short scissor lifts 1412 are connected in pairs in the middle, with the short scissor lift 1412 rotatable around its center. The second ends of the short scissor lifts 1412 are rotatably connected to the second ends of the large adapters 1409. Each large adapter 1409 has a pulley block 17 on its side.

[0038] like Figure 7 As shown, the side connector 1407 has a trapezoidal groove 14071, a first connecting end 14072, and a second connecting end 14073 on its upper part. The trapezoidal groove 14071 is symmetrically arranged in the middle of the side connector 1407. The opening angle of the trapezoidal groove 14071 is the same as the inclination angle of the trapezoidal guide rail 1404. The side connector 1407 is clamped between the two trapezoidal guide rails 1404 through the trapezoidal groove 14071. The first connecting end 14072 and the second connecting end 14073 are respectively arranged at both ends of the side connector 1407.

[0039] Rotary hinge 1405, such as Figure 8 and Figure 9As shown, the device includes a housing 14051, a rotating shaft 14052, a rotating head 14053, and a coil spring 14054. The rotating shaft 14052 is located at the central circular hole of the housing 14051, and the rotating head 14053 is sleeved on the rotating shaft 14052. The housing 14051 has a notch, and the rotating head 14053 has a locking slot. The first end of the coil spring 14054 is located in the notch on the housing 14051, and the second end of the coil spring 14054 is located in the locking slot on the rotating head 14053. The coil spring 14054 can automatically reset after being twisted.

[0040] The following describes a rope-driven truss-type foldable capture robot of the present invention in further detail with reference to embodiments:

[0041] The specific working process of this invention is as follows:

[0042] The rope-driven truss-type foldable capture robot transforms from its initial folded state to its unfolded state, then bends to grasp the target object, and returns to its folded state after the grasp is complete.

[0043] When the rope-driven truss-type foldable capture robot transforms from a folded state to an unfolded state, the lead screw motor 4 in the robotic finger 2 drives the lead screw 8 to rotate clockwise via the first coupling 5. The lead screw nut 7 above the lead screw 8 moves along the lead screw 8 towards both ends. The rotating hinge 1405 above the lead screw nut 7 moves with the lead screw nut 7, the long scissor bar 1410 spreads out, and the slider 11 moves away from each other on the first guide rail 9 and the second guide rail 10 along with the long scissor bar 1410. The middle scissor bar 1411 and the short scissor bar 1412 also move outwards. The first deployable unit 14 unfolds; at the same time, the square slider 1403 moves away from each other along the square guide rail 1402, and the side connector 1407 moves away from each other along the trapezoidal guide rail 1404, driving the rotating hinge 1405 and the small adapter 1408 in the second deployable unit 15 to move, thereby realizing the unfolding of the second deployable unit 15. This transmission drives the Nth deployable unit 16 to unfold, the mechanical finger 2 to unfold, and the rope-driven truss-type foldable capture manipulator to transform from a folded state to an unfolded state.

[0044] Conversely, when the rope-driven truss-type foldable capture robot transforms from its unfolded state to its folded state, the lead screw motor 4 in the robotic finger 2 drives the lead screw 8 to rotate counterclockwise via the first coupling 5. The lead screw nut 7 above the lead screw 8 moves along the lead screw 8 towards the middle position. The rotating hinge 1405 above the lead screw nut 7 moves with the lead screw nut 7, the long scissor bar 1410 retracts, and the slider 11 moves with the long scissor bar 1410 towards each other on the first guide rail 9 and the second guide rail 10. The middle scissor bar 1411 and the short scissor bar 1412... All of them are retracted, and the first deployable unit 14 is retracted; at the same time, the square slider 1403 moves along the square guide rail 1402 towards each other, and the side connector 1407 moves along the trapezoidal guide rail 1404 towards each other, driving the rotating hinge 1405 and the small adapter 1408 in the second deployable unit 15 to move, thereby realizing the retraction of the second deployable unit 15. This is transmitted sequentially to drive the Nth deployable unit 16 to retract, the mechanical finger 2 folds, and the rope-driven truss-type foldable capture manipulator is thus transformed from the unfolded state to the folded and retracted state.

[0045] When the rope-driven truss-type foldable capture robot transforms from its unfolded state to its bent grasping state, the motor 1302 in the rope-driven platform assembly 13 drives the rope winding shaft 1304 to rotate clockwise via the second coupling 1303. The rope 18 is gradually retracted and wound onto the rope winding shaft 1304. The long scissor bar 1410 in the parallel state in the Nth deployable unit 16 changes and moves closer to the central axis of the base 1. The rotating head 14053 in the rotating hinge 1405 rotates accordingly, the coil spring 14054 twists, and the ends of the middle scissor bar 1411 and the short scissor bar 1412 rotate relative to the ends of the small adapter 1408 and the large adapter 1409 to accommodate the bending of the mechanical finger 2. Under the action of the rope 18, the N-1th deployable unit adjacent to the Nth deployable unit 16 also changes synchronously. This transmission occurs sequentially, and each deployable unit changes synchronously. Each mechanical finger 2 bends towards the central axis of the base 1 to achieve the grasping of the target object. When the robotic finger 2 contacts the target object and applies a preset pressure, it stops retracting the rope 18, thus achieving adaptive grasping of target objects of different shapes. When it is necessary to release the target object, simply control the motor 1302 to rotate counterclockwise, which drives the rope winding shaft 1304 to release the rope 18 through the second coupling 1303. The coil spring 14054 automatically resets, and the rotating head 14053 drives the long scissor bars 1410 in each deployable unit back to the parallel state. The rope-driven truss-type foldable capture robot thus transforms from a bent grasping state to an unfolded state.

[0046] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A rope-driven truss-type foldable capture robot, characterized in that, It includes a base and mechanical fingers. The mechanical fingers are mounted on the side of the base via a base plate, and each side of the base is provided with mechanical fingers. The mechanical fingers include a base plate, a lead screw motor, a first coupling, a lead screw support, a lead screw nut, a lead screw, a first guide rail, a second guide rail, a slider, an L-shaped connecting seat, a rope-driven platform assembly, a first deployable unit, a second deployable unit, and an Nth deployable unit. The second deployable unit and the Nth deployable unit have the same structure as the first deployable unit and are connected in series. The lead screw motor is located at the first end of the base plate. The output shaft of the lead screw motor is connected to the first end of the lead screw through the first coupling. The lead screw support is located at the second end of the base plate. Both ends of the lead screw pass through the lead screw support. The lead screw nut is sleeved on the lead screw. The first guide rail is located at the third end of the base plate. The second guide rail is located at the fourth end of the base plate. The slider is connected to the first guide rail and the second guide rail respectively. The L-shaped connecting seat is connected to the slider above the second guide rail. The rope-driven platform assembly is located at the fifth end of the base plate. The rotating hinge in the first deployable unit is connected to the lead screw nut and the slider above the first guide rail respectively. The small adapter in the first deployable unit is rotatably connected to the L-shaped connecting seat. The first deployable unit includes a side plate, a square guide rail, a square slider, a trapezoidal guide rail, a rotating hinge, a C-shaped slider, a side connector, a small adapter, a large adapter, a long scissor bar, a medium scissor bar, and a short scissor bar. The square guide rail is connected to the first end of the side plate. The square slider is fitted onto the square guide rail. Both ends of the long scissor bar are rotatably connected to the rotating hinge. The long scissor bars are connected together in pairs in the middle. Two trapezoidal guide rails are respectively located at the second and third ends of the side plate. The C-shaped sliders are fitted onto the outside of the trapezoidal guide rails through trapezoidal notches. The rotating hinge... The seats are respectively located below the square slider and the C-shaped slider. The side connector is located in the middle of the two trapezoidal guide rails. The side connector moves linearly along the trapezoidal guide rails. The second connecting end on the side connector is rotatably connected to the first end of the small adapter. The middle scissor bars are connected in pairs. The second end of the small adapter is rotatably connected to the first end of the middle scissor bar. The second end of the middle scissor bar is rotatably connected to the first end of the large adapter. The middle short scissor bars are connected in pairs. The second end of the short scissor bars is rotatably connected to the second end of the large adapter.

2. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The side connector has a trapezoidal groove, a first connecting end, and a second connecting end on its upper part. The trapezoidal groove is symmetrically arranged in the middle of the side connector, and the first connecting end and the second connecting end are respectively arranged at both ends of the side connector.

3. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The rope-driven platform assembly includes a base, a motor, a second coupling, a rope winding shaft, and a shaft seat. The base is located at the fifth end of the base plate, the motor is located at the first end of the base, and the shaft seat is located at the second end of the base. Both ends of the rope winding shaft pass through the shaft seat, and the motor output shaft is connected to the first end of the rope winding shaft through the second coupling.

4. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The rotary hinge includes a housing, a rotary shaft, a rotary head, and a coil spring. The rotary shaft is located in the central circular hole of the housing, and the rotary head is fitted onto the rotary shaft. The housing has a notch, and the rotary head has a locking slot. The first end of the coil spring is located in the notch on the housing, and the second end of the coil spring is located in the locking slot on the rotary head.

5. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The lead screw includes a left-hand lead screw section and a right-hand lead screw section.

6. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The opening angle of the trapezoidal groove of the side connector is the same as the inclination angle of the trapezoidal guide rail, and the inclination angle of the trapezoidal notch of the C-shaped slider is the same as the inclination angle of the trapezoidal guide rail.

7. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, Each large adapter is equipped with a pulley system on its side, and vertically and horizontally arranged pulley systems are located on the top of the base.

8. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The first end of the rope is set on the Nth deployable unit, passes through the pulley group on each large adapter in sequence, then passes through the pulley groups arranged vertically and horizontally above the base respectively, and is wound on the rope reel, with the second end of the rope set on the rope reel.

9. The rope-driven truss-type foldable capture robot according to claim 1, characterized in that, The rotating hinge of the second deployable unit is connected to the upper ends of the square slider and the C-shaped slider of the first deployable unit respectively. The small adapter of the second deployable unit is rotatably connected to the first connecting end of the side connector. The connection method between the Nth deployable unit and the previous deployable unit is the same as the connection method between the second deployable unit and the first deployable unit.

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