A rigid-flexible combined space target capturing system and a space target capturing method

Abstract

A rigid-flexible combined space target capturing system and a space target capturing method, the system comprising a satellite, a four-claw folding arm, a guide film, a capturing net and a driving device, the satellite is provided with the four-claw folding arm, the first-stage arm and the second-stage arm of the four-claw folding arm are provided with the guide film, the third-stage arm and the fourth-stage arm are hung with the capturing net, the bottom of the capturing net is connected with the driving device, and the driving device is arranged in the interior of the satellite; the method comprises the following steps: locking the four-claw folding arm after the four-claw folding arm is unfolded to the position, unfolding the guide film, starting the driving device, opening the capturing net and hanging the capturing net on the four-claw folding arm, entering the space target into the envelope range, collecting the closing rope, completing the fast capturing, collecting the capturing net, folding the four-claw folding arm, forming a combined body with the space target, fixing the satellite, controlling the orbit maneuver of the combined body by the satellite propulsion system, and destroying the combined body by deorbiting; the space target capturing system adopts the net surface capturing structure and the four-claw arm type configuration layout mode, can increase the stability of the envelope configuration, and ensures the connection stiffness of the spacecraft and the target.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a rigid-flexible combined space target capture system and a space target capture method. Background Art

[0002] In recent years, with the development of small satellite systems, utilizing flexible components to enhance the flexibility of space systems has become a new technological focus in aerospace engineering. A typical requirement in space activities is the docking or combination of two independent spacecraft or celestial bodies. The process of combining the two is called docking or capture. The target to be captured or docked is called a space target. Space targets include cooperative targets and non-cooperative targets. Cooperative targets refer to satellites, spacecraft, and other spacecraft of the enemy, while non-cooperative targets refer to man-made spacecraft or non-man-made celestial bodies such as obsolete satellites and space debris.

[0003] A commonly used method for capturing non-cooperative targets is robotic arm capture. In a robotic arm capture mission, an active spacecraft carries a robotic arm. When approaching a space target and the target enters the robotic arm's capture envelope size, the robotic arm captures the target to achieve the purpose of controlling the target and preventing the target from escaping.

[0004] Another flexible capture method is flying net capture, that is, the active spacecraft carries a capture device. When approaching the space target, the active spacecraft releases the flying net capture device and covers the space target with the capture net like fishing, thereby capturing the space target.

[0005] However, robotic arm capture does not have the ability to adaptably capture non-cooperative targets within a certain range under large tolerance and high reliability requirements, and flying net capture cannot enable the combination to quickly clear space targets. Summary of the Invention

[0006] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to propose a rigid-flexible combined space target capture system and space target capture method, which adopts a mesh capture structure and a four-claw arm configuration layout to capture space targets, thereby increasing the stability of the envelope configuration and ensuring the connection stiffness between the spacecraft and the target.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A rigid-flexible space target capture system, such as Figure 1 and Figure 2 As shown, it includes: a satellite, a four-claw folding arm, a guide membrane, a capture net and a driving device;

[0009] A four-claw folding arm is provided at one end of the satellite, and the four-claw folding arm includes a first-level arm, a second-level arm, a third-level arm and a fourth-level arm. The first end of the first-level arm is connected to one end of the satellite, the second end of the first-level arm is connected to the first end of the second-level arm, the second end of the second-level arm is connected to the first end of the third-level arm, and the second end of the third-level arm is connected to the first end of the fourth-level arm. Guide films are provided on the first and second arms of the four-claw folding arm to guide the capture net so that it will not escape from the envelope of the four-claw folding arm when the net is closed. A capture net is suspended on the third and fourth arms of the four-claw folding arm, and the bottom of the capture net is connected to the driving device, which is arranged inside the satellite.

[0010] The capture system has a folding configuration and is folded into the rocket launch envelope in the launch state; after entering orbit, the four-claw folding arms drive the capture net to expand; after the space target enters the envelope, the capture net tightens the net mouth to prevent the space target from escaping, and the four-claw folding arms tighten to form a rigid connection with the space target, and the space target and the active spacecraft form a combination; after locking the space target, the attitude and orbit control device on the combination controls the combination to leave orbit.

[0011] The first-level arm, second-level arm, third-level arm and fourth-level arm of the four-claw folding arm are all hollow arms; torsion springs are provided at the joints between the first-level arm, second-level arm, third-level arm and fourth-level arm to drive the expansion and folding of the four-claw folding arm.

[0012] The capture net is an integrated net surface, which is a cube with one side open when unfolded.

[0013] The capture net is as follows Figure 3 As shown, it includes a net body, and four first rope-driven nodes are provided on the top of the net body for supporting the net and closing the net. A spring rope lock is provided on each first rope-driven node, and a closing rope is provided at each spring rope lock. The spring rope lock is connected to the first end of the closing rope, and the second end of the closing rope passes through the second end of the quadruple arm, passes through the first end of the first arm, and is connected to the driving device inside the satellite; four second rope-driven nodes are provided at the bottom of the net body for pulling the bottom of the net body to unfold during the unfolding process, and an unfolding rope is provided at each second rope-driven node, and the second rope-driven node is connected to the first end of the unfolding rope, and the second end of the unfolding rope passes through the joint of the secondary arm and the tertiary arm, passes through the first end of the first arm, and is connected to the driving device inside the satellite; a third rope-driven node is provided in the middle of the bottom of the net body as the main force point when closing the net, and a net-closing rope is provided at the third rope-driven node, and the third rope-driven node is connected to the first end of the net-closing rope, and the second end of the net-closing rope is connected to the driving device inside the satellite.

[0014] The spring rope lock device, such as Figure 4As shown, it includes a shell, on which a first through hole, a hinge point and a second through hole are arranged in parallel. The first end of the closing rope is connected to the hinge point, and the second end of the closing rope passes through the first through hole or the second through hole of the last two spring rope locks in sequence, and then passes through the second end of the quadruple arm.

[0015] The guide membrane is composed of four membrane surfaces and has an isosceles trapezoidal structure when unfolded.

[0016] Both ends of the satellite are also provided with constraint components for constraining the four-claw folding arm when the four-claw folding arm is in a folded state.

[0017] The constraint assembly includes a coil spring box, a first bandage, a second bandage and a hot knife. The coil spring box is arranged on the side of the satellite. The first bandage and the second bandage are arranged in the coil spring box. The hot knife is arranged on the side of the satellite adjacent to the coil spring box. When the four-claw folding arm is in a folded state, the first bandage and the second bandage are pulled out from both sides of the coil spring box respectively, circle around the satellite and are connected to the hot knife to constrain the four-claw folding arm folded around the satellite.

[0018] A rigid-flexible space target capture method is implemented based on the above rigid-flexible space target capture system. Figure 5 、 Figure 6 and Figure 7 As shown, the method includes:

[0019] After changing its orbit, adjusting its attitude, and approaching the space target to be captured, the satellite enters the capture operation mode;

[0020] The first and second bandages are unlocked using a hot knife, and the four-claw folding arms are unlocked and unfolded from the folded state. After being fully unfolded, they are locked by the torsion springs at the joints. As the four-claw folding arms unfold, the guide membranes are unfolded at the primary and secondary arms.

[0021] The driving device is activated, tightening the closing rope and the unfolding rope in the four-claw folding arm, expanding the capture net and hanging it on the four-claw folding arm, waiting for the target to enter the envelope;

[0022] After the satellite adjusts its attitude and navigation, the space target enters the envelope range. The drive device pulls the net-collecting rope, and at the same time, the third-stage arm and the fourth-stage arm are unlocked, the capture net's closing rope is tightened, and the space target is quickly captured.

[0023] The capture net closes in, offsetting the effect of the satellite's spin when capturing the space target. The space target moves closer to the satellite and enters the envelope of the four-claw folding arms.

[0024] The primary and secondary arms are unlocked, and the four-claw folding arms continue to grasp and close, forming a combined body with the satellite and the space target.

[0025] The propulsion system on the satellite controls the orbital maneuvering of the assembly, and the assembly is deorbited and destroyed.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention adopts a foldable and expandable layout design, so that the capture device can be folded and retracted into the launch envelope of a conventional rocket in the launch state. After being deployed in orbit, it can capture space targets with configuration dimensions larger than the active spacecraft body. After the capture action is completed, the capture device can be folded again, which facilitates the on-orbit maneuvering of the assembly.

[0028] 2. The capture net of the present invention has the characteristic of large envelope capture, and when the possible pointed protrusion structure of the space target collides with the capture net, the net surface can effectively share the local force and transfer the load to the claw arm. The claw arm plus the net reduces the risk of escaping from the envelope in the middle of the claw arm.

[0029] 3. The present invention adopts claw arms to support the capture net, which increases the stability of the envelope configuration. At the same time, in order to ensure the on-orbit maneuverability of the deorbit assembly, the claw arms can ensure the connection stiffness between the spacecraft and the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the rope net of the rigid-flexible space target capture system of the present invention in the unfolded state.

[0031] Figure 2 The figure is a schematic diagram of the composition principle of the rigid-flexible combined space target capture system of the present invention in the folded state.

[0032] Figure 3 This is a schematic diagram of the principle of the capture net rope threading method of the rigid-flexible combined space target capture system of the present invention.

[0033] Figure 4 This is a schematic diagram of the method for threading the rope of the capture net of the rigid-flexible combined space target capture system of the present invention.

[0034] Figure 5 This is a schematic diagram of the principle of the deployment process of the rigid-flexible combined space target capture system of the present invention.

[0035] Figure 6 This is a schematic diagram of the principle of the net closing process of the rigid-flexible combined space target capture system of the present invention.

[0036] Figure 7 This is a schematic diagram of the rigid-flexible space target capture system of the present invention capturing a space target.

[0037] Among them, 1-satellite, 2-capture net, 21-net body, 22-first rope drive node, 23-second rope drive node, 24-third rope drive node, 25-closing rope, 26-unfolding rope, 27-net closing rope, 3-four-claw folding arm, 31-first arm, 32-second arm, 33-third arm, 34-fourth arm, 4-guide membrane, 5-constraint assembly, 51-spring box, 52-first bandage, 53-second bandage, 54-hot knife, 6-spring rope locker, 61-shell, 62-first through hole, 63-second through hole, 64-hinge point, 7-capture net end cover, 8-drive device. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0039] The present invention combines rigid capture and flexible capture. The flexible capture mechanism has the ability to capture non-cooperative targets within a certain range with wide adaptability under large tolerance and high reliability requirements. Rigid capture is the basis for the rapid and maneuverable deorbit clearance task of the combination, and is also its significant functional feature relative to flexible capture. By combining the advantages of the two, the space target is first covered with a flying net, and then fixed to the space target through a rigid claw arm to achieve the deorbit requirement.

[0040] The present invention proposes a rigid-flexible combined capture scheme for capturing space targets. The rigid-flexible combined space target capture system has a foldable configuration and can be folded into a common rocket launch envelope in the launch state. After entering orbit, a hot knife cuts the binding rope, and a torsion spring drives the four-claw folding arm to unfold. Then, the rope drives the net to pull in the target. After the target enters the capture envelope, the closing rope is tightened to lock the target, and then the capture net is reeled in to achieve the effect of de-rotation and retraction. The rope drives the unlocking of the four-claw folding arm so that the space target and the spacecraft form a combination, and the maneuvering of the combination is controlled by the attitude and orbit control device on the active spacecraft.

[0041] The satellite involved in the present invention is an artificial spacecraft well known in the art, including a satellite body and solar panels as well as a power system, control system, etc. necessary for an artificial spacecraft.

[0042] The four-claw robot arm of the present invention is a type of traction and expansion mesh. The four-claw robot arm scheme mentioned is the preferred scheme. Of course, other schemes such as three, five or more than five claws can also be used.

[0043] A rigid-flexible space target capture system, comprising: a satellite 1, a four-claw folding arm 3, a guide film 4, a capture net 2, and a drive device 8;

[0044] A four-claw folding arm 3 is provided at one end of the satellite 1, and the four-claw folding arm 3 includes a first-level arm 31, a second-level arm 32, a third-level arm 33 and a fourth-level arm 34. The first end of the first-level arm 31 is connected to one end of the satellite 1, the second end of the first-level arm 31 is connected to the first end of the second-level arm 32, the second end of the second-level arm 32 is connected to the first end of the third-level arm 33, and the second end of the third-level arm 33 is connected to the first end of the fourth-level arm 34. A guide film 4 is provided on the first-level arm 31 and the second-level arm 32 of the four-claw folding arm 3, which is used to guide the capture net 2 so that it will not escape from the envelope of the four-claw folding arm 3 when the net is closed. A capture net 2 is suspended on the third-level arm 33 and the fourth-level arm 34 of the four-claw folding arm 3, and the bottom of the capture net 2 is connected to the driving device 8, which is arranged inside the satellite 1.

[0045] The four-claw folding arm 3 is folded and stored at the diagonal of the satellite 1 when in the folded state, and is unfolded on one side of the satellite 1 when in the unfolded state;

[0046] The capture net 2, when folded, is stored at the front end of the satellite 1 and is enclosed by a capture net end cap 7, which is locked by a memory alloy. When unfolded, the end cap 7 is unlocked by the memory alloy. The four corners of the capture net are hung on one end of the four-claw folding arm 3 by a closing rope 25, and the bottom is connected to the drive device 8. When the closing rope 25 is tightened, the end can be tightened to prevent the target from escaping.

[0047] The guide membrane 4 consists of four membrane surfaces. When folded, the four-claw folding arm 3 folds against the satellite body, with the guide membrane 4 flat in the middle and stacked on both sides. The stacked layers are pressed between the primary and secondary arms of the four-claw manipulator 3 to provide a constraint. When deployed, the four-claw folding arm 3 flattens the guide membrane 4, guiding the space target along the inner side of the guide membrane 4 toward the satellite body without escaping the gripper arm envelope. When deployed, the guide membrane 4 has an isosceles trapezoidal structure. This isosceles trapezoidal structure connects to the primary arm 31 and secondary arm 32 of the four-claw folding arm 3.

[0048] The capture system has a folding configuration and is folded into the rocket launch envelope in the launch state; after entering orbit, the four-claw folding arm 3 drives the capture net 2 to expand; after the space target enters the envelope, the capture net 2 tightens the net mouth to prevent the space target from escaping, and the four-claw folding arm 3 tightens to form a rigid connection with the space target, and the space target and the active spacecraft form a combination; after locking the space target, the attitude and orbit control device on the combination controls the assembly to leave orbit.

[0049] The four-claw folding arm 3 comprises a primary arm 31, a secondary arm 32, a tertiary arm 33, and a quaternary arm 34, each of which is hollow. Torsion springs are installed at the joints between the primary arm 31, the secondary arm 32, the tertiary arm 33, and the quaternary arm 34 to drive the expansion and folding of the four-claw folding arm 3. The joints between the quaternary arm 34 and the tertiary arm 33, and between the tertiary arm 33 and the secondary arm 32, spring open and lock after being unlocked. After being unlocked by a rope, they continue to fold and securely connect to the target. The joint between the tertiary arm 33 and the quaternary arm 34 maintains a certain tension after expansion to ensure the capture net 2 maintains its configuration.

[0050] The capture net 2 is a one-piece net that is open on one side when unfolded. The opening can be tightened by a closing rope 25. Once the target enters the capture net, the target is confined within the capture net 2. The closing rope 25 also has the function of pulling the net to unfold and hanging the capture net 2 on the four-claw folding arm 3.

[0051] The capture net 2 includes a net body 21, and four first rope drive nodes 22 are provided on the top of the net body 21 for supporting the net and closing the net. A spring rope lock 6 is provided on each first rope drive node 22, and a closing rope 25 is provided at each spring rope lock 6. The spring rope lock 6 is connected to the first end of the closing rope 25, and the second end of the closing rope 25 passes through the second end of the quadruple arm 34 and passes out from the first end of the primary arm 31, and is connected to the driving device 8 inside the satellite; four second rope drive nodes 23 are provided at the bottom of the net body 21 for pulling the bottom of the net body 21 to expand during the expansion process, and each second rope drive node 23 is provided at the bottom of the net body 21 for pulling the bottom of the net body 21 to expand during the expansion process. A deployment rope 26 is provided at each of the second rope drive nodes 23. The second rope drive node 23 is connected to the first end of the deployment rope 26. The second end of the deployment rope 26 passes through the joint of the secondary arm 32 and the tertiary arm 33, passes through the first end of the primary arm 31, and is connected to the winding spring of the driving device 8 inside the satellite 1; a third rope drive node 24 is provided in the middle of the bottom of the net body 21, which serves as the main force point when closing the net. A net closing rope 27 is provided at the third rope drive node 24. The third rope drive node 24 is connected to the first end of the net closing rope 27, and the second end of the net closing rope 27 is connected to the driving device 8 inside the satellite 1.

[0052] The deployment rope 26 is used to connect the middle section of the capture net 2 and the four-claw folding arm 3 through the deployment rope 26 to keep the capture net 2 in a tensioned state when the capture net 2 is in the deployed state;

[0053] The second end of the net-collecting rope 27 is connected to the driving device 8 inside the satellite 1, and is used to reel up the capture net 2 from the tail end of the capture net 2 during the collection process of the capture net 2, thereby pulling the space target into the envelope range of the first-stage arm 31 and the second-stage arm 32.

[0054] The spring rope lock 6 includes a housing 61, on which a first through hole 62, a hinge point 64, and a second through hole 63 are arranged in parallel. The first end of the closing rope 25 is connected to the hinge point 64, and the second end of the closing rope 25 passes through the first through hole 62 or the second through hole 63 of the second spring rope lock 6 in sequence, and then passes through the second end of the quadruple arm 34. Specifically:

[0055] Each closing rope 25 at the top of the capture net 2 passes through two spring rope locks 6 and is fixedly connected to the hinge point of the third spring rope lock 6; when supporting the net, the spring rope lock 6 at the top of the capture net 2 acts as a mass block and has no relative movement with the capture net 2, and the driving device 8 pulls the closing ropes 25 of the four first rope drive nodes 22 at the top of the capture net 2 to support the capture net 2; when closing, the driving device 8 continues to close the ropes so that the spring rope lock 6 and the closing rope 25 move relative to each other, and the four spring rope locks 6 converge at the center of the capture net 2 to complete the closing.

[0056] The satellite 1 is further provided with a constraint assembly 5 at both ends thereof, for constraining the four-claw folding arm 3 when the four-claw folding arm 3 is in a folded state.

[0057] The constraint component 5 includes a spring box 51, a first bandage 52, a second bandage 53 and a hot knife 54. The spring box 51 is arranged on the side of the satellite 1. The first bandage 52 and the second bandage 53 are arranged in the spring box 51. The hot knife 54 is arranged on the side of the satellite adjacent to the spring box 51. When the four-claw folding arm 3 is in a folded state, the first bandage 52 and the second bandage 53 are pulled out from both sides of the spring box 51, circle around the satellite 1 and are connected to the hot knife 54 to constrain the four-claw folding arm 3 folded around the satellite 1.

[0058] A rigid-flexible space target capture method is implemented based on the rigid-flexible space target capture system described above, and the method includes:

[0059] After satellite 1 changes its orbit, adjusts its attitude, and approaches the space target to be captured, it enters the capture operation mode;

[0060] The first bandage 52 and the second bandage 53 are unlocked by the hot knife 54, and the four-claw folding arm 3 is unlocked and unfolded from the folded state. After being fully unfolded, it is locked by the torsion spring at the joint. As the four-claw folding arm 3 unfolds, the guide film 4 unfolds at the primary arm 31 and the secondary arm 32;

[0061] The driving device 8 is started, tightening the closing rope 25 and the unfolding rope 26 in the four-claw folding arm 3, expanding the capture net 2 and hanging it on the four-claw folding arm 3, waiting for the target to enter the envelope;

[0062] After satellite 1 adjusts its attitude and navigates, it observes through the onboard camera that the space target enters the envelope range, and the driving device 8 pulls the net-collecting rope 27. At the same time, the tertiary arm 33 and the quadruple arm 34 are unlocked, and the closing rope 25 of the capture net 2 is tightened, and the space target is quickly captured.

[0063] The capture net 2 closes in, offsetting the effect of the space target's spin on the satellite 1 when capturing it. The space target moves closer to the satellite body and enters the gripping range of the four-claw folding arm 3.

[0064] The first-stage arm 31 and the second-stage arm 32 are unlocked, and the four-claw folding arm 3 continues to grasp and close, so that the satellite 1 and the space target form a combined body and are fixed;

[0065] The propulsion system on Satellite 1 controls the orbital maneuver of the complex, and the complex is deorbited and destroyed.

[0066] In summary, the present invention adopts a foldable and expandable layout design, so that the capture device can be folded and folded into the launch envelope of a conventional rocket in the launch state, and after being expanded in orbit, it can capture space targets with configuration dimensions larger than the active spacecraft body size, and the capture device can be folded again after the capture action is completed, which is convenient for the on-orbit maneuvering of the assembly; the capture net has the characteristics of large envelope capture, and when the possible tip protrusion structure of the space target collides with the capture net, the net surface can effectively share the local force and transfer the load to the claw arm. The claw arm and the net reduce the risk of escaping from the envelope from the middle of the claw arm; the claw arm is used to support the capture net to increase the stability of the envelope configuration. At the same time, in order to ensure the on-orbit maneuverability of the deorbit assembly, the claw arm can ensure the connection stiffness between the spacecraft and the target.

[0067] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A rigid-flexible space target capture system, characterized in that: include: Satellite, four-claw folding arm, guide membrane, capture net and drive device; One end of the satellite is provided with a four-claw folding arm, which includes a primary arm, a secondary arm, a tertiary arm and a quaternary arm. The first end of the primary arm is connected to one end of the satellite, the second end of the primary arm is connected to the first end of the secondary arm, the second end of the secondary arm is connected to the first end of the tertiary arm, and the second end of the tertiary arm is connected to the first end of the quaternary arm. Guide films are provided on the primary and secondary arms of the four-claw folding arm to guide the capture net so that it will not escape the envelope of the four-claw folding arm when the net is closed. A capture net is suspended on the tertiary and quaternary arms of the four-claw folding arm, and the bottom of the capture net is connected to a driving device, which is arranged inside the satellite. The capture net includes a net body, and four first rope drive nodes are provided at the top of the net body for supporting the net and closing the net, each first rope drive node is provided with a spring rope lock, and each spring rope lock is provided with a closing rope, the spring rope lock is connected to the first end of the closing rope, the second end of the closing rope passes through the second end of the quadruple arm, passes through the first end of the first arm, and is connected to the driving device inside the satellite; four second rope drive nodes are provided at the bottom of the net body for pulling the bottom of the net body to unfold during the unfolding process, each second rope drive node is provided with an unfolding rope, the second rope drive node is connected to the first end of the unfolding rope, the second end of the unfolding rope passes through the joint of the secondary arm and the tertiary arm, passes through the first end of the first arm, and is connected to the driving device inside the satellite; a third rope drive node is provided in the middle of the bottom of the net body as the main force point when closing the net, a net closing rope is provided at the third rope drive node, the third rope drive node is connected to the first end of the net closing rope, and the second end of the net closing rope is connected to the driving device inside the satellite.

2. The rigid-flexible space target capture system according to claim 1, characterized in that: The capture system is a foldable configuration. In the launch state, it is folded into the rocket launch envelope. After entering orbit, the four-claw folding arm drives the capture net to open. After the space target enters the envelope, the capture net tightens the net mouth to prevent the space target from escaping, and the four-claw folding arm tightens to form a rigid connection with the space target. The space target and the active spacecraft form a combination; after locking the space target, the attitude and orbit control device on the combination controls the combination's deorbit.

3. The rigid-flexible space target capture system according to claim 2, characterized in that: The first-level arm, second-level arm, third-level arm and fourth-level arm of the four-claw folding arm are all hollow arms; torsion springs are provided at the joints between the first-level arm, second-level arm, third-level arm and fourth-level arm to drive the expansion and folding of the four-claw folding arm.

4. The rigid-flexible space target capture system according to claim 3, characterized in that: The capture net is an integrated net surface, which is a cube with one side open when unfolded.

5. The rigid-flexible space target capture system according to claim 1, characterized in that: The spring rope locker includes a shell, on which a first through hole, a hinge point and a second through hole are arranged in parallel. The first end of the closing rope is connected to the hinge point, and the second end of the closing rope passes through the first through hole or the second through hole of the last two spring rope lockers in sequence, and then passes through the second end of the quadruple arm.

6. The rigid-flexible space target capture system according to claim 5, characterized in that: The guide membrane is composed of four membrane surfaces and has an isosceles trapezoidal structure when unfolded.

7. The rigid-flexible space target capture system according to claim 6, characterized in that: Both ends of the satellite are also provided with constraint components for constraining the four-claw folding arm when the four-claw folding arm is in a folded state.

8. The rigid-flexible space target capture system according to claim 7, characterized in that: The constraint assembly includes a coil spring box, a first bandage, a second bandage and a hot knife. The coil spring box is arranged on the side of the satellite. The first bandage and the second bandage are arranged in the coil spring box. The hot knife is arranged on the side of the satellite adjacent to the coil spring box. When the four-claw folding arm is in a folded state, the first bandage and the second bandage are pulled out from both sides of the coil spring box respectively, circle around the satellite and are connected to the hot knife to constrain the four-claw folding arm folded around the satellite.

9. A rigid-flexible space target capture method, implemented based on the rigid-flexible space target capture system according to claim 8, characterized in that: The method comprises: After changing its orbit, adjusting its attitude, and approaching the space target to be captured, the satellite enters the capture operation mode; The first and second bandages are unlocked using a hot knife, and the four-claw folding arms are unlocked and unfolded from the folded state. After being fully unfolded, they are locked by the torsion springs at the joints. As the four-claw folding arms unfold, the guide membranes are unfolded at the primary and secondary arms. The driving device is activated, tightening the closing rope and the unfolding rope in the four-claw folding arm, expanding the capture net and hanging it on the four-claw folding arm, waiting for the target to enter the envelope; After the satellite adjusts its attitude and navigation, the space target enters the envelope range. The drive device pulls the net-collecting rope, and at the same time, the third-stage arm and the fourth-stage arm are unlocked, the capture net's closing rope is tightened, and the space target is quickly captured. The capture net closes in, offsetting the effect of the satellite's spin when capturing the space target. The space target moves closer to the satellite and enters the envelope of the four-claw folding arms. The primary and secondary arms are unlocked, and the four-claw folding arms continue to grasp and close, forming a combined body with the satellite and the space target. The propulsion system on the satellite controls the orbital maneuvering of the assembly, and the assembly is deorbited and destroyed.

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