Differential rope-driven space debris target capturing mechanism

Abstract

The application discloses a differential rope driving space debris target capturing mechanism, and particularly relates to the field of space capturing equipment, which comprises a base, a tether and a driving mechanism for controlling the winding and unwinding of the tether, each capturing arm comprises a joint base, a first joint, a primary arm, a secondary arm and a winding and unwinding mechanism, wherein a limiting unlocking assembly is arranged on the joint base, the limiting unlocking assembly is connected with the driving mechanism, the joint base is hinged through a first joint shaft, a torsional spring and a limiting assembly are arranged on the first joint shaft of the first joint, and the two torsional arms of the torsional spring are respectively in abutment with the first joint and the base. The automatic unfolding of each joint can be realized without the control of the driving mechanism, the driving mechanism is reduced, and the structure of the capturing mechanism is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of space capture equipment, in particular to a differential rope-driven space debris target capture mechanism. BACKGROUND

[0002] In recent years, with the development of small satellite systems, using flexible components to improve the flexibility of space systems has become a new technical point in space engineering. A typical requirement in space activities is the docking or combination of two independent spacecraft or celestial bodies, and the process of combining the two is called docking or capture. The target to be captured or docked is called a space target, which includes cooperative targets and non-cooperative targets. Cooperative targets refer to satellites, spacecraft and other spacecraft of the same party, and non-cooperative targets refer to obsolete satellites, space debris and other artificial spacecraft or non-artificial celestial bodies.

[0003] A common capture method for non-cooperative targets is mechanical arm capture. In a mechanical arm capture task, the main spacecraft carries a mechanical arm, approaches the space target, and when the target enters the mechanical arm capture envelope size, the mechanical arm is retracted using a rope to control the target and prevent the target from escaping. In existing mechanical arm capture, the target is prone to escape. Mechanical arm capture includes rigid mechanical arms and flexible mechanical arms. Each joint of the existing rigid mechanical arm is controlled by a separate drive motor, and each arm of the flexible mechanical arm is driven by one or more ropes. Each rope requires a drive motor, so the existing capture mechanism has a large number of drive mechanisms, resulting in a complex capture mechanism structure. SUMMARY

[0004] The main purpose of the present application is to provide a differential rope-driven space debris target capture mechanism, which aims to solve the problem of complex structure of the existing capture mechanism.

[0005] To achieve the above object, the application provides a differential rope driving space debris target capturing mechanism, which comprises a base, a tether and a driving mechanism for controlling the winding and unwinding of the tether, the two ends of the tether being connected with the driving mechanism, a plurality of capturing arms being fixed on the base at equal intervals, and the plurality of capturing arms being located on the arc of a same circle; each capturing arm comprises: a joint base fixed on the base; a first joint having one end hinged to the joint base through a first joint shaft; a first-order arm having one end connected perpendicularly to the other end of the first joint; a second-order arm hinged to the first-order arm through a second joint; a winding mechanism arranged on the second joint and a third joint, the tether being used to tighten or loosen the first-order arm and the second-order arm along the winding mechanism; wherein a limiting unlocking assembly is arranged on the joint base, the limiting unlocking assembly being connected with the driving mechanism; a torsional spring and a limiting assembly are arranged on the first joint shaft; the two torsional arms of the torsional spring are respectively abutted against the first joint and the base, and the first joint is rotated towards the center of the circle under the action of the torsional spring; the limiting assembly is abutted against the limiting unlocking assembly when the limiting assembly is rotated to a preset position, thereby locking the first joint, and the limiting unlocking assembly is moved away from the limiting assembly under the action of the driving mechanism, thereby unlocking the first joint.

[0006] Optionally, the limiting assembly comprises: a limiting wheel sleeved on the first joint shaft and located outside the joint base, and a limiting tooth arranged on the limiting wheel; the torsional spring is located inside the joint base; the limiting unlocking assembly comprises: a spring seat fixed on the outer wall of the joint base; a spring located inside the spring seat, one end of the spring being abutted against the spring seat; a pull rod having one end forming a boss and being located inside the spring seat, the other end of the spring being abutted against the boss, the other end of the pull rod extending out of the spring seat, and the pull rod being in close contact with the limiting tooth under the action of the spring, thereby locking the limiting tooth; and an unlocking rope having one end connected with the pull rod and the other end connected with the driving mechanism, the pull rod being moved away from the limiting wheel under the action of the driving mechanism.

[0007] Optionally, the second-order arm comprises a plurality of second-order arms, and the plurality of second-order arms are hinged in sequence through third joints.

[0008] Optionally, the second joint comprises: a first casing fixedly connected with the first-order arm at one end; a second casing hinged at one end to the other end of the first casing through a second joint shaft and fixedly connected with the second-order arm at the other end; a centering cam sleeved on the second joint shaft and located outside the first casing; and a push rod arranged outside the second casing, the push rod being in contact with the centering cam to form a positioning mechanism, the positioning mechanism being used to adjust the angle between the first casing and the second casing.

[0009] Optionally, the push rod comprises a screw rod connected outside the second casing through a nut.

[0010] Optionally, the second joint and the third joint have the same structure.

[0011] Optionally, the winding mechanism comprises a first winding wheel rotatably connected to the second joint and the third joint; and a steering wheel rotatably connected to the third joint, the steering wheel being used for guiding the tether to pass through the steering wheel.

[0012] Optionally, the winding mode of the tether in the capture arm is a differential winding structure.

[0013] Optionally, the capture arm comprises four, and the threading route of the tether in the four capture arms is in a Z shape.

[0014] Optionally, the winding mechanism further comprises a third winding wheel rotatably connected to the base.

[0015] Compared with the prior art, the application has the following beneficial effects:

[0016] The differential tether-driven space debris target capturing mechanism has the following advantages: the first joint is connected with the joint base and is provided with a torsional spring and a locking mechanism; the first-level arm and the second-level arm are hingedly connected through the second joint; the second-level arms are hingedly connected through the third joint; each arm can be folded into the launch envelope range of a conventional rocket in the launch state, and can realize the capturing of a space target with a configuration size greater than the body size of the active spacecraft after being unfolded in orbit; after the capturing action is completed, the target is rigidly connected through the control of the driving mechanism, so that the combination is convenient for in-orbit maneuvering; the first joint can be automatically unfolded through the torsional spring, and the preset angle of unfolding is positioned through the unlocking assembly and the limiting assembly, so that the driving mechanism is not needed to be driven, and the overall structure is reduced; in addition, the second joint and the third joint can be automatically unfolded, and the preset angle of positioning is realized through the centering cam and the push rod, so that the driving mechanism is not needed to be controlled, and the overall structure is further simplified; under the cooperation of the limiting unlocking assembly, the limiting assembly and the torsional spring, the first joint can be quickly unfolded to drive the first-level arm to converge to the target, so that the envelope can prevent the target from escaping; the two ends of the tether are connected with the driving mechanism, so that the differential driving force is evenly distributed. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a structural schematic diagram of a differential tether-driven space debris target capturing mechanism according to the application;

[0018] Figure 2 FIG. 2 is a structural schematic diagram of a capture arm in the differential tether-driven space debris target capturing mechanism according to the application;

[0019] Figure 3 FIG. 3 is a structural schematic diagram of a joint base in the differential tether-driven space debris target capturing mechanism according to the application;

[0020] Figure 4 FIG. 4 is a structural schematic diagram of a limiting unlocking assembly in the differential tether-driven space debris target capturing mechanism according to the application;

[0021] Figure 5This is a structural schematic diagram of the second joint in a differential rope-driven space debris target capture mechanism of this application;

[0022] Figure 6 This is a schematic diagram of the specific structure of the second joint in a differential rope-driven space debris target capture mechanism of this application;

[0023] Figure 7 This is a schematic diagram of the working state of the tether in a differential rope-driven space debris target capture mechanism of this application;

[0024] Figure 8 This is a schematic diagram of the working state of the tether in a differential rope-driven space debris target capture mechanism of this application;

[0025] Figure 9 This is a schematic diagram of the initial state of a differential rope-driven space debris target capture mechanism for this application.

[0026] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0028] The present invention provides a differential rope-driven space debris target capture mechanism, such as Figures 1-2 As shown, it includes a base 1, a tether 2 and a driving mechanism 3 for controlling the retraction and extension of the tether 2. The driving mechanism 3 can be a motor or other mechanism that can tighten or loosen the tether 2. Both ends of the tether 2 are connected to the driving mechanism 3. A plurality of capture arms 4 are fixed on the base 1 at equal intervals. The plurality of capture arms 4 are located on the arc of the same circle; each capture arm 4 includes a joint base 41, a first joint 42, a primary arm 43 and a rope winding mechanism 45. The joint base 41 is fixed on the base 1. A limited unlocking component 46 is provided on the joint base 41. The limited unlocking component 46 is connected to the driving mechanism 3; as shown Figure 3As shown, one end of the first joint 42 is hinged to the joint base 41 through a first joint shaft 47, the first joint shaft 47 is provided with a torsional spring 48 and a limiting assembly 49; specifically, the joint base 41 includes a first side plate 411 and a second side plate 412 symmetrically fixed on the bottom plate, and the first joint shaft 47 is rotatably connected between the first side plate 411 and the second side plate 412; the torsional spring 48 is located between the first side plate 411 and the second side plate 412, the limiting assembly 49 is located outside the first side plate 411, and the limiting unlocking assembly 46 is arranged on the outer wall of the first side plate 411. Among them, the two torsional arms of the torsional spring 48 respectively abut against the side wall away from the envelope direction of the first joint 42 and the base 1, and the first joint 42 rotates to the envelope direction of the capture arm 4 under the action of the torsional spring 48; the limiting assembly 49 abuts against the limiting unlocking assembly 46 when it rotates with the first joint 42 to the preset position, thereby locking the first joint 42, and the limiting unlocking assembly 46 moves to the center direction under the action of the driving mechanism 3, thereby unlocking the first joint 42; one end of the primary arm 43 is perpendicularly connected to the other end of the first joint 42, and the other end is sequentially connected with a plurality of secondary arms 44, wherein the primary arm is hinged to the secondary arm through a second joint, and adjacent two secondary arms are hinged through a third joint; the rope winding mechanism 45 is arranged on the second joint 491 and the third joint 492, and the tether 2 tightens or loosens the primary arm 43 and the secondary arm 44 along the rope winding mechanism 45.

[0029] Initially, the arms are constrained to be in a folded state, when the constraint is released, the first joint 42 rotates to the envelope direction (to the target direction) under the action of the torsional spring 48 to realize the rapid deployment of the first joint 42, at this time, through the cooperation of the limiting unlocking assembly 46 and the limiting assembly 49, the rotation angle of the first joint 42 can be limited within a preset range, thereby limiting the deployment angle of the primary arm 43, so that the capture arm 4 forms a pre-capture envelope; and when capture is needed, the limiting unlocking assembly 46 is separated from the limiting assembly 49 through the driving mechanism 3 to unlock the first joint 42, and the torsional spring 48 provides torque to realize passive rapid control of each arm to the target, forming preliminary adhesion with the target, thereby ensuring firm connection between the capture arm 4 and the capture target.

[0030] In the embodiment, the first joint 42 is provided with a torsional spring 48 at the connection with the joint base 41, the primary arm 43 is hinged to the secondary arm 44 through the second joint 491, and each secondary arm 44 is hinged to the third joint 492, which can fold the arms within the launch envelope range of the conventional rocket in the launch state, and can realize the capture of the space target with a configuration size larger than the size of the active spacecraft body after deployment in orbit, and after the capture action is completed, the target is formed into a rigid connection through the control of the driving mechanism 3, which is convenient for the on-orbit maneuver of the combination body; the two ends of the tether 2 are connected with the driving mechanism 3 to realize differential driving and uniform distribution of stress.

[0031] AsFigure 4 As shown, the limiting assembly 49 comprises a limiting wheel 4901 sleeved on the first joint shaft 47 and located outside the first side plate 411, the limiting wheel 4901 is provided with limiting teeth, and a plurality of spline grooves for different angles are arranged on the limiting wheel 4901, the angle of the limiting wheel 4901 can be adjusted through the spline grooves according to the requirement, so as to adjust the unfolding angle of the first joint 42.

[0032] The limiting unlocking assembly 46 comprises a spring seat 4601, a spring 4602, a pull rod 4603 and an unlocking rope 4604, the spring seat 4601 is fixed on the outer side wall of the first side plate 411, the spring 4602 is located in the spring seat 4601, one end of the spring 4602 abuts against the spring seat 4601, one end of the pull rod 4603 forms a boss and is located in the spring seat 4601, the other end of the spring 4602 abuts against the boss, the other end of the pull rod 4603 extends out of the spring seat 4601, the pull rod 4603 is in close contact with the limiting teeth under the action of the spring 4602 to lock the limiting teeth, and the pull rod 4603 is provided with a through hole, one end of the unlocking rope 4604 is connected with the pull rod 4603 through the through hole, and the other end is connected with the driving mechanism 3, the pull rod 4603 moves away from the limiting wheel 4901 under the action of the driving mechanism 3.

[0033] When the limiting wheel 4901 rotates to a certain position during the unfolding of the first joint 42, the limiting teeth are in close contact with the pull rod 4603, the brake of the limiting wheel 4901 is limited, the unfolding of the first joint 42 is prevented, the unfolding angle of the first joint 42 is within a preset range, locking is realized, when the target is determined, the unlocking rope 4604 is pulled by the driving mechanism 3, the pull rod 4603 moves away from the limiting wheel 4901, the pull rod 4603 is separated from the limiting teeth, unlocking is realized, the first joint 42 continues to unfold under the action of the torsional spring 48 and drives the first arm 43 to fold towards the target, the rapid unfolding of the first joint 42 forms an envelope to prevent the target from escaping.

[0034] The second joint 491 and the third joint 492 are the same in structure, and the specific structure of the second joint 491 will be introduced below.

[0035] As Figure 5As shown, the second joint 491 comprises a first casing 4910, a second casing 4911, a centering cam 4912 and a push rod 4913, one end of the first casing 4910 is fixedly connected with the first level arm 43; one end of the second casing 4911 is hingedly connected with the other end of the first casing 4910 through a second joint shaft, and the other end is fixedly connected with the second level arm 44; the centering cam 4912 is sleeved on the second joint shaft and located outside the first casing 4910; the push rod 4913 is arranged outside the second casing 4911, the push rod 4913 is in contact with the centering cam 4912 to form a positioning mechanism, and the positioning mechanism is used for adjusting the angle between the first casing 4910 and the second casing 4911. Further, the push rod 4913 can comprise a screw rod, which is connected outside the second casing 4911 through a nut 4914, the second casing 4911 has an ear plate 4915 connected outside, and the ear plate 4915 has a through hole formed therein, and the nut 4914 is fixed in the through hole.

[0036] Due to the outer contour shape of the centering cam 4912, the screw rod is pushed in different ways during the rotation of the centering cam 4912, when the centering cam 4912 rotates to a certain position, the protruding part of the centering cam 4912 is in contact with the screw rod to form a mechanical block, thereby controlling the unfolding angle of the second joint 491 to reach a preset value. According to requirements, the length of the screw rod extending out of the nut 4914 and the angle of the centering cam 4912 can be adjusted, so that the contact point and contact mode of the contour of the cam and the screw rod change, thereby changing the unfolding angle of the second joint 491.

[0037] Further, as shown in Figures 6-7 The first casing 4910 comprises a first casing 4910, a second casing 4911, a centering cam 4912 and a push rod 4913, one end of the first casing 4910 is fixedly connected with the first level arm 43; one end of the second casing 4911 is hingedly connected with the other end of the first casing 4910 through a second joint shaft, and the other end is fixedly connected with the second level arm 44; the centering cam 4912 is sleeved on the second joint shaft and located outside the first casing 4910; the push rod 4913 is arranged outside the second casing 4911, the push rod 4913 is in contact with the centering cam 4912 to form a positioning mechanism, and the positioning mechanism is used for adjusting the angle between the first casing 4910 and the second casing 4911. Further, the push rod 4913 can comprise a screw rod, which is connected outside the second casing 4911 through a nut 4914, the second casing 4911 has an ear plate 4915 connected outside, and the ear plate 4915 has a through hole formed therein, and the nut 4914 is fixed in the through hole.

[0038] The rope winding mechanism 45 comprises a first rope winding wheel 451 and a steering wheel 452, which are respectively arranged on the second joint 491 and the third joint 492. Taking the second joint 491 as an example, the first rope winding wheel 451 is rotatably connected to the second joint 491 through a first support; the steering wheel 452 is rotatably connected to the third joint 492 at the end of the capture arm 4 through a third support, and the steering wheel 452 is used for turning the tether 2.

[0039] On the basis of the above embodiment, the first winding wheel 451 is rotatably connected to the second connecting beam 49112 through the first support, and the second winding wheel 452 is rotatably connected to the second connecting beam 49112 of the third joint 492 through the second support. Further, in order to better guide, the winding mechanism 45 can further include a second winding wheel 453 correspondingly arranged on the second joint 491 and the third joint 492. Taking the second joint 491 as an example, the second winding wheel 453 is rotatably connected to the side wall of the second shell 49111. The overall routing of the tether 2 is located inside the arm to avoid cross interference.

[0040] For example, the secondary arm 44 can include two, such as a first secondary arm and a second secondary arm, which are hinged through the third joint 492, and the first secondary arm is further connected with the primary arm 43. The steering wheel 452 is rotatably connected in the second shell 49111 through the third support, and the axial direction of the steering wheel 452 is perpendicular to the axial direction of the first winding wheel 451 and the second winding wheel 452. Further, the second winding wheel 453 is located between the steering wheel 452 and the first winding wheel 451. The winding mode of the tether 2 in the capture arm 4 is a differential winding structure, which can make the mechanical arm that does not have good contact with the target continue to close until all the mechanical arms firmly adhere to the target. The winding mode is as follows: one end of the tether 2 passes through the first winding wheel 451 and the second winding wheel 453 on the second joint, the first winding wheel 451 and the second winding wheel 453 on the third joint, the steering wheel 452 in turn, is turned through the steering wheel 452, and is stretched out of the capture arm 4 along the second winding wheel 453 and the first winding wheel 451 on the third joint, the second winding wheel 453 and the first winding wheel 451 on the second joint in turn.

[0041] The capture arm 4 includes four, such as Figure 8 As shown, the routing of the tether 2 in the four capture arms 4 is Z-shaped. That is, the tether 2 is first wound in the first capture arm 4 according to the above winding mode and then stretched out, then enters the capture arm 4 adjacent to the first capture arm 4 (the second capture arm 4), and then enters the third capture arm 4 after being stretched out, the third capture arm 4 is diagonally arranged with the second capture arm 4, and then enters the capture arm 4 adjacent to the third capture arm 4 (the fourth capture arm 4) after being stretched out, and finally is connected to the driving mechanism 3. Through the driving mechanism 3, the four capture arms 4 are rigidly locked, which can effectively prevent external impact.

[0042] The rope winding mechanism 45 also includes a third rope winding wheel 454, which is rotatably connected to the base 1 through a fourth bracket; the rope winding method of the tether 2 in the capture arm 4 is as follows: the tether 2 passes through the third rope winding wheel 454, the first rope winding wheel 451 and the second rope winding wheel 453 on the second joint, the first rope winding wheel 451 and the second rope winding wheel 453 on the third joint, and the steering wheel 452 in turn, and is turned through the steering wheel 452, and extends out of the capture arm 4 along the second rope winding wheel 453 and the first rope winding wheel 451 on the third joint, the second rope winding wheel 453 and the first rope winding wheel 451 on the second joint, and the third rope winding wheel 454 in turn.

[0043] The working principle of the differential rope-driven space debris target capture mechanism of the present invention is as follows:

[0044] In the initial state, the cables are tied, such as Figure 9 As shown, the first joint 42, the second joint 491, and the third joint 492 are all in a compressed and tightened state, that is, the second-level arm, the first-level arm, and the first-level arm 43 are folded, and the first joint 42 is parallel to the base 1; the cable restraint is cut by a hot knife, and the first joint 42 rotates in the envelope direction under the action of the torsion spring 48. At the same time, the second joint 491 and the third joint 492 are unfolded in the direction away from the envelope. The second joint 491 and the third joint 492 are unfolded to a preset angle under the action of the push rod 4913 and the centering cam 4912; during the unfolding process, when the limiting wheel 4901 rotates to a certain position with the first joint 42, the limiting teeth are in close contact with the pull rod 4603, limiting the braking of the limiting wheel 4901 , thereby preventing the first joint 42 from rotating in the envelope direction, so that the expansion angle of the first joint 42 is maintained at a preset angle, and the capture arm 4 forms an envelope before being captured; when capturing the target, the unlocking rope 4604 is pulled by the driving mechanism 3, so that the pull rod 4603 moves in the direction away from the limiting wheel 4901, and the pull rod 4603 is separated from the limiting tooth to achieve unlocking, and the first joint 42 continues to expand under the torsion spring 48 and then drives the primary arm 43 to close toward the target, forming a preliminary fixed connection with the target; finally, the driving mechanism 3 tightens the tether 2, so that the four capture arms 4 are tightly locked to the target; the driving mechanism 3 brakes, and the capture arm 4 joints are locked, forming a firm connection between the capture mechanism and the target.

[0045] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A differential rope-driven space debris target capture mechanism, characterized in that: It includes a base, a tether, and a driving mechanism for controlling the retraction and extension of the tether. Both ends of the tether are connected to the driving mechanism. A plurality of capture arms are fixed on the base at equal intervals, and the plurality of capture arms are located on the arc of the same circle. Each of the capture arms comprises: a joint base, fixed on the base; a first joint, one end of which is hinged to the joint base via a first joint axis; a primary arm, one end of which is vertically connected to the other end of the first joint; a secondary arm, hinged to the primary arm via a second joint; a rope winding mechanism, provided on the second joint, wherein the tether is arranged along the rope winding mechanism to tighten or loosen the primary arm and the secondary arm; Wherein, a limited unlocking component is provided on the joint base, and the limited unlocking component is connected to the driving mechanism; A torsion spring and a limit assembly are provided on the first joint shaft; The two torsion arms of the torsion spring are respectively in contact with the first joint and the base, and the first joint rotates toward the center of the circle under the action of the torsion spring; When the limiting assembly rotates to a preset position along with the first joint, it abuts against the limiting and unlocking assembly to lock the first joint. Under the action of the driving mechanism, the limiting and unlocking assembly moves in a direction away from the limiting assembly to unlock the first joint. The limiting component includes: A limiting wheel, which is sleeved on the first joint shaft and located outside the joint base, and is provided with limiting teeth; the torsion spring is located inside the joint base; The limit unlocking component includes: a spring seat, fixed on the outer side wall of the joint base; A spring is located in the spring seat, one end of the spring abuts against the spring seat, A pull rod, one end of which has an outer wall forming a boss and is located in the spring seat, the other end of the spring abuts against the boss, and the other end of the pull rod extends out of the spring seat; an unlocking rope, one end of which is connected to the pull rod and the other end of which is connected to the driving mechanism; Wherein, the pull rod is in close contact with the limiting tooth under the action of the spring to lock the limiting tooth; the pull rod moves in a direction away from the limiting wheel under the action of the driving mechanism; The rope winding mechanism comprises: a first rope winding wheel, the number of the first rope winding wheels corresponding to the number of the second joints and the third joints, and the first rope winding wheels connected to the second joints and the third joints correspondingly; A steering wheel is rotatably connected to the third joint, and the steering wheel is used to steer the tether.

2. The differential rope-driven space debris target capture mechanism according to claim 1, characterized in that: The secondary arms include multiple secondary arms, which are hinged in sequence through the third joint.

3. The differential rope-driven space debris target capture mechanism according to claim 2, characterized in that: The second joint comprises: a first housing, one end of which is fixedly connected to the primary arm; a second housing, one end of which is hinged to the other end of the first housing via a second joint shaft, and the other end of which is fixedly connected to the secondary arm; a centering cam, sleeved on the second joint shaft and located outside the first housing; A push rod is arranged on the outside of the second housing, and the push rod contacts the centering cam to form a positioning mechanism, and the positioning mechanism is used to adjust the angle between the first housing and the second housing.

4. The differential rope-driven space debris target capture mechanism according to claim 1, characterized in that: The push rod includes a screw rod, and the screw rod is connected to the outside of the second housing through a nut.

5. The differential rope-driven space debris target capture mechanism according to claim 1, characterized in that: The second joint and the third joint have the same structure.

6. The differential rope-driven space debris target capture mechanism according to claim 5, characterized in that: The tether is wound in the capture arm in a differential winding structure.

7. The differential rope-driven space debris target capture mechanism according to claim 5, characterized in that: The capture arms include four, and the threading routes of the tether in the four capture arms are Z-shaped.

8. The differential rope-driven space debris target capture mechanism according to claim 5, characterized in that: The rope winding mechanism also includes a third rope winding wheel, which is rotatably connected to the base.

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