Joint type space target capturing device

Abstract

The invention relates to the technical field of space target capturing, in particular to a joint type space target capturing device. The group of curled and unfolded telescopic frames are arranged in a surrounding manner, each curled and unfolded telescopic frame comprises a group of bone joint frames which are sequentially hinged from the near end to the far end, each bone joint frame is provided with a pair of first hinge points, the adjacent bone joint frames are hinged to the first hinge points on the close sides, and a second hinge point is arranged on one side, located on a connecting line of the pair of first hinge points, of each bone joint frame; the telescopic driving components are connected between a pair of adjacent joint frames, the near ends and the far ends of the telescopic driving components are hinged to the joint frames on the near end side and the far end side at second hinge points respectively, and the telescopic driving components are used for driving the near ends and the far ends of the telescopic driving components to be relatively away from or close to each other; therefore, a pair of second hinge points on a pair of adjacent bone joint frames can move relatively in two directions of being far away from each other or close to each other; and the joint frame on the near end side of the curled and unfolded telescopic frame is mounted on the connecting frame. The device is suitable for capturing large space targets.

Description

Technical Field

[0001] The present invention relates to the technical field of space target capture, and in particular to a joint-type space target capture device. Background Art

[0002] There are abandoned satellite debris and other metal fragments that have not been completely burned left in space. These space debris pose a great threat to satellites, rockets, and space stations. With the development and progress of aviation technology, humans have begun to clean up debris through active capture and removal, and ground-controlled spacecraft are used to carry out the removal. These tasks require the use of space capture manipulators. For meter-sized targets, their volume is large, so the space capture mechanism needs to have a large expansion and contraction ratio to achieve a smaller folded volume, and requires fewer degrees of freedom, so that a large range of capture can be achieved through fewer drives.

[0003] Most of the existing space capture mechanisms are articulated manipulators, which have limited expansion volume. For large targets, a larger manipulator is required, but the manipulator will take up more space. Therefore, a space capture mechanism that can capture large targets needs to design a manipulator with a large expansion and contraction ratio. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a joint-type space target capture device, which can be used for capturing large space targets and has the advantage of a large expansion / contraction ratio.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions: A joint-type space target capture device, comprising: A group of curling and telescopic frames arranged around, the curling and telescopic frames include a group of joint frames hinged in sequence from the proximal end to the distal end, the joint frames are provided with a pair of first hinge points located at the proximal side and the distal side respectively, the adjacent joint frames are hinged at the first hinge points on the proximal side, and the joint frames are provided with a second hinge point on one side of the line connecting the pair of first hinge points; A group of telescopic driving members, the telescopic driving members are connected between a pair of adjacent bone joint frames, the proximal end and the distal end of the telescopic driving member are respectively hinged to the proximal and distal bone joint frames at the second hinge point, and the telescopic driving member is used to drive the proximal end and the distal end thereof to move relatively away from or closer to each other, so as to realize the relative movement of a pair of second hinge points on the adjacent pair of bone joint frames in two directions of moving away from or closer to each other; A connecting frame, on which the proximal joint frame of the curled and extended telescopic frame is installed; During the relative movement of each pair of second hinge points in one direction, a group of joint frames of the curling and telescopic frame will curl up at the proximal end of the curling and telescopic frame to form a standby storage state; During the relative movement of each pair of second hinge points in another direction, a group of joint frames of the curled and telescopic frame will stretch into an arc shape that envelops the center of the curled and telescopic frame, and the distal ends of a group of curled and telescopic frames will converge toward the center of the curled and telescopic frame to capture spatial targets.

[0006] Based on the above structure, a joint-type space target capture device has the following principle: a pair of first hinge points on a joint frame, plus a second hinge point, form three endpoints of a triangle, the positional relationship of the three endpoints is unchanged, plus a second hinge point on the distal side, a quadrilateral is formed, and the function of the telescopic driving component is to change the distance between a pair of second hinge points. When the distance between a pair of second hinge points is equal to that between a pair of first hinge points, the curled-up telescopic frame extends in a straight line; when the distance between a pair of second hinge points is greater than that between a pair of first hinge points, the curled-up telescopic frame extends in an arc toward the first hinge point; when the distance between a pair of second hinge points is less than that between a pair of first hinge points, the curled-up telescopic frame extends in an arc toward the second hinge point; when the distance between a pair of second hinge points and a pair of first hinge points is too different, a group of joint frames of the curled-up telescopic frame will curl toward the side with a shorter distance.

[0007] Furthermore, in a joint-type space target capture device in the present application, on the joint frame, the telescopic drive component is on the outside of the line connecting a pair of first hinge points. As a preferred embodiment of the present application, it should be noted that the center of the surrounding area close to the curled and telescopic frame is the inside, and the center of the surrounding area away from the curled and telescopic frame is the outside. Then, in the process of each pair of second hinge points moving toward each other, a group of joint frames of the curled and telescopic frame will curl up at the proximal end of the curled and telescopic frame; in the process of each pair of second hinge points moving away from each other, a group of joint frames of the curled and telescopic frame will stretch into an arc that envelops the center of the surrounding area of ​​the curled and telescopic frame to capture the space target.

[0008] Furthermore, in the present application, a joint-type space target capture device, the telescopic driving member includes a pair of first connecting rods hinged in an X shape, a pair of first connecting blocks arranged at intervals in the transverse direction, and a pair of second connecting blocks arranged at intervals in the transverse direction, the pair of first connecting blocks and the second connecting blocks are respectively rotatably connected to a pair of end portions on the proximal side and the distal side of the pair of first connecting rods, and the rotation axis is parallel to the rotation axis between the pair of first connecting rods, the pair of first connecting blocks and the pair of second connecting blocks are respectively pivotally connected to a pair of adjacent joint frames at positions corresponding to the second hinge points, wherein the pair of first connecting blocks are connected to the proximal joint frames, and the pair of second connecting blocks are connected to the distal joint frames; It also includes a driving device, which is drivingly connected to the first connecting block and is used to drive the pair of first connecting blocks to move closer or farther in the lateral direction to drive the pair of first connecting rods to rotate relative to each other; In a pair of adjacent telescopic drive components, a transverse synchronous transmission structure is provided between the second connecting block of the proximal telescopic drive component and the first connecting block of the distal telescopic drive component to synchronize the transverse movement to form the linkage of adjacent telescopic drive components. As a preferred solution of the present application, based on the above device, the telescopic drive component is a scissor-type telescopic frame, and the adjacent telescopic drive components form a linkage telescopic, and the state switching of the curled telescopic frame can be controlled by a driving actuator, which has the advantage of simple control. And the telescopic drive component forms a three-dimensional support for the adjacent joint frame, which has the advantage of good structural stability. Further, a joint-type space target capture device in the present application, the joint frame is provided with a laterally extending pivot at the position corresponding to the second hinge point, the first connecting block and the second connecting block are rotatably mounted on the pivot, and the first connecting block and the second connecting block are slidably connected to the pivot. As a preferred solution of the present application, compared with the separately provided sliding track, the sliding effect of the pivot integrated has the advantage of simple structure.

[0009] Furthermore, a joint-type space target capture device in the present application, The driving device includes a transversely arranged driving screw and a driving motor drivingly connected to the driving screw. The driving screw is provided with a driving nut, which is slidably connected to the connecting frame and the sliding track is parallel to the axial direction of the driving screw. A first connection block on the proximal side of the joint frame of the curling and telescopic frame is transmission-connected with the transmission nut, and the other first connection block is restrained by the limiter to move horizontally; The driving motor is used to drive the driving screw to rotate so as to drive the transmission nut to move laterally, thereby driving the first connection block connected to the transmission nut to move until the pair of first connection blocks are close to or away from each other. As a preferred solution of the present application, the driving motor drives the driving screw to rotate to drive the transmission nut and the first connection block to move, which can improve the continuity and accuracy of controlling the telescopic transformation of the curling and unfolding telescopic frame compared to the use of cylinder control.

[0010] Furthermore, in the present application, a joint-type space target capture device, the connecting frame is rotatably connected to the joint frame, and the driving device also includes a pair of second connecting rods hinged in an x-shape, a pair of ends on the proximal side of the pair of second connecting rods are respectively rotatably connected to the transmission nut and the connecting frame, and a pair of ends on the distal side of the pair of second connecting rods are respectively rotatably connected to the third connecting blocks, and the pair of third connecting blocks are pivotally connected to the position of the proximal joint frame corresponding to the second hinge point; a transverse synchronous transmission structure is provided between the third connecting block and the first connecting block of the proximal joint frame to synchronize transverse movement to realize the transmission connection between the transmission nut and the first connecting block. That is, one of the third connecting blocks is used to transmit the transverse thrust of the first connecting block that is transmission-connected to the transmission nut, and the other third connecting block is used as a limiter to constrain the lateral movement of the other first connecting block.

[0011] Furthermore, in a joint-type space target capture device in the present application, the lateral synchronous transmission structure includes a U-shaped limit groove and a plug plate respectively arranged on a pair of connecting blocks, the plug plate is arranged in the U-shaped limit groove, and the side wall of the plug plate and the side wall of the U-shaped limit groove cavity are used to transmit the lateral thrust. As a preferred embodiment of the present application, further, in a joint-type space target capture device in the present application, the drive device also includes a transmission shaft, the transmission shaft is arranged directly on a pair of circumferentially adjacent drive screws, and the transmission shaft is connected to the pair of drive screws through a universal joint to realize the synchronous linkage of a group of drive screws. As a preferred embodiment of the present application, it is possible to realize that a drive motor synchronously controls the activities of a group of curling and telescopic frames.

[0012] Furthermore, the joint-type space target capture device in the present application further includes a seat body, the connecting frame is fixed on the seat body, and the seat body is connected to the spacecraft. As a preferred solution of the present application, therefore, it has integration and is convenient for overall disassembly and assembly.

[0013] Furthermore, in the present application, a joint-type space target capture device comprises a joint frame including a pair of laterally arranged L-shaped plates, a plurality of cross bars are provided between the pair of L-shaped plates to connect the pair of L-shaped plates, the L-shaped plates include an envelope plate and a transmission plate extending laterally from one end of the envelope plate, a pair of first hinge points are located at both ends of the envelope plate, and a second hinge point is located at an end of the transmission plate away from the envelope plate.

[0014] It can be seen from the above technical solution that the present invention has the following beneficial effects: The present invention provides a joint-type space target capture device. Therefore, a joint-type space target capture device in the present application can help save transportation space when in a standby storage state; during capture, a group of joint frames are stretched into an envelope arc to capture the space target. It can be suitable for capturing large space targets and has the advantage of a large expansion / contraction ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a joint-type space target capture device in an embodiment of the present application; Figure 2 A schematic diagram of the working principle of a joint-type space target capture device in an embodiment of the present application; Figure 3 This is a schematic diagram of the connection between the joint frame and the telescopic driving component in the embodiment of the present application; Figure 4 It is a schematic diagram of a base end component corresponding to a joint-type space target capture device in an embodiment of the present application.

[0016] In the figure: 1-crouching and telescopic frame; 11-joint frame; 110-L-shaped plate; 1101-envelope plate; 1102-transmission plate; 111-pivot; 201-U-shaped limiting groove; 202-insertion plate; 21-telescopic driving member; 211-first connecting rod; 212-first connecting block; 213-second connecting block; 22-driving screw; 23-transmission nut; 24-driving motor; 25-transmission shaft; 251-second connecting rod; 3-seat body; 31-connecting frame; 311-guide rod. DETAILED DESCRIPTION

[0017] Combination Figures 1 to 3 A joint-type space target capture device shown includes: A group of curling and telescopic frames 1 are arranged around, and the curling and telescopic frames 1 include a group of joint frames 11 hinged in sequence from the proximal end to the distal end, and the joint frames 11 are provided with a pair of first hinge points located at the proximal side and the distal side respectively, and the adjacent joint frames 11 are hinged at the first hinge points on the adjacent sides, and the joint frames 11 are provided with a second hinge point on one side of the line connecting the pair of first hinge points; A group of telescopic driving members 21, the telescopic driving members 21 are connected between a pair of adjacent bone joint frames 11, the proximal end and the distal end of the telescopic driving member 21 are respectively hinged to the proximal and distal bone joint frames 11 at the second hinge point, and the telescopic driving member 21 is used to drive the proximal end and the distal end thereof to move relatively away from or closer to each other, so as to realize the relative movement of a pair of second hinge points on the adjacent pair of bone joint frames 11 in two directions of moving away from or closer to each other; A connecting frame 31, on which the proximal joint frame 11 of the curling and telescopic frame 1 is installed; During the relative movement of each pair of second hinge points in one direction, Figure 2 As shown in the leftmost state, a group of joint frames 11 of the curled and telescopic frame 1 will curl up at the proximal end of the curled and telescopic frame 1 to form a standby storage state; During the relative movement of each pair of second hinge points in another direction, Figure 2 As shown, a group of joint frames 11 of the curled and telescopic frame 1 will stretch into an arc shape that envelops the center of the curled and telescopic frame 1, and the distal ends of a group of curled and telescopic frames 1 will converge toward the center of the curled and telescopic frame 1 to capture the space target.

[0018] Based on the above structure, a joint-type space target capture device is provided, and its principle is as follows: a pair of first hinge points on a joint frame 11, plus a second hinge point, form three endpoints of a triangle, and the positional relationship of the three endpoints is unchanged, plus a second hinge point on the distal side, forming a quadrilateral, and the function of the telescopic driving component 21 is to change the distance between a pair of second hinge points. When the distance between a pair of second hinge points is equal to that between a pair of first hinge points, the curled-up telescopic frame 1 extends in a straight line; when the distance between a pair of second hinge points is greater than that between a pair of first hinge points, the curled-up telescopic frame 1 extends in an arc toward the side of the first hinge point; when the distance between a pair of second hinge points is less than that between a pair of first hinge points, the curled-up telescopic frame 1 extends in an arc toward the side of the second hinge point; when the distance between a pair of second hinge points and a pair of first hinge points is too different, a group of joint frames 11 of the curled-up telescopic frame 1 will curl toward the side with a shorter distance.

[0019] Therefore, a joint-type space target capture device in the present application can save space when in a standby storage state; during capture, a group of joint frames 11 are stretched into an envelope arc to capture space targets, which can be suitable for capturing large space targets.

[0020] Furthermore, in this embodiment, on the joint frame 11, the telescopic driving member 21 is outside the line connecting the pair of first hinge points.

[0021] It should be noted that the center of the surrounding area close to the curling and telescopic frame 1 is the inner part, and the center of the surrounding area far from the curling and telescopic frame 1 is the outer part. Then, in the process of each pair of second hinge points moving toward each other, a group of joint frames 11 of the curling and telescopic frame 1 will curl up at the proximal end of the curling and telescopic frame 1; in the process of each pair of second hinge points moving toward each other, a group of joint frames 11 of the curling and telescopic frame 1 will stretch into an arc shape that wraps around the center of the surrounding area of ​​the curling and telescopic frame 1 to capture the space target.

[0022] In other embodiments, the telescopic driving member 21 may also be disposed on the inner side of the first hinge point, so that the movement direction is opposite to the target.

[0023] Further, in the present embodiment, the telescopic driving member 21 comprises a pair of first connecting rods 211 hinged in an X shape, a pair of first connecting blocks 212 arranged at intervals in the transverse direction, and a pair of second connecting blocks 213 arranged at intervals in the transverse direction, the pair of first connecting blocks 212 and the second connecting blocks 213 are respectively rotatably connected to a pair of ends on the proximal and distal sides of the pair of first connecting rods 211, and the rotation axis is parallel to the rotation axis between the pair of first connecting rods 211, the pair of first connecting blocks 212 and the pair of second connecting blocks 213 are respectively pivotally connected to a pair of adjacent bone joint frames 11 at positions corresponding to the second hinge points, wherein the pair of first connecting blocks 212 are connected to the proximal bone joint frame 11, and the pair of second connecting blocks 213 are connected to the distal bone joint frame 11; It also includes a driving device, which is in driving connection with the first connecting block 212 and is used to drive the pair of first connecting blocks 212 to move closer or farther laterally to drive the pair of first connecting rods 211 to rotate relative to each other; In a pair of adjacent telescopic drive members 21 , a transverse synchronous transmission structure is provided between the second connecting block 213 of the proximal telescopic drive member 21 and the first connecting block 212 of the distal telescopic drive member 21 to synchronize the transverse movement to form the linkage of the adjacent telescopic drive members 21 .

[0024] Based on the above device, the telescopic drive member 21 is a scissor-type telescopic frame, and adjacent telescopic drive members 21 form a linkage telescopic, and the state switching of the curled telescopic frame 1 can be controlled by a driving actuator, which has the advantage of simple control. In addition, the telescopic drive member 21 forms a three-dimensional support for the adjacent bone frame 11, which has the advantage of good structural stability. In other embodiments, a conventional gas, hydraulic cylinder or linear motor can be used as the telescopic drive member 21, and the proximal end and the distal end of the telescopic drive member 21 connected to the second hinge point are each located on a pair of relatively movable components.

[0025] Furthermore, in this embodiment, the joint frame 11 is provided with a laterally extending pivot 111 at a position corresponding to the second hinge point, the first connecting block 212 and the second connecting block 213 are rotatably mounted on the pivot 111, and the first connecting block 212 and the second connecting block 213 are slidably connected to the pivot 111.

[0026] Compared with setting up a separate sliding track, the sliding function is integrated through the pivot 111, which has the advantage of simple structure.

[0027] Combination Figure 4 As shown, in this embodiment, the driving device includes a transversely arranged driving screw 22 and a driving motor 24 drivingly connected to the driving screw 22. The driving screw 22 is provided with a driving nut 23, and the driving nut 23 is slidably connected to the connecting frame 31, and the sliding track is parallel to the axial direction of the driving screw 22. A first connection block 212 on the proximal side of the joint frame 11 of the curling and telescopic frame 1 is in transmission connection with the transmission nut 23, and the other first connection block 212 is constrained by a limiter to move horizontally; The driving motor 24 is used to drive the driving screw 22 to rotate to drive the transmission nut 23 to move laterally, thereby driving the first connecting block 212 connected to the transmission nut 23 to move until a pair of first connecting blocks 212 are close to or away from each other.

[0028] The driving motor 24 drives the driving screw 22 to rotate and drives the transmission nut 23 and the first connecting block 212 to move, which can improve the continuity and accuracy of controlling the telescopic transformation of the curling and unfolding telescopic frame 1. Specifically, the connecting frame 31 is provided with a guide rod 311 parallel to the driving screw 22, and the transmission nut 23 is sleeved on the guide rod 311 and slidably connected to the guide rod 311.

[0029] In this embodiment, the connecting frame 31 is rotatably connected to the bone joint frame 11, and the driving device further includes a pair of second connecting rods 251 hinged in an x-shape, a pair of ends on the proximal side of the pair of second connecting rods 251 are rotatably connected to the transmission nut 23 and the connecting frame 31, and a pair of ends on the distal side of the pair of second connecting rods 251 are rotatably connected to the third connecting block, in this embodiment, the third connecting block structure is consistent with the second connecting block 213, and a pair of third connecting blocks are pivotally connected to the position corresponding to the second hinge point of the proximal bone joint frame 11; a transverse synchronous transmission structure is provided between the third connecting block and the first connecting block 212 of the proximal bone joint frame 11 to synchronize transverse movement to realize the transmission connection between the transmission nut 23 and the first connecting block 212. That is, one of the third connecting blocks is used to transmit the transverse thrust of the first connecting block 212 that is transmission-connected to the transmission nut 23, and the other third connecting block is used as a limiter to constrain the lateral movement of the other first connecting block 212.

[0030] In other embodiments, the proximal bone frame 11 may be fixed to the connecting frame 31 , and the driving nut 23 may be directly connected to the first connecting block 212 on the proximal bone frame 11 .

[0031] In this embodiment, the transverse synchronous transmission structure includes a U-shaped limit groove 201 and an insert plate 202 respectively arranged on a pair of connecting blocks. The insert plate 202 is arranged in the U-shaped limit groove 201, and the side wall of the insert plate 202 and the side wall of the groove cavity of the U-shaped limit groove 201 are used to transmit the transverse thrust.

[0032] In this embodiment, the U-shaped limiting groove 201 is arranged on the first connecting block 212, and the plug board 202 is arranged on the second connecting block 213 and the third connecting block.

[0033] In this embodiment, the driving device also includes a transmission shaft 25, which is arranged directly between a pair of circumferentially adjacent driving screws 22. The transmission shaft 25 is connected to the pair of driving screws 22 through a universal joint to achieve synchronous linkage of a group of driving screws 22.

[0034] It is possible to realize that one driving motor 24 synchronously controls the movement of a group of curling and telescopic frames 1 .

[0035] In this embodiment, a seat body 3 is also included, and the connecting frame 31 is fixed on the seat body 3, and the seat body 3 is connected to the spacecraft. Therefore, the seat body 3 has integration and is convenient for overall disassembly and assembly.

[0036] Combination Figure 3 As shown, in this embodiment, the joint frame 11 includes a pair of L-shaped plates 110 arranged transversely, a plurality of cross bars are arranged between the pair of L-shaped plates 110 to connect the pair of L-shaped plates 110, the L-shaped plates 110 include an envelope plate 1101 and a transmission plate 1102 extending laterally from one end of the envelope plate 1101, a pair of first hinge points are located at both ends of the envelope plate 1101, and a second hinge point is located at one end of the transmission plate 1102 away from the envelope plate 1101. It has the advantages of simple structure and light weight.

[0037] The technical principles of the present invention are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without creative work, and these methods will fall within the scope of protection of the present invention.

Claims

1. A joint-type space target capture device, characterized in that: include: A group of curling and telescopic frames (1) arranged around, the curling and telescopic frames (1) comprising a group of joint frames (11) hinged in sequence from the proximal end to the distal end, the joint frames (11) being provided with a pair of first hinge points located at the proximal side and the distal side respectively, adjacent joint frames (11) being hinged at the first hinge points on the proximal side, and the joint frames (11) being provided with a second hinge point located on one side of the line connecting the pair of first hinge points; A group of telescopic driving members (21), the telescopic driving members (21) being connected between a pair of adjacent bone joint frames (11), the proximal end and the distal end of the telescopic driving member (21) being respectively hinged to the proximal and distal bone joint frames (11) at a second hinge point, the telescopic driving member (21) being used to drive the proximal end and the distal end thereof to move relatively away from or closer to each other, so as to realize relative movement of a pair of second hinge points on the adjacent pair of bone joint frames (11) in two directions of moving away from or closer to each other; A connecting frame (31), wherein the bone joint frame (11) on the proximal side of the curled and telescopic frame (1) is mounted on the connecting frame (31); During the relative movement of each pair of second hinge points in one direction, a group of bone joint frames (11) of the curling and telescopic frame (1) will curl up at the proximal end of the curling and telescopic frame (1); During the relative movement of each pair of second hinge points in another direction, a group of joint frames (11) of the curled and telescopic frame (1) will stretch into an arc shape that wraps around the center of the curled and telescopic frame (1), and the distal ends of a group of curled and telescopic frames (1) will gather towards the center of the curled and telescopic frame (1) to capture a spatial target.

2. The joint-type space target capture device according to claim 1, characterized in that: On the bone joint frame (11), the telescopic driving member (21) is located outside a line connecting a pair of first hinge points.

3. The joint-type space target capture device according to claim 1 is characterized in that: The telescopic driving member (21) comprises a pair of first connecting rods (211) hinged in an X shape, a pair of first connecting blocks (212) arranged at intervals in the transverse direction, and a pair of second connecting blocks (213) arranged at intervals in the transverse direction, wherein the pair of first connecting blocks (212) and the second connecting blocks (213) are respectively rotatably connected to a pair of end portions on the proximal side and the distal side of the pair of first connecting rods (211), and the rotation axis is parallel to the rotation axis between the pair of first connecting rods (211), and the pair of first connecting blocks (212) and the pair of second connecting blocks (213) are respectively pivotally connected to a pair of adjacent bone joint frames (11) at positions corresponding to the second hinge points, wherein the pair of first connecting blocks (212) are connected to the proximal bone joint frames (11), and the pair of second connecting blocks (213) are connected to the distal bone joint frames (11); It also includes a driving device, which is drivingly connected to the first connecting block (212) and is used to drive the pair of first connecting blocks (212) to move closer to or farther away from each other in the lateral direction so as to drive the pair of first connecting rods (211) to rotate relative to each other; In a pair of adjacent telescopic drive members (21), a transverse synchronous transmission structure is provided between the second connection block (213) of the proximal telescopic drive member (21) and the first connection block (212) of the distal telescopic drive member (21) to synchronize transverse movement and form linkage of adjacent telescopic drive members (21).

4. The joint-type space target capture device according to claim 3 is characterized in that: The bone joint frame (11) is provided with a transversely extending pivot (111) at a position corresponding to the second hinge point, and the first connecting block (212) and the second connecting block (213) are rotatably mounted on the pivot (111), and the first connecting block (212) and the second connecting block (213) are slidably connected to the pivot (111).

5. The joint-type space target capture device according to claim 4 is characterized in that: The driving device comprises a transversely arranged driving screw (22) and a driving motor (24) drivingly connected to the driving screw (22); a driving nut (23) is provided on the driving screw (22); the driving nut (23) is slidably connected to the connecting frame (31) and the sliding track is parallel to the axial direction of the driving screw (22); A first connection block (212) on the proximal side of the joint frame (11) of the curling and telescopic frame (1) is in driving connection with the driving nut (23), and the other first connection block (212) is constrained by a limiter to move laterally; The driving motor (24) is used to drive the driving screw (22) to rotate so as to drive the driving nut (23) to move laterally, thereby driving the first connecting block (212) connected to the driving nut (23) to move until a pair of first connecting blocks (212) move closer to or farther from each other.

6. The joint-type space target capture device according to claim 5, characterized in that: The connecting frame (31) is rotatably connected to the bone joint frame (11), and the driving device further comprises a pair of second connecting rods (251) hinged in an X shape, a pair of ends on the proximal side of the pair of second connecting rods (251) are rotatably connected to the transmission nut (23) and the connecting frame (31), and a pair of ends on the distal side of the pair of second connecting rods (251) are rotatably connected to third connecting blocks, and the pair of third connecting blocks are pivotally connected to positions of the proximal bone joint frame (11) corresponding to the second hinge points; a transverse synchronous transmission structure is provided between the third connecting block and the first connecting block (212) of the proximal bone joint frame (11) to achieve transmission connection between the transmission nut (23) and the first connecting block (212) through synchronous transverse movement.

7. A joint-type space target capture device according to claim 3 or 6, characterized in that: The transverse synchronous transmission structure comprises a U-shaped limiting groove (201) and an inserting plate (202) respectively arranged on a pair of connecting blocks; the inserting plate (202) is arranged in the U-shaped limiting groove (201); and the side wall of the inserting plate (202) and the side wall of the groove cavity of the U-shaped limiting groove (201) are used to transmit transverse thrust.

8. The joint-type space target capture device according to claim 5, characterized in that: The driving device further comprises a transmission shaft (25), which is disposed directly on a pair of circumferentially adjacent driving screws (22), and the transmission shaft (25) is connected to the pair of driving screws (22) via a universal joint to achieve synchronous linkage of a group of driving screws (22).

9. The joint-type space target capture device according to claim 1, characterized in that: It also includes a seat body (3), the connecting frame (31) is fixed on the seat body (3), and the seat body (3) is connected to the spacecraft.

10. The joint-type space target capture device according to claim 1, characterized in that: The bone joint frame (11) comprises a pair of L-shaped plates (110) arranged transversely, a plurality of cross bars are arranged between the pair of L-shaped plates (110) to connect the pair of L-shaped plates (110), the L-shaped plates (110) comprise an envelope plate (1101) and a transmission plate (1102) extending laterally from one end of the envelope plate (1101), a pair of first hinge points are located at two ends of the envelope plate (1101), and a second hinge point is located at one end of the transmission plate (1102) away from the envelope plate (1101).

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