A joint-shaped space target capture device

Abstract

The present invention relates to the technical field of space target capture, and specifically to a joint-type space target capture device. A group of curled-up telescopic frames arranged around each other, the curled-up telescopic frames including a group of joint frames hinged in sequence from the proximal end to the distal end, a pair of first hinge points provided on the joint frames, adjacent joint frames hinged at the first hinge points on the proximal side, and a second hinge point provided on the joint frames on one side of the line connecting the pair of first hinge points; a group of telescopic driving members, the telescopic driving members connected between a pair of adjacent joint frames, the proximal and distal ends of the telescopic driving members respectively hinged to the joint frames on the proximal and distal sides at the second hinge points, the telescopic driving members being used to drive the proximal and distal ends 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 an adjacent pair of joint frames in two directions of moving away from or closer to each other; and a connecting frame, the joint frame on the proximal side of the curled-up telescopic frame being installed on the connecting frame. 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] Abandoned satellite debris and other incompletely incinerated metal fragments remain in space, posing a significant threat to satellites, rockets, and space stations. With the development and advancement of aviation technology, humans have begun to actively capture and remove debris, using ground-controlled spacecraft. These operations require space capture manipulators. For meter-sized targets, their bulk is large, so space capture mechanisms require a large expansion / contraction ratio to achieve a small folded volume. They also require fewer degrees of freedom, allowing them to capture a wide range of targets with fewer actuations.

[0003] Most existing space capture mechanisms are articulated manipulators, which have limited expansion volume. For large objects, a larger manipulator is required, which results in the manipulator taking up more space. Therefore, a space capture mechanism that can capture large objects requires 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 to capture large space targets and has the advantage of a large expansion and contraction ratio.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A joint-shaped space target capture device, comprising:

[0007] A group of circumferentially arranged, extendable and retractable frames, comprising a group of joint frames hinged sequentially from proximal to distal ends, each of the joint frames being provided with a pair of first hinge points located on the proximal and distal sides, respectively, with adjacent joint frames being hinged at the adjacent first hinge points, and a second hinge point being provided on one side of a line connecting the pair of first hinge points;

[0008] A set of telescopic drive members, the telescopic drive members are connected between a pair of adjacent bone frame, the proximal end and distal end of the telescopic drive member are respectively hinged to the proximal and distal bone frame at second hinge points, and the telescopic drive member is used to drive the proximal end and distal end thereof to move relatively away from or toward each other, so as to achieve relative movement of a pair of second hinge points on the adjacent pair of bone frame in two directions of moving away from or toward each other;

[0009] The connecting frame is provided with a joint frame on the proximal side of the curled and telescopic frame;

[0010] 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;

[0011] 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.

[0012] 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, and the positional relationship of these three endpoints is unchanged. Together with a second hinge point on the distal side, a quadrilateral is formed. 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 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 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 large, a group of joint frames of the curled-up telescopic frame will curl toward the side with a shorter distance.

[0013] Furthermore, in the present application, a joint-type space target capture device has a telescopic drive member on the joint frame 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-up telescopic frame is considered to be the inside, and the center of the surrounding area away from the curled-up telescopic frame is considered to be the outside. Then, during the process of each pair of second hinge points moving toward each other, a group of joint frames of the curled-up telescopic frame will curl up at the proximal end of the curled-up telescopic frame; during the process of each pair of second hinge points moving away from each other, a group of joint frames of the curled-up telescopic frame will stretch into an arc shape that envelops the center of the surrounding area of ​​the curled-up telescopic frame to capture the space target.

[0014] Furthermore, in the present application, a joint-type space target capture device, the telescopic drive member includes a pair of first connecting rods hinged in an X shape, a pair of first connecting blocks arranged at intervals therebetween, and a pair of second connecting blocks arranged at intervals therebetween, the pair of first connecting blocks and the second connecting blocks are respectively rotatably connected to a pair of end portions on the proximal and distal sides 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 frame, and the pair of second connecting blocks are connected to the distal joint frame;

[0015] It also includes a driving device, which is in driving connection with the first connecting block and is used to drive the pair of first connecting blocks to move closer or farther apart in the lateral direction to drive the pair of first connecting rods to rotate relative to each other;

[0016] In a pair of adjacent telescopic drive members, a transverse synchronous transmission structure is provided between the second connecting block of the proximal telescopic drive member and the first connecting block of the distal telescopic drive member to synchronize the transverse movement to form a linkage of adjacent telescopic drive members. As a preferred solution of the present application, based on the above-mentioned device, the telescopic drive member is a scissor-type telescopic frame, and a linkage telescopic movement is formed between adjacent telescopic drive members. The state switching of the curled-up telescopic frame can be controlled by a driving actuator, which has the advantage of simple control. In addition, the telescopic drive member forms a three-dimensional support for the adjacent joint frames, which has the advantage of good structural stability. Furthermore, in the present application, a joint-type space target capture device is provided, in which 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 setting up a separate sliding track, the sliding function of the pivot is integrated, which has the advantage of simple structure.

[0017] Furthermore, the present application provides a joint-shaped space target capture device.

[0018] The driving device includes a transversely arranged driving screw and a driving motor 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.

[0019] A first connecting block on the proximal end of the extension and telescopic frame is in transmission connection with the transmission nut, and the other first connecting block is constrained by a limiter to prevent lateral movement.

[0020] The drive motor is configured to drive the drive screw to rotate, thereby driving the drive nut to move laterally, thereby driving the first connecting block connected to the drive nut to move toward or away from each other. As a preferred embodiment of the present application, using the drive motor to drive the drive screw to rotate and drive the drive nut and the first connecting block to move can improve the continuity and accuracy of controlling the telescopic transformation of the telescopic frame compared to using a pneumatic cylinder.

[0021] Furthermore, in the present application, a joint-type space target capture device comprises a connecting frame rotatably connected to the joint frame, and a driving device further comprising a pair of second connecting rods hinged in an X-shape, wherein a pair of proximal ends of the pair of second connecting rods are rotatably connected to a transmission nut and the connecting frame, respectively, and a pair of distal ends of the pair of second connecting rods are rotatably connected to third connecting blocks, and the pair of third connecting blocks are pivotally connected to positions corresponding to the second hinge points of the proximal joint frame; a transverse synchronous transmission structure is provided between the third connecting blocks and the first connecting block of the proximal joint frame to synchronize transverse motion to achieve 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 in transmission connection with the transmission nut, and the other third connecting block serves as a limiter to constrain the lateral movement of the other first connecting block.

[0022] Furthermore, in the present application, a joint-type space target capture device, the lateral synchronous transmission structure includes a U-shaped limit groove and an insert plate respectively provided on a pair of connecting blocks, the insert plate is provided in the U-shaped limit groove, and the side wall of the insert plate and the side wall of the U-shaped limit groove cavity are used to transmit lateral thrust. As a preferred embodiment of the present application, further, in the present application, a joint-type space target capture device, the drive device also includes a transmission shaft, the transmission shaft is provided directly on a pair of circumferentially adjacent drive screws, and the transmission shaft is connected to the pair of drive screws via a universal joint to achieve synchronous linkage of a group of drive screws. As a preferred embodiment of the present application, it is possible to achieve a drive motor to synchronously control the activities of a group of curling and telescopic frames.

[0023] Furthermore, the joint-shaped space target capture device in the present application further includes a base, the connecting frame is fixed to the base, and the base is connected to the spacecraft. As a preferred solution of the present application, it is integrated and easy to disassemble and assemble as a whole.

[0024] Furthermore, the present application provides a joint-type space target capture device, wherein the joint frame includes a pair of transversely 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 the second hinge point is located at the end of the transmission plate away from the envelope plate.

[0025] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0026] 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; when capturing, 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 and contraction ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural diagram of a joint-type space target capture device in an embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the working principle of a joint-type space target capture device in an embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of the connection between the joint frame and the telescopic driving component in an embodiment of the present application;

[0030] Figure 4 This is a schematic diagram of the corresponding base end component of a joint-type space target capture device in an embodiment of the present application.

[0031] In the picture:

[0032] 1-crouching and telescopic frame; 11-joint frame; 110-L-shaped plate; 1101-envelope plate; 1102-transmission plate; 111-pivot;

[0033] 201 - U-shaped limiting groove; 202 - plug-in 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;

[0034] 3-base body; 31-connecting frame; 311-guide rod. DETAILED DESCRIPTION

[0035] Combine Figures 1 to 3 The joint-shaped space target capture device shown includes:

[0036] A group of curling and telescopic frames 1 are arranged around each other. The curling and telescopic frames 1 include a group of joint frames 11 hinged in sequence from the proximal end to the distal end. The joint frames 11 are provided with a pair of first hinge points located on the proximal side and the distal side respectively. Adjacent joint frames 11 are hinged at the first hinge points on the adjacent sides. The joint frames 11 are provided with a second hinge point on one side of the line connecting the pair of first hinge points.

[0037] A set of telescopic drive members 21, the telescopic drive members 21 are connected between a pair of adjacent bone segments 11, and the proximal and distal ends of the telescopic drive members 21 are respectively hinged to the proximal and distal bone segments 11 at second hinge points. The telescopic drive members 21 are used to drive the proximal and distal ends thereof to move relatively away from or toward each other, thereby achieving relative movement of a pair of second hinge points on the adjacent pair of bone segments 11 in two directions of moving away from or toward each other;

[0038] The connecting frame 31 is mounted on the proximal end of the joint frame 11 of the curled telescopic frame 1;

[0039] During the relative movement of each pair of second hinge points in one direction, Figure 2 In the leftmost state, a group of joint frames 11 of the curled and telescopic frame 1 are curled up at the proximal end of the curled and telescopic frame 1 to form a standby storage state;

[0040] 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.

[0041] 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 11, plus a second hinge point, form three endpoints of a triangle, and the positional relationship of these three endpoints is unchanged. Together with a second hinge point on the distal side, a quadrilateral is formed. The function of the telescopic drive 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 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 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 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 large, a group of joint frames 11 of the curled telescopic frame 1 will curl toward the side with a shorter distance.

[0042] Therefore, the joint-type space target capture device in the present application can save space when in the standby storage state; when capturing, a group of joint frames 11 are stretched into an envelope arc to capture the space target, which can be suitable for capturing large space targets.

[0043] Furthermore, in this embodiment, on the joint frame 11, the telescopic driving member 21 is located outside the line connecting the pair of first hinge points.

[0044] It should be noted that the area near the center of the surrounding of the telescopic frame 1 is considered the inner part, and the area away from the center of the surrounding of the telescopic frame 1 is considered the outer part. Therefore, as each pair of second hinge points moves toward each other, the group of joint frames 11 of the telescopic frame 1 will curl toward the proximal end of the telescopic frame 1; and as each pair of second hinge points moves away from each other, the group of joint frames 11 of the telescopic frame 1 will extend into an arc shape that wraps around the center of the surrounding of the telescopic frame 1 to capture targets in space.

[0045] In other embodiments, the telescopic driving member 21 may also be disposed on the inner side of the first hinge point, thereby achieving the opposite direction of movement.

[0046] Furthermore, in this embodiment, the telescopic driving member 21 includes a pair of first connecting rods 211 hinged in an X shape, a pair of first connecting blocks 212 arranged at intervals therebetween, and a pair of second connecting blocks 213 arranged at intervals therebetween. 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 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 frame 11 at the position corresponding to the second hinge point, wherein the pair of first connecting blocks 212 are connected to the proximal bone frame 11, and the pair of second connecting blocks 213 are connected to the distal bone frame 11.

[0047] The drive device is further provided, and is in transmission connection with the first connecting block 212, and is used to drive the pair of first connecting blocks 212 to move closer to or farther from each other in the lateral direction so as to drive the pair of first connecting rods 211 to rotate relative to each other;

[0048] 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 transverse movement and form linkage of adjacent telescopic drive members 21 .

[0049] Based on the above device, the telescopic drive member 21 is a scissor-type telescopic frame. Adjacent telescopic drive members 21 form a linked telescopic mechanism, and the state switching of the telescopic frame 1 can be controlled by a single drive actuator, which has the advantage of simple control. The telescopic drive member 21 also provides three-dimensional support for the adjacent joint frames 11, which has the advantage of good structural stability. In other embodiments, conventional telescopic drive members 21, such as pneumatic or hydraulic cylinders or linear motors, can be used. The proximal and distal ends of the telescopic drive member 21 connected to the second hinge point are each located on a pair of relatively movable components.

[0050] Furthermore, in this embodiment, the joint frame 11 is provided with a transversely extending pivot 111 at the 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 slidingly connected to the pivot 111.

[0051] Compared with setting up a separate sliding track, the sliding function is integrated through the pivot 111, which has the advantage of simple structure.

[0052] Combine 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, which is slidably connected to the connecting frame 31 and the sliding trajectory is parallel to the axial direction of the driving screw 22.

[0053] A first connecting block 212 on the proximal end 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 connecting block 212 is constrained by a limiter to prevent lateral movement;

[0054] 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 the pair of first connecting blocks 212 move closer to or farther away from each other.

[0055] The drive motor 24 drives the lead screw 22 to rotate, driving the drive nut 23 and moving the first connecting block 212. This improves the continuity and accuracy of controlling the telescopic and retractable frame 1 compared to using a pneumatic cylinder. Specifically, the connecting frame 31 is provided with a guide rod 311 parallel to the lead screw 22. The drive nut 23 is sleeved on the guide rod 311 and slidably connected to the guide rod 311.

[0056] In this embodiment, the connecting frame 31 is rotatably connected to the joint frame 11, and the driving device further includes a pair of second connecting rods 251 hinged in an X-shape. The proximal ends of the pair of second connecting rods 251 are rotatably connected to the transmission nut 23 and the connecting frame 31, respectively. The distal ends of the pair of second connecting rods 251 are rotatably connected to third connecting blocks. In this embodiment, the third connecting blocks have the same structure as the second connecting blocks 213. The pair of third connecting blocks are pivotally connected to the positions corresponding to the second hinge points of the proximal joint frame 11. A transverse synchronous transmission structure is provided between the third connecting blocks and the first connecting block 212 of the proximal joint frame 11 to synchronize transverse movement to achieve 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 serves as a limiter to constrain the lateral movement of the other first connecting block 212.

[0057] In other embodiments, the proximal segment frame 11 may be fixed to the connecting frame 31 , and the transmission nut 23 may be directly connected to the first connecting block 212 on the proximal segment frame 11 .

[0058] In this embodiment, the transverse synchronous transmission structure includes a U-shaped limit groove 201 and an insert plate 202 respectively provided on a pair of connecting blocks. The insert plate 202 is arranged in the U-shaped limit groove 201, and the side walls of the insert plate 202 and the side walls of the groove cavity of the U-shaped limit groove 201 are used to transmit transverse thrust.

[0059] In this embodiment, the U-shaped limiting groove 201 is provided on the first connecting block 212 , and the inserting plate 202 is provided on the second connecting block 213 and the third connecting block.

[0060] In this embodiment, the driving device also includes a transmission shaft 25, which is arranged directly on 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.

[0061] It is possible to realize that one driving motor 24 synchronously controls the movement of a group of curling and telescopic frames 1 .

[0062] In this embodiment, a base body 3 is further included, and the connecting frame 31 is fixed to the base body 3, and the base body 3 is connected to the spacecraft. Therefore, the base body 3 has an integrated structure and is easy to disassemble and assemble as a whole.

[0063] Combine Figure 3 As shown, in this embodiment, the joint frame 11 includes a pair of transversely arranged L-shaped plates 110. A plurality of crossbars are provided between the pair of L-shaped plates 110 to connect the two 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 the end of the transmission plate 1102 away from the envelope plate 1101. This has the advantages of a simple structure and light weight.

[0064] The technical principles of the present invention have been described above in conjunction with specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to conceive of other specific embodiments of the present invention without inventive effort, and such embodiments 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 each other, 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 on the proximal side and the distal side respectively, adjacent joint frames (11) being hinged to the first hinge points on the adjacent sides, and a second hinge point being provided on the joint frame (11) on one side of the line connecting the pair of first hinge points; A group of telescopic drive members (21), the telescopic drive members (21) are connected between a pair of adjacent bone joint frames (11), the proximal end and the distal end of the telescopic drive member (21) are respectively hinged to the proximal and distal bone joint frames (11) at a second hinge point, and the telescopic drive 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 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 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 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 telescopic frame (1) will be extended into an arc shape enveloping the center of the curled telescopic frame (1), and the distal ends of the group of curled telescopic frames (1) will be retracted toward the center of the curled telescopic frame (1) to capture the space target; 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 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 transmission connection with 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 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 transverse movement and form linkage of the adjacent telescopic drive members (21); The 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).

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

3. The joint-shaped space target capture device according to claim 1, characterized in that: The driving device comprises a transversely arranged driving screw (22) and a driving motor (24) in transmission connection with the driving screw (22); a driving nut (23) is provided on the driving screw (22); the driving nut (23) is in sliding connection with the connecting frame (31), and the sliding track is parallel to the axial direction of the driving screw (22); A first connecting 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 connecting block (212) is constrained in lateral movement by a limiting member; The driving motor (24) is used to drive the driving screw (22) to rotate so as 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) move closer to or farther away from each other.

4. The joint-shaped space target capture device according to claim 3, characterized in that: The connecting frame (31) is rotatably connected to the bone frame (11), and the driving device further comprises a pair of second connecting rods (251) hinged in an X-shape, wherein 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), respectively, and a pair of ends on the distal side of the pair of second connecting rods (251) are rotatably connected to the third connecting blocks, respectively, and the pair of third connecting blocks are pivotally connected to the position corresponding to the second hinge point of the proximal bone frame (11); a transverse synchronous transmission structure is provided between the third connecting block and the first connecting block (212) of the proximal bone frame (11) to realize the transmission connection between the transmission nut (23) and the first connecting block (212) by synchronous transverse movement.

5. The joint-shaped space target capture device according to claim 1 or 4, characterized in that: The transverse synchronous transmission structure comprises a U-shaped limiting groove (201) and an inserting plate (202) respectively provided on a pair of connecting blocks, the inserting plate (202) being provided 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) being used to transmit transverse thrust.

6. The joint-shaped space target capture device according to claim 3, 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). The transmission shaft (25) is connected to the pair of driving screws (22) via a universal joint to achieve synchronous linkage of the set of driving screws (22).

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

8. The joint-shaped space target capture device according to claim 1, characterized in that: The joint frame (11) comprises a pair of transversely arranged L-shaped plates (110), a plurality of cross bars being provided between the pair of L-shaped plates (110) to connect the pair of L-shaped plates (110), the L-shaped plates (110) comprising 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 being located at both ends of the envelope plate (1101), and a second hinge point being located at one end of the transmission plate (1102) away from the envelope plate (1101).

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