Shear type telescopic arm enveloping type space target capturing device

Abstract

The invention relates to the technical field of space target capturing, in particular to a shear type telescopic arm enveloping type space target capturing device which comprises a set of shear type telescopic arms arranged in a surrounding mode, each shear type telescopic arm comprises a set of shear type frames sequentially connected from the near end to the far end, and each shear type frame comprises a pair of connecting rods hinged in an X shape; two pairs of connecting rods corresponding to a pair of adjacent shear-type frames are mutually hinged to the end parts respectively to realize telescopic linkage; the shear-type telescopic arms are integrally extended in an arc shape when being in a stretching state, and the far ends of the shear-type telescopic arms tend to be folded around the center towards the shear-type telescopic arms; the driving assembly is used for driving the shear type telescopic arms to be switched between the stretching state and the contracting state, after the shear type telescopic arms are switched to be in the stretching state, an enveloping cavity with the closed far end is formed between the set of shear type telescopic arms extending in an arc shape and used for capturing a space target, and the shear type telescopic arms are contracted to the near end when in the contracting state. 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 scissor-type telescopic arm enveloping space target capture device. Background Art

[0002] There are abandoned satellite debris and other metal fragments that have not been completely burned 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, which is carried out by ground-controlled spacecraft. These tasks require the use of space capture manipulators. For large-volume space debris, space capture mechanisms with a larger envelope are needed to capture them.

[0003] Most of the existing space capture mechanisms are articulated manipulators, which have limited unfolding volume. For large targets, larger manipulators are needed, which have large mass, occupy more space, and often have multiple degrees of freedom, requiring more drives and complex control schemes for grasping. Therefore, designing a space capture mechanism with a large unfolding ratio and a large envelope range to capture large targets is a problem that needs to be solved. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a scissor-type telescopic arm envelope-type space target capture device, which is suitable for capturing large space targets.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions: A scissor-type telescopic arm enveloping space target capture device, comprising: A group of scissor-type telescopic arms arranged around, the scissor-type telescopic arms include a group of scissor-type frames connected in sequence from the proximal end to the distal end, the scissor-type frames include a pair of connecting rods hinged in an X shape, two pairs of connecting rods corresponding to an adjacent pair of scissor-type frames are respectively hinged at the ends to realize telescopic linkage, four connecting end points of a pair of connecting rods hinged in an X shape of a plurality of scissor-type frames form a quadrilateral A, the length of one side of the quadrilateral A facing the center of the scissor-type telescopic arms is shorter than the length of the opposite side, so that when the scissor-type telescopic arms are in an extended state, the whole extends in an arc shape and the distal end tends to be retracted toward the center of the scissor-type telescopic arms; A driving assembly is used to drive the scissor-type telescopic arms to switch between extended and contracted states. After the scissor-type telescopic arms are switched to the extended state, a group of scissor-type telescopic arms extending in an arc shape form an envelope cavity with a distal end retracted for capturing space targets. When the scissor-type telescopic arms are in the contracted state, they retract at the proximal end.

[0006] Furthermore, in the present application, a scissors-type telescopic arm envelope-type space target capture device, the driving assembly includes a connecting rod driving device, the connecting rod driving device is connected to the connecting rod of the proximal scissors frame, and the connecting rod driving device is used to drive a pair of connecting rods to rotate relative to each other around the hinge point to realize the telescopic switching of the scissors-type telescopic arm.

[0007] Furthermore, in the present application, a scissor-type telescopic arm envelope-type space target capture device, the driving component includes an opening and closing driving module, and the opening and closing driving module is used to drive a group of scissor-type telescopic arms to move in the overall direction of folding or opening to form or open an envelope cavity. As a preferred embodiment of the present application, in the initial state, a group of scissor-type telescopic arms are in an open state. When capturing, the scissor-type telescopic arms are switched to an extended state, and the opening and closing driving module controls a group of scissor-type telescopic arms to move in the folding direction to form an envelope cavity to capture the space target. The opening and closing driving module is used to drive a group of scissor-type telescopic arms to move in the folding or opening direction in the form of movement or rotation. The principle of movement as the form of activity is that the proximal end of the scissor-type telescopic arm is set on a moving seat, and the moving trajectory of the moving seat points to the center of a group of scissor-type telescopic arms. After the scissor-type telescopic arms are extended, a group of scissor-type telescopic arms are synchronously moved to fold toward the center of the center, so as to form an envelope cavity, and a group of scissor-type telescopic arms are synchronously moved away from the center of the center, so as to open the envelope cavity.

[0008] Furthermore, in the present application, a scissor-type telescopic arm enveloping space target capture device, the connecting rod driving device includes: A swing assembly corresponding to the scissor-type telescopic arm, the swing assembly includes a pair of swing frames arranged to rotate around the same axis, the pair of swing frames are respectively hinged to a pair of X-shaped hinged connecting rods of the proximal scissor-type frame; a pair of swing frame driving devices are arranged in pairs, the pair of swing frame driving devices are respectively connected to the pair of swing frames in the swing assembly, and the swing frame driving device is used to drive the pair of swing frames to rotate around the axis to drive the pair of connecting rods to rotate relative to each other around the hinge point; the pair of swing frames are driven by the pair of swing frame driving devices to rotate synchronously and in the same direction to drive the scissor-type telescopic arm to rotate around the rotating axis as a whole, so as to realize the movement of the scissor-type telescopic arm in the overall folding or opening direction. As a preferred solution of the present application, the opening and closing drive module is integrated into the connecting rod driving device in the present application. The scissor-type telescopic arm is driven to move in the form of driving a group of scissor-type telescopic arms to rotate in the overall folding or opening direction. Compared with the scissor-type telescopic arm to rotate by a rotating seat independent of the connecting rod driving device, the present application has the advantages of simple structure and low manufacturing cost.

[0009] Furthermore, a scissor-type telescopic arm enveloping space target capture device in the present application further includes a gear plate corresponding to the swing assembly, the gear plate is fixedly arranged, the rotating shaft core of the swing frame is coaxial with the gear plate, and a guide gear is rotatably arranged on the swing frame, and the guide gear is meshed with the outer edge of the gear plate. As a preferred solution of the present application, the gear plate can improve the stability of the rotation of the swing frame by meshing with the guide gear.

[0010] Furthermore, in the present application, a scissor-type telescopic arm enveloping space target capture device, the swing frame includes a rod body, one end of the rod body is rotatably arranged and the rotation center is coaxial with the gear plate, and the other end of the rod body is coaxially pivoted with the guide gear and the connecting rod. As a preferred solution of the present application, it has the advantage of simple structure.

[0011] Furthermore, in the present application, a scissor-type telescopic arm enveloping space target capture device is provided, wherein the scissor-type telescopic arms are arranged in pairs, and the paired scissor-type telescopic arms are arranged symmetrically around the center. As a preferred solution of the present application, the paired scissor-type telescopic arms support each other when capturing the target, thereby improving the effectiveness of the capture.

[0012] Furthermore, in the present application, a scissor-type telescopic arm enveloping space target capture device is provided with a pair of linkage devices between a pair of swing components corresponding to the paired scissor-type telescopic arms, and the linkage devices are used to drive and connect the swing frames on both sides to achieve synchronous linkage of the swing components on both sides. As a preferred solution of the present application, the synchronism and stability of the scissor-type telescopic arms in the capture process are ensured, and because the swing frames on both sides are synchronously linked, a pair of scissor-type telescopic arms only need a pair of swing frame driving devices to drive, which can effectively reduce the manufacturing cost.

[0013] Furthermore, in the present application, a scissor-type telescopic arm enveloping space target capture device, the linkage device includes a pair of transmission shafts respectively connected to the swing frames on both sides in the same direction, and the linkage device also includes a reversing shaft, the reversing shaft is connected to one of the transmission shafts through a pair of gears, and the reversing shaft and the other transmission shaft are each provided with a transmission wheel, and the pair of transmission wheels are meshed and transmitted through a belt or chain transmission element. As a preferred solution of the present application, the pair of transmission shafts are turned in opposite directions through the reversing shaft to achieve synchronous linkage of the swing components on both sides.

[0014] Furthermore, a scissor-type telescopic arm envelope-type space target capture device in the present application also includes a seat body, which is located at the proximal end of the scissor-type telescopic arm, and the scissor-type telescopic arm and the drive assembly are integrally arranged on the seat body, and the seat body is installed on the spacecraft. As a preferred solution of the present application, an integrated module is formed to facilitate overall disassembly and assembly.

[0015] It can be seen from the above technical solution that the present invention has the following beneficial effects: The present invention provides a scissor-type telescopic arm enveloping space target capture device, the principle of which is: in the reset state, a group of scissor-type telescopic arms are in a retracted state, retracted at the proximal end; when executing the capture of the space target, the driving component drives the scissor-type telescopic arms to switch to the extended state, so that the scissor-type telescopic arms are extended to an arc and the space target is confined in the envelope cavity to complete the capture of the space target. On the one hand, the present application utilizes the characteristics of the traditional scissor-type telescopic arms with a large extension and contraction ratio. On the other hand, different from the traditional linear telescopic scissor-type telescopic arms, the four connecting ends of the connecting rods are hinged in an X shape to form a rectangle. In the present application, the length of one side of the quadrilateral A formed by the four connecting ends of the connecting rods hinged in an X shape toward the scissor-type telescopic arms is smaller than the length of the opposite side, so that the scissor-type telescopic arms extend in an arc shape when extended, and can form an effective envelope space to capture the space target. Therefore, a scissor-type telescopic arm enveloping space target capture device in the present application is suitable for capturing large space targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a scissor-type telescopic arm enveloping space target capture device in an embodiment of the present application; Figure 2 It is a schematic diagram of the structure of the scissor-type telescopic arm in the embodiment of the present application; Figure 3 This is a working principle diagram of a scissor-type telescopic arm enveloping space target capture device in an embodiment of the present application; Figure 4 It is a transmission schematic diagram of the swing frame on one side of the linkage device; Figure 5 It is a transmission schematic diagram of the swing frame on the other side of the linkage device; Figure 6 It is a schematic diagram of the principle of the scissor-type telescopic arm extending in an arc shape.

[0017] In the figure: 1-scissor-type telescopic arm; 10-scissor-type frame; 11-connecting rod; 21-swing frame; 210-rod body; 211-guide gear; 22-swing frame driving device; 23-linkage device; 231-transmission shaft; 232-reversing shaft; 3-seat body; 31-gear plate. DETAILED DESCRIPTION

[0018] Combination Figures 1 to 3 The embodiment shown provides a scissor-type telescopic arm envelope-type space target capture device, comprising: A group of scissor-type telescopic arms 1 are arranged around, and the scissor-type telescopic arms 1 include a group of scissor-type frames 10 connected in sequence from the proximal end to the distal end, and the scissor-type frames 10 include a pair of connecting rods 11 hinged in an X shape, and the two pairs of connecting rods 11 corresponding to the adjacent pair of scissor-type frames 10 are respectively hinged at the ends to realize telescopic linkage, Figure 6As shown, the four connecting end points of a pair of connecting rods 11 of a plurality of scissor-type frames 10 that are hinged in an X shape form a quadrilateral A, and the length of a side a of the quadrilateral A around the center facing the scissor-type telescopic arm 1 is smaller than the length of the opposite side b, so that when the scissor-type telescopic arm 1 is in an extended state, the whole extends in an arc shape and the far end tends to be retracted around the center toward the scissor-type telescopic arm 1; A driving component is used to drive the scissor-type telescopic arm 1 to switch between the extended and contracted states. After the scissor-type telescopic arm 1 is switched to the extended state, a group of scissor-type telescopic arms 1 extending in an arc shape form an envelope cavity with the far ends retracted for capturing space targets. When the scissor-type telescopic arm 1 is in the contracted state, it contracts at the proximal end.

[0019] Based on the above structure, the principle of a scissor-type telescopic arm envelope-type space target capture device in this embodiment is: in the reset state, a group of scissor-type telescopic arms 1 are in a retracted state and retracted at the proximal end; when executing the capture of the space target, the driving component drives the scissor-type telescopic arm 1 to switch to the extended state, so that the scissor-type telescopic arm 1 is extended to an arc and the space target is confined in the envelope cavity to complete the capture of the space target. In this embodiment, on the one hand, the traditional scissor-type telescopic arm has the characteristic of a large extension and contraction ratio. On the other hand, unlike the traditional linear telescopic scissor-type telescopic arm, the four connecting ends of the connecting rod hinged in an X shape form a rectangle. In this embodiment, the length of the side of the quadrilateral A formed by the four connecting ends of the connecting rod 11 hinged in an X shape toward the scissor-type telescopic arm around the center is smaller than the length of the opposite side, so that the scissor-type telescopic arm extends in an arc when extended, and can form an effective envelope space to capture the space target. Therefore, a scissor-type telescopic arm envelope-type space target capture device in this embodiment is suitable for capturing large space targets.

[0020] Furthermore, in this embodiment, the driving assembly includes a connecting rod driving device, which is transmission-connected to the connecting rod 11 of the proximal scissor-type frame 10, and the connecting rod driving device is used to drive a pair of connecting rods 11 to rotate relative to each other around the hinge point to realize the telescopic switching of the scissor-type telescopic arm 1.

[0021] In other embodiments, the driving device of a conventional scissor-type telescopic arm may be used as a reference. The connecting rod driving device in the conventional scissor-type telescopic arm driving device adopts a slider to be hinged to one of the connecting rods 11 at the proximal end, and the other connecting rod 11 at the proximal end is rotatably mounted on the seat body. By moving the slider, a pair of connecting rods 11 are allowed to rotate relative to each other around the hinge point to realize the telescopic switching of the scissor-type telescopic arm 1.

[0022] Furthermore, in this embodiment, the driving assembly includes an opening and closing driving module, and the opening and closing driving module is used to drive a group of scissor-type telescopic arms 1 to move in an overall retracting or opening direction to form or open the envelope cavity.

[0023] In the initial state, a group of scissor-type telescopic arms 1 are in an open state. When executing capture, the scissor-type telescopic arms 1 are switched to an extended state, and the opening and closing driving module controls a group of scissor-type telescopic arms 1 to move in the direction of retraction to form an envelope cavity to capture the spatial target. The opening and closing driving module is used to drive a group of scissor-type telescopic arms 1 to move in the direction of retraction or opening, which can be movement or rotation. The principle of movement as the form of activity is that the proximal end of the scissor-type telescopic arms 1 is set on a moving seat, and the moving trajectory of the moving seat points to the center of a group of scissor-type telescopic arms 1. After the scissor-type telescopic arms 1 are extended, a group of scissor-type telescopic arms 1 are synchronously moved to retract toward the center of retraction to form an envelope cavity. A group of scissor-type telescopic arms 1 are synchronously moved away from the center of retraction to open the envelope cavity.

[0024] In other embodiments, since the scissors-type telescopic arm 1 extends in an arc shape as a whole when in the extended state, by controlling the structural dimensions of each connecting rod 11 in the scissors-type telescopic arm 1 and the positional relationship of each scissors-type telescopic arm 1, it is possible to form an envelope cavity to grasp the space target when the scissors-type telescopic arm 1 is extended, without the need to set up an opening and closing drive module, and the use of an opening and closing drive module is more versatile in capturing space targets.

[0025] Combination Figure 4 and Figure 5 As shown, specifically, in this embodiment, the connecting rod driving device includes: A swing assembly corresponding to the scissor-type telescopic arm 1, the swing assembly includes a pair of swing frames 21 rotatably arranged around the same axis, and the pair of swing frames 21 are respectively hinged to a pair of X-shaped hinged connecting rods 11 of the proximal scissor-type frame 10; A pair of swing frame driving devices 22 are arranged in pairs, and the pair of swing frame driving devices 22 are respectively connected to the pair of swing frames 21 in the swing assembly. The swing frame driving devices 22 are used to drive the pair of swing frames 21 to rotate around the axis core to drive the pair of connecting rods 11 to rotate relative to each other around the hinge point; A pair of swing frames 21 are driven to rotate synchronously and in the same direction by a pair of swing frame driving devices 22 to drive the scissor-type telescopic arm 1 to rotate around the rotating axis as a whole, so as to realize the movement of the scissor-type telescopic arm 1 in the direction of overall folding or opening. That is, in this embodiment, the opening and closing drive module is integrated into the connecting rod driving device. The scissor-type telescopic arm 1 is driven to move in the form of driving a group of scissor-type telescopic arms 1 to rotate in the direction of overall folding or opening. Compared with other embodiments in which a rotating seat independent of the connecting rod driving device is provided to drive the scissor-type telescopic arm 1 to rotate, this embodiment has the advantages of simple structure and low manufacturing cost. In this embodiment, the swing frame driving device 22 is a motor.

[0026] In this embodiment, a gear plate 31 corresponding to the swing assembly is further included, the gear plate 31 is fixedly arranged, the rotating shaft core of the swing frame 21 is coaxial with the gear plate 31, and a guide gear 211 is rotatably arranged on the swing frame 21, and the guide gear 211 is meshed with the outer edge of the gear plate 31. The gear plate 31 can improve the stability of the rotation of the swing frame 21 by meshing with the guide gear 211.

[0027] In this embodiment, the swing frame 21 includes a rod body 210, one end of the rod body 210 is rotatably arranged and the rotation center is coaxial with the gear plate 31, and the other end of the rod body 210 is coaxially pivoted with the guide gear 211 and the connecting rod 11. It has the advantage of simple structure. Specifically, in this embodiment, the scissor-type frame 10 includes two pairs of connecting rods 11 that are arranged laterally and hinged in an X shape, and the two pairs of connecting rods 11 are connected laterally by cross bars so that the two pairs of connecting rods 11 can move synchronously, and the proximal ends of the two pairs of connecting rods of the proximal scissor-type frame 10 are respectively connected with two pairs of proximal cross bars, and the end of the rod body 210 away from the gear plate 31 is hinged on the proximal cross bar, and the guide gear 211 is installed on the proximal cross bar to form a rotational connection relationship between the rod body 210 and the guide gear 211.

[0028] In this embodiment, the scissor-type telescopic arms 1 are arranged in pairs, and the paired scissor-type telescopic arms 1 are symmetrically arranged around the center. The paired scissor-type telescopic arms 1 support each other when grabbing a target, thereby improving the effectiveness of the capture.

[0029] In this embodiment, two pairs of scissor-type telescopic arms 1 are provided. In other embodiments, the number of scissor-type telescopic arms 1 can be an odd number greater than 1, such as 3, 5, 7, etc.

[0030] In this embodiment, a pair of linkage devices 23 are provided between a pair of swing components corresponding to the paired scissor-type telescopic arms 1, and the linkage devices 23 are used to drive and connect the swing frames 21 on both sides to achieve synchronous linkage of the swing components on both sides. This ensures the synchronization and stability of the scissor-type telescopic arms 1 in the capture process, and because the swing frames 21 on both sides are synchronously linked, a pair of scissor-type telescopic arms 1 only needs a pair of swing frame driving devices 22 to drive, which can effectively reduce the manufacturing cost.

[0031] Combination Figure 4 and Figure 5 As shown, in this embodiment, the linkage device 23 includes a pair of transmission shafts 231 respectively connected to the swing frames 21 on both sides in the same direction, and the linkage device 23 also includes a reversing shaft 232, which is connected to one of the transmission shafts 231 through a pair of gears, and the reversing shaft 232 and the other transmission shaft 231 are each provided with a transmission wheel (not shown), and the pair of transmission wheels are meshed and transmitted through a belt or chain transmission element. The reversing shaft 232 causes the pair of transmission shafts 231 to rotate in opposite directions, so as to achieve synchronous linkage of the swing components on both sides.

[0032] In this embodiment, the transmission wheel is a synchronous pulley, a pair of synchronous pulleys are connected by a synchronous belt transmission, and the synchronous belts between the two pairs of scissor-type telescopic arms 1 are cross-crossed. In order to prevent interference of the synchronous belts, the radial dimensions of the two sets of synchronous pulleys corresponding to the mutually crossed synchronous belts are different. In other embodiments, the transmission wheel can be a sprocket, and a pair of sprockets are connected by a transmission chain.

[0033] In this embodiment, a seat body 3 is also included, which is located at the proximal end of the scissor-type telescopic arm 1. The scissor-type telescopic arm 1 and the drive assembly are integrally arranged on the seat body 3, and the seat body 3 is installed on the spacecraft. Therefore, an integrated module is formed, which is convenient for overall disassembly and assembly.

[0034] In this embodiment, the gear plate 31 is fixed on the base body 3, a mounting frame is provided on the base body 3, the swing frame driving device 22 is installed on the mounting frame, the output shaft of the swing frame driving device 22 is coaxially connected to the transmission shaft 231 on one side, and the transmission shaft 231 is coaxially connected to the rod body 210 and one end of the gear plate 31 is concentric.

[0035] 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 scissor-type telescopic arm enveloping space target capture device, characterized in that: include: A group of scissor-type telescopic arms (1) arranged around each other, the scissor-type telescopic arms (1) comprising a group of scissor-type frames (10) connected in sequence from the proximal end to the distal end, the scissor-type frames (10) comprising a pair of connecting rods (11) hinged in an X shape, two pairs of connecting rods (11) corresponding to an adjacent pair of scissor-type frames (10) being hinged to each other at the ends respectively to achieve telescopic linkage, four connecting end points of a pair of connecting rods (11) hinged in an X shape of a plurality of scissor-type frames (10) forming a quadrilateral A, the length of a side of the quadrilateral A facing the center of the scissor-type telescopic arms (1) being shorter than the length of the opposite side, so that when the scissor-type telescopic arms (1) are in an extended state, the whole extends in an arc shape and the distal end tends to be retracted towards the center of the scissor-type telescopic arms (1); A drive assembly, the drive assembly is used to drive the scissor-type telescopic arms (1) to switch between extended and contracted states, and after the scissor-type telescopic arms (1) are switched to the extended state, a group of scissor-type telescopic arms (1) extending in an arc shape form an envelope cavity with a far end retracted for capturing a space target, and the scissor-type telescopic arms (1) are retracted at the near end when in the contracted state.

2. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, characterized in that: The driving assembly comprises a connecting rod driving device, the connecting rod driving device being drivingly connected to a connecting rod (11) of a proximal scissor-type frame (10), the connecting rod driving device being used to drive a pair of connecting rods (11) to rotate relative to each other around a hinge point to realize telescopic switching of the scissor-type telescopic arm (1).

3. The scissor-type telescopic arm envelope-type space target capture device according to claim 2, characterized in that: The driving assembly comprises an opening and closing driving module, and the opening and closing driving module is used to drive a group of scissor-type telescopic arms (1) to move in an overall closing or opening direction to form or open an envelope cavity.

4. The scissor-type telescopic arm envelope-type space target capture device according to claim 3, characterized in that: The connecting rod driving device comprises: A swing assembly corresponding to each of the scissor-type telescopic arms (1), the swing assembly comprising a pair of swing frames (21) rotatably arranged around a common axis, the pair of swing frames (21) being respectively hingedly connected to a pair of X-shaped hinged connecting rods (11) of the proximal scissor-type frame (10); A pair of swing frame driving devices (22) are arranged, the pair of swing frame driving devices (22) are respectively connected to the pair of swing frames (21) in the swing assembly, and the swing frame driving devices (22) are used to drive the pair of swing frames (21) to rotate around the shaft core to drive the pair of connecting rods (11) to rotate relative to each other around the hinge point; A pair of swing frames (21) are driven by a pair of swing frame driving devices (22) to rotate synchronously and in the same direction, thereby driving the scissor-type telescopic arm (1) to rotate as a whole around the rotating shaft core, thereby achieving the movement of the scissor-type telescopic arm (1) in the direction of overall folding or opening.

5. The scissor-type telescopic arm envelope-type space target capture device according to claim 4, characterized in that: It also includes a gear plate (31) corresponding to the swing assembly one by one, the gear plate (31) is fixedly arranged, the rotating shaft core of the swing frame (21) is coaxial with the gear plate (31), and a guide gear (211) is rotatably provided on the swing frame (21), and the guide gear (211) is meshed with the outer edge of the gear plate (31).

6. The scissor-type telescopic arm envelope-type space target capture device according to claim 5, characterized in that: The swing frame (21) comprises a rod body (210), one end of the rod body (210) is rotatably arranged and the rotation center is coaxial with the gear plate (31), and the other end of the rod body (210) is coaxially pivotally connected with the guide gear (211) and the connecting rod (11).

7. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, characterized in that: The scissor-type telescopic arms (1) are arranged in pairs, and the scissor-type telescopic arms (1) arranged in pairs are symmetrically arranged around a center.

8. The scissor-type telescopic arm envelope-type space target capture device according to claim 4, characterized in that: A pair of linkage devices (23) are provided between a pair of swing assemblies corresponding to the paired scissor-type telescopic arms (1), and the linkage devices (23) are used to drive and connect the swing frames (21) on both sides to achieve synchronous linkage of the swing assemblies on both sides.

9. The scissor-type telescopic arm envelope-type space target capture device according to claim 8, characterized in that: The linkage device (23) comprises a pair of transmission shafts (231) respectively connected to the swing frames (21) on both sides in the same direction. The linkage device (23) further comprises a reversing shaft (232). The reversing shaft (232) is connected to one of the transmission shafts (231) via a pair of gears. The reversing shaft (232) and the other transmission shaft (231) are each provided with a transmission wheel. The pair of transmission wheels are meshed and driven by a belt or chain transmission element.

10. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, characterized in that: It also comprises a seat body (3), the seat body (3) being located at the proximal end of the scissor-type telescopic arm (1), the scissor-type telescopic arm (1) and the drive assembly being integrally arranged on the seat body (3), and the seat body (3) being mounted on the spacecraft.

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