A scissor-type telescopic arm envelope-type space target capture device

Abstract

The present invention relates to the technical field of space target capture, and more specifically to a scissor-type telescopic arm envelope-type space target capture device, comprising: a group of scissor-type telescopic arms arranged in a circle, the scissor-type telescopic arms comprising a group of scissor-type frames connected in sequence from the proximal end to the distal end, the scissor-type frames comprising a pair of connecting rods hinged in an X-shape, the two pairs of connecting rods corresponding to adjacent pairs of scissor-type frames being hinged to each other at the ends to achieve telescopic linkage, the scissor-type telescopic arms extending in an arc shape as a whole when in an extended state, with the distal ends tending to converge toward the center of the scissor-type telescopic arms; a drive assembly, the drive assembly being used to drive the scissor-type telescopic arms to switch between extended and retracted states, and after the scissor-type telescopic arms switch to the extended state, an envelope cavity with the distal ends converging is formed between the group of scissor-type telescopic arms extending in an arc shape for capturing space targets, and the scissor-type telescopic arms converging at the proximal end when in the retracted 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 envelope-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-based spacecraft. These tasks require space capture manipulators, and large-scale space capture mechanisms with a wider range are required to capture large pieces of space debris.

[0003] Most existing spatial capture mechanisms are articulated manipulators with limited deployment volume. Larger objects require larger manipulators, which are heavier and occupy more space. These manipulators often have multiple degrees of freedom, requiring more actuation and complex control schemes for grasping. Therefore, designing a spatial capture mechanism with a large deployment ratio and a wide envelope to capture large objects is a challenge. 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:

[0006] A scissor-type telescopic arm envelope-type space target capture device, comprising:

[0007] A group of scissor-type telescopic arms arranged around each other, the scissor-type telescopic arms comprising a group of scissor-type frames connected sequentially from a proximal end to a distal end, the scissor-type frames comprising a pair of connecting rods hinged in an X-shape, the two pairs of connecting rods corresponding to adjacent pairs of scissor-type frames being hinged to each other at their ends to achieve telescopic linkage, the four connecting end points of the pairs of connecting rods hinged in the X-shape of the scissor-type frames forming a quadrilateral A, the length of a side of the quadrilateral A facing the center of the scissor-type telescopic arms being shorter than the length of the opposite side thereof, so that when the scissor-type telescopic arms are in an extended state, the entirety extends in an arc shape and the distal ends tend to converge towards the center of the scissor-type telescopic arms;

[0008] The driving component is used to drive the scissor-type telescopic arm to switch between the extended and contracted states. After the scissor-type telescopic arm is switched to the extended state, a group of scissor-type telescopic arms extending in an arc shape form an envelope cavity with the far end retracted for capturing space targets. When the scissor-type telescopic arm is in the contracted state, it contracts at the proximal end.

[0009] Furthermore, in the present application, a scissor-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 scissor 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 scissor-type telescopic arm.

[0010] 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 retraction 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 performing capture, 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 retraction 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 retraction 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 around a group of scissor-type telescopic arms. After the scissor-type telescopic arms are extended, the group of scissor-type telescopic arms are synchronously moved to retract around the center to form an envelope cavity. The envelope cavity can be opened by synchronously moving a group of scissor-type telescopic arms away from the center.

[0011] Furthermore, in the present application, a scissor-type telescopic arm envelope-type space target capture device, the connecting rod driving device includes:

[0012] The swing assembly corresponds to the scissor-type telescopic arm, and the swing assembly includes a pair of swing frames that are 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 frame; a pair of swing frame driving devices are respectively connected to the pair of swing frames in the swing assembly, and the swing frame driving devices are 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 frame driving devices drive the pair of swing frames to rotate synchronously and in the same direction to drive the scissor-type telescopic arm as a whole to rotate around the rotating axis, thereby realizing the movement of the scissor-type telescopic arm in the direction of overall retraction or opening. As a preferred embodiment of the present application, the opening and closing drive module is integrated into the connecting rod driving device. The movement of the scissor-type telescopic arm is driven by driving a group of scissor-type telescopic arms to rotate in the direction of overall retraction or opening. Compared with the use of a rotating seat independent of the connecting rod driving device to drive the rotation of the scissor-type telescopic arm, the present application has the advantages of simple structure and low manufacturing cost.

[0013] Furthermore, the scissor-type telescopic arm envelope-type space target capture device of the present application further includes a gear plate corresponding to each swing assembly. The gear plate is fixedly mounted, the swing frame's rotational axis is coaxial with the gear plate, and a guide gear is rotatably mounted on the swing frame, meshing with the outer edge of the gear plate. As a preferred embodiment of the present application, the gear plate meshes with the guide gear to enhance the stability of the swing frame's rotation.

[0014] Furthermore, the present application discloses a scissor-type telescopic arm envelope-type space target capture device, wherein the swing frame includes a rod body, one end of which is rotatably arranged with its rotation center coaxial with the gear plate, and the other end of the rod body is coaxially pivotally connected to the guide gear and the connecting rod. As a preferred embodiment of the present application, it has the advantage of a simple structure.

[0015] Furthermore, the present application provides a scissor-type telescopic arm envelope-type space target capture device, wherein the scissor-type telescopic arms are arranged in pairs, and the paired scissor-type telescopic arms are symmetrically arranged around a center. As a preferred embodiment of the present application, the paired scissor-type telescopic arms provide mutual support when grabbing a target, thereby improving the effectiveness of the capture.

[0016] Furthermore, in the present application, a scissor-type telescopic arm envelope-type space target capture device comprises a pair of linkage devices disposed between the pair of swing assemblies corresponding to the paired scissor-type telescopic arms. The linkage devices are used to drive and connect the swing frames on both sides to achieve synchronous linkage of the swing assemblies on both sides. As a preferred embodiment of the present application, this ensures the synchronization and stability of the scissor-type telescopic arms during the capture process. Furthermore, because the swing frames on both sides are synchronously linked, the pair of scissor-type telescopic arms only require a pair of swing frame drive devices to drive them, effectively reducing manufacturing costs.

[0017] Furthermore, in the present application, a scissor-type telescopic arm envelope-type space target capture device comprises a linkage mechanism comprising a pair of drive shafts connected in the same direction to the swing frames on either side. The linkage mechanism also comprises a reversing shaft, which is connected to one of the drive shafts via a pair of gears. The reversing shaft and the other drive shaft are each provided with a drive wheel, and the pair of drive wheels are meshed with each other via a belt or chain transmission element. As a preferred embodiment of the present application, the reversing shaft causes the pair of drive shafts to rotate in opposite directions, thereby achieving synchronous linkage of the swing assemblies on both sides.

[0018] Furthermore, the present invention provides a scissor-type telescopic arm envelope-type space target capture device, further comprising a base located at the proximal end of the scissor-type telescopic arm, on which the scissor-type telescopic arm and the drive assembly are integrally mounted, and which is then mounted on a spacecraft. As a preferred embodiment of the present invention, an integrated module is formed to facilitate assembly and disassembly of the entire device.

[0019] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0020] The present invention provides a scissor-type telescopic arm envelope-type 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 to the proximal end; when executing the capture of the space target, the drive assembly drives the scissor-type telescopic arms to switch to the extended state, so that the scissor-type telescopic arms are extended to an arc shape and the space target is confined within the envelope cavity, thereby completing the capture of the space target. On the one hand, the present application utilizes the characteristic of the traditional scissor-type telescopic arms having a large extension and contraction ratio. On the other hand, unlike the traditional linear telescopic scissor-type telescopic arms, the four connecting ends of the connecting rod are hinged in an X shape to form a rectangle. In the present application, by making the length of the side of the quadrilateral A formed by the four connecting ends of the connecting rod of the X shape toward the center of the scissor-type telescopic arm shorter than the length of its opposite side, 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, the scissor-type telescopic arm envelope-type space target capture device in the present application is suitable for capturing large space targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a scissor-type telescopic arm envelope-type space target capture device in an embodiment of the present application;

[0022] Figure 2 Schematic diagram of the structure of the scissor-type telescopic arm in an embodiment of the present application;

[0023] Figure 3 This is a working principle diagram of a scissor-type telescopic arm envelope-type space target capture device in an embodiment of the present application;

[0024] Figure 4 It is a transmission diagram of the swing frame on one side of the linkage device;

[0025] Figure 5 It is a transmission diagram of the swing frame on the other side of the linkage device;

[0026] Figure 6 It is a schematic diagram of the principle of the scissor-type telescopic arm extending in an arc shape.

[0027] 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-base body; 31-gear plate. DETAILED DESCRIPTION

[0028] Combine Figures 1 to 3 The embodiment shown provides a scissor-type telescopic arm envelope-type space target capture device, comprising:

[0029] A group of scissor-type telescopic arms 1 are arranged around each other, 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. The scissor-type frames 10 include a pair of connecting rods 11 hinged in an X shape. The two pairs of connecting rods 11 corresponding to the adjacent pair of scissor-type frames 10 are hinged to each other at the ends to achieve telescopic linkage. Figure 6 As shown, the four connecting end points of a pair of connecting rods 11 hinged in an X shape of a plurality of scissor-type frames 10 form a quadrilateral A, wherein the length of a side a of the quadrilateral A around the center facing the scissor-type telescopic arm 1 is shorter than the length of the opposite side b thereof, so that when the scissor-type telescopic arm 1 is in an extended state, the whole extends in an arc shape and the distal end tends to converge around the center toward the scissor-type telescopic arm 1;

[0030] The 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 switches 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.

[0031] Based on the above structure, the principle of the scissor-type telescopic arm envelope-type space target capture device in this embodiment is as follows: in the reset state, a group of scissor-type telescopic arms 1 are in a retracted state, retracted to the proximal end; when executing the capture of the space target, the drive assembly drives the scissor-type telescopic arms 1 to switch to the extended state, so that the scissor-type telescopic arms 1 extend into an arc shape and confine the space target within the envelope cavity, thereby completing the capture of the space target. In this embodiment, on the one hand, the large extension and contraction ratio of the traditional scissor-type telescopic arms is utilized. On the other hand, unlike the traditional linear telescopic scissor-type telescopic arms, the four connecting ends of the X-shaped hinged connecting rod form a rectangle. In this embodiment, the length of the quadrilateral A formed by the four connecting ends of the X-shaped hinged connecting rod 11, which is formed toward the center of the scissor-type telescopic arms, is shorter than the length of its opposite side. This achieves 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, the scissor-type telescopic arm envelope-type space target capture device in this embodiment is suitable for capturing large space targets.

[0032] 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 frame 10. 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.

[0033] In other embodiments, the driving device of a traditional scissor-type telescopic arm can be used as a reference. The connecting rod driving device in the traditional 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 installed on the base 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.

[0034] Furthermore, in this embodiment, the driving assembly includes an opening and closing driving module, which 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.

[0035] In the initial state, a group of scissor-type telescopic arms 1 are in an open state. When performing capture, the scissor-type telescopic arms 1 are switched to an extended state, and the opening and closing drive module controls the group of scissor-type telescopic arms 1 to move in the retracting direction to form an envelope cavity to capture the spatial target. The opening and closing drive module is used to drive a group of scissor-type telescopic arms 1 to move in the retracting or opening direction, which can be either 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, the group of scissor-type telescopic arms 1 are synchronously moved to retract toward the center of the center, which can form an envelope cavity. The envelope cavity can be opened by synchronously moving a group of scissor-type telescopic arms 1 away from the center of the center.

[0036] In other embodiments, since the scissor-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 scissor-type telescopic arm 1 and the positional relationship of each scissor-type telescopic arm 1, it is possible to form an envelope cavity when the scissor-type telescopic arm 1 is extended to grasp the space target. There is no need to set up an opening and closing drive module, and the use of an opening and closing drive module for capturing space targets is more versatile.

[0037] Combine Figure 4 and Figure 5 As shown, specifically, in this embodiment, the connecting rod driving device includes:

[0038] The swing assembly corresponds to the scissor-type telescopic arm 1 one by one, and 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 frame 10;

[0039] The 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;

[0040] A pair of swing frame driving devices 22 drive a pair of swing frames 21 to rotate synchronously and in the same direction, thereby driving the scissor-type telescopic arm 1 to rotate as a whole around the rotating axis, so that the scissor-type telescopic arm 1 can move 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.

[0041] This embodiment further includes a gear plate 31 corresponding to each swing assembly. The gear plate 31 is fixedly mounted, and the rotation axis of the swing frame 21 is coaxial with the gear plate 31. A guide gear 211 is rotatably mounted on the swing frame 21, and the guide gear 211 meshes with the outer edge of the gear plate 31. The meshing of the gear plate 31 with the guide gear 211 improves the rotational stability of the swing frame 21.

[0042] In this embodiment, the swing frame 21 includes a rod body 210, one end of which is rotatably arranged and the center of rotation is coaxial with the gear plate 31, and the other end of the rod body 210 is concentrically pivoted with the guide gear 211 and the connecting rod 11. It has the advantage of a 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. The two pairs of connecting rods 11 are laterally connected by cross bars so that the two pairs of connecting rods 11 can move synchronously. The proximal ends of the two pairs of connecting rods of the proximal scissor-type frame 10 are respectively connected to two pairs of proximal cross bars. The end of the rod body 210 away from the gear plate 31 is hinged to 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.

[0043] 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 the target, thereby improving the effectiveness of the capture.

[0044] 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.

[0045] In this embodiment, a pair of linkage devices 23 are provided between the corresponding pairs of swing assemblies of the paired scissor-type telescopic arms 1. These linkage devices 23 are used to drive and connect the swing frames 21 on either side, achieving synchronized movement of the swing assemblies on both sides. This ensures synchronization and stability of the scissor-type telescopic arms 1 during the capture process. Furthermore, because the swing frames 21 on both sides are synchronized, only one pair of swing frame drive devices 22 is required to drive the pair of scissor-type telescopic arms 1, effectively reducing manufacturing costs.

[0046] Combine Figure 4 and Figure 5 As shown, in this embodiment, the linkage device 23 includes a pair of drive shafts 231 connected to the swing frames 21 on either side in the same direction. The linkage device 23 also includes a reversing shaft 232, which is connected to one of the drive shafts 231 via a pair of gears. The reversing shaft 232 and the other drive shaft 231 are each equipped with a drive wheel (not shown). The pair of drive wheels engage with each other via a belt or chain transmission element. The reversing shaft 232 causes the pair of drive shafts 231 to rotate in opposite directions, thereby achieving synchronous linkage of the swing assemblies on both sides.

[0047] In this embodiment, the transmission wheels are synchronous pulleys, a pair of which are connected by a synchronous belt drive. The synchronous belts cross each other between the two pairs of scissor-type telescopic arms 1. To prevent interference between the synchronous belts, the radial dimensions of the two sets of synchronous pulleys corresponding to the intersecting synchronous belts are different. In other embodiments, the transmission wheels may be sprockets, and the pair of sprockets may be connected by a transmission chain.

[0048] In this embodiment, a base 3 is further included. The base 3 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 mounted on the base 3. The base 3 is then mounted on the spacecraft. Thus, an integrated module is formed, which is convenient for overall assembly and disassembly.

[0049] In this embodiment, the gear plate 31 is fixed on the base body 3, and 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 concentrically connected to the rod body 210 and one end of the gear plate 31 is concentric.

[0050] 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 scissor-type telescopic arm envelope-type space target capture device, characterized by: 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 adjacent pairs of scissor-type frames (10) being hinged to each other at the ends to achieve telescopic linkage, four connecting end points of the pair of connecting rods (11) hinged in the X-shape of a plurality of scissor-type frames (10) forming a quadrilateral A, the length of one side of the quadrilateral A around the center of the scissor-type telescopic arms (1) being shorter than the length of the opposite side thereof, so that the scissor-type telescopic arms (1) are extended in an arc shape as a whole when in an extended state and the distal end tends to be retracted around the center of the scissor-type telescopic arms (1); A driving assembly, wherein the driving assembly is used to drive the scissor-type telescopic arm (1) to switch between an extended state and a retracted state, and 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 a retracted distal end for capturing a space target, and the scissor-type telescopic arm (1) is retracted at the proximal end when in the retracted state; The driving assembly comprises a connecting rod driving device, the connecting rod driving device being in driving connection with a connecting rod (11) of a proximal scissor 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); 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 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, wherein the pair of swing frame driving devices (22) are respectively connected to the pair of swing frames (21) in the swing assembly in a transmission manner, and 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 frame driving devices (22) drive a pair of swing frames (21) to rotate synchronously and in the same direction to drive the scissor-type telescopic arm (1) to rotate around the axis as a whole, thereby realizing the movement of the scissor-type telescopic arm (1) in the direction of overall folding or opening; The scissor-type telescopic arms (1) are arranged in pairs, and a pair of linkage devices (23) are provided between a pair of swing assemblies corresponding to the paired scissor-type telescopic arms (1). The linkage devices (23) are used for transmission connection of the swing frames (21) on both sides to achieve synchronous linkage of the swing assemblies on both sides. 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 with each other via a belt or chain transmission element.

2. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, 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.

3. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, characterized in that: The invention 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).

4. The scissor-type telescopic arm envelope-type space target capture device according to claim 3, characterized in that: The swing frame (21) includes a rod body (210), one end of the rod body (210) is rotatably arranged with its rotation center coaxial with the gear plate (31), and the other end of the rod body (210) is coaxially pivotally connected to the guide gear (211) and the connecting rod (11).

5. 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 are symmetrically arranged around a center.

6. The scissor-type telescopic arm envelope-type space target capture device according to claim 1, characterized in that: It also includes a seat body (3), the seat body (3) 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.

Images