Flexible handling device based on inflatable composite grommet and method of operation

Abstract

This invention relates to the field of spacecraft on-orbit servicing and space target acquisition technology, and particularly to a flexible manipulation device and method based on an inflatable composite rope loop. The manipulation device includes: a composite rope loop assembly having a first inflatable flexible cabin, a second inflatable flexible cabin, and a load-bearing structural layer located between the inflatable flexible cabins, arranged opposite each other along the width direction; a drive assembly located at the release port of the spacecraft, with the second end of the composite rope loop assembly wound around the drive assembly, the drive assembly being configured to drive the composite rope loop assembly to release or retract through rotation in both forward and reverse directions; an inflation system installed on the spacecraft and connected to the inflatable flexible cabin, configured to supply pressurized gas to the inflatable flexible cabin; and a control system installed on the spacecraft and electrically connected to both the drive assembly and the inflation system, configured to control the rotation direction of the drive assembly and the gas supply action of the inflation system.

Description

Technical Field

[0001] This invention relates to the field of spacecraft on-orbit servicing and space target acquisition technology, and in particular to a flexible manipulation device and operation method based on an inflatable composite rope loop. Background Technology

[0002] With the increasing activity in space, the number of non-cooperative targets such as space debris, defunct spacecraft, and small celestial bodies continues to grow, posing new challenges to the safe operation of on-orbit spacecraft and the implementation of deep space exploration missions. Existing space target acquisition methods mainly include robotic arm grasping, rigid envelope structure capture, and net capture. Robotic arm grasping is highly dependent on the target's attitude, geometric interface, and relative motion state, making it difficult to apply to targets with unknown attitudes or high-speed rotation. Rigid envelope structures are typically large in size and have complex deployment mechanisms, which is not conducive to mounting on miniaturized spacecraft platforms. While net capture offers certain envelope advantages, the mesh or free flexible ropes are prone to undamped oscillations in a vacuum environment, leading to unpredictable deployment patterns, high control difficulty, and insufficient capture stability. Therefore, there is a need for a flexible manipulation device that possesses both flexible envelope capabilities and good morphological stability in a vacuum environment, and can reliably tighten constraints after encirclement. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a flexible operating device based on an inflatable composite rope loop, comprising: The composite rope loop assembly, installed on a spacecraft, is strip-shaped and has a first inflatable flexible cabin, a second inflatable flexible cabin, and a load-bearing structural layer located between the inflatable flexible cabins, which are arranged opposite each other along the width direction. A drive assembly is located at the release port of the spacecraft. The second end of the composite rope loop assembly is wound around the drive assembly. The drive assembly is configured to drive the composite rope loop assembly to release or retract by rotating in both forward and reverse directions. An inflation system, installed on the spacecraft and connected to the inflatable flexible cabin, is configured to supply pressurized gas to the inflatable flexible cabin. The control system, installed on the spacecraft, is electrically connected to the drive assembly and the inflation system respectively, and is configured to control the rotation direction of the drive assembly and the air supply action of the inflation system. The composite rope loop assembly is configured such that, upon release, its structural stiffness changes as the inflation system supplies air to the inflatable flexible cabin, and it maintains a ring-shaped configuration in space as the structural stiffness changes; the composite rope loop assembly is also configured such that the ring-shaped configuration it forms radially contracts as the drive assembly rotates in the opposite direction and the composite rope loop assembly is pulled back.

[0004] Furthermore, the composite rope loop assembly has a first end and a second end opposite to each other along its length direction. The first end is fixedly installed on the spacecraft and communicates with the inflation system, and the second end is wound around the drive assembly and driven by the drive assembly.

[0005] Furthermore, the first end is provided with an inflation and deflation port, and the inflation system is connected to the inflatable flexible cabin through the inflation and deflation port.

[0006] Furthermore, the drive assembly includes a take-up and release drum and a pressure wheel assembly. The take-up and release drum is located inside the spacecraft. The second end of the composite rope loop assembly is wound around the take-up and release drum. The take-up and release drum drives the composite rope loop assembly to release or retract through rotation in both forward and reverse directions. The clamping wheel assembly is located at the release port, and the clamping wheel assembly clamps the composite rope loop assembly to lock and fix its release length.

[0007] Furthermore, the clamping wheel assembly has a guide groove adapted to the width of the composite rope loop assembly, the guide groove being used to constrain the lateral displacement of the composite rope loop assembly during release or retrieval.

[0008] Furthermore, the load-bearing structural layer is a high-strength load-bearing rope disposed between the two inflatable flexible cabins, and the high-strength load-bearing rope extends along the length direction of the composite rope loop assembly.

[0009] Furthermore, the inflatable flexible cabin is a tubular airbag structure that extends continuously along the length direction of the composite rope loop assembly.

[0010] Furthermore, the inflation system also includes a pressure sensor, which detects the pressure inside the inflatable flexible cabin in real time and feeds it back to the control system. The control system controls the replenishment or discharge of gas according to the feedback pressure changes, and synchronously adjusts the rotational torque of the drive component to maintain a constant clamping force of the annular configuration during radial contraction.

[0011] The present invention also provides an operating method for the above-mentioned flexible operating device based on an inflatable composite rope loop, comprising: Step S1: The drive component rotates in the forward direction, causing the composite rope loop assembly to release through the release port; In step S2, the inflation system supplies air to the inflatable flexible cabin, and the composite rope loop assembly gains structural stiffness and forms a ring configuration in space. Step S3: Control the ring configuration to enclose the target object; In step S4, the drive component rotates in the opposite direction, pulling the composite rope loop assembly back, and the ring configuration contracts radially and is tightened to the target object through the load-bearing structural layer.

[0012] Furthermore, in step S2, by adjusting the gas pressure inside the inflatable flexible chamber to change the structural stiffness of the composite rope ring assembly, the composite rope ring assembly is transformed from a free flexible configuration into a ring configuration with morphological stiffness, thereby passively suppressing the free oscillation and chaotic motion of the composite rope ring assembly in a vacuum microgravity environment.

[0013] Furthermore, in step S4, when the annular configuration contracts radially, the pressure inside the inflatable flexible chamber is adjusted according to the surface condition of the target object to change the bonding stiffness of the composite rope ring assembly.

[0014] Furthermore, during the release, unfolding, and retraction of the composite rope loop assembly, the pressure inside the inflatable flexible chamber is detected in real time by a pressure sensor, and gas is replenished or discharged according to the detection results to maintain a preset pressure range.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention integrates an inflatable composite rope loop assembly onto a single spacecraft. By utilizing the inflation pressure to alter the structural stiffness of the rope loop itself, the flexible rope loop transforms from a free and flexible configuration into a morphologically stable ring configuration in a vacuum microgravity environment, thereby passively suppressing the free oscillations and chaotic motions of the flexible structure. This eliminates the need for multi-spacecraft coordination, complex real-time control algorithms, and continuous energy input, reducing system complexity and on-orbit operation difficulty.

[0016] This invention incorporates an inflatable flexible cabin as part of the rope loop structure. The inflatable flexible cabins are distributed along both sides of the rope loop, and inflation gives the entire rope loop bending stiffness. A high-strength load-bearing rope is positioned between the two inflatable flexible cabins to bear the tightening load. The inflatable flexible cabins solve the problem of morphological stability, while the load-bearing rope solves the problem of tightening constraints. Together, they achieve a complete process function that combines stable deployment with reliable tightening.

[0017] The morphological control logic of this invention is that the inflatable flexible cabin imparts stiffness to the rope loop itself. The inflatable flexible cabin is a component of the rope loop, and the rope loop itself acquires structural stiffness after inflation. Even if the inflatable flexible cabin is subjected to impact, the ring-shaped configuration of the rope loop is maintained by its own structural stiffness, rather than relying on external support, thus exhibiting higher robustness.

[0018] The present invention effectively ensures the airtightness of the inflation circuit and the reliability of the system operation by using a layout design in which the first end of the composite rope loop assembly is fixedly installed on the spacecraft and connected to the inflation system, and the second end is a closed end without an inflation passage.

[0019] This invention adopts a single release port integrated with the winding and unwinding drum and the clamping wheel assembly. It achieves orderly release of the composite rope loop and active tightening after operation through bidirectional rotation, avoiding the uncertainty of the ejection and scattering method, and improving the system integration and operational reliability. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a working illustration of a flexible operating device based on an inflatable composite rope loop according to the present invention. Figure 2 This is a schematic diagram of a composite rope loop assembly of a flexible operating device based on an inflatable composite rope loop according to the present invention. Figure 3 This is a perspective view of a flexible operating device based on an inflatable composite rope loop according to the present invention. Figure 4 This is a schematic diagram of the operation method of a flexible operating device based on an inflatable composite rope loop according to the present invention. Figure 5 This is a schematic diagram of the tightening and binding state of a flexible operating device based on an inflatable composite rope loop according to the present invention.

[0021] Figure label: 1: Composite rope loop assembly; 11: Inflatable flexible cabin; 12: High-strength load-bearing ropes; 2: Release port; 3: Driver components; 31: Winding drum; 32: Pressure roller assembly; 33: Drive motor; 4: High-pressure gas storage tank; 5: Pressure reduction and adjustment device; 6: Electrically controlled valves; 7: Gas delivery pipeline; 8: Control system; 9: Spacecraft. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0023] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0024] First embodiment: Please see Figures 1 to 3 The technical solution of the flexible operation device based on an inflatable composite rope loop provided in this embodiment includes: a composite rope loop assembly 1, a drive assembly 3, an inflation system, and a control system 8. The entire device is integrated on a single spacecraft 9, eliminating the need for multi-spacecraft formation coordination.

[0025] As attached Figure 2 As shown, the composite rope loop assembly 1 is installed on the spacecraft 9 and is strip-shaped. It has two inflatable flexible cabins 11 (including a first inflatable flexible cabin and a second inflatable flexible cabin) arranged opposite each other in the width direction and a load-bearing structural layer located between the two inflatable flexible cabins 11.

[0026] Preferably, the inflatable flexible cabin 11 is a tubular airbag structure that extends continuously along the length of the composite rope loop assembly 1. After inflation, this tubular airbag structure forms a strip-shaped airbag with a certain bending stiffness, distributed along both sides of the rope loop.

[0027] The inflatable flexible cabin 11 is configured to change the structural stiffness of the composite rope loop assembly 1 by inflation; that is, the higher the inflation pressure, the greater the bending stiffness of the cabin and the stronger the shape retention ability of the rope loop.

[0028] The load-bearing structural layer is a high-strength load-bearing rope 12 disposed between the two inflatable flexible cabins 11. The high-strength load-bearing rope 12 extends along the length direction of the composite rope loop assembly 1 and is used to bear the tensile load during operation and tightening.

[0029] Specifically, the composite rope loop assembly 1 has a first end and a second end opposite to each other along its length. The first end is fixedly installed on the spacecraft 9 and communicates with the inflation system. The first end has an inflation / exhaust port inside, and the inflation system communicates with the inflatable flexible cabin 11 through the inflation / exhaust port. Gas is injected or discharged through valves to regulate the air pressure inside the inflatable flexible cabin 11. The second end passes through the drive assembly 3 and is driven by the drive assembly 3. The second end is a closed end and does not have an inflation passage; it only provides the function of retracting and extending the high-strength load-bearing rope 12.

[0030] The advantages of this layout design are: the inflation circuit is concentrated at the first end, ensuring the reliability of the airtight connection; the second end only involves the mechanical release and retraction of the rope, the structure is simple, and there is no need to consider the inflation sealing problem.

[0031] The technical principle of this invention is that in a vacuum microgravity environment, free flexible ropes, lacking external damping, exhibit typical nonlinear characteristics in their dynamic behavior under the influence of minor external disturbances, such as spacecraft attitude maneuvers, release impacts, and thermal vibrations. The oscillation amplitude is highly sensitive to initial conditions and external disturbances, and is prone to developing into unpredictable chaotic motion.

[0032] The mainstream solution to this problem in existing technologies is to use a multi-body tethered spacecraft formation approach. This involves connecting two or more spacecraft with tethers and using active control strategies (such as tether length variation control, tether tension adjustment, sliding mode control, and neural network compensation control) to suppress chaotic motion of the tethers. These methods rely on the coordinated operation of multiple spacecraft, complex real-time control algorithms, and continuous energy input, resulting in high system complexity and significant control challenges.

[0033] Completely different from the existing technical approach described above, in this embodiment, by filling the inflatable flexible cabin 11 with gas at a certain pressure, the overall bending stiffness and shape retention capability of the composite rope ring assembly 1 are significantly improved. The inflatable flexible cabin 11 forms strip-shaped airbags with a certain bending stiffness along both sides of the rope ring, which is equivalent to increasing the structural stiffness of the flexible rope ring itself, transforming it from a "free flexible configuration" into a "ring configuration with shape stability capability".

[0034] This transformation fundamentally alters the dynamic characteristics of the rope loop: a free, flexible rope lacks definite structural stiffness, its oscillations are sensitive to initial conditions, and it tends towards chaotic motion; the inflated loop configuration has definite structural stiffness and restoring force, its response to external disturbances tends to be deterministic and controllable, and chaotic motion is suppressed.

[0035] Unlike existing technologies that suppress chaotic motion of ropes through multi-body tethered spacecraft formations and complex active control algorithms, this implementation method achieves passive chaos suppression by inflating the rope loops to change their structural stiffness. It does not require multi-spacecraft collaboration, real-time complex control algorithms, or continuous energy input, and a single spacecraft platform can achieve stable and controllable operation of the flexible rope.

[0036] Specifically, the release port 2 is located on the lower end face of the spacecraft 9, and the center of the release port 2 is located at the intersection of the central axis of the lower end face and the four circumferential bisectors of the lower end face.

[0037] This specific positioning facilitates the formation of an ideal ring configuration in space after the composite rope loop assembly 1 is released from the release port 2, reducing interference and twisting during deployment. The lower end face of spacecraft 9 serves as the mounting surface for the release port 2, allowing the composite rope loop assembly 1 to naturally unfold downwards after release, which is beneficial for enveloping targets located below spacecraft 9.

[0038] Specifically, the drive component 3 is located at the release port 2 of the spacecraft 9 and is configured to drive the composite rope loop component 1 to release or retract by rotating in both forward and reverse directions.

[0039] Preferably, the drive assembly 3 includes a take-up / unwind drum 31 and a pressure wheel assembly 32. The take-up / unwind drum 31 is disposed inside the spacecraft 9 and is driven by a drive motor 33. The second end of the composite rope loop assembly 1 is wound around the take-up / unwind drum 31. The take-up / unwind drum 31 is driven by the drive motor 33, and the composite rope loop assembly 1 is released or retracted by rotating in both forward and reverse directions. When rotating in the forward direction, the composite rope loop assembly 1 is released outward through the release port 2; when rotating in the reverse direction, the composite rope loop assembly 1 is retracted.

[0040] The clamping wheel assembly 32 is disposed at the release port 2, and the composite rope loop assembly 1 passes through the clamping wheel assembly 32 and extends out through the release port 2. The clamping wheel assembly 32 is used to clamp the composite rope loop assembly 1 after it has been released to the target length, so as to lock and fix its release length and prevent the released part from retracting due to tension. The structure of the clamping wheel assembly 32 is already mature in the prior art, so the present invention does not limit the specific structure of the clamping wheel assembly 32.

[0041] In specific implementations, a guide structure can also be provided between the take-up / deployment drum 31 and the release port 2. Any existing guide structure can be applied to this application. For example, the guide structure may include a guide frame fixedly installed inside the spacecraft 9 and multiple guide wheels rotatably mounted on the guide frame. The composite rope loop assembly 1 passes through the guide frame and around each guide wheel, and is guided by the guide frame and guide wheels to be orderly released or retrieved from the take-up / deployment drum 31 through the release port 2. The guide structure ensures a clear and orderly movement path for the composite rope loop assembly 1 within the confined space inside the spacecraft 9, avoiding entanglement or jamming during take-up and deployment.

[0042] Specifically, the inflation system is installed on the spacecraft 9 and is connected to the inflatable flexible cabin 11, and is configured to supply pressurized gas to the inflatable flexible cabin 11.

[0043] Preferably, the inflation system includes a high-pressure gas storage tank 4, a pressure reducing and regulating device 5, an electrically controlled valve 6, and a gas delivery pipeline 7 connected to the inflatable flexible cabin 11. The high-pressure gas storage tank 4 preferably uses nitrogen or other inert gas as the working medium, and provides controllable pressure gas to the inflatable flexible cabin 11 through the pressure reducing and regulating device 5 and the electrically controlled valve 6.

[0044] Since the first end of the composite rope loop assembly 1 is fixedly installed on the spacecraft 9 and has an inflation and deflation port inside, the inflation gas enters the inflation and deflation port at the first end of the composite rope loop assembly 1 through the gas delivery pipeline 7 and fills the entire cabin along the length of the two sides of the inflatable flexible cabin 11.

[0045] Preferably, the inflation system further includes a pressure sensor, which detects the pressure inside the inflatable flexible cabin 11 in real time and feeds it back to the control system 8. During the release, inflation, and retraction of the composite rope loop assembly 1, the volume and shape of the inflatable flexible cabin 11 change, causing fluctuations in the internal gas pressure. The pressure sensor monitors this pressure change in real time and transmits the signal back to the control system 8. The control system 8 determines whether to add or remove gas based on a preset pressure range, and dynamically adjusts the pressure inside the inflatable flexible cabin 11 by controlling the opening and closing of the electrically controlled valve 6, ensuring that the structural stiffness required to suppress chaotic motion is maintained throughout the entire operation.

[0046] Specifically, the control system 8 is installed on the spacecraft 9 and is electrically connected to the drive assembly 3 and the inflation system, respectively. It is configured to control the rotation direction of the drive assembly 3 and the air supply action of the inflation system.

[0047] The control system 8 adopts an active control method to coordinate the winding and unwinding speed of the winding drum 31, the inflation pressure of the inflatable flexible cabin 11, and the working status during operation. By adjusting the parameters of the release stage, looping stage, operation stage, and tightening stage, the working stability and operation success rate of the device can be improved.

[0048] The control system 8 is configured to adjust the pressure inside the inflatable flexible cabin 11 according to the working stage of the composite rope loop assembly 1, so as to change the structural stiffness of the composite rope loop assembly 1. During the unfolding stage, a higher pressure is maintained to ensure morphological stability, and during the tightening stage, the pressure can be adjusted according to the target surface condition to achieve buffer protection or close wrapping.

[0049] Second embodiment: See Figures 4-5 The present invention also provides an operation method based on the structure of the first embodiment, comprising the following steps: In step S1, the drive assembly 3 rotates forward, causing the composite rope loop assembly 1 to be released through the release port 2. Specifically, the take-up and unwind drum 31 rotates forward to unwind, and the composite rope loop assembly 1, driven by the take-up and unwind drum 31, passes through the pressure wheel assembly 32, extends out of the spacecraft 9 through the release port 2, and is released in the target direction.

[0050] In step S2, the inflation system supplies air to the inflatable flexible cabin 11, and the composite rope loop assembly 1 gains structural rigidity and forms a ring configuration in space. Specifically, the pressurized gas in the high-pressure gas storage tank 4 is reduced in pressure by the pressure reducing and regulating device 5 and opened by the electrically controlled valve 6, and then enters the inflatable flexible cabin 11 through the gas delivery pipeline 7 via the inflation and exhaust port at the first end of the composite rope loop assembly 1, so that the composite rope loop assembly 1 gains structural rigidity and forms a ring configuration in space.

[0051] During the inflation and deployment process, pressure sensors monitor the pressure inside the inflatable flexible cabin 11 in real time and feed the pressure signal back to the control system 8. Based on a preset pressure threshold, the control system 8 automatically replenishes or releases gas by controlling the opening and closing of the electronically controlled valve 6, maintaining the pressure inside the inflatable flexible cabin 11 within a preset range. This ensures that the composite rope loop assembly 1 transforms from a free and flexible configuration into a ring configuration with morphological stability in a vacuum microgravity environment, thereby passively suppressing free oscillations and chaotic motion without relying on multi-spacecraft coordination or complex real-time control algorithms.

[0052] Step S3: Control the ring configuration to envelop the target. After the composite rope loop assembly 1 forms a ring configuration, control the spacecraft 9 to move relative to the target, so that the ring configuration envelops the target, enabling operation on non-cooperative targets such as small celestial bodies, defunct satellites, or space debris.

[0053] In step S4, the drive component 3 rotates in the opposite direction, pulling the composite rope loop assembly 1 back. The annular configuration contracts radially and is tightened onto the target object through the load-bearing structural layer. Specifically, the winding drum 31 rotates in the opposite direction to wind up, pulling the composite rope loop assembly 1 back, causing the annular configuration to contract radially, and forming a binding constraint on the target through the high-strength load-bearing rope 12.

[0054] During the tightening process, the pressure inside the inflatable flexible cabin 11 can be adjusted according to the surface condition of the target and the constraint requirements. If it is necessary to buffer and protect the fragile target, the cabin pressure can be appropriately reduced to increase flexibility; if it is necessary to tightly wrap the target, the cabin pressure can be appropriately increased to increase the bonding force.

[0055] Throughout the entire process of release, inflation, deployment, and retraction, the pressure sensor continuously monitors the pressure inside the inflatable flexible cabin 11 in real time. The control system 8 controls the inflation system to replenish or release gas based on the detection results in order to maintain the preset pressure range and ensure that the device maintains its optimal working condition throughout the entire operation.

[0056] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible operating device based on an inflatable composite rope loop, characterized in that, include: The composite rope loop assembly, installed on a spacecraft, is strip-shaped and has a first inflatable flexible cabin, a second inflatable flexible cabin, and a load-bearing structural layer located between the inflatable flexible cabins, which are arranged opposite each other along the width direction. A drive assembly is located at the release port of the spacecraft. The second end of the composite rope loop assembly is wound around the drive assembly. The drive assembly is configured to drive the composite rope loop assembly to release or retract by rotating in both forward and reverse directions. An inflation system, installed on a spacecraft and connected to an inflatable flexible cabin, is configured to supply pressurized gas to the inflatable flexible cabin. The control system, installed on the spacecraft, is electrically connected to the drive assembly and the inflation system respectively, and is configured to control the rotation direction of the drive assembly and the air supply action of the inflation system. The composite rope loop assembly is configured such that, upon release, its structural stiffness changes as the inflation system supplies air to the inflatable flexible cabin, and it maintains a ring-shaped configuration in space as the structural stiffness changes; the composite rope loop assembly is also configured such that the ring-shaped configuration it forms radially contracts as the drive assembly rotates in the opposite direction and the composite rope loop assembly is pulled back.

2. The flexible operating device based on an inflatable composite rope loop according to claim 1, characterized in that, The composite rope loop assembly has a first end and a second end opposite to each other along its length. The first end is fixedly installed on the spacecraft and communicates with the inflation system, and the second end is wound around the drive assembly and driven by the drive assembly.

3. The flexible operating device based on an inflatable composite rope loop according to claim 2, characterized in that, The first end has an inflation and deflation port inside, and the inflation system is connected to the inflatable flexible cabin through the inflation and deflation port.

4. The flexible operating device based on an inflatable composite rope loop according to claim 1, characterized in that, The drive assembly includes a take-up and release drum and a pressure wheel assembly. The take-up and release drum is located inside the spacecraft. The second end of the composite rope loop assembly is wound around the take-up and release drum. The take-up and release drum drives the composite rope loop assembly to release or retract through rotation in both forward and reverse directions. The clamping wheel assembly is located at the release port, and the clamping wheel assembly clamps the composite rope loop assembly to lock and fix its release length.

5. The flexible operating device based on an inflatable composite rope loop according to claim 4, characterized in that, The clamping wheel assembly has a guide groove adapted to the width of the composite rope loop assembly, the guide groove being used to constrain the lateral displacement of the composite rope loop assembly during release or retrieval.

6. The flexible operating device based on an inflatable composite rope loop according to claim 1, characterized in that, The load-bearing structural layer is a high-strength load-bearing rope disposed between the two inflatable flexible cabins, and the high-strength load-bearing rope extends along the length direction of the composite rope loop assembly.

7. The flexible operating device based on an inflatable composite rope loop according to claim 1, characterized in that, The inflatable flexible cabin is a tubular airbag structure that extends continuously along the length of the composite rope loop assembly.

8. The flexible operating device based on an inflatable composite rope loop according to claim 1, characterized in that, The inflation system also includes a pressure sensor, which detects the pressure inside the inflatable flexible cabin in real time and feeds it back to the control system. The control system controls the replenishment or discharge of gas based on the feedback pressure changes, and synchronously adjusts the rotational torque of the drive component to maintain a constant clamping force of the annular configuration during the radial contraction process.

9. A method for operating the flexible operating device based on an inflatable composite rope loop according to any one of claims 1 to 8, characterized in that, include: Step S1: The drive component rotates in the forward direction, causing the composite rope loop assembly to release through the release port; In step S2, the inflation system supplies air to the inflatable flexible cabin, and the composite rope loop assembly gains structural stiffness and forms a ring configuration in space. Step S3: Control the ring configuration to enclose the target object; In step S4, the drive component rotates in the opposite direction, pulling the composite rope loop assembly back, and the ring configuration contracts radially and is tightened to the target object through the load-bearing structural layer.

10. The operating method according to claim 9, characterized in that, In step S2, the structural stiffness of the composite rope ring assembly is changed by adjusting the gas pressure inside the inflatable flexible chamber, so that the composite rope ring assembly is transformed from a free flexible configuration into a ring configuration with morphological stiffness, thereby passively suppressing the free oscillation and chaotic motion of the composite rope ring assembly in a vacuum microgravity environment.

11. The operating method according to claim 9, characterized in that, In step S4, when the annular configuration contracts radially, the pressure inside the inflatable flexible chamber is adjusted according to the surface condition of the target object to change the bonding stiffness of the composite rope ring assembly.

12. The operating method according to claim 9, characterized in that, During the release, unfolding and retrieval of the composite rope loop assembly, the pressure inside the inflatable flexible cabin is detected in real time by a pressure sensor, and gas is replenished or discharged according to the detection results to maintain a preset pressure range.

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