Space junk capturing equipment

Abstract

The utility model discloses space junk capturing equipment, and belongs to the technical field of spaceflight. Comprising a metal shell and a controller installed on the metal shell, the metal shell serves as a containing cavity of a mechanical arm, a data collecting unit connected with the controller is arranged on the metal shell, and a mechanical arm fixing frame is installed in the metal shell; the mechanical arm is connected with the controller through the driving module, the fixed end of the mechanical arm is connected with the mechanical arm fixing frame, and the free end of the mechanical arm is stored in the metal shell or extends out of the metal shell in a telescopic and foldable mode. And a manipulator is mounted at the head of the free end of the mechanical arm and is used for capturing space junk fragments. According to the space junk capturing device, a mechanical arm and existing intelligent control are combined, space junk can be accurately captured, efficiency is high, and the defects that traditional capturing equipment cannot be stored, is prone to being lost, is difficult to fold and unfold, and is low in accuracy are overcome.

Description

Technical Field

[0001] The utility model belongs to the field of space technology, and particularly relates to a space garbage capture device. Background Art

[0002] According to the statistics of NASA, there are approximately 4,000 operating or discarded artificial satellites and rocket remnants in the Earth's orbit. In addition, there are approximately 6,000 space garbage fragments that can be seen and tracked; and there are more than 200,000 space garbage with a diameter exceeding 1 cm.

[0003] Space garbage moves at a speed of 3 kilometers per second in the geostationary orbit at an altitude of 36,000 kilometers. Depending on the orbital inclination, the relative speed during a collision can even reach 10 kilometers per second, having great destructive power. To protect space safety, it is necessary to improve and develop space capture and garbage cleaning technologies.

[0004] Among the currently disclosed space garbage cleaning methods, there are capture devices such as a net device, a harpoon device, an adhesion device, a rod-cone docking device, a robotic arm device, etc., which capture space garbage and then process it. Among them, the net device has complex control, and there are difficulties in deployment and retraction; the harpoon device is likely to break the target into more small garbage; the adhesion device has limited viscosity; the rod-cone docking device occupies a large internal space after docking, and its load-bearing capacity is also relatively low; the robotic arm device is difficult to accurately capture and is prone to loss, resulting in low cleaning efficiency. Summary of the Invention

[0005] Technical Problems to be Solved

[0006] In order to avoid the deficiencies of the prior art, the utility model provides a space garbage capture device, which combines a robotic arm manipulator with the existing intelligent control, can accurately capture space garbage, and has high efficiency. The utility model solves the shortcomings of traditional capture devices such as inability to store, easy to lose, difficult to deploy and retract, and low precision.

[0007] The technical solution of the utility model is: a space garbage capture device, including a metal shell and a controller installed thereon. The metal shell serves as a storage cavity for the robotic arm, and is provided with a data acquisition unit connected to the controller thereon, and a robotic arm fixing frame is installed therein; the robotic arm is connected to the controller through a drive module, its fixed end is connected to the robotic arm fixing frame, and its free end is stored in or extended out of the metal shell in a telescopic and foldable manner.

[0008] The data acquisition unit includes an image sensor, a laser positioning probe, and an image analysis unit. The image sensor is used to obtain the original shape image of the space debris. The laser positioning probe is used to obtain the shape size and position of the space debris. The input end of the image analysis unit is connected to the image sensor and the laser positioning probe, and the output end is connected to the controller, which is used for the analysis and transmission of the collected data;

[0009] A mechanical hand is installed at the free end head of the robotic arm to capture the space debris.

[0010] A further technical solution of the present utility model is that: two groups of robotic arms are symmetrically installed on the robotic arm fixing frame, and the two groups of robotic arms extend or retract from opposite ends of the metal shell respectively; the robotic arm is composed of a plurality of telescopic units articulated end to end, and the telescopic unit is a telescopic rod or a scissor mechanism; among them, the positioning mechanical hand is installed at the end of one group of robotic arms, and the capturing mechanical hand is installed at the end of the other group of robotic arms.

[0011] A further technical solution of the present utility model is that: the mechanical hand is a memory alloy mechanical hand made of shape memory alloy, which is installed at the head of the telescopic unit at the end of the robotic arm. It is a metal mesh bundle in the low-temperature state and returns to a metal hemispherical net shell in the heated state.

[0012] A further technical solution of the present utility model is that: the mechanical hand is a jointed mechanical hand, including a chassis and a net arm installed thereon connected in sequence; the chassis is a circular ring-shaped frame, which serves as the fixed end for the connection between the mechanical hand and the robotic arm; the net arm includes a number of mechanical fingers evenly distributed in the circumferential direction. A single mechanical finger is composed of a plurality of joints articulated end to end. The fixed joint located at the root is fixedly connected to the chassis, and the rest are movable joints. A limiting component is arranged at the articulated part between adjacent joints to limit the profile line when the mechanical finger expands to an inward concave arc, that is, the mechanical hand forms a clamping structure with a hemispherical profile.

[0013] A further technical solution of the present utility model is that: the movable joint is a columnar structure. A convex block is arranged on one end face thereof, and a through hole is opened in the convex block along the radial direction. Two convex ears are oppositely arranged on the other end face, and coaxial through holes are opened in the convex ears; the convex block of the adjacent movable joint is fitted with the convex ears, and a pin shaft passes through the through holes of the convex block and the convex ears to rotatably connect the two; a torsion spring is sleeved on the pin shaft as the limiting component, and the torsion spring is located between the convex block and the convex ears.

[0014] A further technical solution of the present utility model is that: the robotic arm fixing frame is installed in the middle section of the metal shell and is a ring-shaped frame structure. The hollow part thereof is used to avoid interference with the retracted robotic arm.

[0015] A further technical solution of the present utility model is that the metal shell is a hollow cylindrical structure, and both ends thereof are openable and closable hatches, which can be opened or closed under the drive of a controller.

[0016] A further technical solution of the present utility model is that two annular tracks are arranged on the outer peripheral surface of the metal shell. An image sensor and a laser positioning probe are respectively installed through sliders. The image sensor is a camera probe and performs circular motion in the first annular track to obtain the shape of space debris fragments in all directions; a plurality of laser positioning probes are positioned on the second annular track and can emit positioning lasers 360° in all directions.

[0017] A further technical solution of the present utility model is that the slider is slidably connected to the annular track, and a locking member is installed on the slider for installing the laser positioning probe, which can position the laser positioning probe on the track.

[0018] A further technical solution of the present utility model is that the drive module is used to control the extension and retraction of the robotic arm.

[0019] Beneficial effects

[0020] The beneficial effects of the present utility model are as follows: In the present utility model, two groups of robotic arms are symmetrically installed in the metal shell. The manipulator of one robotic arm contacts the space debris fragment for positioning, and then the manipulator of the other robotic arm is docked thereon, so as to complete the precise recovery of the space debris fragment without loss; the robotic arm is a telescopic and foldable structure, which can be stored in the metal shell during transportation and extended outside the metal shell when performing tasks. At the same time, the controller issues motion direction and position commands to the robotic arm according to the information obtained by the data acquisition unit, thus achieving the intelligent capture purpose of combining intelligent control and the robotic arm.

[0021] The present utility model adopts two forms of manipulators, both of which are hemispherical shells when capturing space debris. Among them, the shape memory alloy manipulator uses the shape memory alloy with the characteristic of shape memory effect. Only need to heat it, and the beam-shaped metal mesh will naturally unfold due to its "memory" function and return to the parabolic shape, thus forming a metal hemispherical reticulated shell; the articulated manipulator forms mechanical fingers by means of series joints, and then forms a clamping structure with a hemispherical contour by restricting the relative angles of each joint; both manipulators can perform retractable capture on space debris, and the structure is stable. The structure adopted by the present utility model is simple, the capture accuracy is high, and the occupied volume is small. The specific advantages are as follows:

[0022] 1. The present utility model can form a mechanical metal-like spherical net with a corresponding structure for debris of any shape within a certain range, completely wrap the space debris after capture, and it is not easy to lose during the recovery process.

[0023] 2. By using a robotic arm to control the metal spherical net envelope debris instead of directly launching an elastic net, the accuracy of capturing a specific target is greatly improved.

[0024] 3. By controlling the rigid net arm to control the contraction of the mechanical metal net, the problem of difficult contraction of the flexible net is overcome.

[0025] 4. The laser positioning probe and the image analysis unit can comprehensively analyze the shape of the debris, obtain the best docking method, and greatly improve the capture success rate. Description of the Drawings

[0026] Figure 1 This is the overall appearance diagram of the space debris capture device of the present utility model.

[0027] Figure 2 This is the overall appearance diagram of the space debris capture device of Embodiment 1 of the present utility model.

[0028] Figure 3 This is a schematic diagram of the contraction state of the shape memory alloy manipulator of Embodiment 1 of the present utility model.

[0029] Figure 4 This is the overall appearance diagram of the space debris capture device of Embodiment 2 of the present utility model.

[0030] Figure 5 This is a schematic diagram of the structure of the articulated manipulator of Embodiment 2 of the present utility model.

[0031] Figure 6 This is a schematic diagram of the structure of a single mechanical finger of the articulated manipulator of Embodiment 2 of the present utility model.

[0032] Figure 7 This is a schematic diagram of space debris and an envelope hemispherical surface of the present utility model.

[0033] Description of the Reference Numerals: 1, metal shell; 2, probe track; 3, camera probe; 4, laser positioning probe; 5, positioning manipulator; 6, controller; 7, image analysis unit; 8, robotic arm; 9, capture manipulator; 10, net arm; 11, movable joint; 12, fixed joint; 13, chassis. Detailed Embodiment

[0034] The embodiments described below with reference to the drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model.

[0035] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0036] Based on the disadvantages of traditional capture devices such as being unable to be stored, easily lost, difficult to deploy and retract, and low precision, referring to Figure 1 as shown, the present utility model provides a space debris capture device, which includes a metal shell and a controller installed thereon. The metal shell serves as a storage cavity for the robotic arm, and a data acquisition unit connected to the controller is provided thereon. A robotic arm fixing frame is installed inside it; the robotic arm is connected to the controller through a drive module, its fixed end is connected to the robotic arm fixing frame, and its free end is stored in or extended out of the metal shell in a telescopic and foldable manner; the data acquisition unit includes an image sensor, a laser positioning probe, and an image analysis unit. The image sensor is used to obtain the original image of the shape of the space debris, the laser positioning probe is used to obtain the shape size and position of the space debris, and the input end of the image analysis unit is connected to the image sensor and the laser positioning probe, and the output end is connected to the controller, which is used for the analysis and transmission of the collected data; a manipulator is installed at the head of the free end of the robotic arm for capturing space debris.

[0037] Specifically, two groups of robotic arms are symmetrically installed on the robotic arm fixing frame, and the two groups of robotic arms extend out or retract from the opposite ends of the metal shell respectively; the robotic arm is composed of a plurality of telescopic units hinged end to end, and the telescopic unit is a telescopic rod or a scissor mechanism; among them, a positioning manipulator is installed at the end of one group of robotic arms, and a capture manipulator is installed at the end of the other group of robotic arms.

[0038] Specifically, the manipulator is a memory alloy manipulator made of shape memory alloy, which is installed at the head of the telescopic unit at the end of the robotic arm and is a metal mesh bundle in a low-temperature state and returns to a metal hemispherical mesh shell in a heated state.

[0039] Specifically, the manipulator is an articulated manipulator, including a chassis and a net arm mounted thereon, which are connected in sequence; the chassis is a circular ring-shaped frame, serving as the fixed end for connecting the manipulator to the robotic arm; the net arm includes a number of robotic fingers evenly distributed circumferentially. A single robotic finger is formed by articulating multiple joints end to end. The fixed joint is located at the root and is fixedly connected to the chassis, and the rest are movable joints. A limiting component is provided at the hinge between adjacent joints to limit the profile line when the robotic finger expands to a concave arc, that is, the manipulator forms a clamping structure with a hemispherical profile.

[0040] Specifically, the movable joint is a columnar structure. A convex block is provided on one end face of the movable joint. The convex block is provided with a through hole along the radial direction. Two convex ears are oppositely arranged on the other end face, and coaxial through holes are provided on the convex ears; the convex block of the adjacent movable joint is fitted with the convex ears, and a pin shaft passes through the through holes of the convex block and the convex ears to rotatably connect the two; a torsion spring is sleeved on the pin shaft as the limiting component, and the torsion spring is located between the convex block and the convex ears.

[0041] Specifically, the robotic arm fixing bracket is installed in the middle section of the metal shell and is a ring-shaped frame structure. The hollow part thereof is used to avoid interference with the retracted robotic arm.

[0042] Specifically, the metal outer shell is a hollow cylindrical structure, and both ends thereof are opening and closing hatches, which can be opened or closed under the drive of the controller.

[0043] Specifically, two annular tracks are provided on the outer peripheral surface of the metal outer shell. An image sensor and a laser positioning probe are respectively installed through sliders. The image sensor is a camera probe and performs circular motion in the first annular track to obtain the shape of space debris fragments in all directions; multiple laser positioning probes are positioned on the second annular track and can emit positioning lasers 360° in all directions.

[0044] Specifically, the slider is slidably connected to the annular track, and a locking component is installed on the slider for installing the laser positioning probe, which can position the laser positioning probe on the track.

[0045] Specifically, the drive module is used to control the extension and retraction of the robotic arm.

[0046] The above technical solutions will be further described below in conjunction with the accompanying drawings and specific examples:

[0047] Example 1:

[0048] Refer to Figure 2 As shown, an adaptive space debris capture device in this embodiment includes a metal outer shell 1, a probe track 2, a camera probe 3, a laser positioning probe 4, a positioning manipulator 5, a controller 6, an image analysis unit 7, a robotic arm 8, and a capture manipulator 9.

[0049] The metal shell 1 is made of aluminum alloy and titanium alloy, has ultra-high strength and the ability to withstand high and low temperatures, can well adapt to the extreme environment in space, and has two cavities, upper and lower, for housing the robotic arm and the metal net.

[0050] The probe orbit 2 includes two circular orbits, which are located at the rear part of the middle of the device and extend around the metal shell 1 for one week. The camera probe 3 and the laser positioning probe 4 are respectively embedded in the two circular orbits. The camera probe 3 can move freely around the orbit to comprehensively analyze the shape of space debris; the laser positioning probe 4 is evenly installed at three fixed positions on the circular orbit.

[0051] The camera probe 3 is equipped with an image analysis unit 7, which can quickly obtain the minimum spherical radius enclosing the debris by means of the information transmitted by the laser positioning probe 4, and transmit the radius information to the controller 6; the camera probe 3 can also synchronize the image information to the ground command center. For space debris with a complex shape, ground commanders can assist in the capture.

[0052] There are three laser positioning probes 4, and the laser emitting heads can rotate freely to ensure that the positioning laser can be emitted omnidirectionally at 360°. By emitting lasers at different positions of the debris, the dimensions of the debris in all directions can also be obtained, and the information is transmitted to the image analysis unit 7.

[0053] For the capture method, this embodiment proposes a hemispherical metal net envelope surface. In theory, any space debris can be enveloped by the hemispherical metal net, as Figure 1 shown. For the problem of precise capture, a mode of connecting a positioning memory alloy robotic arm and a capture memory alloy robotic arm to the two robotic arms 8 respectively is adopted, and the space debris is precisely enveloped by accurately extending the robotic arms 8 towards the target. Considering that the positioning memory alloy robotic arm and the capture memory alloy robotic arm can only envelop debris of limited size, a laser cutting device can also be installed on the satellite carried by this capture device, and the large debris is divided into debris within the capture range by emitting high-energy lasers at the large debris.

[0054] The robotic arm 8 has multiple segments, each segment can be telescopic, is housed in the cavity of the metal shell 1, and the tail is connected to the bottom of the cavity. The heads of the two robotic arms 8 are respectively connected to the positioning memory alloy robotic arm and the capture memory alloy robotic arm.

[0055] Refer to Figure 3As shown in the figure, the utility model is equipped with two identical shape memory metal meshes, which are bundled in the same way when not in use and placed in the cavity of the metal shell 1 to extend the service life. The positioning manipulator 5 installed on the top robotic arm is a positioning shape memory alloy manipulator. After passing current, the temperature changes, and the bundled metal mesh naturally unfolds due to its "memory" function and returns to the parabolic shape, thus forming a positioning metal hemispherical reticulated shell; the capture manipulator 9 installed on the robotic arm is a capture shape memory alloy manipulator. After passing current, the temperature changes, and the bundled metal mesh naturally unfolds due to its "memory" function and returns to the parabolic shape, thus forming a positioning metal hemispherical reticulated shell. When the positioning manipulator 5 successfully docks with the debris, the capture manipulator 9 precisely docks with the positioning manipulator 5 through the robotic arm to form a complete spherical net to envelope the debris. The surfaces of the positioning manipulator 5 and the capture manipulator 9 are plated with a heat-insulating and insulating layer to prevent the heat generated by the current from dissipating into outer space.

[0056] Embodiment 2:

[0057] Refer to Figure 4 As shown in the figure, a space debris capture device in this embodiment includes a metal shell 1, a probe track 2, a camera probe 3, a laser positioning probe 4, a positioning manipulator 5, a controller 6, an image analysis unit 7, a robotic arm 8, a capture manipulator 9, a net arm 10, a movable joint 11, a fixed joint 12, and a chassis 13.

[0058] The metal shell 1 is made of aluminum alloy and titanium alloy, has ultra-high strength and high and low temperature tolerance capabilities, can well adapt to the extreme environment of space, and has two cavities, upper and lower, for bundling the robotic arm 8 and the net arm 10.

[0059] The probe track 2 includes two circular tracks, which are located at the rear of the middle of the device and extend around the metal shell 1. The camera probe 3 and the laser positioning probe 4 are respectively embedded in the two circular tracks. The camera probe 3 can move freely around the track to comprehensively analyze the shape of space debris fragments; the laser positioning probe 4 is evenly installed at three fixed positions on the circular track.

[0060] The camera probe 3 is equipped with an image analysis unit 7. It can quickly obtain the minimum spherical radius enclosing the debris by means of the information transmitted by the laser positioning probe 4 and transmit the radius information to the controller 6; the camera probe 3 can also synchronize the image information to the ground command center. For space debris fragments with complex shapes, ground command personnel can assist in the capture.

[0061] There are three laser positioning probes 4, and the laser emitting heads can rotate freely to ensure that the positioning laser can be emitted omnidirectionally at 360°. By emitting lasers at different positions of the debris, the size parameters of the debris in all directions can also be obtained and the parameters are transmitted to the image analysis unit 7.

[0062] For the capture method, this embodiment proposes a hemispherical metal mesh envelope surface. In theory, any space debris can be enveloped by the hemispherical metal mesh, as Figure 1 shown. Since the diameter distribution of the mechanical metal hemispherical nets that can be formed by the net arms 10 of different models is discontinuous, only the net arms 10 of the model that best fits the space debris need to be used. For the precise capture problem, the positioning manipulator 5 and the capture manipulator 9 are respectively connected to the two robotic arms 8. The robotic arms 8 are precisely extended towards the target to precisely envelope the space debris. Considering that the types and quantities of the carried net arms 10 are limited and the sizes of the debris that the positioning manipulator 5 and the capture manipulator 9 can envelope are limited, it is recommended to install a laser cutting device on the satellite carried by this capture device. High-energy lasers are emitted towards large debris to cut the large debris into debris within the capture range.

[0063] The robotic arms 8 have multiple segments, each of which is telescopic. They are retracted in the cavity of the metal housing 1, with the tail connected to the bottom of the cavity. The heads of the two robotic arms 8 are connected to the chassis 13 for assembling the positioning manipulator 5 and the capture manipulator 9.

[0064] Referring to Figure 3 and Figure 4 shown, the net arm 10 is composed of a certain number of movable joints 11. Different models of net arms contain different numbers of movable joints 11. Different models of net arms 10 are designed according to the number of movable joints 11 from less to more, so that the net arms 10 can form a series of mechanical metal hemispherical nets with diameters ranging from small to large within a certain range. When the number of movable joints 11 is determined, the deflection angle of each movable joint 11 is also determined (a total deflection of 90°, and each of the n movable joints 11 deflects 90° / n).

[0065] The fixed joint 12 should be at a 90° angle in the same plane as the first movable joint 11 to facilitate the connection between the fixed joint 12 and the chassis 13; the chassis 13 is fixed to the top of the robotic arm 8. When the net arm 10 and the robotic arm 8 are not in use, they are stored in the cavity of the metal housing 1. When the capture task is about to be performed, the assembly of the net arm 10 on the chassis 13 is completed in the cavity, and then the robotic arm 8 extends from the cavity. Therefore, a suitable assembly device should be carried inside the cavity.

[0066] When the capture device of the present utility model performs the capture task, after the controller 6 receives the space debris information, it selects the most suitable model of the net arm 10 for assembly to form two identical mechanical metal hemispherical positioning manipulators 5 and capture manipulators 9. When the positioning manipulator 5 successfully docks with the debris, the capture manipulator 9 precisely docks with each net arm 10 of the positioning manipulator 5 through the robotic arm 8 to form a complete spherical-like net to envelope the debris.

[0067] The recovery processes of the above two embodiments are as follows:

[0068] The satellite for capturing space debris carries the capturing device of the present utility model into the space orbit. Here, it is assumed that the satellite orbit is higher than the target debris orbit.

[0069] First, the laser positioning probe 4 emits multiple beams of laser towards the target debris by moving on the probe orbit 2. Through the information reflected back, combined with the specific images and parameters transmitted back by the camera probe 3 and the image analysis unit 7, the controller 6 receives the information and sends instructions to the driving module of the robotic arm, as well as the coordinate points of the best deceleration of the satellite to approach the target.

[0070] Second, when the satellite moves to the designated position, it actively decelerates to lower the orbit to reach the best docking coordinates. At this time, the robotic arm 8 pushes the positioning manipulator 5 out of the metal shell 1, as Figure 2 or Figure 4 shown in the position.

[0071] Then, the robotic arm 8 sends the positioning mechanical metal net 5 to the designated docking position to complete the docking with the debris. At this time, the controller 6 controls the robotic arm 8 to complete the docking of the capturing manipulator 9 and the positioning manipulator 5, as Figure 1 shown in the position.

[0072] Finally, the robotic arm 8 transports the positioning manipulator 5, the capturing manipulator 9, and the space debris enclosed by them back into the satellite for waiting for the next step of recovery or treatment.

[0073] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model without departing from the principle and purpose of the present utility model.

Claims

1. A space debris capture device, comprising a metal casing and a controller mounted thereon, characterized in that: The metal shell serves as a storage chamber for the robot arm, on which a data acquisition unit connected to the controller is arranged, and a robot arm fixing frame is installed inside the metal shell; the robot arm is connected to the controller through a driving module, and its fixed end is connected to the robot arm fixing frame, and its free end is stored in the metal shell in a retractable and foldable manner or extends out of the metal shell; The data acquisition unit includes an image sensor, a laser positioning probe and an image analysis unit. The image sensor is used to obtain the original image of the shape of the space junk fragments. The laser positioning probe is used to obtain the shape size and position of the space junk fragments. The input end of the image analysis unit is connected to the image sensor and the laser positioning probe, and the output end is connected to the controller for analysis and transmission of the collected data. The free end of the robotic arm is equipped with a robotic arm for capturing space junk fragments.

2. A space junk capture device according to claim 1, characterized in that: Two groups of robotic arms are symmetrically installed on the robotic arm fixing frame, and the two groups of robotic arms are respectively extended or retracted from the opposite ends of the metal shell; the robotic arms are composed of multiple telescopic units hinged end to end, and the telescopic units are telescopic rods or fork-scissor mechanisms; among them, the positioning robot is installed at the end of one group of robotic arms, and the capture robot is installed at the end of the other group of robotic arms.

3. A space debris capture device according to claim 2, characterized in that: The manipulator is a memory alloy manipulator made of shape memory alloy, which is installed on the head of the telescopic unit at the end of the manipulator arm. It is a metal mesh bundle in a low temperature state and returns to a metal hemispherical mesh shell in a heated state.

4. A space debris capture device according to claim 2, characterized in that: The manipulator is an articulated manipulator, comprising a chassis connected in sequence and a net arm installed thereon; the chassis is a circular ring frame, serving as a fixed end connecting the manipulator and the manipulator arm; the net arm comprises a plurality of manipulator fingers evenly distributed along the circumference, a single manipulator finger is formed by hingedly connecting a plurality of joints end to end, a fixed joint is located at the root and fixedly connected to the chassis, and the rest are movable joints, and limiting components are arranged at the hinges between adjacent joints to limit the contour of the manipulator finger when expanded to an inwardly concave arc, that is, the manipulator forms a clamping structure with a hemispherical outline.

5. A space junk capture device according to claim 4, characterized in that: The movable joint is a columnar structure, with a protrusion on one end surface, the protrusion having a through hole in the radial direction, and two lugs on the other end surface opposite to each other, with coaxial through holes on the lugs; the protrusions and lugs of adjacent movable joints are installed in coordination, and a pin passes through the through holes of the protrusions and the lugs to rotatably connect the two; a torsion spring is mounted on the pin as a limiting component, and the torsion spring is located between the protrusion and the lug.

6. The space debris capture device according to claim 1, characterized in that: The mechanical arm fixing frame is installed in the middle section of the metal shell and is a ring frame structure, and its hollow part is used to avoid interference with the mechanical arm after storage.

7. A space junk capture device according to claim 6, characterized in that: The metal shell is a hollow cylindrical structure, both ends of which are openable and closable doors that can be opened or closed under the control of a controller.

8. A space debris capture device according to claim 7, characterized in that: Two annular tracks are arranged on the outer circumference of the metal shell, and an image sensor and a laser positioning probe are respectively installed through sliders. The image sensor is a camera probe, which performs circular motion in the first annular track to obtain the shape of the space debris fragments in all directions; A plurality of laser positioning probes are positioned on the second circular track and can emit positioning lasers in an all-round manner of 360°.

9. A space junk capture device according to claim 8, characterized in that: The slider is slidably connected to the annular track, and a locking component is installed on the slider for installing the laser positioning probe, so that the laser positioning probe can be positioned on the track.

10. The space debris capture device according to claim 1, characterized in that: The driving module is used to control the extension and retraction of the robot arm.

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