CN111301726B - Hybrid robot for capturing space garbage - Google Patents

Abstract

The invention discloses a space garbage capturing hybrid robot, comprising: a wrist mechanism, a drilling mechanism, a claw mechanism, a folding mechanism and a shoulder mechanism; the wrist mechanism includes a box body, a jacket, three long driving rods, and a restraint branch; the restraint branch Including mandrel, inner sleeve and outer sleeve, both ends of the long driving rod are hinged with the box body and the outer sleeve. The claw mechanism includes an inner sleeve motor, a spring rod group, and a claw rod. The drilling mechanism includes a spindle motor, a support plate, a support plate motor, and a reamer. The shoulder mechanism of the robot drives the robot to swing three-dimensionally, and the folding mechanism drives the relative shoulder of the box body. The mechanism is telescopic with a large stroke. When the base of the shoulder mechanism is firmly connected to the spaceship cabin, and the claw rod of the claw mechanism is connected with different claw and flexible capture nets, the composite motion of the wrist mechanism, drilling mechanism, claw mechanism and folding mechanism can capture and process space. Garbage, to resist foreign invasion. Different drilling tools can be installed on the outer end of the drill shaft: such as drill bits, which are used to drill holes on abandoned or attacking satellites, and the multi-knife reamers are used to get rid of the capture nets projected by attacking enemy satellites.

Description

A hybrid robot for capturing space junk

technical field

The invention relates to the technical field of robots, in particular to a space garbage capturing hybrid robot.

Background technique

Space junk generally moves at a high speed of 3-10km/s in low-Earth space orbit, and has huge destructive power. If space junk collides with an operating artificial satellite, manned spacecraft or the International Space Station, it will endanger the life of equipment and even astronauts. A piece of space junk with a diameter of 10cm can completely destroy the spacecraft, while a piece of space junk with a size of several millimeters will destroy the spacecraft. It is possible to keep them from working. Space junk has therefore become an international problem. Since many countries entered the universe in the 1950s, humans have launched more than 4,000 space launch vehicles. NASA reports that there are more than 9,000 space junk with a diameter larger than 10cm in space, and more than 100,000 pieces larger than 120cm, while tiny particles such as paint flakes and solid propellant dust particles can be in the millions. These space junk flies extremely fast (6-7km/s), and they hide huge lethality: a piece of 10g heavy space junk hits a satellite, which is equivalent to two 100km/h cars colliding with each other, and the satellite will collide with each other at 1.5 s is penetrated or directly destroyed! But when it hits, it's devastating. Even more serious is the "avalanche effect", where each time space junk collides with each other, more debris is generated, which is the new "big problem." Each flying object in space orbit has a reported 3.7 percent chance of a catastrophic collision event and a 20 percent chance of a non-catastrophic impact event. Based on this calculation, a collision between space junk and spacecraft may occur every 5 to 10 years in the future, and it will reach once every 2 years by 2020. In order to avoid the wreckage of the rocket, the flight controllers of the International Space Station of the United States have used the method of adjusting the flight trajectory of the space station many times, but the adjustment process is very complicated, and it is difficult to restore the normal trajectory. The Japan Aerospace Exploration Agency proposed in 2014 the use of electric tethers' electrical currents to slow down space debris or satellites, allowing them to burn up in the atmosphere before they approach the Earth's surface. ESA has also been considering a centralized capture mechanism to pick up space debris. The e.DeOrbit mission, which was publicly proposed in 2014, will search for satellite debris at an altitude of 800-1000km above the Earth's surface, possibly with the help of nets, harpoons, and robotic arms. Or tentacles, etc., but no feasible robot arm program has been reported. Switzerland's expected 2018 launch of a converted Airbus A300 jet that will be turned into a technology demonstrator spacecraft for the Clear Space project will meet with the decommissioned Swiss "Cube" nanosatellite and move it out of orbit. Texas A&M University proposed the design of the "Slingshot-Satellite Space Sweeper", which can capture space junk, then throw the space junk into the Earth's atmosphere to burn, and then use momentum to sail to the next space debris target for removal. To this day, the design is still under review. The UK proposes to build a "cubic solar sail" that would use small satellites to drive the sail to capture space debris to low orbit. But the plan is still being planned, and it is expected that the manufacturer Surrey Space Center will make more small satellites to realize it. Daniel Gregory of Raytheon BBN Technology in Virginia, USA, proposes to create an "explosion" in the atmosphere, causing the debris of artificial satellites to enter low orbit and burn. They released balloon explosions on high-altitude plains, and research tests conducted in early 2012 showed the method was sufficient to disrupt the path of space debris in low-Earth orbit. The expedition 1A upper stage carried by China's new-generation carrier rocket Long March 7 on its maiden flight on June 25, 2016 has laid the foundation for engineering applications for China's future orbital services such as space debris clearance. Over the years, NASA has tracked and analyzed these space junk, and believes that space junk is a more and more serious problem in the future. It requires the cooperation of experts from various countries and fields to find practical and effective methods and ways to solve the problem.

SUMMARY OF THE INVENTION

According to the existing problems in the prior art, the present invention discloses a space garbage capturing hybrid robot, which includes a wrist mechanism, a claw mechanism, a drilling mechanism, a folding mechanism, and a shoulder mechanism. The wrist mechanism includes a box body, a jacket, three The same long drive rod and restraint branch; the box body is composed of a hollow cylinder and a rectangular sleeve, the left end plate of the box body is provided with a coaxial concave spherical through hole, and the inner side of the left end plate is provided with three hinge supports that are evenly distributed around the circumference , the upper and lower sides of the rectangular sleeve are provided with three parallel through holes and a vertical lower pin hole; the restraining branch includes a mandrel and an inner sleeve; the outer sleeve is sequentially provided with a coaxial small disc, a spherical surface body, cylinder, large disc and central through hole, the small disc is provided with three circular cut holes evenly distributed around the circumference, the side of the cylinder is provided with long openings, and the large disc is provided with upper and lower through holes parallel to the axis; The inner sleeve is provided with a coaxial disc, a cylinder, a boss, and a central through hole in sequence along the axial direction. threaded through hole; the convex spherical surface of the outer sleeve is connected with the concave spherical surface through hole ball pair of the box body; the cylinder of the inner sleeve is connected with the central through hole cylinder pair of the outer sleeve, and the boss of the inner sleeve is arranged on the outer sleeve in the long hole of the cylinder; the three long driving rods are arranged in the box body, and are evenly distributed around the circumference of the outer casing, and the two ends of the long driving rods are connected with the left end plate of the box body and the large disc ball pair of the outer casing;

The claw mechanism includes an outer sleeve, an inner sleeve, an inner sleeve motor, a claw rod and a spring rod group; the spring rod group includes a piston rod, a cylinder rod and a small spring; one end of the cylinder rod is provided with a pin hole with an orthogonal axis, The other end is provided with a coaxial small hole and a large hole cavity; the two ends of the piston rod are provided with a pin hole with an orthogonal axis and a coaxial round table, and the small spring and the round table of the piston rod are arranged on the cylinder rod. In the large cavity, both ends of the small spring abut on the closed end of the large cavity and the piston rod round table, and the annular surface of the piston rod round table is in contact with the inner annular surface of the small hole of the cylinder rod; one end and the middle of the claw rod are provided with parallel to each other. pin hole; the inner sleeve motor is fixedly connected with the large disk of the outer sleeve, the drive shaft of the inner sleeve motor passes through the eccentric through hole on the large disk of the outer sleeve, and is screwed with the boss thread through hole of the inner sleeve ; The pin hole of the cylinder rod is rotationally coupled with the small disc pin hole of the outer sleeve, the piston rod is rotationally coupled with the middle portion of the claw rod, and the disc pin hole of the inner sleeve is coupled with the claw rod One end of the pin hole rotating pair connection;

The drilling mechanism includes a casing, a mandrel, a support plate, a support plate motor, a mandrel motor and a reamer; the support plate is provided with through holes and threaded through holes parallel to each other, and the support plate motor is connected to the outer casing. The large disc is fixedly connected, and its drive shaft passes through the lower through hole of the large disc of the outer casing and is connected with the support plate in a screw drive; the spindle motor is fixedly connected to the support plate, and its drive shaft passes through the through hole of the support plate and is connected to the support plate. One end of the mandrel is connected with a coaxial key; the mandrel is connected with the cylindrical pair of the central through hole of the inner sleeve, and the other end of the mandrel is fixedly connected with the reamer;

The shoulder mechanism includes a machine base, a moving table and three identical short drive rods; the moving table is composed of a disc and a rectangular sleeve, and the end face of the disc is provided with three hinge supports and a central hinge support that are evenly distributed around the circumference. The rectangular sleeve of the moving table is the same as the rectangular sleeve of the box body; the machine base is formed by a disc and a central boss, the central boss of the machine base is connected with the center ball pair of the moving table, and three short drive rods are in the machine. The circumference between the base and the moving table is evenly distributed, and both ends of the short drive rod are connected with the base disc and the moving table disc ball pair;

The folding and unfolding mechanism includes a box body, two sliding blocks of a moving table, a motor, four guide rods, a pull rod, a spring and a plurality of identical scissor fork groups; the sliding block is a rectangular body with long pin holes along the length. , the vertical long pin hole is provided with two symmetrical through holes and a central threaded through hole parallel to each other; the two ends of the tie rod are respectively provided with a coaxial threaded cylinder and a convex round table; the first guide rod and the second guide rod are connected with The two symmetrical through holes of the rectangular sleeve of the moving table are fixedly connected, and are also connected to the cylinder pairs of the two symmetrical through holes of the first slider; the third guide rod and the fourth guide rod are connected to the rectangular sleeve of the box body. The two symmetrical through holes are fixedly connected, and are also connected with the two symmetrical through-hole cylindrical pairs of the second sliding block; the motor is fixedly connected to the outer bottom surface of the rectangular sleeve of the moving table, and its drive shaft passes through the middle of the rectangular sleeve of the moving table. The threaded through hole of the first slider is connected by screw transmission; the pull rod passes through the middle through hole of the rectangular sleeve of the box and is fixedly connected with the threaded through hole of the second slider; the spring is sleeved on the pull rod , Its two ends abut on the outer bottom surface of the rectangular sleeve of the box body and the annular surface of the convex round table of the tie rod.

Further, the scissor fork group includes the same two left inclined rods and two right inclined rods that are parallel to each other, and the upper, lower and middle parts of the left and right inclined rods are provided with mutually parallel through holes; The inclined rods are distributed symmetrically on the outside, and the two right inclined rods are distributed symmetrically on the inside, and the central through holes are connected by the same long pin shaft rotating pair; The lower pin hole of the rectangular sleeve of the moving table is connected by a pin shaft rotation pair, and the upper through holes of the two right inclined rods and the pin hole of the first slider are connected by a pin shaft rotation pair; in the scissor group connecting the box, two The upper through holes of the two left inclined rods are connected with the pin holes of the second slider by a pin shaft rotating pair, and the lower through holes of the two right inclined rods are connected with the pin holes of the rectangular sleeve of the box by a pin shaft rotating pair; The upper end through holes of the two left inclined rods of the fork group and the upper end through holes of the two right inclined rods of the adjacent scissor fork group are connected by the same long pin shaft rotation pair; the lower end through holes of the two left inclined rods are respectively connected with the adjacent The lower end through holes of the two right inclined rods of the scissor group are connected by the same long pin shaft rotation pair.

Due to the adoption of the above technical solutions, the present invention provides a space garbage capturing hybrid robot, which has a large working space in the structure of the robot, the expansion and contraction ratio of the folding and unfolding mechanism can be adjusted within a certain range, and at the same time, the degrees of freedom of the gripper relative to the cabin are as high as eight The claws have good flexibility and are suitable for multi-directional capture. In addition, the spring rod group ensures flexible grasping of the claws, good cushioning, and can effectively reduce the impact force of space junk, so the robot can realize the collaboration between spacecraft and multiple hybrid robots. Applications for capturing large space junk.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a space garbage capturing hybrid robot in the present invention;

2 is a cross-sectional view of the connection between the box body and the folding and unfolding mechanism in the present invention;

3 is a cross-sectional view of the connection between the moving table and the folding and unfolding mechanism in the present invention.

1. Box, 2. Outer cover, 3. Long drive rod, 4. Spindle, 5. Inner sleeve, 6. Inner sleeve motor, 7. Claw rod, 8. Piston rod, 9. Cylinder rod, 10. Small spring , 11, support plate, 12, support plate motor, 13, spindle motor, 14, reamer, 15, machine base, 16, moving table, 17, short drive rod, 18, slider, 19, motor, 20, Guide rod, 21, tie rod, 22, spring, 23, left inclined rod, 24, right inclined rod.

Detailed ways

In order to make the technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention:

As shown in Figure 1, a space garbage capturing hybrid robot includes a wrist mechanism, a claw mechanism, a drilling mechanism, a folding mechanism, and a shoulder mechanism. The wrist mechanism includes a box body 1, a jacket 2, and three identical long drives The rod 3 and the restraining branch; the box body 1 is composed of a hollow cylinder and a rectangular sleeve. The left end plate of the box body 1 is provided with a coaxial concave spherical through hole, and the inner side of the left end plate is provided with three hinge supports that are evenly distributed around the circumference. The upper and lower sides of the rectangular sleeve are provided with three parallel through holes and a vertical lower pin hole; the restraint branch includes a coaxial outer sleeve 2, a mandrel 4, and an inner sleeve 5; the outer sleeve 2 is provided with axially in turn Coaxial small disc, spherical body, cylinder, large disc and central through hole, the small disc is provided with three circumferentially evenly distributed holes, the side of the cylinder is provided with long openings, and the large disc is provided with parallel axes The inner sleeve 5 is provided with a coaxial disc, a cylinder, a boss, and a central through hole in sequence along the axial direction. There is an eccentric threaded through hole parallel to the axis on the table; the convex spherical surface of the outer sleeve 2 is connected with the concave spherical surface through-hole ball pair of the box body 1; the cylinder of the inner sleeve 5 is connected with the central through hole of the outer sleeve 2 The cylindrical pair is connected, and the boss of the inner sleeve 5 is arranged in the long hole of the outer cylinder; the three long driving rods are arranged in the box body 1, and are evenly distributed around the circumference of the outer jacket. The large disc ball pair of the plate and the outer casing is connected; the claw mechanism includes an outer casing 2, an inner casing 5, an inner casing motor 6, a claw rod 7, and a spring rod group; the spring rod group includes a piston rod 8, a cylinder rod 9, Small spring 10; one end of the cylinder rod 9 is provided with a pin hole with an orthogonal axis, and the other end is provided with a coaxial small hole and a large cavity; the two ends of the piston rod 8 are provided with a pin hole with an orthogonal axis and a coaxial Circular platform, the circular platform of the small spring 10 and the piston rod 8 is arranged in the large cavity of the cylinder rod, the two ends of the small spring 10 abut on the closed end of the large cavity cavity and the circular platform of the piston rod 8, and the circular platform of the piston rod 8 The annular surface is in contact with the inner annular surface of the small hole of the cylinder rod 9; one end and the middle of the claw rod are provided with pin holes that are parallel to each other; the inner sleeve motor is fixedly connected with the large disc of the outer sleeve 2, and the inner sleeve motor is The drive shaft passes through the eccentric through hole on the large disc of the outer casing, and is screwed with the boss thread through hole of the inner casing 5; the pin hole of the cylinder rod 9 and the small disc pin hole of the outer casing 2 are rotated The piston rod 8 is rotationally coupled with the middle of the claw rod 7, and the disc pin hole of the inner sleeve 5 is rotationally coupled with the pin hole at one end of the claw rod; the drilling mechanism includes a mandrel 4, an inner Sleeve 5, support plate 11, support plate motor 12, spindle motor 13, reamer 14; the support plate 11 is provided with parallel through holes and threaded through holes. The large disc is fixedly connected, and its drive shaft passes through the lower through hole of the large disc of the outer casing and is screwed to the support plate; the spindle motor is fixedly connected to the support plate, and its drive shaft passes through the through hole of the support plate It is coaxially connected with one end of the mandrel; the mandrel 4 is connected with the cylindrical pair of the central through hole of the inner sleeve 5, and the other end of the mandrel is fixedly connected with the reamer;

The shoulder mechanism includes a machine base 15, a moving table 16, and three identical short drive rods 17; the moving table is composed of a disc and a rectangular sleeve, and the end face of the disc is provided with three hinge supports and centers that are evenly distributed around the circumference. hinge support; the rectangular sleeve of the moving table is the same as the rectangular sleeve of the box body 1; the machine seat is composed of a disc and a central boss, and the central boss of the machine seat 15 is connected with the center ball pair of the moving table, three The short drive rods are evenly distributed on the circumference between the base and the moving table, and both ends of the short drive rod 17 are connected with the base disc and the moving table disc ball pair;

The folding and unfolding mechanism includes a box body 1, a moving table 16, two sliders 18, a motor 19, four guide rods 20, a pull rod 21, a spring 22, and a plurality of identical scissor sets; the slider 18 is rectangular The body is provided with long pin holes along the length, and the vertical long pin holes are provided with two symmetrical through holes parallel to each other and a central threaded through hole; The first guide rod and the second guide rod are fixedly connected with the two symmetrical through holes of the rectangular sleeve of the movable table, and are also connected with the cylinder pairs of the two symmetrical through holes of the first slider; the third guide rod and the fourth guide rod are connected with each other. The guide rod is fixedly connected with the two symmetrical through holes of the rectangular sleeve of the box body, and is also connected with the two symmetrical through-hole cylindrical pairs of the second slider; the motor 19 is fixedly connected with the outer bottom surface of the rectangular sleeve of the moving table, which is The drive shaft passes through the middle through hole of the rectangular sleeve of the moving table, and is connected with the threaded through hole of the first slider in a screw drive; the pull rod 21 passes through the middle through hole of the rectangular sleeve of the box and is connected with the thread of the second slider The through hole is fixedly connected; the spring is sleeved on the pull rod, and its two ends abut the outer bottom surface of the rectangular sleeve of the box body and the convex ring surface of the pull rod;

The scissor fork group includes the same two left inclined rods 23 and two right inclined rods 24 that are parallel to each other, and the upper, lower and middle parts of the left and right inclined rods are provided with mutually parallel through holes; The rods are distributed symmetrically on the outside, the two right inclined rods 24 are distributed symmetrically on the inside, and the central through holes are connected by the same long pin shaft rotation pair; It is connected with the lower pin hole of the rectangular sleeve of the moving table by a pin shaft rotation pair, and the upper through holes of the two right inclined rods 24 are connected with the pin hole of the first slider by a pin shaft rotation pair; , the upper through holes of the two left inclined rods 23 are connected with the pin holes of the second slider by a pin shaft rotation pair, and the lower end through holes of the two right inclined rods 24 and the pin holes of the rectangular sleeve of the box are connected by a pin shaft rotation pair ; The upper end through holes of the two left inclined rods 23 of the remaining scissor fork groups in the middle are connected with the upper end through holes of the two right inclined rods of the adjacent scissor fork groups with the same long pin shaft rotation pair; the lower ends of the two left inclined rods 23 The through holes are respectively connected with the lower end through holes of the two right inclined rods 24 of the adjacent scissor fork groups by the same long pin shaft rotation pair.

When the base is fixedly connected with the spacecraft cabin, and the claw rod is connected with different claws and flexible capture nets, the composite movement of the wrist mechanism, the drilling mechanism, the claw mechanism and the folding mechanism can capture and deal with space debris and resist external invasion. Different drilling tools can be installed on the outer end of the drill shaft: such as drill bits, which are used to drill holes on abandoned or attacking satellites to make them lose their threats; multi-knife reamers, which are used to get rid of the capture nets projected by enemy satellites.

The invention discloses a space garbage capturing hybrid robot. A shoulder mechanism of the robot drives the robot to swing three-dimensionally, a folding mechanism drives a box body to extend and retract with a large stroke relative to the shoulder mechanism, and when the base of the shoulder mechanism is fixedly connected with the spaceship cabin, the claw is The claw rod of the mechanism is connected with different claws and flexible capture nets, and the composite movement of the wrist mechanism, the drilling mechanism, the claw mechanism and the folding mechanism can capture and deal with space debris and resist external invasion. Different drilling tools can be installed on the outer end of the drill shaft: such as drill bits, which are used to drill holes on abandoned or attacking satellites to make them lose their threats; the multi-knife reamers are used to get rid of the capture nets projected by enemy satellites.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (2)

1. The utility model provides a series-parallel connection robot is caught to space rubbish, includes wrist mechanism, claw mechanism, bores the mechanism, rolls over exhibition mechanism, shoulder mechanism, its characterized in that: the wrist mechanism comprises a box body (1), an outer sleeve (2), three identical long driving rods (3) and a restriction branch; the box body (1) is formed by integrating a hollow cylinder and a rectangular sleeve, a left end plate of the box body (1) is provided with coaxial concave spherical through holes, the inner side of the left end plate is provided with three hinged supports which are uniformly distributed on the circumference, and the upper edge and the lower edge of the rectangular sleeve are provided with three through holes which are parallel to each other and a vertical lower pin hole; the restraint branch comprises a mandrel (4) and an inner sleeve (5); the outer sleeve (2) is sequentially provided with a coaxial small disc, a spherical body, a cylinder, a large disc and a central through hole along the axial direction, the small disc is provided with three circumferentially and uniformly distributed tangential circumferential holes, the side surface of the cylinder is provided with a long hole, and the large disc is provided with an upper through hole and a lower through hole which are parallel to the axis; the inner sleeve (5) is sequentially provided with a coaxial disc, a cylinder, a boss and a central through hole along the axial direction, the disc is provided with 3 through holes which are uniformly distributed on the circumference and tangent to the circumference, and the boss is provided with an eccentric threaded through hole parallel to the axis; the convex spherical surface of the outer sleeve (2) is connected with the concave spherical surface through hole ball pair of the box body (1); the cylinder of the inner sleeve (5) is connected with the central through hole cylinder pair of the outer sleeve (2), and the boss of the inner sleeve (5) is arranged in the cylindrical long hole of the outer sleeve (2); the 3 long driving rods (3) are arranged in the box body (1) and are uniformly distributed relative to the circumference of the outer sleeve (2), and two ends of each long driving rod are connected with a left end plate of the box body (1) and a large disc ball pair of the outer sleeve;

the claw mechanism comprises an outer sleeve (2), an inner sleeve (5), an inner sleeve motor (6), a claw rod (7) and a spring rod group; the spring rod group comprises a piston rod (8), a cylinder rod (9) and a small spring (10); one end of the cylinder rod (9) is provided with a pin hole with an orthogonal axis, and the other end of the cylinder rod is provided with a coaxial small hole and a large hole cavity; the two ends of the piston rod (8) are provided with pin holes and coaxial round tables which are orthogonal in axis, the small spring (10) and the round table of the piston rod (8) are arranged in a large hole cavity of the cylinder rod, the two ends of the small spring (10) are abutted against the closed end of the large hole cavity and the round table of the piston rod (8), and the ring surface of the round table of the piston rod (8) is in contact with the inner ring surface of the small hole of the cylinder rod (9); pin holes which are parallel to each other are arranged at one end and the middle part of the claw rod (7); the inner sleeve motor (6) is fixedly connected with the large disc of the outer sleeve (2), and a driving shaft of the inner sleeve motor (6) penetrates through an eccentric through hole in the large disc of the outer sleeve (2) and is in spiral connection with the boss thread through hole of the inner sleeve (5); the pin hole of the cylinder rod (9) is connected with a small disc pin hole revolute pair of the outer sleeve (2), the piston rod (8) is connected with a revolute pair in the middle of the claw rod (7), and the disc pin hole of the inner sleeve (5) is connected with a pin hole revolute pair at one end of the claw rod (7);

the drilling mechanism comprises a jacket (2), a mandrel (4), a support plate (11), a support plate motor (12), a mandrel motor (13) and a reamer (14); the support plate (11) is provided with a through hole and a threaded through hole which are parallel to each other, the support plate motor (12) is fixedly connected with the large disc of the outer sleeve (2), and a driving shaft of the support plate motor penetrates through the through hole below the large disc of the outer sleeve (2) to be in spiral transmission connection with the support plate (11); the spindle motor (13) is fixedly connected with the support plate (11), and a driving shaft of the spindle motor penetrates through a through hole of the support plate (11) and is in coaxial key connection with one end of the spindle (4); the mandrel (4) is connected with a cylindrical pair of a central through hole of the inner sleeve (5), and the other end of the mandrel (4) is fixedly connected with the reamer (14);

the shoulder mechanism comprises a machine base (15), a movable table (16) and three identical short driving rods (17); the movable table (16) is formed by a disc and a rectangular sleeve into a whole, and the end face of the disc is provided with three hinged supports and a central hinged support which are uniformly distributed on the circumference; the rectangular sleeve of the movable table (16) is the same as the rectangular sleeve of the box body (1); the machine base (15) is formed by a disc and a central boss, the central boss of the machine base (15) is connected with the central ball pair of the movable table, three short driving rods (17) are uniformly distributed on the circumference between the machine base (15) and the movable table, and two ends of each short driving rod (17) are connected with the machine base disc and the ball pair of the movable table disc;

the folding and unfolding mechanism comprises a box body (1), a movable table (16), two sliding blocks (18), a motor (19), four guide rods (20), a pull rod (21), a spring (22) and a plurality of identical scissor groups; the sliding block (18) is a rectangular body, a long pin hole is formed along the length of the sliding block, and two symmetrical through holes and a central threaded through hole which are parallel to each other are formed in the vertical long pin hole; the two ends of the pull rod (21) are respectively provided with a coaxial threaded cylinder and a convex circular table; the first guide rod and the second guide rod are fixedly connected with the two symmetrical through holes of the movable table rectangular sleeve and are also connected with the two symmetrical through hole cylindrical pairs of the first sliding block; the third guide rod and the fourth guide rod are fixedly connected with the two symmetrical through holes of the rectangular sleeve of the box body and are also connected with the two symmetrical through hole cylindrical pairs of the second sliding block; the motor (19) is fixedly connected with the outer bottom surface of the movable table rectangular sleeve, and a driving shaft of the motor penetrates through a middle through hole of the movable table rectangular sleeve and is in spiral transmission connection with a threaded through hole of the first sliding block; the pull rod (21) penetrates through a middle through hole of the rectangular sleeve of the box body and is fixedly connected with a threaded through hole of the second sliding block; the spring is sleeved on the pull rod (21), and two ends of the spring are abutted against the outer bottom surface of the rectangular sleeve of the box body and the circular boss ring surface of the pull rod.

2. A space debris catching hybrid robot according to claim 1, further characterized by: the scissor fork group comprises two left inclined rods (23) and two right inclined rods (24) which are identical and parallel to each other, and through holes which are parallel to each other are formed in the upper ends, the lower ends and the middle parts of the two left inclined rods (23) and the two right inclined rods (24); the two left diagonal rods (23) are symmetrically distributed outside, the two right diagonal rods (24) are symmetrically distributed inside, and the through holes in the middle parts of the two right diagonal rods are connected by the same long pin shaft rotating pair; in a shear fork group connected with a movable table, through holes at the lower ends of two left inclined rods (23) are connected with lower pin holes of a rectangular sleeve of the movable table through pin shaft rotating pairs, and through holes at the upper ends of two right inclined rods (24) are connected with pin holes of a first sliding block through pin shaft rotating pairs; in a shear fork group connected with a box body, through holes at the upper ends of two left inclined rods (23) are connected with pin holes of a second sliding block through pin shaft rotating pairs, and through holes at the lower ends of two right inclined rods (24) are connected with pin holes of a rectangular sleeve of the box body through pin shaft rotating pairs; the through holes at the upper ends of the two left inclined rods (23) of the other shear fork groups in the middle are connected with the through holes at the upper ends of the two right inclined rods (24) of the adjacent shear fork groups by the same long pin shaft rotating pair; the lower end through holes of the two left inclined rods (23) are respectively connected with the lower end through holes of the two right inclined rods (24) of the adjacent scissor fork groups by the same long pin shaft rotating pair.

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