The invention relates to a flexible cloth bag capture device and method capable of repeatedly using space debris. The device comprises a cloth bag, closing pull ropes, grippers, a containing cavity pull rope, motors and a body; the front end of the body is connected with a plurality of paired grippers composed of multiple sections of knuckles, a rotating pair is arranged at the joint of every twoadjacent joints, a torsion spring is arranged inside each rotating pair, and the force application direction of the torsion springs is the direction where the grippers are opened; the cloth bag is anelastomer, fingertips of the grippers are connected with the edge of the cloth bag, the peripheral direction of the edge of the opening of the cloth bag is symmetrically provided with two hole-shapedsleeves, one end of the first closing pull rope and one end of the second closing pull rope are both connected to the first motor inside the body, the pair of grippers which are centrally symmetric penetrate through the two hole-shaped sleeves and then are fixed to the edge of the cloth bag where the tail ends of the hole-shaped sleeves are located; one end of the containing cavity pull rope is fixed to the bottom of the cloth bag, and the other end of the containing cavity pull rope is connected to a winding wheel of an output shaft at the front end of the second motor. Low-impact controllable unfolding, folding and repeated using can be achieved, and the space debris removal application benefits are improved.