CN109079760B - Foldable and foldable space truss catching device - Google Patents
Foldable and foldable space truss catching device Download PDFInfo
- Publication number
- CN109079760B CN109079760B CN201811065662.1A CN201811065662A CN109079760B CN 109079760 B CN109079760 B CN 109079760B CN 201811065662 A CN201811065662 A CN 201811065662A CN 109079760 B CN109079760 B CN 109079760B
- Authority
- CN
- China
- Prior art keywords
- folding
- frame side
- unfolding
- frame
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention provides a foldable and foldable space truss catching device, which comprises: base and a plurality of mechanical gripper of catching, wherein: the catching mechanical gripper comprises a plurality of folding and unfolding bending units which are sequentially connected, each folding and unfolding bending unit comprises two supporting frames, each supporting frame is provided with a frame side edge and a hinged seat which is arranged in a sliding mode in the direction vertical to the frame side edge, the two frame side edges in the same folding and unfolding bending unit are parallel to each other, and one frame side edge can move relative to the other frame side edge; the two frame side edges in the same folding and unfolding bending unit are connected through a catching mechanism, and the two hinged seats are connected through an active branched chain which is arranged on a plane vertical to the two frame side edges; a plurality of folding and unfolding driving units are installed on the supporting frame and respectively drive the hinged seats to slide, so that the relative positions of the two frame sides in the same folding and unfolding bending unit are changed. The invention has the advantages of large bending motion space, good grabbing adaptability and high overall structure rigidity.
Description
Technical Field
The invention relates to the technical field of space foldable and unfoldable mechanisms, in particular to a foldable and unfoldable and bendable space truss catching device.
Background
With the development of aerospace industry, more and more aerospace engineering can use some large-scale on-orbit structures to meet the requirements of different aerospace tasks, such as the capture and removal of space garbage; however, due to the limitation of carrying volume, the size of a non-folding structure body which can be launched into space cannot meet the requirement of a task, the traditional joint type mechanical arm obviously cannot achieve capture, in order to achieve the goals of light weight, high reliability, high stability and expandability, the mechanism design surrounds the innovative design of a space truss type reconfigurable structural formula, so that the mechanical arm is in a folding state in the launching process of the mechanical arm to save carrying space, and the mechanical arm can start to capture after being lifted off, and therefore various types of space folding and unfolding mechanisms are rapidly developed and applied.
For example, chinese patent application 201410056414.6 discloses an extendable under-actuated cable truss type gripper, which includes a front end connection device, an inter-rod corner limiting mechanism, a tail end cable truss, a rope, a plurality of positioning columns, and a plurality of extendable modular cable trusses; the front end connecting device comprises a connecting plate, two rope shafts, two limiting columns, two mounting plates, two transition plates and four support plates, the two support plates positioned on the same side in the vertical direction are penetrated with the rope shafts, and the output shaft of the motor is vertically arranged and connected with the corresponding rope shafts; each of the extendable modular cable trusses includes two rope spools, twelve friction damping metal plates, and six tie bars.
For another example, chinese patent application 201810225469.3 discloses a foldable and foldable space truss capturing system, which includes a base and a plurality of foldable and foldable truss mechanisms mounted on the base, wherein the truss mechanisms include N (N is greater than or equal to 2) folding and unfolding units connected in sequence, the folding and unfolding units include two triangular frames arranged in parallel, and each triangular frame includes a roller shaft and two side edges; two parallel side edges of the same folding and unfolding unit are connected through a 3R branched chain, and two parallel roll shafts are connected through a shearing fork mechanism; the triangular frame at the bottom of the nth folding and unfolding unit (N is more than or equal to 2 and less than or equal to N) and the triangular frame at the top of the nth-1 folding and unfolding unit are provided with a common roller shaft, and two side edges at the bottom of the nth folding and unfolding unit rotate around the common roller shaft under the driving of a bending driving device, so that the plurality of truss mechanisms are mutually closed; the folding and unfolding unit is driven by a folding and unfolding driving device arranged on the base to unfold and fold.
For non-cooperative targets with large space, large scale and large inertia, due to different surface shapes of the objects, the adopted folding and unfolding bending units which are unfolded or contracted simultaneously cannot adapt to the shapes of the objects, the bending motion space of the mechanism is small, the capturing surface of the mechanism can generate offset, and the adaptability is poor.
Therefore, there is a need to provide a space truss capture device with a large bending motion space that is suitable for use with a variety of non-cooperative targets.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the space truss capturing device which is large in bending movement space and good in capturing adaptability, and the whole structure is high in rigidity.
In order to achieve the above object, the present invention provides a foldable and bendable space truss catching device, comprising: base and a plurality of the same mechanical gripper of catching that distribute on the base, wherein:
the catching mechanical gripper comprises a plurality of folding and unfolding bending units which are connected in sequence, each folding and unfolding bending unit comprises two support frames which are arranged up and down, each support frame is provided with a frame side edge and a hinged seat which is arranged in a sliding mode in the direction vertical to the frame side edge, the two frame side edges in the same folding and unfolding bending unit are parallel to each other, and one frame side edge is arranged to move relative to the other frame side edge; the two frame side edges in the same folding and unfolding bending unit are connected through a catching mechanism, and the two hinged seats are connected through an active branched chain which is arranged on a plane vertical to the two frame side edges;
wherein, the mechanism of arresting includes:
the middle parts of the two first connecting rods are connected with each other through a rotating pair to form a scissor mechanism;
the starting ends of the two second connecting rods are respectively connected to the upper ends of the two first connecting rods through revolute pairs, and the tail ends of the two second connecting rods are respectively connected to the side edges of the frame of the supporting frame above the two second connecting rods through revolute pairs;
the starting ends of the two third connecting rods are respectively connected to the lower ends of the two first connecting rods through revolute pairs, and the tail ends of the two third connecting rods are respectively connected to the side edges of the frame of the supporting frame positioned below through revolute pairs;
and the folding and unfolding driving units are arranged on the supporting frame and respectively drive the hinged seats to slide towards and/or back to the side edges of the frame corresponding to the hinged seats one by one.
According to the scheme of the invention, the catching mechanism formed on the basis of the scissor mechanism is respectively connected with the two frame sides through the second connecting rod and the third connecting rod which are arranged on the upper side and the lower side of the two first connecting rods, wherein the two frame sides are parallel to each other, and one frame side can rotate around the other frame side, so that the folding and unfolding processes of the folding and unfolding bending unit are realized.
Furthermore, the catching mechanism is preferably a mechanism which is symmetrical up and down and symmetrical left and right, namely the second connecting rod and the third connecting rod can be replaced mutually, so that the universality among structural parts is enhanced; the two second connecting rods are respectively connected to different positions of the frame side edge of the supporting frame positioned above; in particular, in order to realize a certain angle of relative rotation between two frame sides in the same folding and unfolding bending unit, it is preferable that the third connecting rod or the second connecting rod is arranged to rotate around the frame side corresponding to the third connecting rod, for example, a mode of adding a hinge member between the second connecting rod and the frame side located below is adopted, on one hand, the second connecting rod is realized to rotate relatively between the plane where the two first connecting rods are located and the hinge member, and on the other hand, the hinge member can rotate around the frame side connected with the second connecting rod by a larger angle.
More specifically, each hinged seat is provided with a folding and unfolding driving unit, so that each folding and unfolding bending unit has a unique and controllable state, and is adjusted to a catching state suitable for a specified non-cooperative target for catching.
It should be noted that the active branched chain in the present invention is located in a plane perpendicular to the two frame sides, and the sliding of the hinge seats located at the two ends of the branched chain can change the positional relationship between the two frame sides, or rotate relatively, or translate relatively (expand and fold with the expansion of the catching mechanism), but the two frame sides are always parallel. Preferably, the driving branched chain comprises two same driving rods, the starting ends of the two driving rods are respectively connected to the hinge base through revolute pairs, and the tail ends of the two driving rods are mutually connected through revolute pairs to form a V-shaped rod; the opening or closing of the driving branched chain is realized by adjusting the position of the sliding seat, and the position state between the two frame sides of the same folding and unfolding bending unit is further adjusted.
According to another specific embodiment of the invention, a follow-up branched chain is arranged between two supporting frames of the same folding and unfolding bending unit, a connecting roll shaft is arranged between the follow-up branched chain and the driving branched chain, and the connecting roll shaft and the side edge of the frame are parallel to each other, wherein the tail ends of two driving rods are connected with the connecting roll shaft through a revolute pair; specifically, the connecting roller shafts are arranged outside the plane of the two frame sides in the same folding and unfolding bending unit, and preferably, the connecting roller shafts are arranged on one sides of the plane of the two frame sides close to the hinge seats.
One preferred way of following the branched chain is: the two supporting rods are connected to the two frame sides through revolute pairs respectively, the tail ends of the two supporting rods are connected with the connecting roll shaft through the revolute pairs, the two supporting rods in the follow-up branched chain are also V-shaped, and the opening direction of the follow-up branched chain is opposite to the opening direction of the driving branched chain.
Preferably, the same folding and unfolding bending unit is provided with two groups of follow-up branched chains, and the two groups of follow-up branched chains are symmetrically arranged on two sides of the catching mechanism.
According to another embodiment of the invention, a common supporting frame is arranged between adjacent folding and unfolding bending units, and two hinge seats which are arranged up and down are arranged on the common supporting frame.
According to another embodiment of the present invention, the folding and unfolding drive unit includes an angle drive mechanism, the angle drive mechanism includes a motor fixed on the support frame and a lead screw driven by the motor, the lead screw is arranged perpendicular to the side edge of the frame, and the hinge base is engaged with the lead screw and driven by the lead screw to move along the length direction of the lead screw. Specifically, the angle driving mechanism is arranged on a supporting frame located below the folding and unfolding bending unit and is mainly used for the bending and capturing movement process, the hinged seat is a hinged seat with balls, and the ball screw drives the hinged seat to provide larger capturing force.
According to another embodiment of the invention, the folding and unfolding driving unit comprises a length driving mechanism, the length driving mechanism comprises a slide rail fixed on the supporting frame and used for bearing the hinge seat and a driving member for driving the hinge seat to slide on the slide rail, the slide rail is arranged perpendicular to the side edge of the frame, the slide rail is provided with a compression spring, and the hinge seat is always pressed against the compression spring.
Preferably, the driving member comprises a sliding sleeve, an electrically driven member provided on the sliding sleeve, and a sliding rod driven by the electrically driven member and sliding out of or into the sliding sleeve, wherein one end of the sliding sleeve is arranged to be connected with one of the first links in the catching mechanism, and one end of the sliding rod located outside the sliding sleeve is arranged to be connected with the other first link.
Preferably, the electric driving component is made of novel artificial muscle materials, can deform to a certain extent while maintaining a large stress effect under the driving of temperature, is a light and high-energy-density driving mode, can effectively reduce the weight of the driving mechanism and improve the driving efficiency; a preferred electrically driven component is for example: twisting a fishing line to form an artificial muscle body, winding a resistance wire on the outer ring of the artificial muscle body, and electrifying the resistance wire to increase the temperature to cause the artificial muscle body to contract; after power failure, the temperature is reduced, and the artificial muscle body is relaxed.
Specifically, the length driving mechanism is arranged on a supporting frame positioned above the folding and unfolding bending unit and is mainly used for the unfolding process.
In the present invention, in order to simplify the structure and ensure the angle of the catching effect, the number of the catching robot arms is preferably three, and three catching robot arms are installed on the base in a circumferential array. Further, the space truss catching device comprises two catching mechanical claws which are arranged oppositely.
The number of the folding and unfolding bending units in the catching mechanical gripper can be set according to requirements, and preferably, each catching mechanical gripper comprises 2-8 folding and unfolding bending units which are sequentially connected.
Compared with the prior art, the invention has the following beneficial effects:
1. the folded portable folding chair is small in size and convenient to transport;
2. each folding and unfolding bending unit can realize an ultra-large bending motion space of more than 80 degrees, can be unfolded to any position in a limit space, has a larger folding and unfolding ratio of more than 0.5, can automatically adjust the length of a mechanical claw according to the size of a caught object, and has better adaptability to the size and the shape of the caught object;
3. each folding and unfolding bending unit is provided with a flat catching surface, and the whole device is strong in structural rigidity and good in stability.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic overall structure diagram of a space truss capture device 1 according to an embodiment of the invention;
fig. 2 is a schematic diagram of a single-arm catching mechanical gripper of a space truss catching device 1 according to the invention for catching irregular objects;
fig. 3 is a schematic folding state diagram of a single-support catching mechanical gripper of the space truss catching device 1 in the invention;
fig. 4 is a schematic diagram of a single-support catching mechanical gripper of the space truss catching device 1 in an unfolded state;
fig. 5 is a schematic view of the folded state of the folding and bending unit of the space truss capture device of embodiment 1 of the invention;
fig. 6 is a schematic view showing an unfolded state of the folding and unfolding curving unit of the space truss capturing device of embodiment 1 of the invention;
fig. 7 is a schematic view showing another unfolded state of the folded and unfolded curved unit of embodiment 1 of the space truss capture apparatus of the present invention;
fig. 8 is a schematic view of a further unfolded state of the folded and unfolded curved unit of embodiment 1 of the space truss capture apparatus of the present invention, showing a capture mechanism.
Fig. 9 is a schematic view showing the unfolded state of the folded and unfolded curved unit of embodiment 2 of the space truss capture device of the invention;
fig. 10 is a schematic view of the structure of the driving member in fig. 9.
Detailed Description
Example 1
The embodiment provides a space truss capturing device, which comprises a base 1 and three same capturing mechanical claws 2, wherein the three capturing mechanical claws 2 can work cooperatively, as shown in fig. 1, for example, for a larger non-cooperative target a, the three capturing mechanical claws 2 are respectively unfolded to proper positions to cooperatively complete capturing of the larger non-cooperative target a, and preferably, the three capturing mechanical claws 2 are distributed on the base 1 in a circumferential array; it is also possible to work with only one catching gripper 2 alone, as shown in fig. 2, for example, for a smaller non-cooperative target B, after the single catching gripper 2 has been deployed and flexed, it wraps around the smaller non-cooperative target B to complete the catching process.
The catching mechanical gripper 2 comprises a plurality of folding and unfolding bending units 3 which are connected in sequence, and preferably, the catching mechanical gripper 2 consisting of six folding and unfolding bending units 3 is shown in the embodiment; wherein fig. 3 shows a folded state of the single capturing gripper 2, and fig. 4 shows an unfolded state of the single capturing gripper 2, in which the unfolded states of the folding and bending units 3 are identical.
Specifically, taking one folding and unfolding bending unit 3 in the single-support catching mechanical gripper 2 as an example, the folding and unfolding bending unit 3 comprises an upper supporting frame 31 and a lower supporting frame 32, the upper supporting frame 31 and the lower supporting frame 32 are both in a planar polygonal shape, the upper supporting frame 31 is provided with an upper frame side 311 and an upper folding and unfolding driving unit 312, wherein the upper folding and unfolding driving unit 312 comprises an upper screw 3121 and an upper driving motor 3122 for driving the upper screw 3121, the upper driving motor 3122 is fixedly arranged on the upper supporting frame 31, the upper screw 3121 is arranged perpendicular to the upper frame side 311, and the upper screw 3121 is provided with an upper hinge seat 313 matched with the upper screw 3121; the lower supporting frame 32 has a lower frame side 321 and a lower folding driving unit 322, the lower folding driving unit 322 includes a lower screw 3221 and a lower driving motor 3222 for driving the lower screw 3221, the lower driving motor 3222 is fixedly disposed on the lower supporting frame 32, the lower screw 3221 is perpendicular to the lower frame side 321, and the lower screw 3221 is provided with a lower hinge seat 323 matching with the lower screw 3221.
As shown in fig. 5-8, the upper frame side 311 and the lower frame side 321 of the same folding and unfolding bending unit 3 are always arranged parallel to each other, and particularly, after the position of the lower frame side 321 is determined, the folding or unfolding of the folding and unfolding bending unit 3 can be completed by adjusting the positions of the upper frame side 311 and the lower frame side 321, or by translating or rotating.
Referring to fig. 8 again, the upper frame side 311 and the lower frame side 321 in the same folding and unfolding bending unit 3 are connected through a catching mechanism 4, the catching mechanism 4 includes two identical first links 41, two identical second links 42 and two identical third links 43, wherein the middle parts of the two first links 41 are connected through a revolute pair Ra1 to form a scissor mechanism, the starting ends of the two second links 42 are respectively connected to the upper ends of the two first links 41 through a revolute pair Ra2, and the tail ends of the two second links 42 are respectively connected to the positions of the upper frame side 311 near the middle parts through a revolute pair Ra 3; the starting ends of the two third links 43 are connected to the lower ends of the two first links 41 through revolute pairs Ra4, and the tail ends of the two third links 43 are connected to the positions near the middle of the lower frame side 32 through revolute pairs Ra 5.
Preferably, the catching mechanism 4 is a scissor-like mechanism with a vertically symmetrical and a horizontally symmetrical structure, the length between the second link 42 and the third link 43 is the same, for further simplification of the mechanism, an opposite (or reverse) opening direction is formed between the first link 41 and the second link 42 connected, that is, the revolute pair Ra3 is closer (or farther) to the symmetry center L of the revolute pair Ra2 in the horizontal direction, and the connection relationship between the first link 41 and the third link 43 is similar to that between the first link 41 and the second link 42, which is not described in detail in this embodiment.
Referring to fig. 8 again, the extending process of each link in the capturing mechanism 4 is the translation process of the upper frame side 311 relative to the lower frame side 321, so as to realize the extending process of the folding and extending bending unit 3; in order to complete the rotation of the upper frame side 311 relative to the lower frame side 321, in this embodiment, a manner of adding the hinge member 44 is adopted between the third link 43 and the lower frame side 321, on one hand, the third link 43 and the first link 41 are still connected in a rotating manner through the revolute pair Ra4, the third link 43 is connected between the plane where the two first links 41 are located and the hinge member 44 through the revolute pair Ra5, and on the other hand, the hinge member 44 and the lower frame side 321 are connected through the revolute pair Ra6, so that the hinge member 44 rotates around the lower frame side 321 at a larger angle, and further, the rotation of the catching mechanism 4 (and the upper frame side 311) relative to the lower frame side 321 is realized.
Specifically, in the catching mechanism 4, the revolute pair Ra1, the revolute pair Ra2, the revolute pair Ra3, the revolute pair Ra4 and the revolute pair Ra5 are parallel to each other.
Referring to fig. 7 again, the upper hinge seat 313 and the lower hinge seat 323 in the same folding and unfolding bending unit 3 are connected by an active branched chain 5, wherein the active branched chain 5 is a planar branched chain arranged in the plane of the upper screw 3121 and the lower screw 3221; preferably, two groups of following branched chains 6 are further arranged between the upper frame side 311 and the lower frame side 321, and are symmetrically arranged at two sides of the catching mechanism 4; furthermore, a connecting roller 7 is arranged between the driving branched chain 5 and the following branched chain 6 to connect the two following branched chains 6 and the driving branched chain 5 to form a space scissor mechanism, wherein the connecting roller 7 is parallel to the upper frame side 311 and the lower frame side 321, and for simplifying the structure, the connecting roller 7 is preferably arranged at the right side of the catching mechanism 4.
Referring again to fig. 5 and 6, wherein fig. 5 shows the folded state of the folding and unfolding bending unit 3, and fig. 6 shows an unfolded state of the folding and unfolding bending unit 3, preferably, the driving branched chain 5 comprises two identical driving rods 51, the starting ends of the two driving rods 51 are respectively connected to the upper hinge seat 313 and the lower hinge seat 323 through revolute pairs Ra7, and the tail ends of the two driving rods 51 are connected to the middle of the connecting roller shaft 7 through revolute pairs Ra8, forming a V-shaped rod with an opening direction facing right.
More preferably, the follower branched chain 6 includes two identical support rods 61, the starting ends of the two support rods 61 are respectively connected to the upper frame side 311 and the lower frame side 321 through revolute pairs Ra9, and the tail ends of the two support rods 61 are respectively connected to the two ends of the connecting roller shaft 7 through revolute pairs Ra 10; it is further preferred that the support bar 61 is in the form of a bent bar for a more compact structure.
The folding and unfolding driving units in this embodiment do not interfere with each other and cooperate with each other to respectively drive the hinge bases connected thereto to slide toward and/or away from the upper frame side 311 or the lower frame side 321 corresponding to the hinge bases one by one, so that the relative positions of the upper frame side 311 and the lower frame side 321 in the same folding and unfolding bending unit 3 are changed to form the same or different unfolding postures, thereby completing the capturing process and being folded and folded after being captured.
Referring to fig. 3 and 4 again, in order to enhance the structural stability and compactness, it is preferable that, in the same capturing gripper 2, a common supporting frame 21 is adopted between adjacent folding and unfolding bending units 3, and two hinge seats (a lower hinge seat 323 of the folding and unfolding bending unit located above and an upper hinge seat 313 of the folding and unfolding bending unit located below, respectively) arranged up and down are arranged on the common supporting frame 21 and are respectively used in different folding and unfolding bending units 3.
In this embodiment, a plurality of lead screw folding and unfolding driving units are adopted to respectively complete the unfolding process (i.e. respectively driving the upper frame side 311 and the lower frame side 321 to translate so as to realize folding and unfolding in the length direction of the same folding and unfolding bending unit 3) and the capturing process (i.e. when the lower frame side 321 is relatively static, the upper frame side 311 is driven to rotate around the lower frame side 321 so as to realize rotation in the angle direction of the same folding and unfolding bending unit 3) of the capturing mechanical gripper 2, and the capturing mechanical gripper has the advantages of large driving force, easiness in control, good mechanism rigidity and the like.
Example 2
The present embodiment differs from embodiment 1 in that the folding and unfolding drive unit is different, and the present embodiment provides a folding and unfolding drive unit 8 using a novel artificial muscle material as the folding and unfolding bending unit 3, and in the same folding and unfolding bending unit 3, the folding and unfolding drive unit 8 is used as the drive of the upper support frame 31 and mainly used for the unfolding process of the folding and unfolding bending unit 3; as shown in fig. 9, the folding and unfolding mechanism specifically includes a driving member 81, a slide rail (optical axis) 82, and a spring 83 disposed on the slide rail 82, wherein the driving member 81 is arranged to directly act on the capturing mechanism 4, so that the capturing mechanism 4 is actuated to bring the upper supporting frame 31 into a position change, thereby completing the folding or unfolding process.
Referring again to fig. 9, in order to increase the rigidity of the whole structure, in a folded and unfolded bending unit 3, the upper support frame 31 is provided with a carrier plate 314 parallel to the upper frame side 311 for supporting the slide rails 82, and the upper hinge seat 313 is slidably provided on the slide rails 82 and always presses the spring 83, so that the mechanism is in a force balance state. Wherein, the driving member 81 comprises a sliding sleeve 811, a sliding rod 812 and an electric driving member 813 sleeved on the outer circumference of the sliding sleeve 811, and a preferred mounting manner of the driving member 81 is as follows: one end of the sliding sleeve 811 is provided with a first mounting flange 8111, the first mounting flange 8111 is rotatably arranged on one of the first connecting rods 41 through a first rotating shaft 8112, and the first rotating shaft 8112 is parallel to the revolute pair Ra 2; the other end of the sliding sleeve 811 is provided with an opening 8113, one end of the sliding rod 812 extends into the opening 8113 and slides along the length direction of the sliding sleeve 811, one end of the sliding rod 812, which is located outside the sliding sleeve 811, is provided with a second mounting flange 8121, the second mounting flange 8121 is fixed on another first connecting rod 41 through a second rotating shaft 8122, and the second rotating shaft 8122 and the rotating pair Ra2 are parallel to each other.
Further preferably, the first mounting flange 8111 can also be rotatably disposed on the support rod 61 by the first rotating shaft 8112, as long as the clamping or expanding process of the first connecting rod 41 in the capturing mechanism 4 can be realized.
Referring to fig. 9, an electric driving member 813 (artificial muscle material) is installed between the first mounting flange 8111 and the second mounting flange 8121, specifically, for example, mounting holes are formed in both the first mounting flange 8111 and the second mounting flange 8121, and the electric driving member 813 is electrically conductive, the electric driving member 813 is deformed after being powered on and returns to an initial state after being powered off, the position between the first mounting flange 8111 and the second mounting flange 8121 is changed, the sliding rod 812 is driven to slide out or slide into the sliding sleeve 811, and the two first connecting rods 41 are driven to be clamped or expanded, so that the positions of the upper frame side 311 and the lower frame side 321 at the upper end and the lower end of the catching mechanism 4 are changed; in the process, due to the presence of the driving rod 51, in combination with the synchronous action of the spring 83 (always in compression, with a certain return force), the position of the upper hinge seat 313 on the sliding track 82 is also changed.
Preferably, the first rotating shaft 8112 and the second rotating shaft 8122 are respectively overlapped with the two revolute pairs Ra 2.
Adopt novel artificial muscle material in this embodiment, it can produce deformation and drive power after the temperature changes, adopts the exhibition drive unit that this kind of material formed, can replace traditional heavy motor and decelerator thereof, provides a light, high energy density's drive mode, can effectively alleviate the weight of mechanism, improves driven efficiency.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "inner", "outer", "upper", "lower", "left", "right", and "articulated" are based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or feature to be referred to must have a specific direction, be constructed and operated in a specific direction, and that the terms should be interpreted broadly by those skilled in the art, and thus, should not be interpreted as limiting the present invention.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (4)
1. A foldable and bendable space truss capture device comprising: base and distribution are in a plurality of the same mechanical gripper of arresting on the base, its characterized in that:
the catching mechanical gripper comprises a plurality of folding and unfolding bending units which are connected in sequence, each folding and unfolding bending unit comprises two support frames which are arranged up and down, each support frame is provided with a frame side edge and a hinge seat which is arranged in a sliding mode in the direction vertical to the frame side edge, the two frame side edges in the same folding and unfolding bending unit are parallel to each other, and one frame side edge is arranged to move relative to the other frame side edge; the two frame side edges in the same folding and unfolding bending unit are connected through a catching mechanism, and the two hinged seats are connected through an active branched chain which is arranged on a plane vertical to the two frame side edges;
the driving branched chain comprises two same driving rods, the starting ends of the two driving rods are connected to the hinge base through revolute pairs respectively, and the tail ends of the two driving rods are connected with each other through revolute pairs to form a V-shaped rod;
a follow-up branched chain is arranged between the two support frames of the same folding and unfolding bending unit, a connecting roll shaft is arranged between the follow-up branched chain and the driving branched chain, the connecting roll shaft is parallel to the side edge of the frame, and the tail ends of the two driving rods are connected with the connecting roll shaft through a revolute pair;
the servo branched chain comprises two same supporting rods, the starting ends of the two supporting rods are connected to the side edges of the two frames through revolute pairs respectively, and the tail ends of the two supporting rods are connected with the connecting roll shaft through revolute pairs;
the same folding and unfolding bending unit is provided with two groups of follow-up branched chains, and the two groups of follow-up branched chains are symmetrically arranged on two sides of the catching mechanism;
wherein, the capture mechanism comprises:
the middle parts of the two first connecting rods are connected with each other through a rotating pair to form a scissor mechanism;
the starting ends of the two second connecting rods are respectively connected to the upper ends of the two first connecting rods through rotating pairs, and the tail ends of the two second connecting rods are respectively connected with the frame side edge of the supporting frame positioned above the supporting frame through rotating pairs;
the starting ends of the two third connecting rods are respectively connected to the lower ends of the two first connecting rods through rotating pairs, and the tail ends of the two third connecting rods are respectively connected with the frame side edge of the supporting frame positioned below through rotating pairs;
the folding and unfolding driving units are arranged on the supporting frame and respectively drive the hinged seats to slide towards and/or back to the frame side edges corresponding to the hinged seats one by one, so that the relative positions of the two frame side edges in the same folding and unfolding bending unit are changed;
wherein the folding and unfolding driving unit comprises an angle driving mechanism and/or a length driving mechanism;
the angle driving mechanism comprises a motor fixed on the supporting frame and a lead screw driven by the motor, the lead screw is perpendicular to the side edge of the frame, and the hinged seat is matched with the lead screw and driven by the lead screw to move along the length direction of the lead screw;
the length driving mechanism comprises a sliding rail and a driving component, the sliding rail is fixed on the supporting frame and used for bearing the hinged seat, the driving component drives the hinged seat to slide on the sliding rail, the sliding rail is perpendicular to the side edge of the frame, the sliding rail is provided with a compression spring, and the hinged seat compresses the compression spring all the time.
2. The space truss capture device of claim 1 wherein adjacent ones of the folded and unfolded curved members have a common support frame therebetween, and two of the hinge mounts are disposed one above the other on the common support frame.
3. The space truss capture device of claim 1 wherein the drive member includes a sliding sleeve, an electrically driven member disposed on the sliding sleeve, and a sliding rod driven by the electrically driven member and sliding out of or into the sliding sleeve, wherein one end of the sliding sleeve is arranged to connect with one of the first links of the capture mechanism and an end of the sliding rod outside the sliding sleeve is arranged to connect with the other first link.
4. The space truss capture device of claim 1 wherein the number of said capture robots is three, three of said capture robots being mounted in a circumferential array on said base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065662.1A CN109079760B (en) | 2018-09-12 | 2018-09-12 | Foldable and foldable space truss catching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065662.1A CN109079760B (en) | 2018-09-12 | 2018-09-12 | Foldable and foldable space truss catching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109079760A CN109079760A (en) | 2018-12-25 |
| CN109079760B true CN109079760B (en) | 2021-05-04 |
Family
ID=64841513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811065662.1A Active CN109079760B (en) | 2018-09-12 | 2018-09-12 | Foldable and foldable space truss catching device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079760B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304283B (en) * | 2019-06-27 | 2023-01-24 | 西北工业大学 | Passive folding envelope capturing mechanism for space debris |
| CN114102665B (en) * | 2021-12-15 | 2022-06-21 | 北京工业大学 | Modular multi-hinge telescopic rigid-flexible coupling space mechanical arm based on paper folding structure |
| CN114872938A (en) * | 2022-05-12 | 2022-08-09 | 上海交通大学 | Self-growing flexible variable stiffness mechanical arm space cross-size target automatic capture control method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531003A (en) * | 2009-01-14 | 2009-09-16 | 哈尔滨工业大学深圳研究生院 | Parallel mechanism to implement tri-translation and mono-rotation |
| CN103786162A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工业大学 | Expandable underactuated cable-rod truss type mechanical claw |
| CN103786906A (en) * | 2014-02-18 | 2014-05-14 | 哈尔滨工业大学深圳研究生院 | Space deployable mechanism |
| CN105818159A (en) * | 2016-05-18 | 2016-08-03 | 中国石油集团海洋工程有限公司 | Test-piece clamping pincers for CTOD testing |
| CN106628278A (en) * | 2016-12-16 | 2017-05-10 | 南京航空航天大学 | Non-cooperative target satellite acquisition device and acquisition method |
| WO2017085897A1 (en) * | 2015-11-16 | 2017-05-26 | 川崎重工業株式会社 | Manufacturing system, construction method of manufacturing system, end effector, robot, and robot operating method |
| CN106985159A (en) * | 2017-05-10 | 2017-07-28 | 哈尔滨工业大学深圳研究生院 | A kind of flight mechanical arm with flexible crawl device |
| CN107433618A (en) * | 2016-05-25 | 2017-12-05 | 中国科学院沈阳自动化研究所 | A kind of scalable mechanical arm of bidirectional-movement |
| US9914214B1 (en) * | 2016-02-22 | 2018-03-13 | X Development Llc | Preshaping for underactuated fingers |
| CN108190497A (en) * | 2018-01-18 | 2018-06-22 | 华南农业大学 | Folded lifting device, the folding robert and method for carrying for gripping storehouse object |
| US10011352B1 (en) * | 2014-09-12 | 2018-07-03 | Working Drones, Inc. | System, mobile base station and umbilical cabling and tethering (UCAT) assist system |
| CN108356797A (en) * | 2018-02-02 | 2018-08-03 | 西安电子科技大学 | A kind of spring-rope drive lacking space mechanism arm device |
| CN108422411A (en) * | 2018-03-19 | 2018-08-21 | 哈尔滨工业大学深圳研究生院 | The space truss arresting agency of telescopic bending |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9849586B2 (en) * | 2014-10-27 | 2017-12-26 | Ross-Hime Designs, Incorporated | Robotic manipulator |
| US11103992B2 (en) * | 2017-02-28 | 2021-08-31 | Canon Kabushiki Kaisha | Apparatus of continuum robot |
| CN108340363A (en) * | 2018-01-26 | 2018-07-31 | 深圳市风力源科技有限公司 | Flexible mechanical arm and unmanned plane |
-
2018
- 2018-09-12 CN CN201811065662.1A patent/CN109079760B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531003A (en) * | 2009-01-14 | 2009-09-16 | 哈尔滨工业大学深圳研究生院 | Parallel mechanism to implement tri-translation and mono-rotation |
| CN103786906A (en) * | 2014-02-18 | 2014-05-14 | 哈尔滨工业大学深圳研究生院 | Space deployable mechanism |
| CN103786162A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工业大学 | Expandable underactuated cable-rod truss type mechanical claw |
| US10011352B1 (en) * | 2014-09-12 | 2018-07-03 | Working Drones, Inc. | System, mobile base station and umbilical cabling and tethering (UCAT) assist system |
| WO2017085897A1 (en) * | 2015-11-16 | 2017-05-26 | 川崎重工業株式会社 | Manufacturing system, construction method of manufacturing system, end effector, robot, and robot operating method |
| US9914214B1 (en) * | 2016-02-22 | 2018-03-13 | X Development Llc | Preshaping for underactuated fingers |
| CN105818159A (en) * | 2016-05-18 | 2016-08-03 | 中国石油集团海洋工程有限公司 | Test-piece clamping pincers for CTOD testing |
| CN107433618A (en) * | 2016-05-25 | 2017-12-05 | 中国科学院沈阳自动化研究所 | A kind of scalable mechanical arm of bidirectional-movement |
| CN106628278A (en) * | 2016-12-16 | 2017-05-10 | 南京航空航天大学 | Non-cooperative target satellite acquisition device and acquisition method |
| CN106985159A (en) * | 2017-05-10 | 2017-07-28 | 哈尔滨工业大学深圳研究生院 | A kind of flight mechanical arm with flexible crawl device |
| CN108190497A (en) * | 2018-01-18 | 2018-06-22 | 华南农业大学 | Folded lifting device, the folding robert and method for carrying for gripping storehouse object |
| CN108356797A (en) * | 2018-02-02 | 2018-08-03 | 西安电子科技大学 | A kind of spring-rope drive lacking space mechanism arm device |
| CN108422411A (en) * | 2018-03-19 | 2018-08-21 | 哈尔滨工业大学深圳研究生院 | The space truss arresting agency of telescopic bending |
Non-Patent Citations (3)
| Title |
|---|
| underactuated robotic hands;Guanglu Jia; Bing Li; Hailing Huang; Guotao Li; Qidi Cao;《Design and analysis of an underactuated robotic hands for grasping space irregular-shaped non-cooperative objects》;20171023;全文 * |
| 空间可重构机器人;黄海林；李兵；刘荣强；邓宗全;《空间运动度可重构机器人概念原理与应用》;20100814;全文 * |
| 空间绳系机器人;王东科;《空间绳系机器人目标抓捕及抓捕后稳定控制方法研究》;20170115;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109079760A (en) | 2018-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109079760B (en) | Foldable and foldable space truss catching device | |
| CN109533402B (en) | Lightweight foldable space truss type capturing manipulator | |
| CN110979756B (en) | Space-expandable catching manipulator device | |
| CN108516112B (en) | Self-adaptive under-actuated non-cooperative target space capturing mechanism | |
| CN111941446B (en) | Folding and unfolding device based on changeable cell paper folding structure | |
| CN103737581A (en) | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space | |
| CN103737578A (en) | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom | |
| CN108356797B (en) | Spring-rope underactuated spatial manipulator device | |
| NL2015717B1 (en) | Solar panel assembly and a mobile unit comprising one or more of said solar panel assemblies. | |
| CN107088870B (en) | Based on improving the shifting of 3PUU parallel moving mechanism/turn the synchronous hybrid device of independent control | |
| WO2015033116A1 (en) | Apparatus for converting motion | |
| CN103786162A (en) | Expandable underactuated cable-rod truss type mechanical claw | |
| CN110116418B (en) | Shearing fork bending metamorphic mechanism manipulator | |
| CN106002956A (en) | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform | |
| KR101935144B1 (en) | Robot arm equipped with counterbalance mechanism | |
| CN209667394U (en) | A kind of large space development agency | |
| CN109110164B (en) | Continuous arm group capturing mechanism oriented to non-cooperative targets | |
| CN114566781B (en) | Coupling rod-containing expandable unit and spatial expandable mechanism derived from same | |
| CN106410362A (en) | Stretching forming mechanism of parabolic cylinder | |
| CN108638110B (en) | Rigid foldable metamorphic catching mechanism | |
| CN107902108B (en) | Space folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units | |
| CN105598996A (en) | Novel under-actuated robot wrist device based on nonholonomic constraint | |
| CN111641020A (en) | Deployable mechanism of triangular prism unit modular planar antenna | |
| RU207349U1 (en) | MECHANICAL DEVICE OF BATTERY FOR SOLAR SPACE VEHICLE | |
| CN101585188B (en) | Multidimensional active joint based on dielectric type EAP |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |