CN108657473A - It is a kind of that metamorphic mechanisms are arrested based on the telescopic for constraining spiral - Google Patents
It is a kind of that metamorphic mechanisms are arrested based on the telescopic for constraining spiral Download PDFInfo
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- CN108657473A CN108657473A CN201810366964.6A CN201810366964A CN108657473A CN 108657473 A CN108657473 A CN 108657473A CN 201810366964 A CN201810366964 A CN 201810366964A CN 108657473 A CN108657473 A CN 108657473A
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- revolute pair
- rotating bar
- telescopic
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- scissors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The present invention provides a kind of telescopics based on constraint spiral to arrest metamorphic mechanisms, including multiple identical change born of the same parents' units, becomes born of the same parents' unit and includes：Arresting agency, including two scissors rods, two connecting rods, two scissors rods are interconnected by revolute pair R1, form scissors mechanism；The bottom end of two connecting rods is connected to the top of two scissors rods by revolute pair R2, revolute pair R3 respectively；It includes the first rotating bar being rotatablely connected successively, the second rotating bar, third rotating bar, the 4th rotating bar, the 5th rotating bar to rotate branch；5th rotating bar is connected to the top of connecting rod by revolute pair R4, and the first rotating bar is connected to the bottom end of scissors rod by revolute pair R5；Two rotation branches are interconnected by linkage, and the present invention retains folding exhibition, arrests two degree of freedom by the degree of freedom extra to control, realizes the value volume and range of product for reducing degree of freedom, the simplification with realization to structure.
Description
Technical field
The present invention relates to a kind of telescopics based on constraint spiral to arrest metamorphic mechanisms.
Background technology
Space manipulator has integrated spatial perception, motor-driven and operational capacity, passes through in-orbit operation, ground remote operating
Or autonomous operation mode complete spacecraft in-orbit assembly, pollution cleaning, observation with check, malfunctioning module replace, it is in-orbit filling,
Consumable load is replaced and the work such as supplement, track cleaning, Orbit Transformation, is the Core equipment of the in-orbit installation and maintenance of spacecraft.
107685881 A of Chinese patent literature CN disclose a kind of spatial flexible acquisition equipment and its catching method, should
Acquisition equipment by for recycling tether, winding target object get rid of rope, two get rid of bar and rack forms.It is only with two
The capture task restricted and can be completed to target is got rid of with the portion that pastes.The operating distance of the device is remote, and applicable object is relatively broad,
And it is relatively low to the requirement of control system in capture-process.
106584507 A of Chinese patent literature CN disclose a kind of Grazing condition pneumatic machinery arm configuration, and structure is in lengthwise
Cone.The mechanical arm is mainly by Grazing condition machinery arm body, robot central body and evenly around robot central body axis
Symmetrical air flue composition.Wherein, air flue extends and from the big one end of diameter to the small one end of diameter apart from one spacing of end face
From to maintain the gas in air flue, one layer of fibre reinforced composites are arranged in mechanical arm outer surface.Flexible mechanical arm body is adopted
With elastic material, there is very strong deformability.The device is suitable for arresting the object of complicated shape.
106584507 A of Chinese patent literature CN disclose a kind of clipping inflation catching hand, and there are two symmetrical for tool
Mechanical arm.The mechanical arm can complete holding action inwardly and outward expansion action.To complete both movements, in machinery
The front end dress of arm is provided with longitudinal wind spring there are one the inflation valve for spreading arm of arc on the outside of extending arm, outer surface with
Corresponding extending arm bonding.The capture hand can capture space large scale noncooperative target.
Above-mentioned prior art is all made of flexible piece as mechanism body, therefore mechanism overall stiffness is poor, is not suitable for
Object in space in capture movement.In addition, using flexible piece, the size of arresting agency can be limited to, captured to limit
The range of object.
Accordingly, it is desirable to provide a kind of telescopic arrests metamorphic mechanisms, and while improving the rigidity of arresting agency entirety, knot
It closes and becomes born of the same parents' principle, allow mechanism that change in size occurs, to expand the range of capture target.
Invention content
In view of the drawbacks of the prior art, the present invention provides a kind of telescopics based on constraint spiral to arrest metamorphic mechanisms,
By the degree of freedom extra to control, and retain folding exhibition, arrest two degree of freedom, realizes the value volume and range of product for reducing degree of freedom,
To realize the simplification to structure.
To achieve the goals above, the present invention provides a kind of telescopics based on constraint spiral to arrest metamorphic mechanisms,
In, including multiple identical change born of the same parents' units, becoming born of the same parents' unit includes：
Arresting agency comprising two identical scissors rods, two identical connecting rods, two scissors rods pass through revolute pair R1
It interconnects, forms scissors mechanism；The bottom end of two connecting rods is connected to two scissors rods by revolute pair R2, revolute pair R3 respectively
Top；
Two identical rotation branches comprising the first rotating bar, the second rotating bar, third rotating bar, the 4th turn
Lever, the 5th rotating bar；First rotating bar, the second rotating bar are connected by revolute pair Ra1, the second rotating bar, third rotating bar
It is connected by revolute pair Ra2, third rotating bar, the 4th rotating bar are connected by revolute pair Ra3, the 4th rotating bar, the 5th rotation
Bar is connected by revolute pair Ra4；5th rotating bar is connected to the top of connecting rod by revolute pair R4, and the first rotating bar passes through rotation
Secondary R5 is connected to the bottom end of scissors rod；
Two rotation branches are interconnected by linkage, and linkage includes two identical first slidings
Bar, two the first sliding bars pass through revolute pair RL1 interconnects, and every 1 first sliding bar is equipped with the second sliding bar, the first sliding
Bar, the second sliding bar pass through sliding pair PL1 interconnects；Second sliding bar passes through revolute pair RL2 are connected to the second rotating bar.
In the present invention, revolute pair R1 is in two scissors rods close to intermediate position, during folding exhibition, scissors rod, connecting rod
The scissors mechanism of formation standard, i.e. revolute pair are located at the middle part of connecting rod, the new scissors rod that scissors rod is formed.
In the present invention, what two scissors rods, two connecting rods in arresting agency were formed arrests face, is formd in the face of arresting
Three revolute pairs with special geometric position arrest the revolute pair R1 on face surface to provide folding exhibition certainly using axis perpendicular to this
By spending to complete folding exhibition movement, in this process because other two revolute pair R2, the axis of revolute pair R3 be not conllinear, from
And it can not carry out arresting movement.When the two revolute pairs R2, revolute pair R3 axis collinear when, which can start to arrest
Movement.
In the present invention, rotation branch coordinates arresting agency using sequentially connected five connecting rod in conjunction with linkage
Folding exhibition, capture process will not generate the face of arresting additional degree of freedom to realize, making the face of arresting always has and only there are one freely
Degree is rolled under exhibition state, only folding exhibition degree of freedom；It arrests under state, only arrests degree of freedom.
Another kind specific implementation mode according to the present invention, revolute pair RL2 and revolute pair Ra2 forms compound hinges mechanism,
Realize the flexible connection between sliding branch, rotation branch, linkage.
It is according to the present invention another kind specific implementation mode, revolute pair R2, revolute pair R3 axis it is not conllinear when, scissor
Bar, connecting rod carry out folding exhibition process jointly.At this point, one and only one folding exhibition degree of freedom of the arresting agency.
It is according to the present invention another kind specific implementation mode, revolute pair R2, revolute pair R3 axis collinear when, connecting rod is opposite
Plane where scissors rod is overturn.At this point, the arresting agency one and only one arrest degree of freedom.
Another kind specific implementation mode according to the present invention, rotates in branch, revolute pair Ra1, revolute pair Ra2, turns
The kinematic screw of dynamic secondary Ra3 is：
Wherein, l i, mi, ni, ci (i=1,2,3) are arbitrary constant；
Three revolute pair Ra1, revolute pair Ra2, the axis of revolute pair Ra3 be not conllinear and be diagonal to the first plane, such as
One plane is XOY plane.
Another kind specific implementation mode according to the present invention, rotates in branch, the kinematic screw of revolute pair Ra4 is：
$a4=(l4 m40；0 0 c4)
Wherein, li,mi,ni,ci(i=1,2,3) it is arbitrary constant；
The axis of revolute pair Ra4 is parallel to the first plane always, for example, when the first plane is XOY plane, revolute pair
The axis of Ra4 is along the direction for being parallel to Z axis.
Another kind specific implementation mode according to the present invention, the second rotating bar, third rotating bar, the 4th rotating bar are bending
Bar.Since rotation branch is solid space structure, in folding exhibition, capture process, the position between all parts becomes
Change, under the premise of relationship between not changing each kinematic pair of rotation branch, by section components by the way of bending bar,
It can be interfered to avoid between all parts, to prevent from colliding the influence to integrated model.
Another kind specific implementation mode according to the present invention, it further includes flexible branch to become born of the same parents' unit, and stretch branch's machine
Structure includes：
The beginning of two struts, two struts is interconnected by sliding pair P1, and the end of two struts is respectively by turning
Dynamic secondary R4 is connected to the bottom end of two scissors rods.In the flexible branch of this programme, two revolute pair R4 and a sliding pair
P1 constitutes planar kinematic pair, and by the property of planar kinematic pair it is found that as revolute pair R2 and revolute pair R3 axis collinears, this is grabbed
It catches mechanism and will be provided with the degree of freedom rotated around the axis of revolute pair R2, that is, degree of freedom is arrested, due to by two revolute pairs R4 and P1
The effect of constraint value of the plane motion formed, revolute pair R1 will fail, i.e. the arresting agency has and only one degree of freedom, i.e.,
What revolute pair R2 and revolute pair R3 was provided arrests degree of freedom.
Another kind specific implementation mode according to the present invention, adjacent one flexible branch of change born of the same parents units shared.Phase
It answers, the structure of connecting rod can be adaptively adjusted, and be I-shaped connecting rod for example, by using section, facilitate adjacent change born of the same parents single
Connection between member.
Another kind specific implementation mode according to the present invention, multiple change born of the same parents' units are carried out along the direction of extension of folding rod
It expands, forms telescopic and arrest mechanical arm.For example, using four change born of the same parents' units, adjacent change born of the same parents' unit is connected, by every
After the folding exhibition movement of one change born of the same parents' unit, which will be fully deployed to suitable length, in case capture process.
Another kind specific implementation mode according to the present invention, telescopic arresting agency further includes chassis, multiple foldable to grab
Mechanical arm is caught to arrange to chassis with circumference array.For example, arresting mechanical arm using four telescopics, the mechanical arm is in rugosity
Under state, the space occupied is small so that it can be placed on the smaller carrier rocket in space, after being fully deployed, overall structure compared with
Greatly, it is adapted to arresting for larger target size.
In the present invention, pass through the fortune of revolute pair Ra1, revolute pair Ra2, the kinematic screw of revolute pair Ra3 and revolute pair Ra4
Dynamic spiral, the constraint spiral that can must rotate branch are：
That is, the rotation branch only will produce the constraint line of force arrow for being parallel to a certain plane (such as XOY plane), to
Ensure that the rotation branch will not generate the face of arresting additional constraint, that is, does not interfere with integrally-built degree of freedom.
Linkage in the present invention is the connection type of similar loose-leaf.
The invention has the beneficial effects that：
1, by becoming born of the same parents' unit, integrally-built extra dof is constrained, it is made only to be left for two kinds of the exhibition of rolling over and crawl
The degree of freedom of movement；
2, under the premise of ensureing integrated model rigidity, whole quality is reduced, the burden of carrier rocket is mitigated；
3, in a folded configuration, overall dimensions are smaller for integrated model of the present invention, can be placed on the smaller delivery fire in space
Arrow uses；In the deployed state, formed it is larger arrest mechanical arm, can complete large-size target arrests task.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the overall structure diagram of change born of the same parents' unit of embodiment 1；
Fig. 2 is the structural schematic diagram of arresting agency in Fig. 1；
Fig. 3 is the single structural schematic diagram for rotating branch in Fig. 1；
Fig. 4 is the structural schematic diagram of linkage in Fig. 1；
Fig. 5 is that the single telescopic of embodiment 2 arrests the structural schematic diagram of mechanical arm
Fig. 6 is the schematic diagram of Fig. 5 unfolded states；
Fig. 7 is the schematic diagram that Fig. 6 arrests state；
Fig. 8 is that multiple telescopics of embodiment 3 arrest the overall structure diagram of mechanical arm；
Fig. 9 is that multiple telescopics of Fig. 8 arrest the unfolded state schematic diagram of mechanical arm；
Figure 10 be multiple telescopics of Fig. 9 arrest mechanical arm arrest status diagram.
Specific implementation mode
Embodiment 1
A kind of change born of the same parents' unit is present embodiments provided, as shown in Figs 1-4, including：Arresting agency 11, rotation branch
12, stretch branch 13, linkage 14.
Wherein, arresting agency 11 includes two identical scissors rods, 101, two identical connecting rods 102, two scissors rods
101 are interconnected by revolute pair R1, form scissors mechanism；The bottom end of two connecting rods 102 passes through revolute pair R2, revolute pair respectively
R3 is connected to the top of two scissors rods 101；The arresting agency is formed arrests face for capture process.Revolute pair R2, rotation
Secondary R3 provides the degree of freedom that the face of arresting arrest movement.
Two identical rotation branches 12, rotation branch 12 include the first rotating bar 103, the second rotating bar
104, third rotating bar 105, the 4th rotating bar 106, the 5th rotating bar 107；First rotating bar 103, the second rotating bar 104 pass through
Revolute pair Ra1 connections, the second rotating bar 104, third rotating bar 105 are connected by revolute pair Ra2, third rotating bar the 105, the 4th
Rotating bar 106 is connected by revolute pair Ra3, and the 4th rotating bar 106, the 5th rotating bar 107 are connected by revolute pair Ra4；5th
Rotating bar 107 is connected to the top of connecting rod 102 by revolute pair R4, and the first rotating bar 103 is connected to scissor by revolute pair R5
The bottom end of bar 101.
Two rotation branches 12 are attached by linkage 14, and linkage 14 includes two identical first and slides
Lever 108, two the first sliding bars 108 pass through revolute pair RL1 interconnects, and the first sliding bar 108 is equipped with the second sliding bar
109, the first sliding bar 108, the second sliding bar 109 pass through sliding pair PL1 interconnects；Second sliding bar 109 passes through revolute pair
RL2 are connected in rotation branch 12 the second rotating bar 104.
It is equipped with flexible branch 13 at the both ends of arresting agency 11, for connecting adjacent change born of the same parents' unit, Mei Geshen
Contracting branch 13 includes two struts 110, and the beginning of two struts 110 is interconnected by sliding pair P1, one of to become
The bottom end of the scissors rod 101 of born of the same parents' unit passes through revolute pair R5 two struts 110 of connection, the connecting rod of another adjacent change born of the same parents' unit
102 top passes through revolute pair R4 two struts 110 of connection.
When the axis of revolute pair R2 and revolute pair R3 it can be seen from the geometry site of revolute pair R2 and revolute pair R3
When not conllinear, which has and only one degree of freedom, i.e., the folding that revolute pair R1 is provided open up degree of freedom；As revolute pair R2
When with revolute pair R3 axis collinears, which will be provided with the freedom rotated around revolute pair R2 (namely revolute pair R3) axis
Degree, that is, arrest degree of freedom.Later by the effect of constraint value of revolute pair R4, revolute pair R5 and the P1 plane motion formed, R1 rotations
Adjutant can fail, i.e. the mechanism has and only one degree of freedom, i.e. what R2 and R3 were provided arrests degree of freedom.
There are four revolute pairs (Ra1, Ra2, Ra3 and Ra4) altogether for the single rotation branch of the present embodiment, and coordinate system is as schemed
Shown in 3, wherein revolute pair Ra1, revolute pair Ra2, revolute pair Ra3 kinematic screw be：
Wherein, li,mi,ni,ci(i=1,2,3) it is arbitrary constant；Three revolute pair Ra1, revolute pair Ra2, revolute pair Ra3
Axis it is not conllinear and be diagonal to XOY plane.
The kinematic screw of revolute pair Ra4 is：
$a4=(l4 m40；0 0 c4)
Wherein, li,mi,ni,ci(i=1,2,3) it is arbitrary constant；
When the axis of revolute pair Ra4 is parallel to XOY plane always, that is, the axis of revolute pair Ra4 is along being parallel to Z axis
Direction.
In conjunction with the kinematic screw of four revolute pairs (Ra1, Ra2, Ra3 and Ra4), the pact of the rotation branch can be obtained
Beam spiral is：
That is, the rotation branch only will produce the constraint line of force arrow for being parallel to XOY plane, to ensure the rotation branch
Mechanism will not generate the face of arresting additional constraint, that is, not interfere with integrally-built degree of freedom.
As shown in figure 3, in order to avoid servo-actuated branch is in rotation process, phenomena such as interference, the second rotating bar
104, third rotating bar 105, the 4th rotating bar 106 use bending bar, to prevent the collision during action.
Embodiment 2
It present embodiments provides a kind of telescopic and arrests mechanical arm, as illustrated in figs. 5-7 comprising four identical change born of the same parents are single
First 201 (change born of the same parents' unit 201 herein is identical as change born of the same parents' cellular construction in embodiment 1, and details are not described herein again), adjacent change born of the same parents
Unit 201 is attached by flexible branch 202；The flexible branch 202 is to be slided by four revolute pairs and two
The mixed organization of pair composition is attached in series.Pass through folding in two scissors rods 203 of each change born of the same parents unit 201
After exhibition movement, which will be fully deployed, at this point, the scissors rod 203 and connecting rod 204 that become in born of the same parents' unit 201 will turn over
Transhipment is dynamic, i.e., entire mechanical arm will carry out arresting movement.
Embodiment 3
A kind of telescopic arresting agency is present embodiments provided, as seen in figs. 8-10 comprising the use of 301, four, chassis
Become born of the same parents' unit 302 (change born of the same parents' unit 302 herein is identical as change born of the same parents' cellular construction in embodiment 1, and details are not described herein again) to be formed
Telescopic arrest mechanical arm 303, four mechanical arms 303 are arranged in a manner of circumference array on chassis 301.
The rigidity telescopic arresting agency, which has, to be folded, stretches, arresting three states, uses difference in different situations
State, to complete to arrest task in space.It is put into carrier rocket under the rigidity telescopic arresting agency folded state, then
After too airborne launch, you can carry out arresting task to specified object.
Although the present invention is disclosed above with preferred embodiment, it is not limited to the range that the present invention is implemented.Any
The those of ordinary skill in field improves in the invention scope for not departing from the present invention when can make a little, i.e., every according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of telescopic based on constraint spiral arrests metamorphic mechanisms, which is characterized in that including multiple identical change born of the same parents' units,
Change born of the same parents' unit includes：
Arresting agency comprising two identical scissors rods, two identical connecting rods, two scissors rods pass through revolute pair R1
It interconnects, forms scissors mechanism；The bottom end of two connecting rods is connected to two institutes by revolute pair R2, revolute pair R3 respectively
State the top of scissors rod；
Two identical rotation branches comprising the first rotating bar, the second rotating bar, third rotating bar, the 4th rotating bar,
5th rotating bar；First rotating bar, second rotating bar are connected by revolute pair Ra1, second rotating bar, described
Third rotating bar is connected by revolute pair Ra2, and the third rotating bar, the 4th rotating bar are connected by revolute pair Ra3, institute
State the 4th rotating bar, the 5th rotating bar is connected by revolute pair Ra4；5th rotating bar is connected to by revolute pair R4
The top of the connecting rod, first rotating bar are connected to the bottom end of the scissors rod by revolute pair R5；
Two rotation branches are interconnected by linkage, and the linkage includes two identical first and slides
Lever, two first sliding bars pass through revolute pair RL1 interconnects, and each first sliding bar is equipped with the second sliding
Bar, first sliding bar, second sliding bar pass through sliding pair PL1 interconnects；Second sliding bar passes through rotation
Secondary RL2 are connected to second rotating bar.
2. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that revolute pair R2, revolute pair R3 axis
When not conllinear, the scissors rod, the connecting rod carry out folding exhibition process.
3. telescopic as claimed in claim 2 arrests metamorphic mechanisms, which is characterized in that revolute pair R2, revolute pair R3 axis
When conllinear, plane where the relatively described scissors rod of the connecting rod is overturn.
4. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that in the rotation branch, rotation
Secondary Ra1, revolute pair Ra2, revolute pair Ra3 kinematic screw be：
Wherein, li,mi,ni,ci(i=1,2,3) it is arbitrary constant；
Three revolute pair Ra1, revolute pair Ra2, the axis of revolute pair Ra3 be not conllinear and be diagonal to the first plane.
5. telescopic as claimed in claim 4 arrests metamorphic mechanisms, which is characterized in that in the rotation branch, rotation
The kinematic screw of secondary Ra4 is：
$a4=(l4 m40；0 0 c4)
Wherein, li,mi,ni,ci(i=1,2,3) it is arbitrary constant；
The axis of revolute pair Ra4 is parallel to the first plane always.
6. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that second rotating bar, the third
Rotating bar, the 4th rotating bar are bending bar.
7. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that change born of the same parents' unit further includes flexible point
Branch mechanism, the flexible branch include：
The beginning of two struts, two struts is interconnected by sliding pair P1, and the end of two struts leads to respectively
Cross the bottom end that revolute pair R5 is connected to two scissors rods.
8. telescopic as claimed in claim 7 arrests metamorphic mechanisms, which is characterized in that the adjacent change born of the same parents units shared one
A flexible branch.
9. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that multiple change born of the same parents' units, along institute
The direction of extension for stating folding rod is expanded, and is formed telescopic and is arrested mechanical arm.
10. telescopic as claimed in claim 9 arrests metamorphic mechanisms, which is characterized in that the telescopic arresting agency also wraps
Chassis is included, multiple foldable mechanical arms of arresting are arranged with circumference array to the chassis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366964.6A CN108657473B (en) | 2018-04-23 | 2018-04-23 | Constraint spiral-based foldable and unfoldable metamorphic catching mechanism |
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|---|---|---|---|
| CN201810366964.6A CN108657473B (en) | 2018-04-23 | 2018-04-23 | Constraint spiral-based foldable and unfoldable metamorphic catching mechanism |
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| CN108657473B CN108657473B (en) | 2021-02-02 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533402A (en) * | 2018-11-06 | 2019-03-29 | 哈尔滨工业大学（深圳） | A kind of lightweight telescopic space truss type trapping manipulator |
| CN112937929A (en) * | 2021-02-08 | 2021-06-11 | 北京交通大学 | Multi-connecting-rod encircling type space capturing mechanism |
| CN113374981A (en) * | 2021-07-07 | 2021-09-10 | 北京航空航天大学 | Reconfigurable folding and unfolding mechanism for pipeline environment operation |
| CN114802815A (en) * | 2022-05-13 | 2022-07-29 | 南京航空航天大学 | On-orbit assembly-oriented shearing and hinging type universal module based on butt joint of water chestnut locks |
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