CN108860667A - A kind of truss-like telescopic arrests metamorphic mechanisms - Google Patents
A kind of truss-like telescopic arrests metamorphic mechanisms Download PDFInfo
- Publication number
- CN108860667A CN108860667A CN201810366062.2A CN201810366062A CN108860667A CN 108860667 A CN108860667 A CN 108860667A CN 201810366062 A CN201810366062 A CN 201810366062A CN 108860667 A CN108860667 A CN 108860667A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- rotating bar
- bar
- sliding
- branch
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of truss-like telescopic and arrests metamorphic mechanisms, including multiple change born of the same parents' units, becomes born of the same parents' unit and includes：Arresting agency comprising 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 passes through revolute pair R2 respectively, revolute pair R3 is connected to the top of two scissors rods；Sliding branch includes the first sliding bar connected by sliding pair Pa1, the second sliding bar；The top of first sliding bar and connecting rod is connected by revolute pair R4；Rotation branch includes the first rotating bar of rotation connection, the second rotating bar, third rotating bar, the 4th rotating bar；First rotating bar is connected to the bottom end of scissors rod by revolute pair R5, and the 4th rotating bar, the second sliding bar are connected by revolute pair Ra4；Two servo-actuated branch units are interconnected by linkage.The present invention uses truss structure, and overall weight is light, advantageously reduces delivery cost；Using born of the same parents' structure is become, the occupied space of overall structure is reduced.
Description
Technical field
The present invention relates to a kind of truss-like telescopics to arrest metamorphic mechanisms.
Background technique
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 replacement, it is in-orbit filling,
The work such as consumable load replacement and supplement, track cleaning, Orbit Transformation, are the Core equipments of the in-orbit installation and maintenance of spacecraft.
Chinese patent literature CN107685881A discloses a kind of spatial flexible acquisition equipment and its catching method, this is caught
Obtain device by for recycling tether, winding target object get rid of rope, two get rid of bar and rack forms.It has only with two
Have the portion of pasting gets rid of the capture task restricted and can be completed to target.The operating distance of the device is remote, and applicable object is relatively broad, and
It is lower to the requirement of control system in capture-process.
Chinese patent literature CN106584507A discloses 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 pair
Claim the air flue composition of distribution.Wherein, air flue extends and from the big one end of diameter to the small one end of diameter apart from end face certain distance
To maintain the gas in air flue, one layer of fibre reinforced composites are arranged in mechanical arm outer surface.Flexible mechanical arm body uses
Elastic material has very strong deformability.The device is suitable for arresting the object of complicated shape.
Chinese patent literature CN106584507A discloses a kind of clipping inflation catching hand, and there are two symmetrical machines for tool
Tool arm.The mechanical arm can complete holding action inwardly and outward expansion action.To complete both movements, in mechanical arm
Front end the inflation valve for spreading arm of one arc is housed, be provided with longitudinal wind spring on the outside of extending arm, outer surface with it is right
The extending arm bonding answered.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, the size of arresting agency can be limited to using flexible piece, to limit capture
The range of object.
Accordingly, it is desirable to provide a kind of truss-like telescopic arrests metamorphic mechanisms, telescopic arresting agency entirety is being improved
Under the premise of rigidity, integrally-built weight is reduced, in conjunction with born of the same parents' principle is become, allows mechanism that change in size occurs, to expand
The range of capture target.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of truss-like telescopics to arrest metamorphic mechanisms, using truss
Formula structure, overall weight is light, advantageously reduces delivery cost；Using born of the same parents' structure is become, the occupied space of overall structure is reduced.
To achieve the goals above, the present invention provides a kind of truss-like telescopics to arrest metamorphic mechanisms, wherein including more
A identical change born of the same parents' unit, 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 passes through revolute pair R2 respectively, revolute pair R3 is connected to two scissors rods
Top；
Two identical servo-actuated branches, being servo-actuated branch includes sliding branch, rotation branch；
Sliding branch includes the first sliding bar, the second sliding bar, and the first sliding bar, the second sliding bar pass through sliding pair Pa1
Connection；The top of first sliding bar and connecting rod is connected by revolute pair R4；
Rotating branch includes the first rotating bar, the second rotating bar, third rotating bar, the 4th rotating bar；First rotating bar,
Two rotating bars are connected by revolute pair Ra1, and the second rotating bar, third rotating bar are connected by revolute pair Ra2, third rotating bar,
4th rotating bar is connected by revolute pair Ra3；First rotating bar is connected to the bottom end of scissors rod, the 4th rotation by revolute pair R5
Bar, the second sliding bar are connected by revolute pair Ra4；
Two servo-actuated branch units by linkage interconnect, linkage include two identical blades, two
Blade passes through revolute pair RL1 connection, blade pass through revolute pair RL2 are connected to third rotating bar.
In the present invention, what two scissors rods, two connecting rods become in born of the same parents' unit were formed arrests face, forms in the face of arresting
Three revolute pairs with special geometric position arrest the revolute pair R1 on face surface perpendicular to this using axis to provide folding exhibition certainly
By degree 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, two servo-actuated branches carry out folding exhibition, in capture process becoming born of the same parents' unit, will not produce to face of arresting
Raw additional freedom degree, making the face of arresting always has and only one freedom degree only rolls over exhibition freedom degree that is, under folding exhibition state；It grabs
It catches under state, only arrests freedom degree.
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 scissors rod new composed by connecting rod, scissors rod.
Another kind specific embodiment according to the present invention, revolute pair RL2 and revolute pair Ra3 forms compound hinges mechanism,
It realizes sliding branch, rotate the flexible connection between branch, linkage.
Another kind specific embodiment according to the present invention, the first sliding bar are bending bar；Third rotating bar, the 4th rotation
Bar is bending bar.Since servo-actuated branch is solid space structure, the position in folding exhibition, capture process, between all parts
It sets and changes, under the premise of not changing relationship between each kinematic pair of servo-actuated branch, section components are used into bending
The mode of bar can interfere to avoid between all parts, to prevent from colliding the influence to overall mechanism.
Another kind specific embodiment according to the present invention, rotates in branch, revolute pair Ra1, revolute pair
Ra2, revolute pair Ra3 kinematic screw be：
Wherein, li,mi,ni,ai,biIt (i=1,2,3) is arbitrary constant；
Three revolute pair Ra1, revolute pair Ra2, the axis of revolute pair Ra3 be not conllinear, and is diagonal to the first plane, for example,
YOZ plane.
Another kind specific embodiment according to the present invention, rotates in branch, the kinematic screw of revolute pair Ra4 is：
$a4=(1 00； 0 a4 b4)
Wherein, a4,b4For arbitrary constant；
The axis of revolute pair Ra4 always perpendicular to the first plane, for example, when the first plane be YOZ plane when, revolute pair
The axis of Ra4 is along the direction for being parallel to X-axis.
Another kind specific embodiment according to the present invention, is slided in branch, the kinematic screw of sliding pair Pa1 is：
$a5=(0 00； 0 m5 n5)
Wherein, m5,n5For arbitrary constant；
The axis of sliding pair Pa1 is parallel to the first plane always.
Another kind specific embodiment according to the present invention, becoming born of the same parents' unit further includes flexible branch, 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 passes through respectively to be turned
Dynamic secondary R5 is connected to the bottom end of two scissors rods.In the flexible branch of this programme, two revolute pair R5 and a sliding pair
P1 constitutes planar kinematic pair, by the property of planar kinematic pair it is found that this is grabbed as revolute pair R2 and revolute pair R3 axis collinear
Catching mechanism will be provided with the freedom degree rotated around the axis of revolute pair R2, that is, freedom degree be arrested, as by composed by R4, R5 and P1
The effect of constraint value of plane motion, revolute pair R1 will fail, i.e. the arresting agency has and only one freedom degree, i.e. revolute pair R2
Freedom degree is arrested with provided by revolute pair R3.
Another kind specific embodiment according to the present invention, adjacent one flexible branch of change born of the same parents units shared.Phase
It answers, it is I-shaped connecting rod for example, by using section that the structure of connecting rod, which can be adaptively adjusted, facilitates adjacent change born of the same parents single
Connection between member.
Another kind specific embodiment 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, adjacent change born of the same parents' unit is connected, by every using four change born of the same parents' units
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 embodiment according to the present invention, rigid telescopic arresting agency further includes chassis, multiple to roll over
It is folded to arrest mechanical arm and arranged with circumference array to chassis.Such as, mechanical arm is arrested using four telescopics, which is folding
Under state, the space occupied is small, allows to be placed on the lesser carrier rocket in space, after being fully deployed, overall structure
It is larger, it is adapted to arresting for larger target size.
It is according to the present invention another kind specific embodiment, revolute pair R2, revolute pair R3 axis it is not conllinear when, scissor
Bar, connecting rod carry out folding exhibition process；Revolute pair R2, revolute pair R3 axis collinear when, connecting rod is carried out with respect to plane where scissors rod
Overturning.In the whole process, the freedom degree in one and only one direction of structure, when revolute pair R2, revolute pair R3 axis not
When conllinear, one and only one folding exhibition freedom degree of change born of the same parents unit；When revolute pair R2, revolute pair R3 axis collinear when, the change
Born of the same parents' unit one and only one arrest freedom degree.
In the present invention, pass through three revolute pair Ra1, revolute pair Ra2, the kinematic screw of revolute pair Ra3 and revolute pair Ra4
Kinematic screw and sliding pair Pa1 kinematic screw, the constraint spiral that can obtain servo-actuated branch is：
That is, the servo-actuated branch will constrain a certain axial direction (for example, X-axis) mobile freedom degree, can only generate along
The constraint line of force of the axis (X-axis) is sweared, to guarantee that the servo-actuated branch will not generate additional constraint to the face of arresting, that is, is being mentioned
While for overall structure, whole freedom degree will not influence.
Linkage in the present invention is the connection type of similar loose-leaf, it should be noted that the blade in text can be adopted
With structure of diversified forms, such as L shape bar, V shape pole etc..
The invention has the beneficial effects that：
1, the present invention reduces whole quality under the premise of guaranteeing overall mechanism rigidity using truss structure, mitigates
The burden of carrier rocket；
2, it using born of the same parents' structure is become, controls the size of overall mechanism freely, is realized by stretching, extension and born of the same parents are become by small mechanism
For great institutions, the range that can arrest object, strong applicability can be expanded.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
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 structural schematic diagram of single servo-actuated 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 state；
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 embodiment
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, turns sliding branch 12
Dynamic branch 13, flexible branch 14, linkage 16.
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, which is formed, arrests face for capture process.Revolute pair R2, rotation
Secondary R3 provides the freedom degree that the face of arresting arrest movement.
Two identical servo-actuated branches 15, being servo-actuated branch 15 includes sliding branch 12, rotation branch 13；Its
In, sliding branch 12 includes the first sliding bar 103, the second sliding bar 104, and the first sliding bar 103, the second sliding bar 104 pass through
Sliding pair Pa1 connection, the first sliding bar 103 are connected with the top of connecting rod 102 by revolute pair R4.
Rotating branch 13 includes the first rotating bar 105, the second rotating bar 106, third rotating bar 107, the 4th rotating bar
108；First rotating bar 105, the second rotating bar 106 are connected by revolute pair Ra1；Second rotating bar 106, third rotating bar 107
It is connected by revolute pair Ra2；Third rotating bar 107, the 4th rotating bar 108 are connected by revolute pair Ra3；4th rotating bar passes through
Revolute pair Ra4 and the second sliding bar are attached；First rotating bar is connected to the bottom end of scissors rod 101 by revolute pair R5.
Two servo-actuated 15 structures of branch's machine are attached by linkage 16, and linkage 16 includes two identical blades
109, two blades 109 pass through revolute pair RL1 connection, two blades 109 pass through revolute pair RL2 are connected to two rotations point
Third rotating bar 107 in branch.
It is equipped with flexible branch 14 at the both ends of arresting agency 11, for connecting adjacent change born of the same parents' unit, Mei Geshen
Contracting branch 14 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 two struts 110 of revolute pair R5 connection, the connecting rod of another adjacent change born of the same parents' unit
102 top passes through two struts 110 of revolute pair R4 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 freedom degree, i.e. folding exhibition freedom degree provided by revolute pair R1；As revolute pair R2
When with revolute pair R3 axis collinear, which will be provided with the freedom rotated around revolute pair R2 (namely revolute pair R3) axis
Degree, that is, arrest freedom degree.Later by the effect of constraint value of plane motion composed by revolute pair R4, revolute pair R5 and P1, R1 rotation
Adjutant can fail, i.e. the mechanism has and only one freedom degree, i.e. arrest freedom degree provided by R2 and R3.
There are four revolute pair (Ra1, Ra2, Ra3 and Ra4) and a sliding altogether for the single servo-actuated branch of the present embodiment
Secondary (Pa1), coordinate system is as shown in Figure 3, wherein revolute pair Ra1, revolute pair Ra2, revolute pair Ra3 kinematic screw be：
Wherein, li、mi、ni、ai、biIt (i=1,2,3) is arbitrary constant；
Three revolute pair Ra1, revolute pair Ra2, the axis of revolute pair Ra3 be not conllinear, and is diagonal to YOZ plane.
The kinematic screw of revolute pair Ra4 is：
$a4=(1 00； 0 a4 b4)
Wherein, a4, b4 are arbitrary constant；
The axis of revolute pair Ra4 is always perpendicular to YOZ plane, i.e., the axis of revolute pair Ra4 is along the side for being parallel to X-axis
To.
It slides in branch, the kinematic screw of sliding pair Pa1 is：
$a5=(0 00； 0 m5 n5)
Wherein, m5, n5 are arbitrary constant；
The axis of sliding pair Pa1 is parallel to YOZ plane always.
It is available in conjunction with the kinematic screw of four revolute pairs (Ra1, Ra2, Ra3 and Ra4) and a sliding pair (Pa1)
Constraint spiral of the servo-actuated branch units is：
That is, the constraint spiral will constrain the freedom degree moved along the x-axis, the constraint line of force arrow along X-axis can be generated, to protect
Additional constraint will not be generated to arresting agency by demonstrate,proving servo-actuated branch, will not influence the freedom degree of overall mechanism.
As shown in figure 3, during rotation in order to avoid servo-actuated branch, phenomena such as interference, the first sliding bar
103 use bending bar, and third rotating bar 107, the 4th rotating bar 108 also use bending bar, to prevent the collision during movement.
Embodiment 2
It present embodiments provides a kind of truss-like telescopic and arrests mechanical arm, as illustrated in figs. 5-7 comprising four identical
Become born of the same parents' unit 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), it is adjacent
Change born of the same parents unit 201 be attached by flexible branch 202；The flexible branch 202 is by four revolute pairs and two
The mixed organization of a sliding pair composition is attached in series.In two scissors rods 203 that each becomes born of the same parents' unit 201
After folding exhibition movement, which will be fully deployed, at this point, the scissors rod 203 and connecting rod 204 in change born of the same parents' unit 201 will
Flip-flop movement is carried out, i.e., entire mechanical arm will carry out arresting movement.
Embodiment 3
A kind of truss-like telescopic arresting agency is present embodiments provided, as seen in figs. 8-10 comprising chassis 301, four
It is a that using born of the same parents' unit 302 is become, (change born of the same parents' unit 302 herein is identical as change born of the same parents' cellular construction in embodiment 1, no longer superfluous herein
State) formed telescopic arrest mechanical arm 303, four mechanical arms 303 are arranged on chassis 301 in a manner of circumference array.
The rigidity telescopic arresting agency, which has, to be folded, stretches, arresting three states, in different situations using difference
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, it can carry out arresting task to specified object.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all 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 truss-like telescopic arrests metamorphic mechanisms, which is characterized in that including multiple identical change born of the same parents' units, the 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 passes through revolute pair R2 respectively, revolute pair R3 is connected to two institutes
State the top of scissors rod；
Two identical servo-actuated branches, the servo-actuated branch include sliding branch, rotation branch；
The sliding branch includes the first sliding bar, the second sliding bar, and first sliding bar, second sliding bar pass through cunning
Dynamic secondary Pa1 connection；First sliding bar is connect with the top of the connecting rod by revolute pair R4；
The rotation branch includes the first rotating bar, the second rotating bar, third rotating bar, the 4th rotating bar；First rotation
Bar, second rotating bar are connected by revolute pair Ra1, and second rotating bar, the third rotating bar pass through revolute pair Ra2
Connection, the third rotating bar, the 4th rotating bar are connected by revolute pair Ra3；First rotating bar passes through revolute pair
R5 is connected to the bottom end of the scissors rod, and the 4th rotating bar, second sliding bar are connected by revolute pair Ra4；
Two servo-actuated branch units are interconnected by linkage, and the linkage includes two identical blades,
Two blades pass through revolute pair RL1 connection, the blade pass through revolute pair RL2 are connected to the third rotating bar.
2. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that first sliding bar is bending bar；
The third rotating bar, the 4th rotating bar are bending bar.
3. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that in the rotation branch, revolute pair
Ra1, revolute pair Ra2, revolute pair Ra3 kinematic screw be：
Wherein, li,mi,ni,ai,biIt (i=1,2,3) is arbitrary constant；
Three revolute pair Ra1, revolute pair Ra2, the axis of revolute pair Ra3 be not conllinear, and is diagonal to the first plane.
4. telescopic as claimed in claim 3 arrests metamorphic mechanisms, which is characterized in that in the rotation branch, revolute pair Ra4
Kinematic screw be：
Wherein, a4、b4For arbitrary constant；
The axis of revolute pair Ra4 is always perpendicular to the first plane.
5. telescopic as claimed in claim 4 arrests metamorphic mechanisms, which is characterized in that in the sliding branch, sliding pair Pa1
Kinematic screw be：
Wherein, m5,n5For arbitrary constant；
The axis of sliding pair Pa1 is parallel to the first plane always.
6. 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.
7. telescopic as claimed in claim 6 arrests metamorphic mechanisms, which is characterized in that the adjacent change born of the same parents units shared one
A flexible branch.
8. 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.
9. telescopic as claimed in claim 8 arrests metamorphic mechanisms, which is characterized in that the rigidity telescopic arresting agency is also
Including chassis, multiple foldable mechanical arms of arresting are arranged with circumference array to the chassis.
10. telescopic as described in claim 1 arrests metamorphic mechanisms, which is characterized in that the axis of revolute pair R2, revolute pair R3
When not conllinear, the scissors rod, the connecting rod carry out folding exhibition process；Revolute pair R2, revolute pair R3 axis collinear when, the company
Plane where the relatively described scissors rod of bar is overturn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366062.2A CN108860667B (en) | 2018-04-23 | 2018-04-23 | Truss type foldable and unfoldable metamorphic catching mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366062.2A CN108860667B (en) | 2018-04-23 | 2018-04-23 | Truss type foldable and unfoldable metamorphic catching mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108860667A true CN108860667A (en) | 2018-11-23 |
| CN108860667B CN108860667B (en) | 2021-05-14 |
Family
ID=64327133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366062.2A Active CN108860667B (en) | 2018-04-23 | 2018-04-23 | Truss type foldable and unfoldable metamorphic catching mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860667B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340440A (en) * | 2020-11-17 | 2021-02-09 | 浙江海洋大学 | Mechanical arm |
| CN112937929A (en) * | 2021-02-08 | 2021-06-11 | 北京交通大学 | Multi-connecting-rod encircling type space capturing mechanism |
| CN113002805A (en) * | 2021-02-08 | 2021-06-22 | 北京交通大学 | Multi-mode space capturing mechanism |
| CN116534292A (en) * | 2023-05-22 | 2023-08-04 | 中国科学院空间应用工程与技术中心 | N (3 RRU) reconfigurable series-parallel type capturing mechanism and capturing method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080011904A1 (en) * | 2005-05-06 | 2008-01-17 | United States Of America As Represented By The Administrator Of The Nasa | Method and Associated Apparatus for Capturing, Servicing, and De-Orbiting Earth Satellites Using Robotics |
| CN102923316A (en) * | 2012-11-16 | 2013-02-13 | 哈尔滨工业大学 | Unfoldable unit of triangular prism and unfoldable support arm consisting of unfoldable units |
| CN104589366A (en) * | 2014-11-25 | 2015-05-06 | 广西大学 | Metamorphic type multifunctional mechanical gripper |
| CN104985586A (en) * | 2015-06-17 | 2015-10-21 | 北京控制工程研究所 | Structure changing space robot and route planning method |
| CN107134655A (en) * | 2017-04-20 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
-
2018
- 2018-04-23 CN CN201810366062.2A patent/CN108860667B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080011904A1 (en) * | 2005-05-06 | 2008-01-17 | United States Of America As Represented By The Administrator Of The Nasa | Method and Associated Apparatus for Capturing, Servicing, and De-Orbiting Earth Satellites Using Robotics |
| CN102923316A (en) * | 2012-11-16 | 2013-02-13 | 哈尔滨工业大学 | Unfoldable unit of triangular prism and unfoldable support arm consisting of unfoldable units |
| CN104589366A (en) * | 2014-11-25 | 2015-05-06 | 广西大学 | Metamorphic type multifunctional mechanical gripper |
| CN104985586A (en) * | 2015-06-17 | 2015-10-21 | 北京控制工程研究所 | Structure changing space robot and route planning method |
| CN107134655A (en) * | 2017-04-20 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 于红英，曾重元，郭震: "少自由度变胞并联机构综合设计方法", 《哈尔滨工业大学学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340440A (en) * | 2020-11-17 | 2021-02-09 | 浙江海洋大学 | Mechanical arm |
| CN112937929A (en) * | 2021-02-08 | 2021-06-11 | 北京交通大学 | Multi-connecting-rod encircling type space capturing mechanism |
| CN113002805A (en) * | 2021-02-08 | 2021-06-22 | 北京交通大学 | Multi-mode space capturing mechanism |
| CN116534292A (en) * | 2023-05-22 | 2023-08-04 | 中国科学院空间应用工程与技术中心 | N (3 RRU) reconfigurable series-parallel type capturing mechanism and capturing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108860667B (en) | 2021-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108860667A (en) | A kind of truss-like telescopic arrests metamorphic mechanisms | |
| CN108657473A (en) | It is a kind of that metamorphic mechanisms are arrested based on the telescopic for constraining spiral | |
| CN107331939B (en) | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition | |
| CN109592031B (en) | Bionic flapping wing aircraft with single side and single node | |
| US8894017B1 (en) | Flexible array support structure | |
| CN103794842B (en) | A kind of annular truss formula large space development agency | |
| CN108608411A (en) | A kind of triangular prism expandable truss formula space manipulator based on scissors mechanism | |
| JP5694306B2 (en) | Telescopic structure | |
| CN108638110A (en) | It is a kind of rigidity telescopic arrest metamorphic mechanisms | |
| EP0106270B1 (en) | Extendible structure | |
| EP0252247B1 (en) | Collapsible antenna reflector with a concave surface | |
| JP3201579U (en) | Elastic recovery structure of exercise equipment | |
| CN110085964A (en) | The netted annular deployable antenna of one kind and antenna truss | |
| CN108068135A (en) | A kind of new extensible drive lacking quadrangular truss manipulator | |
| JP2013528530A (en) | Aircraft main landing gear comprising two moving beams articulated to the aircraft structure | |
| EP3069991B1 (en) | Aircraft landing gear assembly | |
| CN109592032B (en) | Single-side multi-node bionic flapping wing aircraft | |
| CN206050100U (en) | Torsion spring drives scissor-type extending arm | |
| CN108598662A (en) | A kind of dual-layer Parallel quadrangle annular expandable truss | |
| CN108336470B (en) | Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit | |
| CN209667394U (en) | A kind of large space development agency | |
| CN109533402A (en) | A kind of lightweight telescopic space truss type trapping manipulator | |
| CN107933961A (en) | A kind of variable topological folding and unfolding mechanism of imitative sensitive plant flexible hinge connection | |
| CN107914897A (en) | It is a kind of using double pneumatic cylinders as the space folding and unfolding mechanism that can open up unit | |
| CN109110156A (en) | One kind can open up unit transformation rigid hinge connection space development agency based on triangular prism |
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 | ||
| CB02 | Change of applicant information |
Address after: 518000 Building B, Harbin University Campus, Xili Shenzhen University City, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Harbin Institute of Technology (Shenzhen) Address before: 518000 Building B, Harbin University Campus, Xili Shenzhen University City, Nanshan District, Shenzhen City, Guangdong Province Applicant before: Harbin Institute of Technology Shenzhen Graduate School |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |