CN107215486A - It is a kind of dry to stick system for in-orbit the bionical of capture noncooperative target - Google Patents
It is a kind of dry to stick system for in-orbit the bionical of capture noncooperative target Download PDFInfo
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- CN107215486A CN107215486A CN201710432436.1A CN201710432436A CN107215486A CN 107215486 A CN107215486 A CN 107215486A CN 201710432436 A CN201710432436 A CN 201710432436A CN 107215486 A CN107215486 A CN 107215486A
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- Prior art keywords
- bionical
- claw
- capture
- orbit
- sole
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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
-
- 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
Abstract
For in-orbit the bionical of capture noncooperative target dry stick system the invention discloses a kind of, including fuselage, flexible drive mechanism, bionical claw mechanism and bionical Sole mechanism, flexible drive mechanism and bionical claw mechanism are arranged on fuselage, bionical Sole mechanism is flexibly connected with bionical claw mechanism, stick unit provided with what bionical pasting material made in bionical Sole mechanism end, flexible drive mechanism can drive bionical Sole mechanism to produce lateral displacement relative to bionical claw mechanism, and drive bionical claw mechanism to produce interior receipts motion, the bionical unit that sticks is set tangentially to move generation adhesive force in the presence of normal direction precompression.The present invention can implement repeatedly to stick to space non-cooperative target improves the benefit captured to noncooperative target.
Description
Technical field
It is more particularly to a kind of to be used for the non-conjunction of in-orbit capture the present invention relates to the in-orbit capture technique field of noncooperative target
Make the bionical of target and dry stick system.
Background technology
The powerful kinetic energy that space non-cooperative target has, it constitutes serious threat to in-orbit spacecraft.According to statistics, it is non-
Cooperative target has resulted in a lot of spacecraft damages and occurs the example of catastrophic failure, with the development of aerospace industry, this thing
The number of example is still in rapid growth.The capture technique of noncooperative target has become the study hotspot of space industry.
Current more successful noncooperative target capture technique is using ejection flying mesh capture, such as Chinese patent
CN102991731A discloses a kind of flying mesh ejection acquisition equipment for being used to discard spacecraft capture, and its general principle is to use
Priming system casts mass guiding flying mesh expansion, after to noncooperative target formation envelope, effect of the mass in self inertia
Lower continuation motion makes flying mesh pack tightly target, carries out recycled in its entirety to flying mesh and noncooperative target again afterwards.But, due to priming system
Use, flying mesh be disposable acquisition equipment, in the case where noncooperative target quantity increases year by year, application cost compared with
It is high.
It is reusable for large surface it is an object of the invention to provide one kind for above-mentioned the deficiencies in the prior art
Noncooperative target capture systems.
The content of the invention
It is an object of the invention to provide it is a kind of for it is in-orbit capture noncooperative target it is bionical it is dry stick system, with solution
The problem of prior art is present is stated, the acquisition equipment of noncooperative target may be reused, to reduce application cost.
To achieve the above object, the invention provides following scheme：
For in-orbit the bionical of capture noncooperative target dry stick system, including fuselage, flexibility the invention provides a kind of
Drive mechanism, bionical claw mechanism and bionical Sole mechanism, the flexible drive mechanism and the bionical claw mechanism are arranged on
On the fuselage, the bionical Sole mechanism is flexibly connected with the bionical claw mechanism, and the bionical Sole mechanism end is set
Have it is bionical stick unit, the flexible drive mechanism can drive the bionical Sole mechanism relative to the bionical claw mechanism
Motion is received in producing, increase is bionical to stick the Adhering capacity of unit, and drive the bionical claw mechanism to produce and inwardly draw curved in
Song, makes the bionical unit that sticks tangentially move generation adhesive force in the presence of normal direction precompression.
Preferably, the bionical claw mechanism includes claw supporter, claw matrix and claw limbs, the claw support
Body is a Z-shaped flexible board, and one end of the claw supporter is fixedly connected with the fuselage, the claw supporter it is another
End is fixedly connected with the claw matrix, and the claw matrix is provided with chute, and the slide bar of the claw limbs is embedded in the cunning
In groove, the flexible drive mechanism can drive the claw limbs to be moved in the chute, the bionical Sole mechanism with
The claw limb activity connection.
Preferably, the chute is obliquely installed, and the claw limbs is mutually moved down along method while lateral movement.
Preferably, the bionical Sole mechanism is glutinous including ball stud, sole spring, articulated joint, palm body and at least two
Attached toe unit, the end of thread of the ball stud is installed in the screw of the claw limbs, the bulb of the ball stud
It is arranged in the articulated joint, the sole spring one end connects the claw limbs, and the other end connects the articulated joint, described
Sole spring is at least uniform three, and the palm body is fixedly connected with the articulated joint, described to stick toe unit and institute
State palm body to be fixedly connected, the bottom surface for sticking toe unit is provided with flexible pad, described bionical to stick unit and the flexibility
Pad connection.
Preferably, the quantity for sticking toe unit is 3-5, sticks toe unit towards peripheral hardware described in wherein 1-3
Put, stick toe unit described in remaining is set inwardly, form sealed, the adjacent angle that sticks between toe unit is
30-60°。
Preferably, the flexible drive mechanism includes motor, swing mechanism and one-level driving rope, and the motor is arranged on institute
State on fuselage, one end of the swing mechanism connects the motor, and the other end of the swing mechanism connects the one-level driving
One end of rope, the other end of the one-level driving rope connects the bionical claw mechanism.
Preferably, the flexible drive mechanism, the bionical claw mechanism and the bionical Sole mechanism are at least in pairs
Two set.
Preferably, a secondary drive rope is connected between claw supporter described in each pair, the secondary drive rope is by an institute
Flexible drive mechanism driving is stated, the other end of the one-level driving rope of the flexible drive mechanism connects the secondary drive
Rope.
Preferably, in addition to control system, the motor is electrically connected with the control system.
Preferably, the fuselage is made up of light material.
The present invention achieves following technique effect relative to prior art：
The invention discloses for it is in-orbit capture noncooperative target it is bionical it is dry stick system, make use of bionical pasting material
Be made it is bionical stick unit tangential movement can produce very big viscous force under certain precompression again, its with non-cooperative target
During marking surface contact, enough Van der Waals forces can be produced between noncooperative target surface and are realized to noncooperative target
Stick crawl.Because the process sticked and be desorbed is reversible, so sticking crawl noncooperative target using present invention progress
With repeatability.Wherein, the bionical unit that sticks of single bionical claw mechanism and bionical Sole mechanism end is to non-cooperative target
Target capture action is sticked for single limbs, and capture of the paired bionical claw mechanism and bionical Sole mechanism to noncooperative target
Act to close for secondary latch and stick.Because the sealed bionical claw mechanism of multi-layer and bionical Sole mechanism of the present invention is to object table
Face curved surface has good adaptability, can be as crawl end during the in-orbit capture of noncooperative target with large surface, and in fact
Multiple capture is applied, to reduce capture cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
The bionical dry overall structure diagrams of sticking system of the Fig. 1 for the present invention for in-orbit capture noncooperative target；
Fig. 2 is the structural representation of single flexible drive mechanism of the present invention, bionical claw mechanism and bionical Sole mechanism；
Fig. 3 is the structural representation of a pair of flexible drive mechanisms of the invention, bionical claw mechanism and bionical Sole mechanism；
Wherein：1- fuselages, 2- control systems, 3- motors, 4- swing mechanisms, 5- one-levels driving rope, 6- claw supporters, 7-
Claw matrix, 8- claw limbs, 9- ball studs, 10- sole springs, 11- articulated joints, 12- palm bodies, 13- sticks toe unit,
14- flexible pads, 15- is bionical to stick unit, 16- secondary drive ropes.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide it is a kind of for it is in-orbit capture noncooperative target it is bionical it is dry stick system, with solution
The problem of prior art is present is stated, the acquisition equipment of noncooperative target may be reused, to reduce application cost.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
As Figure 1-3：Present embodiments provide it is a kind of for it is in-orbit capture noncooperative target it is bionical it is dry stick system,
Including fuselage 1, flexible drive mechanism, bionical claw mechanism and bionical Sole mechanism, fuselage 1 is made up of light material, to reduce
System weight, preferably carbon fibre material.Flexible drive mechanism and bionical claw mechanism are respectively provided with the fuselage 1.
The bionical claw mechanism includes claw supporter 6, claw matrix 7 and claw limbs 8.Claw supporter 6 is one
Z-shaped flexible board, one end of claw supporter 6 is fixedly connected with fuselage 1, and the other end is fixedly connected with claw matrix 7.Claw base
Body 7 is provided with chute, and the slide bar of claw limbs 8 is embedded in chute, and chute is deep-slotted chip breaker or the straight trough being obliquely installed, and makes claw limb
Body 8 can be moved down mutually along method simultaneously lateral movement, close to the object sticked, it is ensured that the effect that single limbs stick.
The bionical Sole mechanism is sticked including ball stud 9, sole spring 10, articulated joint 11, palm body 12 and at least two
Attached toe unit 13, the end of thread of ball stud 9 is installed in the screw of claw limbs 8, and the bulb of ball stud 9 is connected to hinge
In joint 11, the one end of sole spring 10 connection claw limbs 8, other end connection articulated joint 11, sole spring 10 is at least uniform
Three, preferably four.Sole spring 10 can limit the free degree of articulated joint 11, make articulated joint 11 can be around ball stud 9
Bulb rotated in 3 frees degree, for the flexibility needed for articulated joint 11 is provided, it is ensured that more stick the adaptability of laminating.Slap body
12 are fixedly connected with articulated joint 11, stick toe unit 13 and are fixedly connected with palm body 12, the quantity for sticking toe unit 13 is excellent
Elect three as, three stick toe unit 13 and set outwardly, and the adjacent angle sticked between toe unit 13 is 60 °.Slap body
12 bottom surface is provided with flexible pad 14, and the bionical unit 15 that sticks is connected with flexible pad 14.
The flexible drive mechanism includes motor 3, swing mechanism 4 and one-level driving rope 5, and motor 3 is set on the fuselage 1,
One end connection motor 3 of swing mechanism 4, one end of the other end connection one-level driving rope 5 of swing mechanism 4, one-level driving rope 5
Other end connection claw limbs 8, to drive claw limbs 8 to be moved in chute according to required track.Flexible strand can ensure to stick
Attached process is more reliable and more stable.
The flexible drive mechanism, bionical claw mechanism and bionical Sole mechanism at least two, and be arranged in pairs.Each pair
Secondary drive rope 16 is respectively connected between two claw supporters 6, secondary drive rope 16 is driven by a flexible drive mechanism, and this is soft
Property drive mechanism one-level driving rope 5 other end connection secondary drive rope 16.Flexible drive mechanism can be by tensing two grades of drives
Running rope 16, produces paired claw supporter 6 and inwardly draws bending in, and then bionical the bionical of Sole mechanism end is sticked list
The tangential adhesive force that member 15 is produced is in opposite direction, mutually balance, forms secondary latch and closes and sticks.It is the flexible drive mechanism, bionical
Claw mechanism and bionical Sole mechanism preferably respectively set four, constitute two pairs, and make its secondary drive rope 16 perpendicular to one another, to obtain
The secondary latch obtained most preferably closes adhesion effect and maximum effective crawl area.
All motors 3 are electrically connected with control system 2, and control system 2 preferably uses stm32 single-chip microcomputers and other annex structures
Into.Under the control of control system 2, flexible drive mechanism can drive bionical Sole mechanism to be produced relative to bionical claw mechanism
Tangential displacement, and drive bionical claw mechanism to produce inwardly gathering bending, make the bionical work for sticking unit 15 in normal direction precompression
Tangentially moved under.The single limbs of progress simultaneously, which stick to close with secondary latch, to be sticked, to improve the success rate of capture.
Using the present embodiment as crawl end during in-orbit capture, but the bionical sole machine of noncooperative target and the present embodiment
When structure is moved closer to and contacted, because articulated joint 11 can be rotated around the bulb of ball stud 9 in 3 frees degree, palm body can be made
12nd, stick toe unit 13 and the bionical unit 15 that sticks more preferably is fitted with the surface of noncooperative target, control system 2 can drive electricity
Machine 3 drives swing mechanism 4 that the circular motion conversion of motor 3 is turned into linear motion, and claw limbs are driven by one-level driving rope 5
8 move in chute according to required track, the bionical unit 15 that sticks is displaced sideways under certain precompression, and then complete
Single limbs of paired noncooperative target stick.At the same time, control system 2 can also tense secondary drive rope 16, make paired pin
Pawl carrying body 6, which is produced, inwardly draws bending in, and then the bionical unit 15 that sticks of bionical Sole mechanism end is produced in the opposite direction
Tangential adhesive force, tangential adhesive force is mutually balanced, formed secondary latch close sticks.The desorption process of the present embodiment is：Control
The controlled motor 3 of system 2 resets, and unloads tangential force, then applies less to noncooperative target and the present embodiment respectively along normal direction
Pulling force is that desorption can be achieved.
The sealed bionical claw mechanism of multi-layer and bionical Sole mechanism of the present embodiment have very to target surface curved surface
Good adaptability, can effectively fit noncooperative target surface, and single limbs stick the collective effect guarantee closed and sticked with secondary latch
Adhesive force and the success rate of capture.And the present embodiment has the advantages that repeatedly implement to stick process, advantageously reduces and catches
Obtain cost.
Apply specific case in this specification to be set forth the principle and embodiment of the present invention, above example
Explanation be only intended to help to understand the method and its core concept of the present invention；Simultaneously for those of ordinary skill in the art,
According to the thought of the present invention, it will change in specific embodiments and applications.In summary, in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Including fuselage, soft drive
Mechanism, bionical claw mechanism and bionical Sole mechanism, the flexible drive mechanism and the bionical claw mechanism are arranged on described
On fuselage, the bionical Sole mechanism is flexibly connected with the bionical claw mechanism, and the bionical Sole mechanism end is provided with imitative
Raw to stick unit, the flexible drive mechanism can drive the bionical Sole mechanism to be produced relative to the bionical claw mechanism
Interior to receive motion, increase is bionical to stick the Adhering capacity of unit, and drives the bionical claw mechanism generation inwardly to draw bending in, makes
The bionical unit that sticks tangentially moves generation adhesive force in the presence of normal direction precompression.
2. according to claim 1 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
Stating bionical claw mechanism includes claw supporter, claw matrix and claw limbs, and the claw supporter is that a Z-shaped is flexible
Plate, one end of the claw supporter is fixedly connected with the fuselage, the other end of the claw supporter and the claw base
Body is fixedly connected, and the claw matrix is provided with chute, and the slide bar of the claw limbs is embedded in the chute, the flexible drive
Motivation structure can drive the claw limbs to be moved in the chute, the bionical Sole mechanism and the claw limb activity
Connection.
3. according to claim 2 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
State chute to be obliquely installed, the claw limbs is mutually moved down along method while lateral movement.
4. according to claim 2 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
State bionical Sole mechanism and stick toe unit, the ball including ball stud, sole spring, articulated joint, palm body and at least two
The end of thread of header stud is installed in the screw of the claw limbs, and the bulb of the ball stud is arranged on the articulated joint
In, the sole spring one end connects the claw limbs, and the other end connects the articulated joint, and the sole spring is at least
Three of cloth, the palm body is fixedly connected with the articulated joint, and the toe unit that sticks is fixedly connected with the palm body, institute
The bottom surface for sticking toe unit is stated provided with flexible pad, the bionical unit that sticks is connected with the flexible pad.
5. according to claim 4 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
State that to stick the quantity of toe unit be 3-5, wherein 1-3 described to stick toe unit and set outwardly, stick described in remaining
Toe unit is set inwardly, forms sealed, and the adjacent angle sticked between toe unit is 30-60 °.
6. according to claim 4 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
Stating flexible drive mechanism includes motor, swing mechanism and one-level driving rope, and the motor is arranged on the fuselage, described to swing
One end of mechanism connects the motor, and the other end of the swing mechanism connects one end of the one-level driving rope, the one-level
The other end of driving rope connects the bionical claw mechanism.
7. according to claim 6 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Institute
State flexible drive mechanism, the bionical claw mechanism and the bionical Sole mechanism and be at least two be arranged in pairs.
8. according to claim 7 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Often
To being connected with a secondary drive rope between the claw supporter, secondary drive rope flexible drive mechanism as described in one drives
Dynamic, the other end of the one-level driving rope of the flexible drive mechanism connects the secondary drive rope.
9. according to claim 8 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：Also
Including control system, the motor is electrically connected with the control system.
10. according to claim 1 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that：
The fuselage is made up of light material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432436.1A CN107215486B (en) | 2017-06-09 | 2017-06-09 | It is a kind of dry to stick system for in-orbit the bionical of capture noncooperative target |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432436.1A CN107215486B (en) | 2017-06-09 | 2017-06-09 | It is a kind of dry to stick system for in-orbit the bionical of capture noncooperative target |
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| CN107215486A true CN107215486A (en) | 2017-09-29 |
| CN107215486B CN107215486B (en) | 2019-10-11 |
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| CN108501015A (en) * | 2018-06-25 | 2018-09-07 | 南京航空航天大学 | It is a kind of to have both the Bionic flexible grabbing device for sticking and being mixed with hook |
| CN108583941A (en) * | 2018-03-08 | 2018-09-28 | 南京航空航天大学 | Adapt to the bionic wall climbing robot of complicated small space in the microgravity environment of space station |
| CN109760858A (en) * | 2018-12-18 | 2019-05-17 | 上海航天控制技术研究所 | Stick pawl transmission device in the space of two-free-degree decoupling |
| CN110125941A (en) * | 2019-06-12 | 2019-08-16 | 北京航空航天大学 | A kind of driving of mutative scale is bionical dry to stick mechanism |
| CN113068393A (en) * | 2021-03-24 | 2021-07-02 | 北京工业大学 | Dry adhesion mechanism based on wedge-shaped bristle bundles with driving function |
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| CN113068393B (en) * | 2021-03-24 | 2022-04-08 | 北京工业大学 | Dry adhesion mechanism based on wedge-shaped bristle bundles with driving function |
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