CN107215486B - 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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- CN107215486B CN107215486B CN201710432436.1A CN201710432436A CN107215486B CN 107215486 B CN107215486 B CN 107215486B CN 201710432436 A CN201710432436 A CN 201710432436A CN 107215486 B CN107215486 B CN 107215486B
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- bionical
- claw
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- capture
- orbit
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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
- 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
Dry stick system for in-orbit the bionical of capture noncooperative target 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 equipped with the production of bionical pasting material in bionical Sole mechanism end, flexible drive mechanism can drive bionical Sole mechanism to generate lateral displacement relative to bionical claw mechanism, and it drives bionical claw mechanism to generate interior receive and moves, the bionical unit that sticks is set tangentially to move generation adhesive force under the action of normal direction precompression.The present invention can implement space non-cooperative target repeatedly to stick the benefit for improving and capturing noncooperative target.
Description
Technical field
The present invention relates to the in-orbit capture technique fields of noncooperative target, more particularly to one kind for the in-orbit non-conjunction of capture
Make the bionical of target and dry sticks system.
Background technique
The powerful kinetic energy that space non-cooperative target has constitutes serious threat to in-orbit spacecraft.According to statistics, non-
Cooperative target has resulted in a lot of spacecraft damages and the example of catastrophic failure occurs, 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 research 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 captured for discarding spacecraft, the basic principle is that using
Priming system casts mass block guidance flying mesh expansion, after forming envelope to noncooperative target, effect of the mass block in self inertia
Under continue movement flying mesh made to pack tightly target, recycled in its entirety is carried out to flying mesh and noncooperative target again later.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.
In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a kind of reusable for large surface
Noncooperative target capture systems.
Summary of the invention
The object of the present invention is to provide it is a kind of for it is in-orbit capture noncooperative target it is bionical it is dry stick system, with solve on
Problem of the existing technology is stated, the acquisition equipment of noncooperative target may be reused, to reduce application cost.
To achieve the above object, the present invention provides following schemes:
Dry stick system, including fuselage, flexibility for in-orbit the bionical of capture noncooperative target the present invention provides a kind of
Driving mechanism, bionical claw mechanism and bionical Sole mechanism, the flexible drive mechanism and the bionical claw mechanism setting exist
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
Movement is received in generating, increases the bionical Adhering capacity for sticking unit, and it is curved to drive the bionical claw mechanism generation inwardly to collapse
Song makes the bionical unit that sticks tangentially move generation adhesive force under the action 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 equipped with sliding slot, and the slide bar of the claw limbs is embedded in the cunning
In slot, the flexible drive mechanism can drive the claw limbs to move in the sliding slot, the bionical Sole mechanism with
The claw limb activity connection.
Preferably, the sliding slot is obliquely installed, and moves down the claw limbs mutually while lateral movement along method.
Preferably, the bionical Sole mechanism includes that ball stud, sole spring, articulated joint, palm body and at least two are glutinous
Attached toe unit, the end of thread of the ball stud are installed in the screw hole 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 uniformly distributed three, and the palm body is fixedly connected with the articulated joint, described to stick toe unit and institute
It states palm body to be fixedly connected, the bottom surface for sticking toe unit is equipped with flexible pad, described bionical to stick unit and the flexibility
Pad connection.
Preferably, the quantity for sticking toe unit is 3-5, wherein sticks toe unit towards peripheral hardware described in 1-3
It sets, stick toe unit described in remaining is arranged inwardly, forms sealed, the adjacent angle sticked between toe unit and is
30-60°。
Preferably, the flexible drive mechanism includes that motor, swing mechanism and level-one driving rope, the motor are arranged in institute
It states on fuselage, one end of the swing mechanism connects the motor, and the other end of the swing mechanism connects the level-one driving
The other end of one end of rope, the level-one driving rope connects the bionical claw mechanism.
Preferably, the flexible drive mechanism, the bionical claw mechanism and the bionical Sole mechanism are at least pairs of
Two be arranged.
Preferably, it is connected with a secondary drive rope between each pair of claw supporter, the secondary drive rope is by an institute
Flexible drive mechanism driving is stated, the other end of the level-one driving rope of the flexible drive mechanism connects the secondary drive
Rope.
It preferably, further include control system, the motor is electrically connected with the control system.
Preferably, the fuselage is made of light material.
The present invention achieves following technical effect compared with the existing technology:
The invention discloses for it is in-orbit capture noncooperative target it is bionical it is dry stick system, bionical pasting material is utilized
It is manufactured it is bionical stick unit tangentially movement can produce very big viscous force under certain precompression again, with non-cooperative target
During marking surface contact, enough Van der Waals forces can be generated between noncooperative target surface and are realized to noncooperative target
Stick crawl.Since the process sticked and be desorbed is reversible, so carrying out sticking crawl noncooperative target using the present invention
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 movement is sticked for single limbs, and capture of the pairs of bionical claw mechanism and bionical Sole mechanism to noncooperative target
Movement is sticked for second level is sealed.Since the sealed bionical claw mechanism of multi-layer of the invention and bionical Sole mechanism are to object table
Face curved surface has good adaptability, can be used as crawl end when the in-orbit capture of noncooperative target with a large surface, and real
Multiple capture is applied, to reduce capture cost.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the bionical dry overall structure diagram of sticking system of the present invention for in-orbit capture noncooperative target；
Fig. 2 is the structural schematic diagram of single flexible driving mechanism of the present invention, bionical claw mechanism and bionical Sole mechanism；
Fig. 3 is the structural schematic diagram of a pair of of flexible drive mechanism of the present invention, bionical claw mechanism and bionical Sole mechanism；
Wherein: 1- fuselage, 2- control system, 3- motor, 4- swing mechanism, 5- level-one driving rope, 6- claw supporter, 7-
Claw matrix, 8- claw limbs, 9- ball stud, 10- sole spring, 11- articulated joint, 12- slap body, and 13- sticks toe unit,
14- flexible pad, 15- is bionical to stick unit, 16- secondary drive rope.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide it is a kind of for it is in-orbit capture noncooperative target it is bionical it is dry stick system, with solve on
Problem of the existing technology is stated, the acquisition equipment of noncooperative target may be reused, to reduce application cost.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
It is as shown in Figs. 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,
It is made including fuselage 1, flexible drive mechanism, bionical claw mechanism and bionical Sole mechanism, fuselage 1 of light material, to reduce
System weight, preferably carbon fibre material.Flexible drive mechanism and bionical claw mechanism are respectively provided on the fuselage 1.
The bionical claw mechanism includes claw supporter 6, claw matrix 7 and claw limbs 8.Claw supporter 6 is one
One end of Z-shaped flexible board, 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 equipped with sliding slot, and for the slide bar of claw limbs 8 in sliding slot, sliding slot is arc groove 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, guarantee the effect that single limbs stick.
The bionical Sole mechanism includes that ball stud 9, sole spring 10, articulated joint 11, palm body 12 and at least two are glutinous
Attached toe unit 13, the end of thread of ball stud 9 are installed in the screw hole of claw limbs 8, and the bulb of ball stud 9 is connected to hinge
In connector 11,10 one end of sole spring connects claw limbs 8, and the other end connects articulated joint 11, and sole spring 10 is at least uniformly distributed
Three, preferably four.Sole spring 10 can limit the freedom degree of articulated joint 11, make articulated joint 11 can be around ball stud 9
Bulb rotated in 3 freedom degrees, provide required flexibility for articulated joint 11, guarantee the adaptability for more sticking fitting.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
Three are selected as, three stick toe unit 13 and are arranged outwardly, and the adjacent angle sticked between toe unit 13 is 60 °.Slap body
12 bottom surface is equipped with flexible pad 14, and the bionical unit 15 that sticks is connect with flexible pad 14.
The flexible drive mechanism includes motor 3, swing mechanism 4 and level-one driving rope 5, and motor 3 is arranged on the fuselage 1,
One end of swing mechanism 4 connects motor 3, one end of the other end connection level-one driving rope 5 of swing mechanism 4, and level-one drives rope 5
The other end connects claw limbs 8, to drive claw limbs 8 mobile according to required track in sliding slot.Flexible strand can guarantee glutinous
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.It is each pair of
Secondary drive rope 16 is respectively connected between two claw supporters 6, secondary drive rope 16 is driven by a flexible drive mechanism, this is soft
Property driving mechanism level-one driving rope 5 the other end connect secondary drive rope 16.Flexible drive mechanism can be driven by tensing second level
Running rope 16 generates pairs of claw supporter 6 and inwardly collapses bending, and then bionical the bionical of Sole mechanism end is made to stick list
The tangential adhesive force that member 15 generates is contrary, mutually balances, and forms that second level is sealed sticks.It is the flexible drive mechanism, bionical
Claw mechanism and bionical Sole mechanism are preferably respectively arranged four, form two pairs, and keep its secondary drive rope 16 perpendicular to one another, to obtain
Obtain the optimal sealed adhesion effect of second level and maximum effective crawl area.
All motors 3 are electrically connected with control system 2, and it is preferable to use stm32 single-chip microcontroller and other attachment structures for control system 2
At.Under the control of control system 2, flexible drive mechanism can drive bionical Sole mechanism to generate relative to bionical claw mechanism
Tangential displacement, and drive bionical claw mechanism to generate and inwardly collapse bending, make the bionical unit 15 that sticks in the work of normal direction precompression
It is tangentially moved under.It carries out single limbs simultaneously to stick and second level is sealed sticks, to improve the success rate of capture.
Using the present embodiment as crawl end when in-orbit capture, but the bionical sole machine of noncooperative target and the present embodiment
When structure is moved closer to and contacted, since articulated joint 11 can rotate in 3 freedom degrees around the bulb of ball stud 9, it can make to slap body
12, stick toe unit 13 and the bionical unit 15 that sticks more preferably is bonded 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 to linear motion, drives claw limbs by level-one driving rope 5
8 is mobile according to required track in sliding slot, be displaced sideways the bionical unit 15 that sticks can under certain precompression, and then complete
Single limbs of pairs of noncooperative target stick.At the same time, control system 2 can also tense secondary drive rope 16, make pairs of foot
Pawl carrying body 6 generate inwardly collapse bending, and then make bionical Sole mechanism end it is bionical stick unit 15 generate it is contrary
Tangential adhesive force, balance tangential adhesive force mutually, form that second level is sealed sticks.The desorption process of the present embodiment are as follows: control
System 2 controls motor 3 and resets, and unloads tangential force, then applies respectively to noncooperative target and the present embodiment along normal direction lesser
Desorption can be realized in pulling force.
The sealed bionical claw mechanism of the multi-layer of the present embodiment and bionical Sole mechanism have very target surface curved surface
Good adaptability can effectively be bonded noncooperative target surface, and single limbs stick and the sealed collective effect guarantee sticked of second level
The success rate of adhesive force and capture.And the present embodiment has the advantages that repeatedly implement to stick process, advantageously reduces and catches
Obtain cost.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (8)
1. a kind of dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: including fuselage, flexible drive
Mechanism, bionical claw mechanism and bionical Sole mechanism, the flexible drive mechanism and the bionical claw mechanism are arranged described
On fuselage, the bionical Sole mechanism is flexibly connected with the bionical claw mechanism, and the bionical Sole mechanism end is equipped with imitative
Raw to stick unit, the flexible drive mechanism can drive the bionical Sole mechanism to generate relative to the bionical claw mechanism
Interior receipts movement, increases the bionical Adhering capacity for sticking unit, and drives the bionical claw mechanism to generate and inwardly collapse bending, makes
The bionical unit that sticks tangentially moves generation adhesive force under the action of normal direction precompression；
The bionical claw mechanism includes claw supporter, claw matrix and claw limbs, and the claw supporter is a Z-shaped
One end of flexible board, the claw supporter is fixedly connected with the fuselage, the other end and the foot of the claw supporter
Pawl matrix is fixedly connected, and the claw matrix is equipped with sliding slot, and the slide bar of the claw limbs is described soft in the sliding slot
Property driving mechanism the claw limbs can be driven to move in the sliding slot, the bionical Sole mechanism and the claw limbs
It is flexibly connected；
The sliding slot is arc groove or the straight trough being obliquely installed, and keeps the claw limbs mutually downward along method while lateral movement
It is mobile.
2. according to claim 1 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: institute
State bionical Sole mechanism include ball stud, sole spring, articulated joint, the palm body and at least two stick toe unit, the ball
The end of thread of header stud is installed in the screw hole of the claw limbs, and the bulb of the ball stud is arranged in 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 equal
Three of cloth, the palm body are 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 equipped with flexible pad, the bionical unit that sticks is connect with the flexible pad.
3. according to claim 2 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: institute
State that stick the quantity of toe unit be 3-5, wherein 1-3 it is described stick toe unit and be arranged outwardly, stick described in remaining
Toe unit is arranged inwardly, and forming sealed, the adjacent angle sticked between toe unit is 30-60 °.
4. according to claim 2 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: institute
Stating flexible drive mechanism includes that motor, swing mechanism and level-one driving rope, the motor are arranged on the fuselage, the swing
One end of mechanism connects the motor, and the other end of the swing mechanism connects one end of the level-one driving rope, the level-one
The other end of driving rope connects the bionical claw mechanism.
5. according to claim 4 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: institute
It states flexible drive mechanism, the bionical claw mechanism and the bionical Sole mechanism and is at least two be arranged in pairs.
6. according to claim 5 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: every
To a secondary drive rope is connected between the claw supporter, the secondary drive rope is driven by another flexible drive mechanism
It is dynamic, it drives the level-one of the flexible drive mechanism of the secondary drive rope that the other end of rope is driven to connect the second level and drives
Running rope.
7. according to claim 6 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.
8. according to claim 1 dry stick system for in-orbit the bionical of capture noncooperative target, it is characterised in that: institute
Fuselage is stated to be made 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN107215486A CN107215486A (en) | 2017-09-29 |
| CN107215486B true CN107215486B (en) | 2019-10-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583941B (en) * | 2018-03-08 | 2023-07-25 | 南京航空航天大学 | Bionic wall climbing robot suitable for complex narrow space in microgravity environment of space station |
| CN108501015B (en) * | 2018-06-25 | 2020-09-22 | 南京航空航天大学 | Bionic flexible gripping device with adhesion and hook mixed contact functions |
| CN109760858B (en) * | 2018-12-18 | 2022-08-05 | 上海航天控制技术研究所 | Two-degree-of-freedom decoupling space adhering claw transmission device |
| CN110125941B (en) * | 2019-06-12 | 2020-01-03 | 北京航空航天大学 | Variable-scale driving bionic dry adhesion mechanism |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6655637B1 (en) * | 2002-06-24 | 2003-12-02 | The Aerospace Corporation | Spacecraft for removal of space orbital debris |
| US6840481B1 (en) * | 2003-09-30 | 2005-01-11 | The Aerospace Corporation | Adjustable multipoint docking system |
| CN103979030B (en) * | 2014-05-13 | 2016-03-30 | 上海宇航系统工程研究所 | The bionical dry adhering device of one kind gecko |
| CN104859746B (en) * | 2015-05-26 | 2017-10-03 | 南京航空航天大学 | Experimental system and ground experiment method of the gecko-emulated robot under microgravity environment |
| CN106494652B (en) * | 2016-09-20 | 2019-01-04 | 北京工业大学 | It is a kind of that mechanism dry is sticked based on the bionical of compound constant force spring load |
| CN106515893B (en) * | 2016-09-29 | 2018-10-16 | 南京航空航天大学 | The actively adaptive gecko-emulated robot of power aware space of viscous desorption and posture regulation and control |
| CN106564629B (en) * | 2016-10-27 | 2019-01-04 | 上海航天控制技术研究所 | A kind of space-orbit acquisition equipment based on the dry pasting material of bionic gecko |
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