CN109129533B - Adaptive electrostatic adsorption type end effector for on-orbit capture - Google Patents
Adaptive electrostatic adsorption type end effector for on-orbit capture Download PDFInfo
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- CN109129533B CN109129533B CN201811187023.2A CN201811187023A CN109129533B CN 109129533 B CN109129533 B CN 109129533B CN 201811187023 A CN201811187023 A CN 201811187023A CN 109129533 B CN109129533 B CN 109129533B
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- connecting rod
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- electrostatic adsorption
- adsorption unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
Abstract
The invention discloses an on-orbit capture-oriented self-adaptive electrostatic adsorption type end effector which comprises a rigid main body support and an electrostatic adsorption unit, wherein the rigid main body support comprises connecting rods and connecting joints which can rotate mutually at different levels, the adsorption unit is a rigid flat plate, the bottom of the adsorption unit is provided with a flexible electrostatic adsorption film, and the electrostatic adsorption unit is connected with the rigid main body support through a pin or a hinge structure. The end effector can realize the coating type fitting of the space target object through the self-adaptive rotation of each hinged structure, and the flexible electrostatic adsorption film is applied with high voltage to enable the electrostatic adsorption unit bottom and the surface of the space target object to generate electrostatic adsorption force. The method can realize the self-adaptive on-track capture of target objects with different volumes and different shapes in the space, can also enhance and stabilize the capture effect by utilizing the electrostatic adsorption force, and has quick response and universality which meet the task requirement of the current on-track capture.
Description
Technical Field
The invention belongs to the field of an end effector and electrostatic adsorption for on-rail capture, and particularly relates to an adaptive electrostatic adsorption type end effector for on-rail capture.
Background
With the rapid development of aerospace technology in recent years, space tasks in a vacuum environment become more severe, and the demands of on-orbit capture tasks such as on-orbit assembly of space stations, on-orbit maintenance of fault satellites, cleaning of space orbit garbage and the like become stronger. Therefore, the rapid development of the on-orbit capture technology has extremely important significance for the promotion of the aerospace technology and the national defense safety in China.
The in-orbit capture of the space target object mainly depends on various space manipulators mounted on a space shuttle, a space station or other space robots, and the importance of the end effector as the final execution link of the interaction between the space manipulator and the target object is self-evident. At present, most of space mechanical arm end effectors at home and abroad are fingers, grapples, wire rope sleeves and the like, and the core idea is to utilize mechanical locking force generated between a rigid end effector and a target object to realize on-track capture of the space target. Although these structures are convenient for capturing and moving a heavily loaded space target, the rigid structure has a limitation in its application due to poor interaction with the environment, low adaptability to the shape of the target object, and the like. Some end effectors also use the adsorption force generated by the technologies such as vacuum chuck and magnetic adsorption to replace the mechanical locking force, but the application difficulty of vacuum chuck, magnetic adsorption and the like is very high in the space environment.
The electrostatic adsorption technology can meet the application of space environment, and has low energy consumption, high response speed, wide adaptability to the surface of an object and other properties, which are more and more concerned at home and abroad, so-called electrostatic adsorption is an electrically controllable adsorption technology, and electrostatic charges are generated on the surface of an adsorbed object after voltage is applied to an electrode on an adsorption device, and the electrode and the charges on the adsorbed object interact to generate electrostatic adsorption force. However, since electrostatic adsorption requires as complete contact with the target object as possible and the electrostatic adsorption electrode is mostly arranged on a soft material such as PET, silica gel, etc. to form a flexible electrostatic adsorption film, the electrostatic adsorption film made of such a soft material also causes that the generated adsorption force cannot satisfy the capture of the target object with a large load.
Disclosure of Invention
The invention aims to solve the problems, provides an on-rail capture-oriented adaptive electrostatic adsorption type end effector which can realize the capture of space objects with different shapes and sizes, enhances the capture effect, does not generate large impact to influence the capture effect, and can be used for the adsorption capture, the transportation and the like of space objects with different shapes and different surface properties.
Therefore, the invention discloses an on-orbit capture-oriented adaptive electrostatic adsorption type end effector, which comprises a rigid main body bracket and an electrostatic adsorption unit; the rigid body support comprises a connecting rod and an adapter, wherein the connecting rod comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the electrostatic adsorption unit comprises a first adsorption unit, a second adsorption unit, a third adsorption unit, a fourth adsorption unit, a fifth adsorption unit and a sixth adsorption unit, and a flexible electrostatic adsorption film is arranged at the bottom of the electrostatic adsorption unit; the two ends of the first connecting rod are respectively connected with the first adsorption unit and the second adsorption unit, the two ends of the second connecting rod are respectively connected with the third adsorption unit and the first connecting rod, the two ends of the third connecting rod are respectively connected with the fourth adsorption unit and the fifth adsorption unit, the two ends of the fourth connecting rod are respectively connected with the sixth adsorption unit and the third connecting rod, the two ends of the fifth connecting rod are respectively connected with the second connecting rod and the fourth connecting rod, and the two ends of the sixth connecting rod are respectively connected with the fifth connecting rod and the adapter; the connecting rods connected with each other can rotate mutually; the first to sixth connecting rods and the first to sixth adsorption units jointly form three adsorption parts, and every two adjacent adsorption parts are of symmetrical structures.
The joint head is of a hollow structure, the joint head is arranged on the mechanical arm, the motion of the end effector can be controlled, the three adsorption parts synchronously act, and the adsorption units with different shapes are adapted to the external shape of a grabbed object, so that the end effector realizes adsorption grabbing; because its absorption unit is the symmetrical structure design, consequently snatch the stable difficult lax of ability. And the electric wire connected to the flexible electrostatic adsorption film transmits voltage to two ends of the electrode on the flexible electrostatic adsorption film at the bottom of each adsorption unit through the connecting rod through the hollow part of the adaptor.
Preferably, the flexible electrostatic adsorption film comprises a substrate layer taking the bottom surface of the adsorption unit as a substrate, an insulating layer and a comb-tooth-shaped electrode layer which is based between the substrate layer and the insulating layer and used for enabling an adsorbed object to generate a polarization electric field for adsorption, the substrate layer and the insulating layer are made of silicon rubber, the electrode layer is made of conductive ink, and the comb-tooth-shaped electrode layer is attached to the surface of the substrate layer in a screen printing mode.
The flexible electrostatic adsorption film can play good reinforcing and stabilizing action when adsorbing and snatching space target object, and after discovering space target object, control end effector is close to target object to lead to high voltage electricity for flexible electrostatic adsorption film and in order to produce electrostatic adsorption, thereby accomplish and adsorb and snatch and the transport task, response speed also can satisfy the requirement. The flexible material of the flexible electrostatic adsorption film can also play a role in reducing the impact of the end effector on the target object after the end effector is close to the target object, so that the grabbing stability of the spatial target object is improved.
And the electrode layer structure of the flexible electrostatic adsorption film is designed to be comb-tooth-shaped, and the comb-tooth-shaped electrostatic adsorption electrode structure can generate extremely strong electrostatic adsorption force.
Preferably, the connection means is a pin or other hinge structure.
The pin and the hinge structure are applied to the purpose that each electrostatic adsorption unit can freely rotate for a certain angle around the end part of the connecting rod, and the connecting rods can also mutually rotate for a certain angle, so that the purpose of self-adaptive deformation of the end effector can be realized when objects in different shapes and sizes are adsorbed and grabbed, and the target object can be adsorbed and grabbed in a petal coating mode better.
Preferably, the adsorption unit is a rigid flat plate.
The rigid plate design may allow the end effector to grasp objects of greater mass.
Preferably, the flexible electrostatic adsorption film is adhered to the bottom of the adsorption unit through silica gel or glue.
Preferably, the shapes of the adsorption units in the same adsorption part are different from each other, and the shape of the flexible electrostatic adsorption film is the same as the shape of the corresponding adsorption unit.
Different shapes of the adsorption units can adapt to more grabbed objects in different shapes, and correspondingly, the shape of the flexible electrostatic adsorption film is consistent with that of the adsorption units.
The invention has the beneficial effects that: the adaptive electrostatic adsorption type end effector for on-track capture, which is designed by the invention, has the advantages that the rigid on-track capture end effector is designed to be passively adaptive, the structure is simple, the control is convenient, the use in a complicated and severe space environment can be met, the grabbing of space target objects in different shapes and sizes can be adapted, the grabbing of objects in a large-load space can be met, the grabbing effect is enhanced and stabilized by applying the electrostatic adsorption technology, the properties of quick response, low energy consumption and the like of the electrostatic adsorption technology are also very in line with the requirements of the current on-track capture field, and the arrangement of sensors or other detection equipment is also convenient on the flexible electrostatic adsorption film, so the technical effect of the invention is very obvious, and the application prospect is wide.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view showing a state where a space object having a plane contact surface is sucked and grasped in accordance with the present invention;
FIG. 3 is a schematic view of the present invention in a state of sucking and grabbing a target object in a space with a small volume;
FIG. 4 is a schematic view of the present invention in a state of sucking and grabbing a target object in a large space;
FIG. 5 is a schematic diagram of a single flexible electrostatic chucking electrode according to the present invention;
the flexible electrostatic adsorption film comprises an adapter 1, a sixth connecting rod 2, a first adsorption unit 3, a fourth connecting rod 4, a first connecting rod 5, a fourth adsorption unit 6, a second connecting rod 7, a fifth connecting rod 8, a third connecting rod 9, a second adsorption unit 10, a flexible electrostatic adsorption film 11, a third adsorption unit 12, a fifth adsorption unit 13 and a sixth adsorption unit 14.
Detailed Description
The present invention will be further described with reference to the following embodiments.
Examples
With reference to fig. 1, 2, 3, 4, and 5, an adaptive electrostatic adsorption end effector for on-track capture is disclosed, which includes three independent electrostatic adsorption units, wherein six electrostatic adsorption units and a support constitute an adsorption portion, and each adsorption portion is arranged in an array, and each adsorption portion is distributed in a cross 120 ° in a circumferential direction.
The device specifically comprises a main body rigid support and an electrostatic adsorption unit; the main body rigid support comprises a connecting rod and an adapter 1, wherein the connecting rod comprises a first connecting rod 5, a second connecting rod 7, a third connecting rod 9, a fourth connecting rod 4, a fifth connecting rod 8 and a sixth connecting rod 2; the adsorption units comprise a first adsorption unit 3, a second adsorption unit 10, a third adsorption unit 12, a fourth adsorption unit 6, a fifth adsorption unit 13 and a sixth adsorption unit 14, and a flexible electrostatic adsorption film 11 is arranged at the bottom of each electrostatic adsorption unit; the two ends of a first connecting rod 5 are respectively connected with a first adsorption unit 3 and a second adsorption unit 10, the two ends of a second connecting rod 7 are respectively connected with a third adsorption unit 12 and the first connecting rod 5, the two ends of a third connecting rod 9 are respectively connected with a fourth adsorption unit 6 and a fifth adsorption unit 13, the two ends of a fourth connecting rod 4 are respectively connected with a sixth adsorption unit 14 and the third connecting rod 9, the two ends of a fifth connecting rod 8 are respectively connected with the second connecting rod 7 and the fourth connecting rod 4, the two ends of a sixth connecting rod 2 are respectively connected with the fifth connecting rod 8 and an adapter 1, and the connecting rods which are connected with each other can rotate mutually; the first to sixth connecting rods and the first to sixth adsorption units jointly form three adsorption parts, and every two adjacent adsorption parts are of symmetrical structures. The contraction and the relaxation of the bracket can be controlled through the adapter 1, the three adsorption parts act synchronously, and the adsorption units with different shapes adapt to the external properties of the object to be grabbed, so that the end effector realizes grabbing; because its electrostatic absorption unit is the symmetrical structure design, consequently snatch the stable difficult lax of ability.
Further, the flexible electrostatic adsorption film 11 includes a substrate layer using the bottom surface of the adsorption unit as a substrate, an insulating layer, and a comb-shaped electrode layer between the substrate layer and the insulating layer for generating a polarization electric field for adsorption of an adsorbed object, the substrate layer and the insulating layer are made of silicon rubber, the electrode layer is made of conductive ink, and the comb-shaped electrode layer is attached to the surface of the substrate layer by a screen printing method. Further, the connection mode is a pin or other hinge structure, and a pin connection structure is adopted in the embodiment.
The pin and the hinge structure are applied to the purpose that each adsorption unit can freely rotate for a certain angle around the end part of the connecting rod, and the connecting rods can also rotate for a certain angle mutually, so that the purpose of self-adaptive deformation of the end effector can be realized when objects in different shapes and sizes are adsorbed and grabbed, and the target object can be adsorbed and grabbed in a petal coating mode better.
The state when the object in the space whose contact surface is a plane is sucked and grasped is shown in fig. 2, the state when the object in the smaller volume is sucked and grasped is shown in fig. 3, and the state when the object in the larger volume is sucked and grasped is shown in fig. 4.
Further, the adsorption unit is a rigid flat plate.
The rigid plate design may allow the end effector to grasp objects of greater mass.
Further, the flexible electrostatic adsorption film 11 is attached to the bottom of the adsorption unit through silica gel or double-sided adhesive.
The flexible electrostatic adsorption film 11 is arranged on the grabbing surface of the end effector, so that when the flexible electrostatic adsorption film 11 is close to a target object, the adsorption grabbing force of the end effector can be enhanced after the flexible electrostatic adsorption film 11 is electrified, and the grabbing task can be better and faster completed by utilizing the characteristics of low electrostatic adsorption energy consumption, high response speed and the like. The soft material of the flexible electrostatic adsorption film 11 can also reduce the impact of the device on the target object after the device is close to the target object, and prevent the target object from being separated due to the impact. And moreover, a soft sensor or other monitoring devices can be arranged at the bottom of the end effector, namely on the flexible electrostatic adsorption film 11, so that real-time control and monitoring of the space target object are better realized, and successful realization of space on-track capture is ensured.
Further, the shapes of the adsorption units in the same electrostatic adsorption part are different from each other, and the shape of the flexible electrostatic adsorption film 11 is the same as the shape of the corresponding adsorption unit.
Different shapes of the electrostatic adsorption unit can adapt to more grabbed objects with different shapes, and correspondingly, the shape of the flexible electrostatic adsorption film 11 should be consistent with the shape of the adsorption unit.
In the embodiment, the adaptive rigid adsorption unit is singly adopted to combine the end effector of the bracket and the adapter 1 to realize the grabbing, and the general rigid end effector realizes the on-track grabbing of the target by utilizing the mechanical locking force generated between the general rigid end effector and the space target object. The end effector designed in the embodiment and oriented to on-track capture is simple in structure and convenient to control, captures and captures a space target object on the track in a petal coating mode, can adapt to the shapes of the space target objects with different shapes and different volumes, is a passive self-adaptive space target object, does not need to be controlled and driven by an independent motor, saves the control reaction time, and is very suitable for rapidly capturing the target object in a complicated and severe space environment.
In the embodiment, still can arrange flexible electrostatic adsorption film 11 in end effector's adsorption unit bottom, can play fine reinforcing and stabilizing action when adsorbing and snatching space target object, produce the electrostatic adsorption power after flexible electrostatic adsorption film 11 switches on high-tension electricity, thereby accomplish the absorption of space target object and snatch and transport, its response speed also can satisfy the requirement, this kind of soft material of flexible electrostatic adsorption film 11 can also play when end effector is close to the target object after, reduce the impact effect of end effector to the target object, and then improve the stability of snatching to space target object.
In the above embodiment, the sixth links 2 of the corresponding three of the three adsorption parts are provided as an integral structure, and the adapter 1 is connected to the center point of this integral structure. And the joint head 1 is of a hollow structure, so that the joint head 1 is conveniently arranged on a space station or a mechanical arm. And, the electric wire connected to the flexible electrostatic adsorption film 11 is also arranged through the hollow part of the adaptor 1, so that the voltage is transmitted to both ends of the electrode on the flexible electrostatic adsorption film 11 at the bottom of each adsorption unit through each link.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. An adaptive electrostatic adsorption type end effector facing on-track capture is characterized by comprising a rigid main body support and an electrostatic adsorption unit; the rigid body support comprises a connecting rod and an adapter, wherein the connecting rod comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the electrostatic adsorption unit comprises a first adsorption unit, a second adsorption unit, a third adsorption unit, a fourth adsorption unit, a fifth adsorption unit and a sixth adsorption unit, and a flexible electrostatic adsorption film is arranged at the bottom of the electrostatic adsorption unit; the two ends of the first connecting rod are respectively connected with the first adsorption unit and the second adsorption unit, the two ends of the second connecting rod are respectively connected with the third adsorption unit and the first connecting rod, the two ends of the third connecting rod are respectively connected with the fourth adsorption unit and the fifth adsorption unit, the two ends of the fourth connecting rod are respectively connected with the sixth adsorption unit and the third connecting rod, the two ends of the fifth connecting rod are respectively connected with the second connecting rod and the fourth connecting rod, and the two ends of the sixth connecting rod are respectively connected with the fifth connecting rod and the adapter; the connecting rods connected with each other can rotate mutually; the first to sixth connecting rods and the first to sixth adsorption units jointly form an adsorption part, the number of the adsorption parts is three, and two adjacent electrostatic adsorption parts are of symmetrical structures.
2. The adaptive electrostatic adsorption type end effector facing on-track capture of claim 1, wherein the flexible electrostatic adsorption film comprises a substrate layer with the bottom surface of the adsorption unit as a base, an insulating layer and a comb-shaped electrode layer between the substrate layer and the insulating layer for generating a polarization electric field for adsorption of the adsorbed object, the substrate layer and the insulating layer are made of silicone rubber, the electrode layer is made of conductive ink, and the comb-shaped electrode layer is attached to the surface of the substrate layer by silk-screen printing.
3. The adaptive electrostatic adsorption type end effector facing on-rail capture according to claim 1, wherein the connection mode is a pin or a hinge structure.
4. The adaptive electrostatic adsorption-type end effector for on-rail capture according to claim 1, wherein the electrostatic adsorption unit is a rigid plate.
5. The adaptive electrostatic adsorption type end effector facing on-track capture according to claim 1, wherein the flexible electrostatic adsorption film is adhered to the bottom of the electrostatic adsorption unit through silica gel or glue.
6. The adaptive electrostatic adsorption type end effector facing on-rail capture according to claim 1, wherein the electrostatic adsorption units in the same adsorption part are different in shape, and the flexible electrostatic adsorption film is the same in shape as the corresponding adsorption units.
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| CN201811187023.2A CN109129533B (en) | 2018-10-12 | 2018-10-12 | Adaptive electrostatic adsorption type end effector for on-orbit capture |
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| CN201811187023.2A CN109129533B (en) | 2018-10-12 | 2018-10-12 | Adaptive electrostatic adsorption type end effector for on-orbit capture |
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| CN109129533B true CN109129533B (en) | 2021-09-21 |
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| CN109974959B (en) * | 2019-03-27 | 2021-02-09 | 中国空间技术研究院 | Collision adsorption test device and test method |
| CN110696021A (en) * | 2019-09-05 | 2020-01-17 | 厦门清智科技有限公司 | Gripping device for cloth |
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| WO2015029827A1 (en) * | 2013-08-28 | 2015-03-05 | 株式会社クリエイティブ テクノロジー | Capacitive sensor, detection system, and robot system |
| EP2983199A1 (en) * | 2013-04-02 | 2016-02-10 | National Institute of Advanced Industrial Science and Technology | Carrier for semiconductor process |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN108145735A (en) * | 2017-12-27 | 2018-06-12 | 上海君屹工业自动化股份有限公司 | A kind of strip insulating film carries adsorbing mechanism |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2983199A1 (en) * | 2013-04-02 | 2016-02-10 | National Institute of Advanced Industrial Science and Technology | Carrier for semiconductor process |
| WO2015029827A1 (en) * | 2013-08-28 | 2015-03-05 | 株式会社クリエイティブ テクノロジー | Capacitive sensor, detection system, and robot system |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN108145735A (en) * | 2017-12-27 | 2018-06-12 | 上海君屹工业自动化股份有限公司 | A kind of strip insulating film carries adsorbing mechanism |
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