CN115783316A - Self-adaptive space envelope capturing mechanism - Google Patents
Self-adaptive space envelope capturing mechanism Download PDFInfo
- Publication number
- CN115783316A CN115783316A CN202211539557.3A CN202211539557A CN115783316A CN 115783316 A CN115783316 A CN 115783316A CN 202211539557 A CN202211539557 A CN 202211539557A CN 115783316 A CN115783316 A CN 115783316A
- Authority
- CN
- China
- Prior art keywords
- shell
- main rod
- rod
- paw
- base
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 130
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000013013 elastic material Substances 0.000 claims description 5
- 238000005381 potential energy Methods 0.000 claims description 5
- 239000012528 membrane Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000007789 sealing Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 6
- 210000000078 claw Anatomy 0.000 description 9
- 238000005253 cladding Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 208000011580 syndromic disease Diseases 0.000 description 1
Images
Landscapes
- Tents Or Canopies (AREA)
Abstract
The invention relates to a self-adaptive space envelope capturing mechanism which mainly comprises a bottom plate, a shell, a lifting frame, a top plate, a capturing mechanism, a storage device, a horizontal lead screw nut and a solar panel. The catching mechanism comprises a lower main rod, an upper main rod, a connecting rod mechanism, a paw base, a pulley, a three-blade turntable, a steering engine and a motor; the catching mechanism can be folded inside the satellite, and when the catching mechanism moves upwards through the upper main rod, the connecting rod mechanism is gradually unfolded; the motor drives the screw nut to realize the up-and-down movement of the lower main rod, and the opening and closing of the connecting rod mechanism are driven to drive the gripper to catch a target. When the upper main rod moves downwards, the connecting rod mechanisms are gradually closed, the occupied space is reduced by folding, and the storage device is used for storing the captured targets. The invention controls the speed of the extension rod when retracting, can realize accurate and simultaneous control on the grasping, opening and closing of the gripper, improves the grasping precision of different targets, and is suitable for capturing targets with various sizes.
Description
Technical Field
The invention belongs to the technical field of aerospace devices, and particularly relates to a space envelope capturing mechanism with a storage device and self-adaptability.
Background
Since the first satellite launched in the soviet union in 1957, there have been about 4000 rocket debris and satellites in space, and over 6000 large debris monitored and over 20 tens of thousands of debris larger than 1 cm that were not monitored.
In 1978, the Kaiser syndrome was proposed by the scientist of Tonard Kaiser, who pointed out that in the case of space debris being too dense, a satellite strayed off orbit or hit by a meteor would produce a chain reaction, and a large number of satellites would be damaged and become more space debris. Meanwhile, the continuous generation of space debris also poses a serious threat to limited track resources, and especially when the density of the space debris at a certain track height reaches a critical density, the chain collision process among the debris can cause permanent damage to the track resources.
With the development of aerospace science and technology, the problem of space debris has attracted people's attention, and various researches are carried out at home and abroad, and can be summarized into a contact type clearing mode and a non-contact type clearing mode, wherein capture mechanisms such as a flying net device, a fish-fork device, an adhesion device and a rod-like cone butt joint type device are successively provided in the contact type clearing mode. The unfolding control of the fly net device is complex, self winding is easily caused by improper operation, and the repeated operation efficiency is low; the fish fork device has a simple structure, but new space debris is easily generated at the moment of fixedly connecting the fish fork device with a target, and the device can not be repeatedly used, so that the cost is high and the efficiency is low; the adhesion device has the problems of difficult determination of adhesion mode, limited adhesion force, low stability and the like; although the rod-like cone butt joint type device can be reused and has a simple structure, the capture target only aims at the engine spray pipe and can not capture any target.
In summary, in the current scheme for capturing the space rubbish, most of the schemes are complex to control, any target is difficult to capture, the captured target cannot be stored by the device, and the efficiency is low during repeated operation. It is therefore desirable to design a space envelope capture mechanism with adaptability and impart a storage device thereto.
Disclosure of Invention
The invention provides a self-adaptive space envelope capturing mechanism, aiming at overcoming the defects that the existing space capturing mechanism is complex in control, difficult to capture any target, incapable of accommodating the captured target and low in repeated operation efficiency.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a self-adaptive space envelope capturing mechanism mainly comprises a bottom plate, a shell, a lifting frame, a top plate, a capturing mechanism, a storage device, a horizontal lead screw nut and a solar panel.
When the capturing mechanism is in an open state, the capturing mechanism, the top plate, the lifting frame, the shell and the bottom plate are sequentially arranged from top to bottom. When the capturing mechanism is in a folded state, the capturing mechanism and the lifting frame are positioned in the shell.
The shell is cuboid, and the bottom plate is located at the lower bottom of the shell and fixedly connected with the shell.
The top plate is positioned at the top of the lifting frame and is fixedly connected with the lifting frame. When the crane is located inside the shell, the top plate is flush with the upper surface of the shell, so that the shell is sealed.
The horizontal lead screw nut is positioned on the central line of the lifting frame and is fixedly connected with the lower bottom plate of the lifting frame; the horizontal lead screw nut is positioned on the lower side of the top plate and is fixedly connected with the top plate.
The catching mechanism comprises a lower main rod, an upper main rod, a connecting rod mechanism, a paw base, a pulley, a three-blade turntable, a steering engine and a motor.
The lower end of the lower main rod is fixedly connected with a nut of the horizontal lead screw nut. The side of the upper end of the lower main rod is provided with a gear, and the gear is meshed with the rack on the side of the upper main rod in a matching manner. Go up the mobile jib with the gear cooperation of side rack and lower mobile jib is superposed and pass through to lower mobile jib, relies on the rack-and-pinion transmission to realize going up the up-and-down reciprocating motion of mobile jib on lower mobile jib. The motor is connected with the gear of the lower main rod and used for controlling the rotation of the gear of the lower main rod so as to drive the upper main rod to move up and down. The link mechanisms are positioned on two sides of the upper main rod and the lower main rod and are in bilateral symmetry. A connecting rod at the lower end of the connecting rod mechanism is hinged with a base on the top plate; the connecting rod mechanism is hinged with the upper main rod at the central line position, the upper main rod moves linearly up and down to drive the connecting rod mechanism to move, and when the upper main rod moves upwards, the connecting rod mechanism gradually opens; when the upper main rod moves downwards, the connecting rod mechanism is gradually folded, and the folding and unfolding of the connecting rod mechanism are realized. The horizontal lead screw nut is driven by the motor to drive the lower main rod connected with the horizontal lead screw nut to reciprocate up and down, the upper main rod connected with the horizontal lead screw nut is driven to reciprocate up and down together, and the included angle between the connecting rods on the two sides of the connecting rod mechanism is driven and changed to drive the paw to capture a target.
The lower end of the paw base is fixedly connected with the connecting rod mechanism. The hand claw, three leaf turntables, the steering wheel all is located hand claw base upside, and be connected with the hand claw base. The gripper is hinged to the gripper base, the steering engine is connected with the gripper, the steering engine is fixedly connected with the gripper base, and the steering engine is used for controlling the gripper to rotate in the direction. The pulley is located on the three-blade turntable and fixedly connected with the three-blade turntable. The three-blade rotary table is connected with the paw base shaft, and the motor is positioned at the lower side of the paw base and used for driving and controlling the three-blade rotary table to rotate.
The storage device is positioned on the upper side of the shell and used for storing the captured targets. The solar panel is positioned on the side face of the shell and provides power energy for the satellite and a motor of the capturing mechanism.
According to the self-adaptive space envelope capturing mechanism, the accommodating device comprises the wide-side base, the quadrilateral mechanism, the accommodating film and the cover plate.
The wide-side base is fixedly connected with the outer surface of the shell and provided with a groove, the quadrilateral mechanism is formed by hinging the centers of two connecting rods, and the bottoms of the two connecting rods are matched with the groove of the wide-side base. The cover plate is also provided with a groove, and the tops of the two connecting rods are matched with the groove of the cover plate. It is trilateral to accomodate the film cladding at whole storage device side, and the lower extreme of the inside motor drive quadrangle mechanism connecting rod of casing, horizontal straight line slides in the recess of broadside base, and both ends move to the center and make quadrangle mechanism upwards extend, and expansion storage device draws back and accomodates the film and will be caught the target and put into storage device through the one side of not accomodating the film cladding, and the motor reversal drives the connecting rod lower extreme and removes drive quadrangle mechanism and compress downwards to both sides in the recess, the apron extrusion is caught the target and is made its unable escape, accomplishes and accomodate the storage.
The size of the broadside base is matched with the size of the surface of the shell, and the distances between the broadside bases on the left side and the right side and the side edge of the shell are the same.
In the adaptive spatial envelope capturing mechanism, the modulus of the rack of the lower main rod is 2, the number of teeth is 50, and the pressure angle is 20 °.
The self-adaptive space envelope capturing mechanism comprises a paw shell, a supporting cylinder, a side plate, a film, an extension rod, a compression spring and a rope.
When the paw is in a closed state, the outside of the paw is the paw shell. The paw shell is pear-shaped and made of dielectric elastic materials.
The supporting cylinder is of a hollow structure, and the upper end and the lower end of the supporting cylinder are respectively connected with the paw shell. The compression spring is positioned at the bottom end inside the support cylinder and is in contact with the bottom surface of the extension rod. The compression spring releases elastic potential energy to enable the extension rod, the film and the side plate to extend out of the support cylinder together. The extension rod and the support cylinder are coaxial and are positioned in the support cylinder. When the extension rod extends out of the support cylinder, the tail end of the extension rod is clamped with the upper end of the gripper shell, and the extension rod is prevented from being separated from the support cylinder. The side plates are symmetrically arranged on two sides of the extension rod, and the bottoms of the side plates are hinged to the bottom of the extension rod. The film is located between the side plate and the extension rod, is connected with the side plate and the extension rod respectively, is unfolded along with the increase of an included angle between the side plate and the extension rod, and is folded along with the decrease of the included angle.
The bottom of the extension rod is fixedly connected with a rope, the rope is fixedly connected with the three-blade turntable through the pulley, the extension rod can be pulled back by winding the rope through the rotation of the three-blade turntable, and the folding of the film and the retraction of the extension rod and the side plate are realized.
In the adaptive space envelope capturing mechanism, the film can also be a flexible net.
The quadrilateral mechanism can also be a crank-slider four-bar linkage mechanism.
In the adaptive space envelope capturing mechanism, the transmission mode of the connecting rod mechanism is that the gear is in meshing transmission with the gear.
The invention has the beneficial effects that:
the utility model provides a self-adaptation space envelope catches mechanism, overall structure passes through link mechanism compression inside the satellite before the transmission, makes through the inside spout of satellite and catches the mechanism and stretch out, goes up the meshing transmission expansion of rack and pinion between mobile jib and the lower mobile jib and catches the mechanism, mobile jib and nut converter phase-match, the lift control of horizontal screw nut catches opening and shutting of mechanism. The two-side gripper is three, the grippers are circumferentially and uniformly distributed on the base, the gripper is made of dielectric elastic materials, edges/corners which can adapt to different overall dimension targets through deformation can be caught, an extension rod is arranged inside the gripper, movable side plates are arranged on two sides of the extension rod, a folding and unfolding mechanism hinged through a connecting rod is arranged between the gripper and the extension rod, a rope is arranged at the bottom end of the extension rod and connected with a three-blade turntable, and a compression spring is arranged at the bottom of the gripper. The compression spring releases elastic potential energy, the spring provides axial kinetic energy for the extension rod, and after the extension rod extends out of the paw, the side plates are unfolded towards two sides to drive the connecting rod to move, unfold and unfold the folding and unfolding mechanism, and after the side plates are completely unfolded, a net is formed to carry out capturing on a tiny target. After the task is completed, the three-blade turntable rotates to withdraw the rope, the three claws are controlled to move together to withdraw the extension rod, and the folding and unfolding mechanism is compressed and withdrawn in the process of withdrawing the extension rod. The quadrangle mechanism of the storage device is extended to open the storage device, so that the captured target can be temporarily stored in the storage device and the next target can be captured. The problems of high difficulty in capturing different targets and high precision requirement of the conventional method are effectively solved; in addition, the rotating speed of the motor is calculated by drawing force required by drawing back the telescopic rod to draw back the rope, and the speed of the motor in the drawing back process is further controlled; secondly, calculating the compression amount of a compression spring through the axial force required by the extension rod to fully extend, and further controlling the speed of the extension rod when retracting; meanwhile, the lead screw nut is adopted for lifting, so that the gripping, opening and closing of the gripper can be accurately and simultaneously controlled, and the success rate of capturing targets with different overall dimensions is solved. The capturing mechanism is suitable for the existing various size failure targets, does not need to make excessive adjustment on the structure, and has strong compatibility.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the gripper;
FIG. 3 is a perspective view of the closed gripper;
FIG. 4 is a perspective view of the paw folding and unfolding mechanism when deployed;
FIG. 5 is a schematic view of the storage device;
FIG. 6 is a schematic view of a rack and pinion engagement;
FIG. 7 is a schematic view of the capture mechanism in an expanded state;
FIG. 8 is a schematic view of the capture mechanism in a compressed and folded configuration;
FIG. 9 is a top view of the gripper;
fig. 10 is a partial mechanism schematic diagram of a paw bottom pulley and a three-leaf turntable.
In the figure: 1. a base plate; 2. a housing; 3. a lifting frame; 4. a top plate; 5. a catching mechanism; 6. a storage device; 7. a horizontal lead screw nut; 8. a solar panel; 9. a link mechanism; 10. a lower main rod; 11. an upper main rod; 12. a paw; 13. a gripper housing; 14. a support cylinder; 15. a side plate; 16. a film; 17. an extension bar; 18. a compression spring; 19. a rope; 20. a pulley; 21. a three-leaf turntable; 22. a broadside base; 23. a quadrilateral mechanism; 24. a receiving film; 25. and a cover plate.
Detailed Description
Example 1
A self-adaptive space envelope capturing mechanism comprises a bottom plate 1, a shell 2, a lifting frame 3, a top plate 4, a capturing mechanism 5, a storage device 6, a horizontal lead screw nut 7 and a solar panel 8, and is shown in figure 1.
As shown in fig. 1, the structural arrangement of the whole device is from bottom to top, and the bottom plate 1, the shell 2, the lifting frame 3, the storage device 6, the horizontal lead screw nut 7, the top plate 4, the capturing mechanism 5 and the solar panel 8 are arranged on the peripheral side of the satellite.
The bottom plate 1 is positioned at the bottom of the shell 2 and fixedly connected with the shell to form a satellite main body. The solar panels 8 are arranged on the peripheral side faces of the satellite, and provide energy for a motor for driving the catching mechanism to work through irradiation of sunlight. The crane 3 is located at the center of the satellite, is connected with the satellite through the matching of the bulges at the two sides of the crane and the sliding groove inside the satellite, and can realize the up-and-down reciprocating motion of the mechanism from the inside of the satellite to the outside of the satellite through the sliding groove under the driving of a motor inside the satellite to finish the in and out of the mechanism inside and outside the satellite.
The top plate 4 is positioned at the top of the lifting frame 3 and fixedly connected with the lifting frame through bolts. The length of the top plate 4 is equal to that of the satellite, and when the crane 3 is positioned inside the satellite, the top plate 4 is flush with the upper surface of the satellite and the satellite is sealed.
The horizontal lead screw nut 7 is positioned between the lifting frame 3 and the top plate 4, the axis of the lead screw is positioned at the geometric center of the lifting frame 3, and the horizontal lead screw nut 7 is fixedly connected with the upper part of the bottom of the lifting frame 3 and the lower part of the top plate through the supports at the upper end and the lower end.
The catching mechanism 5 is positioned at the upper end of the top plate 4, and the connecting rods at the lower ends of the left side and the right side of the catching mechanism 5 are hinged with the base on the top plate 4. The lower end of the middle connecting rod of the catching mechanism 5 is fixedly connected with the nut conversion seat of the horizontal lead screw nut 7, the upper and lower movement of the lower main rod can be driven by the lead screw nut to enable the middle connecting rod to integrally reciprocate up and down, so that the included angle between the left and right connecting rods is increased and reduced, the catching mechanism is driven to move, and a target is caught.
As shown in fig. 7, the catching mechanism 5 comprises a link mechanism 9, a lower main rod 10, an upper main rod 11, a gripper 12, a pulley 20, a three-blade turntable 21, a gripper base, a steering engine and a motor.
The position relationship of the catching mechanism comprises a lower main rod 10, an upper main rod 11, a link mechanism 9 and a paw 12 from bottom to top. The lower end of the lower main rod 10 is matched and fixedly connected with the center of a nut conversion seat of the horizontal lead screw nut 7, and the side edge of the upper end of the lower main rod 10 is provided with a gear matched with a rack on the side edge of the upper main rod 11. Go up mobile jib 11 and lower mobile jib 10 coincidence and through the gear cooperation of side rack and lower mobile jib 10, the gear of lower mobile jib 10 is connected with the motor shaft of installing at its rear side, and the motor drives the gear and rotates, relies on the gear rack transmission to realize going up mobile jib 11 and realizing the expansion and the folding of catching mechanism in the up-and-down reciprocating motion on lower mobile jib 10.
The connecting rod mechanisms 9 are symmetrical along the two sides of the center of the upper main rod and the lower main rod, the connecting rods at the lower ends of the left side and the right side are in hinged fit with the top plate 4, and the two connecting rods can rotate around the base on the top plate 4. The center of the link mechanism 9 is in bolted connection and matching with the upper main rod 11, and the reciprocating linear motion of the upper main rod 11 drives the link mechanism to integrally rotate around the lower end connecting rods at the left side and the right side to realize folding and unfolding. The upper main rod 11 moves upwards to increase the included angle of the middle connecting rod and expand the middle connecting rod to drive the left and right connecting rods to expand towards two sides, so that the whole capturing mechanism is expanded to prepare for capturing a target; go up the mobile jib downstream for the reduction of middle connecting rod contained angle drives the left and right sides connecting rod and draws close to the centre and realize folding.
The paw bases are respectively fixedly connected with two symmetrical connecting rods at the upper end of the connecting rod mechanism 9, the number of the paws 12 is three, the paws are uniformly distributed and installed on the paw bases according to the circumference, and the tail ends of the paws are hinged with the paw bases. The steering wheel is fixed on hand claw base upper portion, and quantity is 3 and carries out the axle cooperation with three hand claw 12 bottom sides respectively, rotates around articulated axle through the steering wheel control of arranging on hand claw base.
The three-blade turntable 21 and the paw base are coaxial and located on the upper side of the paw base and are connected through a shaft, the shaft of the three-blade turntable 21 is connected with a motor shaft located on the lower side of the paw base in a matched mode, and the three-blade turntable 21 is driven to rotate through rotation of the motor. The pulley 20 is fixedly connected to the three-blade turntable 21, and the rope 19 can be wound on the three-blade turntable 21 through the pulley 20.
The rack modulus of the side of the lower main rod is 2, the number of teeth is 50, the pressure angle is 20 degrees, the rotation of the gear is accurately controlled, and therefore the speed of the catching mechanism is expanded.
As shown in fig. 2, the gripper 12 includes a gripper housing 13, a support cylinder 14, a side plate 15, a film 16, an extension bar 17, a compression spring 18, and a rope 19.
The outer part of the paw 12 is a paw shell 13 which is pear-shaped and made of dielectric elastic material, and the paw can be deformed by voltage driving. The tail ends of the claws are matched with the steering engine, the inside of the satellite sends instructions to a signal line of the steering engine to enable the steering engine to rotate, catching is completed through deformation and target appearance self-adaption when the steering engine contacts and catches edges/corners of a target under the combined action of voltage control, and the elasticity of the dielectric elastic material enables the collision impact generated when the steering engine contacts the target to be properly reduced in the catching process.
The claw 12 is internally and centrally provided with a supporting cylinder 14, a side plate 15, a film 16, an extension rod 17 and a compression spring 18. The supporting cylinder 14 is located at the center of the paw and is of a hollow structure, and the upper end and the lower end of the supporting cylinder are respectively fixedly connected with the shell 13 up and down. The compression spring 18 is located at the bottom end inside the support cylinder 14 in contact with the bottom surface of the extension bar 17. The release of the elastic potential energy by the compression spring 18 allows the extension bar 17 to extend out of the paw 12 together with the membrane 16 and the side plate 15.
The extension rod 17 and the support cylinder 14 are coaxial and are located inside the support cylinder 14, when the extension rod 17 extends out of the gripper, the tail end of the extension rod 17 is clamped with the upper end of the gripper shell 13, and the extension rod 17 is guaranteed not to be separated from the gripper 12.
The side plates 15 are symmetrically arranged on two sides of the extension bar 17, the bottoms of the side plates 15 are hinged with the bottom of the extension bar 17, and the side plates 15 on the two sides can realize angle change with the extension bar 17. The film 16 is positioned between the side plate 15 and the extension bar 17, two sides of the film are fixedly connected with the side plate 15 and the extension bar 17 respectively, and the film is unfolded along with the increase of the included angle between the side plate 15 and the extension bar 17, and is folded along with the decrease of the included angle.
The bottom of the extension rod 17 is fixedly connected with a rope 19, the rope 19 is wound with a three-blade turntable 21 at the tail end of a connecting rod at the upper end of the connecting rod mechanism through an external pulley 20, the motor drives the three-blade turntable to rotate and wind the rope 19 so as to pull back the extension rod 17, and the folding of the film 16 and the retraction of the extension rod and the side plate are realized.
The three-blade turntable 21 is fixedly connected with the top of the connecting rod at the upper end of the connecting rod mechanism 9, and the pulleys 20 are 3 in number and are symmetrically distributed and fixedly connected on the three-blade turntable 21 along the circumference.
The compression spring 18 is a spring with the elastic coefficient k =1500N/m, and can release larger elastic potential energy in a shorter formation, so that the design requirement is met.
As shown in fig. 5, the storage device 6 includes a wide base 22, a quadrilateral mechanism 23, a storage film 24, and a cover plate 25.
The broadside base 22 is fixedly connected with the outer surface of the satellite, a groove is formed in the base, the quadrilateral mechanism 23 is formed by hinging the centers of two connecting rods, and the bottoms of the two connecting rods are matched with the groove of the broadside base 22. The cover plate 25 is also provided with a groove which is matched and connected with the upper ends of the connecting rods of the quadrilateral mechanism, and the tops of the two connecting rods are matched with the groove of the cover plate 25. It is trilateral at whole storage device side to accomodate 24 cladding of film, the lower extreme of the inside motor drive quadrilateral mechanism 23 connecting rod of satellite slides at the horizontal straight line in the recess of broadside base 22, both ends move towards the center and make quadrilateral mechanism upwards extend, expand storage device 6 and pull open and accomodate film 24 and will be caught the target and put into storage device through not having one side of accomodating 24 claddings of film, the motor reversal drives the connecting rod lower extreme and moves drive quadrilateral mechanism downward compression to both sides in the recess, apron 25 extrusion is caught the target and makes its unable escape, the completion is accomodate and is stored.
The dimensions of the broadside bases 22 match the dimensions of the satellite surface, and the distances between the bases on the left and right sides and the sides of the satellite are the same. Adopt truss mechanism, elevating system 3 adopts plate structure and frame construction's structure complex, and frame construction is used for strengthening intensity and can plays the effect that subtracts the heavy.
Example 2
The quadrilateral mechanism 23 of the storage device 6 can also be a crank-slider four-bar linkage mechanism, so that the storage device can be opened, closed and folded.
Example 3
The film 16 in the gripper 12 may also be a flexible web that can be housed inside the gripper 12; when the flexible mesh is deployed, envelope capture may be performed on the target.
Example 4
The link mechanism 9 of the capturing mechanism 5 can also be in a transmission mode of gear-gear meshing transmission, and the opening and closing of the capturing mechanism 5 can be realized by changing the included angle of the left and right side links.
Claims (7)
1. A self-adaptive space envelope capturing mechanism is characterized by mainly comprising a bottom plate (1), a shell (2), a lifting frame (3), a top plate (4), a capturing mechanism (5), an accommodating device (6), a horizontal lead screw nut (7) and a solar panel (8);
when the capturing mechanism is in an open state, the capturing mechanism (5), the top plate (4), the lifting frame (3), the shell (2) and the bottom plate (1) are sequentially arranged from top to bottom; when the capturing mechanism is in a closed state, the capturing mechanism (5) and the lifting frame (3) are positioned in the shell (2);
the shell (2) is cuboid, and the bottom plate (1) is positioned at the lower bottom of the shell (2) and fixedly connected with the shell (2);
the lifting frame (3) can move up and down along the sliding groove of the shell (2), and is driven by a motor of the lifting frame (3) and controls the moving speed and displacement of the lifting frame;
the top plate (4) is positioned at the top of the lifting frame (3) and is fixedly connected with the lifting frame (3); when the lifting frame (3) is positioned in the shell (2), the top plate (4) is flush with the upper surface of the shell (2) to realize the sealing of the shell (2);
the horizontal lead screw nut (7) is positioned on the central line of the lifting frame (3) and is fixedly connected with the lower bottom plate of the lifting frame (3); the horizontal lead screw nut (7) is positioned on the lower side of the top plate (4) and is fixedly connected with the top plate (4);
the catching mechanism (5) comprises a lower main rod (10), an upper main rod (11), a connecting rod mechanism (9), a gripper (12), a gripper base, a pulley (20), a three-blade turntable (21), a steering engine and a motor;
the lower end of the lower main rod (10) is fixedly connected with a nut of the horizontal lead screw nut (7); a gear is arranged on the side edge of the upper end of the lower main rod (10), and the gear is meshed with a rack on the side edge of the upper main rod (11) in a matching manner; the upper main rod (11) is superposed with the lower main rod (10) and is matched with a gear of the lower main rod (10) through a side rack, and the upper main rod (11) can reciprocate up and down on the lower main rod (10) by means of gear-rack transmission; the motor is connected with the gear of the lower main rod (10) and is used for controlling the rotation of the gear of the lower main rod (10) so as to drive the upper main rod (11) to move up and down; the link mechanisms (9) are positioned on two sides of the upper main rod (11) and the lower main rod (10) and are symmetrical left and right; a connecting rod at the lower end of the connecting rod mechanism (9) is hinged with a base on the top plate (4); the connecting rod mechanism (9) is hinged with the upper main rod (11) at the central line position, the upper main rod (11) reciprocates linearly up and down to drive the connecting rod mechanism (9) to move, and when the upper main rod (11) moves upwards, the connecting rod mechanism (9) opens gradually; when the upper main rod (11) moves downwards, the link mechanism (9) is gradually folded up to realize the folding and unfolding of the link mechanism (9); the horizontal lead screw nut (7) is driven by a motor to drive a lower main rod (10) connected with the horizontal lead screw nut to reciprocate up and down, an upper main rod (11) connected with the horizontal lead screw nut is driven to reciprocate up and down together, and included angles of connecting rods on two sides of a connecting rod mechanism (9) are driven and changed to drive the paw (12) to capture a target;
the lower end of the paw base is fixedly connected with the connecting rod mechanism (9); the paw (12), the three-blade turntable (21) and the steering engine are all positioned on the upper side of the paw base and are connected with the paw base; the paw (12) is hinged with the paw base, the steering engine is connected with the paw (12), the steering engine is fixedly connected with the paw base, and the steering engine is used for controlling the paw (12) to rotate in the direction; the pulley (20) is positioned on the three-blade turntable (21) and is fixedly connected with the three-blade turntable (21); the three-blade rotary table (21) is connected with the paw base shaft, and the motor is positioned at the lower side of the paw base and used for driving and controlling the three-blade rotary table (21) to rotate;
the containing device (6) is positioned on the upper side of the shell (2) and is used for storing the captured targets; the solar panel (8) is positioned on the side face of the shell (2) and provides power energy for the satellite and a motor of the capturing mechanism.
2. The adaptive spatial envelope capturing mechanism of claim 1, wherein the receiving device (6) comprises a broadside base (22), a quadrilateral mechanism (23), a receiving film (24), a cover plate (25);
the wide-side base (22) is fixedly connected with the outer surface of the shell (2), the wide-side base (22) is provided with a groove, the quadrilateral mechanism (23) is formed by hinging the centers of two connecting rods, and the bottoms of the two connecting rods are matched with the groove of the wide-side base (22); the cover plate (25) is also provided with a groove, and the tops of the two connecting rods are matched with the groove of the cover plate (25); the storage film (24) is coated on three sides of the side of the integral storage device, the motor inside the shell (2) drives the lower end of a connecting rod of the quadrilateral mechanism (23), the horizontal straight line slides in a groove of the wide base (22), two ends move towards the center to enable the quadrilateral mechanism to extend upwards, the storage device (6) is unfolded, the storage film (24) is pulled open, a captured target is placed into the storage device through one side which is not coated by the storage film (24), the motor rotates reversely to drive the lower end of the connecting rod to move towards two sides in the groove to drive the quadrilateral mechanism to compress downwards, the cover plate (25) extrudes the captured target to enable the captured target to escape, and storage is completed;
the size of the broadside base (22) is matched with the surface size of the shell (2), and the distances between the broadside bases (22) on the left side and the right side and the side edge of the shell (2) are the same.
3. The adaptive spatial envelope capturing mechanism of claim 1, wherein the lower main rod (10) has a rack module of 2, a number of teeth of 50 and a pressure angle of 20 °.
4. The adaptive spatial envelope capturing mechanism of claim 1, characterized in that the gripper (12) comprises a gripper housing (13), a support cylinder (14), a side plate (15), a membrane (16), an extension bar (17), a compression spring (18), a rope (19);
when the paw (12) is in a closed state, the outside of the paw (12) is a paw shell (13); the paw shell (13) is pear-shaped and made of dielectric elastic material;
the supporting cylinder (14) is of a hollow structure, and the upper end and the lower end of the supporting cylinder are respectively connected with the paw shell (13); the compression spring (18) is positioned at the bottom end inside the support cylinder (14) and is in contact with the bottom surface of the extension rod (17); the compression spring (18) releases elastic potential energy to enable the extension rod (17) with the film (16) and the side plate (15) to extend out of the support cylinder (14) together; the extension rod (17) and the support cylinder (14) are coaxial and are positioned in the support cylinder (14); when the extension rod (17) extends out of the support cylinder (14), the tail end of the extension rod (17) is clamped with the upper end of the paw shell (13), so that the extension rod (17) is prevented from being separated from the support cylinder (14); the side plates (15) are symmetrically arranged on two sides of the extension rod (17), and the bottom of each side plate (15) is hinged with the bottom of the extension rod (17); the film (16) is positioned between the side plate (15) and the extension bar (17), the film (16) is respectively connected with the side plate (15) and the extension bar (17), and is unfolded along with the increase of an included angle between the side plate (15) and the extension bar (17) and folded along with the decrease of the included angle;
the bottom of the extension rod (17) is fixedly connected with a rope (19), the rope (19) is fixedly connected with the three-blade turntable (21) through the pulley (20), the extension rod (17) can be pulled back by winding the rope (19) through the rotation of the three-blade turntable, and the folding of the film (16) and the retraction of the extension rod (17) and the side plate (15) are realized.
5. The adaptive spatial envelope capturing mechanism of claim 4, wherein the membrane (16) is a flexible mesh.
6. The adaptive spatial envelope capturing mechanism of claim 2 wherein the quadrilateral mechanism (23) is a slider-crank four-bar linkage.
7. The adaptive spatial envelope capturing mechanism of claim 1 wherein the linkage mechanism (9) is geared with a gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211539557.3A CN115783316B (en) | 2022-12-02 | 2022-12-02 | Self-adaptive space envelope capturing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211539557.3A CN115783316B (en) | 2022-12-02 | 2022-12-02 | Self-adaptive space envelope capturing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115783316A true CN115783316A (en) | 2023-03-14 |
| CN115783316B CN115783316B (en) | 2024-04-26 |
Family
ID=85445039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211539557.3A Active CN115783316B (en) | 2022-12-02 | 2022-12-02 | Self-adaptive space envelope capturing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115783316B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117817692A (en) * | 2024-03-04 | 2024-04-05 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100193640A1 (en) * | 2009-01-30 | 2010-08-05 | The Boeing Company | Method and apparatus for satellite orbital change using space debris |
| CN105564669A (en) * | 2014-10-24 | 2016-05-11 | 塔莱斯公司 | Manipulation of a satellite in space |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
-
2022
- 2022-12-02 CN CN202211539557.3A patent/CN115783316B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100193640A1 (en) * | 2009-01-30 | 2010-08-05 | The Boeing Company | Method and apparatus for satellite orbital change using space debris |
| CN105564669A (en) * | 2014-10-24 | 2016-05-11 | 塔莱斯公司 | Manipulation of a satellite in space |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
Non-Patent Citations (1)
| Title |
|---|
| 孙永军;王钤;刘伊威;谢宗武;金明河;刘宏;: "空间非合作目标捕获方法综述", 国防科技大学学报, no. 03, 28 June 2020 (2020-06-28) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117817692A (en) * | 2024-03-04 | 2024-04-05 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
| CN117817692B (en) * | 2024-03-04 | 2024-04-30 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115783316B (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109533402B (en) | Lightweight foldable space truss type capturing manipulator | |
| CN115783316A (en) | Self-adaptive space envelope capturing mechanism | |
| CN110979756B (en) | Space-expandable catching manipulator device | |
| CN109760084B (en) | Modularization capture manipulator based on kinematic pair metamorphism | |
| CN215789898U (en) | Automatic control ash cleaning robot for silo of cement silo | |
| CN111941446B (en) | Folding and unfolding device based on changeable cell paper folding structure | |
| CN105923160A (en) | Clamping device for logistics unmanned aerial vehicle | |
| CN113622533A (en) | Waterproof sound-proof wall of environmental protection for building | |
| CN113922748A (en) | Photovoltaic panel rapid folding device for floating photovoltaic microgrid and use method thereof | |
| CN106809741B (en) | A kind of small-sized electric power equipment landing gear | |
| CN213169725U (en) | Clamping device for lifting garbage can of garbage truck | |
| CN116786545A (en) | Belt cleaning device of waterproof coating bucket | |
| CN116544828A (en) | Inspection equipment for power distribution station and inspection method thereof | |
| CN208734165U (en) | A kind of Double-deck lift type stereo garage | |
| CN114148494A (en) | Underwater outboard release device | |
| CN115847470B (en) | Space envelope capturing end effector with self-adaptability based on mechanical arm | |
| CN206816046U (en) | Lithium electric baking oven multi link switchs door drive mechanism | |
| CN203296096U (en) | Dirt grabbing mechanical arm | |
| CN214145258U (en) | Folding cover mechanism of cast tube production line equipment workshop | |
| CN113602515B (en) | Outdoor small-size patrol unmanned aerial vehicle puts in and retrieves storage device | |
| CN117283588B (en) | Opening and closing system and tunnel cleaning robot | |
| CN111120826B (en) | Camera position and posture adjusting device | |
| CN114954812B (en) | Variable remote visual water surface floater cleaning robot | |
| CN108756382A (en) | A kind of Double-deck lift type stereo garage | |
| CN212500506U (en) | Foldable cover-folding medical waste transport vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |