CN115847470A - Space envelope capture end effector with self-adaptability based on mechanical arm - Google Patents
Space envelope capture end effector with self-adaptability based on mechanical arm Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000006835 compression Effects 0.000 claims abstract description 41
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- 230000009471 action Effects 0.000 claims abstract description 6
- 210000003857 wrist joint Anatomy 0.000 claims description 17
- 239000013013 elastic material Substances 0.000 claims description 10
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 235000014443 Pyrus communis Nutrition 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 229920002595 Dielectric elastomer Polymers 0.000 claims 2
- 230000003578 releasing effect Effects 0.000 claims 1
- 210000000078 claw Anatomy 0.000 description 21
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
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- 238000005381 potential energy Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000003337 fertilizer Substances 0.000 description 1
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Abstract
The invention relates to a space envelope capturing end effector with self-adaptability based on a mechanical arm. The paw comprises a shell, a supporting sleeve, side plates, a folding and unfolding mechanism, an extending rod and a compression spring assembly. When the folding and unfolding mechanism is in a folded state, a compression spring in the compression spring assembly is in a compressed state, the shell is outside the paw, and the paw captures a target under the action of the steering engine; when the folding and unfolding mechanism is in an unfolding state, the folding and unfolding mechanism forms a net shape, and enveloping and capturing of tiny targets is achieved. The invention has simple structure and low control precision requirement, can capture any appearance target, capture any target edge/angle, realize envelope capture on a tiny target and has stronger compatibility.
Description
Technical Field
The invention belongs to the technical field of aerospace mechanical equipment, and particularly relates to a space envelope capturing end effector with self-adaptability based on a mechanical arm.
Background
Since the first satellite was launched in 1957, there are now about 4000 rocket debris and satellites in space, and more than 6000 large debris being monitored and more than 20 million debris larger than 1 cm but not being monitored.
In 1978, the Kasler syndrome was proposed by the American scientist Tang Nade. Kasler, who pointed out that in the case of space debris being too dense, a satellite deviated from orbit or hit by a meteor would generate a chain reaction, and then 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 garbage causes people's attention, and the flexibility and the working range of the mechanical arm make the mechanical arm popular in space missions, so the application of the mechanical arm is more mature and wide. At present, a lot of researches are carried out on end effectors of mechanical arms at home and abroad, the end effectors can be roughly divided into two types, the first type is a satellite and arrow butt joint ring, the object to be grabbed by the end effector of a certain specific target, such as an end capturing mechanism provided by an MDA company, is a target satellite, the end effector can be quickly grabbed by the end effector, but the operation is complex and only can be carried out on the specific target; the second type is a multi-finger type mechanism, for example, an under-actuated gripper developed by the institute of intelligent machinery for fertilizer combination in Chinese academy of sciences can realize accurate grabbing on small targets, but the actuator has a complex structure and high requirement on operation accuracy.
To sum up, in the scheme of catching space rubbish at present, the technical problem that mechanical arm end effector mostly exists is: the structure composition is complicated, the control precision requirement is high and complicated, and any target cannot be captured.
Disclosure of Invention
In order to overcome the defects that the existing end effector is complex in structure, high in control precision requirement and incapable of capturing any target when capturing space debris, the invention provides a self-adaptive space envelope capturing end effector based on a mechanical arm.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a self-adaptive space envelope capturing end effector based on a mechanical arm mainly comprises a wrist joint, a base, a support, a paw, a three-blade turntable, a steering engine and a rope.
The wrist joint is positioned at the lower part of the actuator and is connected with the mechanical arm which is externally connected. The base is located on the upper side of the wrist joint and fixedly connected with the wrist joint.
The base upside sets up 1 three leaf carousel, 3 supports, 3 steering engines, three leaf carousels are located the center of base upside, and 3 supports, 3 steering engines all are located three leaf carousel circumference outside, equipartition.
The three-blade rotary table is coaxial with the base and is connected with the base shaft at the shaft center, the three-blade rotary table can rotate around the shaft, and the signal line of the mechanical arm controls the rotation of the three-blade rotary table. The support, the steering wheel with base fixed connection.
The paw with the support is articulated, the paw with the steering wheel is connected, under the steering wheel effect, the paw can rotate around the articulated shaft of support, makes the upper portion of paw remove to the central axis of base, and 3 paws form the action of grasping or loosening, realize opening and shutting of paw promptly. The pulley is located on the three-blade turntable and fixedly connected with the three-blade turntable.
The gripper comprises a shell, a supporting sleeve, side plates, a folding and unfolding mechanism, an extension rod and a compression spring assembly. The supporting sleeve, the side plates, the folding and unfolding mechanism, the extension rod and the compression spring assembly are all positioned in the shell.
When the folding and unfolding mechanism is in a folding state, a compression spring in the compression spring assembly is in a compression state, the shell is in a pear shape outside the paw, and the support sleeve is fixedly connected with the shell. The paw realizes the capture of the shell to the target under the action of the steering engine. The shell is made of dielectric elastic materials, the shell voltage can be controlled through the mechanical arm signal line, the deformation of the shell is achieved, and therefore the target is subjected to self-adaptive capture. The extension rod is arranged at the center of the paw and is coaxial with the support sleeve. The side plates are positioned on two sides of the extension rod and are symmetrically distributed. The folding and unfolding mechanism, the extension rod, the side plate and the compression spring assembly are all located inside the supporting sleeve, and the extension rod, the folding and unfolding mechanism, the side plate and the supporting sleeve are sequentially arranged outwards from the central axis of the paw. The side plates are connected with the extension rod in a hinged mode. The folding and unfolding mechanism is respectively connected with the extension rod and the side plate in a hinged mode.
And one end of the extension rod close to the bottom of the paw is provided with a compression spring assembly. The compression spring assembly comprises a compression spring and a spring seat. One end of the compression spring is connected with one end of the extension rod, and the other end of the compression spring is connected with the spring seat.
The rope passes through the shell, the compression spring assembly and is connected with the lower end of the extension rod, the rope further passes through the bottom of the paw and is connected with the three-blade turntable through the pulley. Namely, one end of the rope is connected with the extension bar, and the other end of the rope is connected with the three-blade turntable.
The folding and unfolding mechanism comprises a flexible connecting rod and a connecting joint. The flexible connecting rod is connected through the connecting joint, and the flexible connecting rod is connected with the extension rod and the side plate through the connecting joint. The extension rod extends or retracts in the supporting sleeve, so that the included angle between the extension rod and the side plate is changed, and the folding and unfolding mechanism is compressed or unfolded. When the folding and unfolding mechanism is in an unfolding state, the flexible connecting rod passes through the connecting joint to form a parallelogram mechanism, and the folding and unfolding mechanism is in a net shape.
In the space envelope capturing end effector, the elastic coefficient of the compression spring is 1500N/m.
The spatial envelope described above captures the end effector, and the folding and unfolding mechanism may also be a Bennett mechanism based folding and unfolding mechanism.
The space envelope captures the end effector, and the folding and unfolding mechanism can also be an 8R mechanism-based folding and unfolding mechanism.
In the space envelope capturing end effector, the shell can also be made of filiform dielectric elastic materials, and the dielectric elastic materials are uniformly distributed to form a pear shape.
The beneficial effects of the invention are:
the space envelope capturing end effector has the advantages of simple structure, low control precision requirement, capability of capturing any appearance target, capturing any target edge/angle and realizing envelope capturing of a tiny target. The whole end effector is composed of three claws, a base is arranged to be matched with a wrist joint, the claws are evenly distributed on the base in a circumferential mode, the claws are made of dielectric elastic materials and are used for catching edges/angles of targets with different overall dimensions through deformation adaptation, torsion springs are arranged on the wrist joints of the claws, collision and rotation generated in the catching process are eliminated to a certain extent, extension rods are arranged inside the claws, movable side plates are arranged on two sides of the extension rods, a folding and unfolding mechanism hinged through a connecting rod is arranged between the extension rods and the side plates, ropes are arranged at the bottom ends of the extension rods and connected with a three-leaf turntable, and compression springs are arranged at the bottom of the claws. The spring releases elastic potential energy, the spring provides axial kinetic energy for the extension rod, after the extension rod extends out of the paw, the side plates are unfolded towards two sides to drive the connecting rod to move, the folding and unfolding mechanism is unfolded, and a net is formed after the side plates are completely unfolded to capture a tiny target. After the task is completed, the three-blade turntable rotates to withdraw the rope, the steering engine controls the three claws to move together to withdraw the extension rod, and the folding and unfolding mechanism compresses and withdraws in the withdrawing process of the extension rod to prepare for capturing the next target. 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, the compression amount of the compression spring is calculated through the axial force required by the complete extension of the extension rod, so that the speed capturing mechanism is suitable for the existing small-size failure target when the extension rod is retracted, excessive adjustment on the structure is not needed, and the compatibility is strong.
Drawings
The invention is further illustrated by the following examples in conjunction with the drawings.
FIG. 1 is a perspective view of the present invention with the folding and unfolding mechanism unfolded;
FIG. 2 is a schematic cross-sectional view of a gripper;
FIG. 3 is a perspective view of the gripper;
FIG. 4 is an expanded front view of the folding and unfolding mechanism of the present invention;
FIG. 5 is a top view of the present invention with the folding and unfolding mechanism collapsed;
fig. 6 is a schematic view of the components associated with the cord connection.
In the figure: 1. a wrist joint; 2. a base; 3. a support; 4. the paw 5 is a three-leaf turntable; 6. a steering engine; 7. a rope; 8. a housing; 9. a support sleeve; 10. a side plate; 11. a folding and unfolding mechanism; 12. an extension bar; 13. a compression spring assembly; 14. a flexible connecting rod; 15. a connecting joint; 16. a pulley.
Detailed Description
Example 1
A space envelope capturing end effector with self-adaptability based on a mechanical arm comprises a wrist joint 1, a base 2, a support 3, a paw 4, a three-blade turntable 5, a steering engine 6 and a rope 7, and is shown in figure 1.
As shown in figure 1, the whole device comprises a wrist joint 1, a base 2, a three-blade turntable 5, a steering engine 6, a support 3, a pulley 16 and a paw 4 from bottom to top. The wrist joint 1 is connected with a mechanical arm at the bottom to realize the integral rotation of the end effector, a torsion spring is arranged in the wrist joint to eliminate the collision and the rotation generated in the capturing process to a certain extent, the base 2 is connected with the wrist joint 1 and the support 3, the three-blade turntable 5 is arranged at the center of the base 2, the axes of the three-blade turntable and the base are superposed, the three-blade turntable 5 rotates around the shaft through shaft connection, and the rotation of the three-blade turntable is controlled through a mechanical arm signal line. The claws 4 are evenly distributed on the circumference and are hinged with the bracket 3. Steering wheel 6 arranges in base 2 top, and quantity is three, links to each other with hand claw 4 bottom side, and three hand claw bottom is articulated with the support and drives the rotation of hand claw through control steering wheel rotation and can realize opening and shutting of hand claw. The pulley 16 is connected with the three-blade turntable 5 and the internal structure of the paw, the three blade tail ends of the three-blade turntable 5 are respectively wound with the rope 7, and the rope 7 is connected with the internal structure of the paw 4 through the pulley 16, so that the internal components of the paw 4 can be controlled by the rotation of the three-blade turntable 5.
As shown in fig. 2, the gripper 4 includes a housing 8, a support sleeve 9, a side plate 10, a folding and unfolding mechanism 11, an extension bar 12, and a compression spring assembly 13.
The outside of the paw 4 is a shell 8, the shape is pear-shaped, the material is dielectric elastic material, the deformation of the paw is realized by controlling the voltage of a mechanical arm signal line, and in addition, the adaptive capture of the target shape is carried out, the dielectric elastic material has certain elasticity, and the collision impact generated when the paw is in contact with the target can be properly reduced.
The thickness of the shell 8 is designed to be 2mm, and corresponding strain can be realized under sufficient strength, so that the design requirement is met.
A supporting sleeve 9 is arranged at the center inside the paw 4, the supporting sleeve 9 is fixedly connected with the shell 8, and the folding and unfolding mechanism 11, the extension rod 12, the side plate 10 and the compression spring are all arranged inside the supporting sleeve 9. The extension bar 12 is arranged at the center, is coaxial with the support sleeve 9, is symmetrically arranged at two sides of the side plate 10 and is connected with the bottom of the extension bar 12. The folding and unfolding mechanism 11 is located between the side plate 10 and the extension bar 12 in a compressed state, and when the side plate 10 is opened towards two sides, the folding and unfolding mechanism 11 can be driven to be unfolded.
The end of the extension rod 12 is provided with a compression spring assembly 13. The rope 7 is connected with the bottom of the extension rod, the rope 7 penetrates out of the bottom of the paw and is connected with the three-blade turntable 5 through the pulley 16, the three-blade turntable 5 rotates to achieve winding of the rope 7 and pull back of the extension rod 12, and therefore folding and unfolding of the folding and unfolding mechanism are achieved through extension and retraction of the extension rod 12 and repeated work is achieved.
The spring seat of the compression spring assembly 13 is arranged at the bottom end of the support sleeve 9, the compression spring is arranged on the spring seat, and the upper portion of the compression spring is in contact with the bottom of the extension rod 12.
The spring assembly 13 is compressed, and the spring with the elastic coefficient k =1500N/m is adopted, so that larger elastic potential energy can be released in a shorter stroke, and the design requirement is met.
The folding and unfolding mechanism 11 comprises a flexible connecting rod 14 and a connecting joint 15, wherein two sides of the flexible connecting rod 14 are symmetrically and movably connected with the side plate 10 and the extension rod 12 through the connecting joint respectively.
The flexible connecting rods 14 are arranged in a group of two by two, and a parallelogram mechanism is adopted, and the compression and the expansion of the folding and expanding mechanism are realized by the extension and the retraction of the extension rod 12, so that the angle change of the included angle between the bottom of the extension rod and the side plate 10 is caused. 9 parallelogram mechanisms are longitudinally arranged on each single side, a net shape can be formed in an unfolded state, the distance between an upper connecting rod and a lower connecting rod is set to be 8cm, and the target can not escape from the formed net.
The flexible connecting rod 14 has certain buffering and energy-absorbing functions, and can effectively slow down impact generated by contact and collision of a target and the expanded net in the process of enveloping and capturing the target.
Example 2
The folding and unfolding mechanism 11 can also be a folding and unfolding mechanism based on a Bennett mechanism, so that the mechanism is compressed or unfolded, and envelope capture of a target is completed.
Example 3
The folding and unfolding mechanism 11 can also be an 8R mechanism-based folding and unfolding mechanism, so that the mechanism is compressed or unfolded, and envelope capture of a target is completed.
Example 4
The shape of the shell 8 can also be a filiform dielectric elastic material, the upper end and the lower end are closed, the whole body is arranged in a pear shape by adopting filiform equidistance, the deformation of the dielectric elastic material is driven to be easier by controlling voltage, a better shape self-adaption effect is realized when edges/corners of a capture target are captured, and the self-adaption contact capture of the edges/corners is completed.
The working principle of the space envelope capturing end effector is as follows:
the whole mechanism works as an end effector on a mechanical arm, and the number of the paws is 3 and is uniformly distributed in the circumference. The inside cavity that is of hand claw, the centre is provided with the support sleeve 9 and runs through both ends about the hand claw. When catching the target, the accessible hand claw is direct to be caught target edges and corners/limit, and the hand claw adopts dielectric elastic material, and accessible voltage drive and self elasticity realize the self-adaptation to target edges and corners/limit through deformation, and the arm carries the hand claw simultaneous action and grasps, and wrist joint rotates under the torsional spring effect simultaneously, eliminates the collision and the rotation that produce at the catching in-process to a certain extent.
An extension rod 12 is arranged in the claw and is fixedly connected with the claw integrally, a movable side plate 10 is arranged on the extension rod, an extension mechanism 11 hinged by a connecting rod is arranged between the extension rod and the claw, and a compression spring is arranged at the tail end of the extension rod.
When facing a small-sized target, the spring releases elastic potential energy, generates acceleration along the axial direction of the spring, and provides kinetic energy for the extension rod 12, and the extension rod 12 extends out of the paw 4, but the tail end of the extension rod is still fixedly connected with the paw 4. Meanwhile, the side plates of the hand lever are unfolded, the folding and unfolding mechanism is unfolded, and the three claws are unfolded to jointly form a flying net to realize enveloping capture on the target. The bottom of the paw is provided with a pulley, the rope 7 winds around the pulley 16 to wind with the three-blade turntable 5, after the task is completed, the three-blade turntable 5 rotates to wind the rope 7, the extension rod is pulled back, the folding and unfolding of the folding and unfolding mechanism are realized during the retracting process, and the spring is compressed to prepare for next capturing.
Claims (5)
1. A space envelope capture end effector with self-adaptability based on a mechanical arm is characterized by mainly comprising a wrist joint (1), a base (2), a support (3), a paw (4), a three-blade turntable (5), a steering engine (6) and a rope (7);
the wrist joint (1) is positioned at the lower part of the actuator and is connected with a mechanical arm which is externally connected; the base (2) is positioned on the upper side of the wrist joint (1) and is fixedly connected with the wrist joint (1);
the upper side of the base (2) is provided with 1 three-blade turntable (5), 3 supports (3) and 3 steering engines (6), the three-blade turntable (5) is positioned in the center of the upper side of the base (2), and the 3 supports (3) and the 3 steering engines (6) are uniformly distributed and positioned outside the circumference of the three-blade turntable (5);
the three-blade turntable (5) and the base (2) are coaxial and are connected with the base (2) through a shaft at the axis, the three-blade turntable (5) can rotate around a shaft, and the rotation of the three-blade turntable (5) is controlled by a signal line of the mechanical arm; the bracket (3) and the steering engine (6) are fixedly connected with the base (2);
the paw (4) is hinged with the support (3), the paw (4) is connected with the steering engine (6), under the action of the steering engine (6), the paw (4) can rotate around a hinged shaft of the support (3), so that the upper part of the paw (4) moves towards the central axis of the base (2), and the 3 paws (4) form grasping or releasing actions, namely the paw (4) is opened or closed; the pulley (16) is positioned on the three-blade turntable (5) and is fixedly connected with the three-blade turntable (5);
the paw (4) comprises a shell (8), a supporting sleeve (9), a side plate (10), a folding and unfolding mechanism (11), an extension rod (12) and a compression spring assembly (13); the supporting sleeve (9), the side plate (10), the folding and unfolding mechanism (11), the extension rod (12) and the compression spring assembly (13) are all positioned in the shell (8);
when the folding and unfolding mechanism (11) is in a folded state, a compression spring in the compression spring assembly (13) is in a compressed state, the shell (8) is outside the paw (4) and is pear-shaped, and the supporting sleeve (9) is fixedly connected with the shell (8); the paw (4) captures a target through the shell (8) under the action of the steering engine (6); the shell (8) is made of dielectric elastic material, and the deformation of the shell (8) can be realized by controlling the voltage of the shell (8) through a mechanical arm signal line, so that the target can be captured in a self-adaptive manner; the extension rod (12) is arranged at the center of the paw (4) and is coaxial with the support sleeve (9); the side plates (10) are positioned on two sides of the extension bar (12) and are symmetrically distributed; the folding and unfolding mechanism (11), the extension rod (12), the side plate (10) and the compression spring assembly (13) are all positioned in the support sleeve (9), and the extension rod (12), the folding and unfolding mechanism (11), the side plate (10) and the support sleeve (9) are arranged outwards from the central axis of the paw (4) in sequence; the side plate (10) is connected with the extension rod (12) in a hinged mode; the folding and unfolding mechanism (11) is respectively connected with the extension rod (12) and the side plate (10) in a hinged mode;
a compression spring assembly (13) is arranged at one end of the extension rod (12) close to the bottom of the paw (4); the compression spring assembly (13) comprises a compression spring and a spring seat; one end of the compression spring is connected with one end of the extension rod (12), and the other end of the compression spring is connected with the spring seat;
the rope (7) penetrates through the shell (8) and the compression spring assembly (13) and is connected with the lower end of the extension rod (12), and the rope (7) also penetrates through the bottom of the paw (4) and is connected with the three-blade turntable (5) through the pulley (16); namely, one end of the rope (7) is connected with the extension bar (12), and the other end is connected with the three-blade turntable (5);
the folding and unfolding mechanism (11) comprises a flexible connecting rod (14) and a connecting joint (15); the flexible connecting rod (14) is connected through the connecting joint (15), and the flexible connecting rod (14), the extension rod (12) and the side plate (10) are connected through the connecting joint (15); the extension or retraction of the extension rod (12) in the support sleeve (9) changes the angle between the extension rod (12) and the side plate (10) to realize the compression or expansion of the folding and unfolding mechanism; when the folding and unfolding mechanism (11) is in an unfolded state, the flexible connecting rod (14) forms a parallelogram mechanism through the connecting joint (15), and the folding and unfolding mechanism (11) forms a net shape to realize enveloping capture on a target.
2. The robotic-arm-based adaptive spatial envelope capture end effector of claim 1, wherein the compression spring has a spring rate of 1500N/m.
3. The robotic-arm-based adaptive spatial envelope capture end effector of claim 1, wherein the folding mechanism (11) is a Bennett-mechanism-based folding mechanism.
4. The robotic-arm-based adaptive spatial envelope capture end effector of claim 1, wherein the folding and unfolding mechanism (11) is an 8R mechanism-based folding and unfolding mechanism.
5. The robotic-arm-based adaptive spatial envelope capture end effector of claim 1, wherein the housing (8) is a filament of dielectric elastomer material, the filaments of dielectric elastomer material being uniformly distributed to form a pear shape.
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| CN202211539547.XA CN115847470B (en) | 2022-12-02 | 2022-12-02 | Space envelope capturing end effector with self-adaptability based on mechanical arm |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2917649A1 (en) * | 2012-03-19 | 2013-09-26 | Paul Roberts | Spacecraft capture mechanism |
| CN105082169A (en) * | 2015-09-22 | 2015-11-25 | 哈尔滨工业大学 | Large-tolerance mini-sized end effector having electromechanical output function |
| CN110143299A (en) * | 2019-06-10 | 2019-08-20 | 北京理工大学 | A kind of composite machine arm-Sheng Xi mechanism for space junk capture |
| WO2020133547A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Extraterrestrial object sampling apparatus and sampling method thereof |
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2022
- 2022-12-02 CN CN202211539547.XA patent/CN115847470B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2917649A1 (en) * | 2012-03-19 | 2013-09-26 | Paul Roberts | Spacecraft capture mechanism |
| CN105082169A (en) * | 2015-09-22 | 2015-11-25 | 哈尔滨工业大学 | Large-tolerance mini-sized end effector having electromechanical output function |
| WO2020133547A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Extraterrestrial object sampling apparatus and sampling method thereof |
| CN110143299A (en) * | 2019-06-10 | 2019-08-20 | 北京理工大学 | A kind of composite machine arm-Sheng Xi mechanism for space junk capture |
Non-Patent Citations (1)
| Title |
|---|
| 丰飞;唐丽娜;韩锋;: "空间多功能在轨维护机器人系统及其末端执行器设计", 航空制造技术, no. 10, 15 May 2019 (2019-05-15) * |
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