CN210819563U

CN210819563U - High storage rate is from folding pneumatic software arm based on paper folding theory

Info

Publication number: CN210819563U
Application number: CN201921298701.2U
Authority: CN
Inventors: 徐彦; 方琴; 张超; 李鸿巍
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2019-08-12
Filing date: 2019-08-12
Publication date: 2020-06-23
Anticipated expiration: 2029-08-12

Abstract

The utility model discloses a high storage rate is from folding pneumatic software arm based on paper folding theory, including software driver, upper and lower end cover board and inflation system, the software driver be class cylinder shell, both ends and upper and lower end cover board are sealed fixed, the inner chamber is inflatable, the casing is multilayer software lamination structure, be gas seal, elastic layer, restriction layer and thermal protection layer from inside to outside in proper order. The soft driver shell is designed into a topological form based on a paper folding theory, can realize axial large-stroke telescopic driving, is driven to expand in an inflation mode of an inflation system to an inner cavity, and is self-folded in a mode of releasing elastic potential energy of an elastic layer after the inner cavity is exhausted. The device may also include a restraining cable to effect the bending drive. The utility model discloses a pneumatic software arm has the ability, the higher load dead weight ratio, lower consumption and lower development cost of realizing high-speed operation and has advantages such as bigger task space, can wide application in the flexible self-adaptation of space and catch the field.

Description

High storage rate is from folding pneumatic software arm based on paper folding theory

Technical Field

The utility model relates to a flexible self-adaptation in space catches technique, especially a high storage rate is from folding pneumatic software arm based on paper folding theory.

Background

In recent years, the space capture robot technology is increasingly concerned by the international aerospace field, and has become a key technology for realizing the on-orbit service and maintenance of the spacecraft. At present, most space satellite capturing robots are rigid, the rigid capturing robots can realize single-function operation with extremely high efficiency, but the work adaptability of the rigid capturing robots is greatly weakened, and the rigid capturing robots can easily cause certain damage to satellites. In recent years, the soft body capturing robot has rapid technical development, compared with the traditional rigid capturing robot, the soft body capturing robot can deform and absorb disturbance energy caused by vibration interference, has a continuous deformation body structure, can realize complex movement with multiple degrees of freedom, and has good movement capability and adaptability. Compared with the traditional rigid mechanical arm, the utility model relates to a pneumatic software mechanical arm has the ability that can realize high-speed operation, higher load dead weight ratio, lower consumption and lower development cost and advantages such as bigger task space, has very strong engineering using value.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a catch the shortcoming such as the mechanism structure is complicated, the volume size is big, the quality is big, the system control mode is complicated, the launching cost is high in order to improve the arm and catch system and flexibility, provide a high rate of accomodating from folding pneumatic software arm based on paper folding theory.

The utility model adopts the technical scheme as follows:

a high-storage-rate self-folding pneumatic soft mechanical arm based on a paper folding theory comprises a soft driver, an upper end cover plate, a lower end cover plate, a restraining cable and an inflation system. The soft driver is a cylinder-like shell, two ends of the soft driver are respectively sealed and fixed with the upper end cover plate and the lower end cover plate, the inner cavity of the cylinder-like shell is inflatable, and the shell is of a multilayer soft material laminated structure. The laminated structure sequentially comprises an airtight layer, an elastic layer, a limiting layer and a thermal protection layer from inside to outside. The soft driver shell is designed into a topological form based on a paper folding theory, and can realize axial large-stroke telescopic driving by adopting a quadrilateral folding mode or a hexagonal folding mode. The soft driver can be driven to unfold by an inflating system in an inflating mode towards the inner cavity, and can be automatically folded to an initial state by an inner cavity exhausting mode, so that repeated folding and unfolding driving is realized. The upper end cover plate and the lower end cover plate are flange plates, an inflation inlet is arranged on one side end cover plate and is connected with an inflation system, and the other side end cover plate is closed.

In the technical scheme, furthermore, the soft driver needs to be chamfered at the crease when being folded, and the chamfering mode can adopt a round chamfer or a sharp corner.

Furthermore, a restraining cable can be connected between the upper end cover plate and the lower end cover plate, and one side of the restraining soft driver extends to realize the bending driving of the pneumatic soft mechanical arm.

Further, the air barrier layer may be a kapton film. The elastic layer is made of super elastic materials such as rubber, silica gel and the like. The limiting layer is usually made of kevlar fiber fabric. The thermal protection layer can be made of kapton film material with aluminum plated on both sides. The layers are laminated by resin adhesive. The restraint cables are made of kevlar fiber materials.

The utility model has the advantages that:

the utility model discloses a pneumatic software arm compare with traditional rigidity arm, have higher folding rate, and the envelope is small when carrying on the transmission, can realize overlength size.

The utility model discloses a pneumatic software arm expand through air pressure drive, can fold the initial condition voluntarily after the exhaust, can realize the repetitive drive many times, and fatigue performance is good.

The utility model discloses a software driver adopt quadrangle folding mode or hexagon folding mode, and structural cavity has gas passage, folding, z shape folding etc. like curling for traditional folding mode, has better motion stability, can not appear great swing at the drive in-process of aerifing.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a high-capacity self-folding pneumatic robotic soft arm;

FIG. 2 is a schematic view of the pneumatic soft robotic arm inflation drive;

FIG. 3 is a schematic view of a multi-layer soft material laminate structure of a soft drive shell;

FIG. 4 is a schematic view of a quadrilateral folding pattern;

FIG. 5 is a schematic view of a hexagonal folding pattern;

FIG. 6 is a schematic view of the chamfer at the fold;

FIG. 7 is a schematic view of upper and lower end closure plates;

figure 8 is a schematic diagram of the pneumatic soft robotic arm stretching and bending actuation.

Detailed Description

The following describes the embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1, the utility model discloses a high storage rate is from folding pneumatic software arm's a concrete structure as follows based on paper folding theory: comprises a soft driver, upper and lower end cover plates, a restraint cable and an inflation system.

The soft driver is a similar cylindrical shell, two ends of the soft driver are hermetically fixed with the upper end cover plate and the lower end cover plate, the shell is of a multilayer soft laminated structure, and an inner cavity can be inflated and expanded, as shown in figure 2.

The laminated structure comprises an air-tight layer, an elastic layer, a limiting layer and a thermal protection layer from inside to outside in sequence, as shown in figure 3.

The soft driver shell is designed into a topological form based on a paper folding theory, can adopt a quadrilateral folding mode (figure 4) or a hexagonal folding mode (figure 5), and can realize axial large-stroke telescopic driving.

The soft driver is driven to unfold by the way that the inflation system inflates air into the inner cavity, and the elastic potential energy of the elastic layer is released to realize self folding to the initial state after the inner cavity exhausts, so that repeated folding and unfolding driving is realized.

The soft driver needs to be chamfered at the folding angle of the crease, and the chamfering mode can adopt a round chamfer or a sharp corner, as shown in figure 6.

The upper end cover plate and the lower end cover plate are flange plates, an inflation inlet is formed in one side end cover plate and is connected with an inflation system, the other side end cover plate is closed, the upper end cover plate and the lower end cover plate can be conveniently detached and can bear large pressure intensity, and as shown in figure 7, the upper end cover plate and the lower end cover plate are hermetically bonded with two ends of the soft driver.

The soft driver can be axially extended, a restraining cable can be connected between the upper end cover plate and the lower end cover plate, and the bending driving of the pneumatic soft mechanical arm is realized by restraining one side of the soft driver to be extended, as shown in figure 8.

The airtight layer is arranged on the innermost side of the structure, and has the function of preventing internal gas from leaking and preventing the structure from being bonded together during packaging. The material of the air-tight layer is a folding-resistant film material suitable for space conditions. The Kapton film has good space environment resistance, outstanding air tightness, mechanical property, radiation resistance and difficult volatilization, and is one of the selectable materials of the air-tight layer of the inflatable structure.

The elastic layer is arranged on the outer layer of the airtight layer and has the function of enabling the space extending arm to have certain elasticity, the space extending arm extends when being inflated, the elastic layer retracts under the action of the elasticity of the elastic layer when not being inflated and returns to the original folded state, and therefore the whole inflated extending arm can be used for multiple times. The silica gel has excellent heat resistance, cold resistance, dielectric property, ozone resistance, atmospheric aging resistance and other properties, and is one of the materials for the elastic layer.

The limiting layer is arranged on the outer layer of the elastic layer and is used for bearing pressure load inside the stretching arm, limiting the over expansion of the elastic layer and enhancing the strength and rigidity of the structure. Kevlar material has excellent thermal stability, low corrosivity, wear resistance, and high reliability, and is one of the materials of choice for the confinement layer.

The thermal protection layer is arranged on the outer layer of the limiting layer and is used for heat insulation and protection, the space environment temperature difference is large, the space fragments are large, the thermal protection layer can effectively reduce solar radiation, the temperature difference inside the extending arm is reduced, and the damage of the space fragments to the extending arm is reduced. Kapton-Al-Kapton laminated aluminum structures have excellent puncture resistance, radiation resistance, and air-tightness, and are one of the materials of choice for thermal protection layers.

The restraining cable can be made of kevlar fiber materials.

The airtight layer, the limiting layer and the thermal protection layer in the laminated structure can be bonded on the elastic layer by resin glue, so that the mechanical arm soft driver structure is obtained.

The utility model discloses a pneumatic software arm has ability, higher load dead weight ratio, lower consumption and lower cost of manufacture that can realize high-speed operation and has advantages such as bigger task space, can wide application in the flexible self-adaptation in space field of catching.

Claims

1. A high-storage-rate self-folding pneumatic soft mechanical arm based on a paper folding theory is characterized by comprising a soft driver, an upper end cover plate, a lower end cover plate and an inflation system; the soft driver is a cylinder-like shell, two ends of the cylinder-like shell are respectively connected with the upper end cover plate and the lower end cover plate in a sealing mode, the cylinder-like shell is of a multi-layer soft material laminating structure and is sequentially provided with an air tight layer, an elastic layer, a limiting layer and a thermal protection layer from inside to outside, and the whole shell is folded in a quadrilateral folding mode or a hexagonal folding mode; the inflation system can inflate the inner cavity of the soft driver.

2. The high-storage-rate self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 1, wherein the mechanical arm further comprises a restraining cable, and two ends of the restraining cable are respectively connected with the upper end cover plate and the lower end cover plate.

3. The high-take-up-rate self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 2, wherein the constraining cables are made of kevlar fiber materials.

4. The high-take-up-ratio self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 1, wherein the air-tight layer is made of kapton film.

5. The high-storage-rate self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 1, wherein the elastic layer is made of a super-elastic material, and the super-elastic material comprises rubber and silicone.

6. The high-take-in-rate self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 1, wherein the limiting layer is made of kevlar fiber fabric.

7. The high-take-up self-folding pneumatic soft-bodied manipulator based on paper folding theory as claimed in claim 1, wherein the thermal protection layer is made of kapton film material with aluminum plated on both sides.

8. The high-storage-rate self-folding pneumatic soft mechanical arm based on the paper folding theory as claimed in claim 1, wherein the upper end cover plate and the lower end cover plate are both flanges, one of the flanges is provided with an inflation inlet at the center and is connected with an inflation system, and the other flange is closed.