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Underactuation self-adaptive capturing device capable of being folded and unfolded

An adaptive, capture device technology, applied in the aerospace field, can solve the problems of large mass of space robots, large number of driving motors, poor reliability, etc., and achieve the effects of easy promotion, saving payload space, and high reliability.

Active Publication Date: 2014-07-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of existing space robots with large mass, large number of driving motors, complex structure and poor reliability, the present invention further proposes a foldable underactuated self-adaptive capture device

Method used

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  • Underactuation self-adaptive capturing device capable of being folded and unfolded
  • Underactuation self-adaptive capturing device capable of being folded and unfolded
  • Underactuation self-adaptive capturing device capable of being folded and unfolded

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Experimental program
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Effect test

specific Embodiment approach 1

[0014] Specific implementation mode one: combine figure 1 and Figure 4 Describe this embodiment. The foldable underactuated adaptive capture device in this embodiment includes a first synchronous pulley 1, a joint shaft 2 at the base of a single finger, a first gear 3, a common joint shaft 4 at the base of two fingers, and a base plate 5 , the drive assembly, the second synchronous pulley 6, the first transmission shaft 7, the first bearing seat 8 and three finger mechanisms, the base plate 5 is a rectangular plate body, and the joint shaft 2 at the root of the single finger is installed on the upper surface of one end of the base plate 5, The joint shaft 4 shared by the roots of the two fingers is installed on the upper surface of the other end of the base plate 5, the drive assembly is installed on the lower surface of the base plate 5, and the first transmission shaft 7 is installed on the lower surface of the base plate 5 through the first bearing seat 8. And the first t...

specific Embodiment approach 2

[0015] Specific implementation mode two: combination Figure 4 Describe this embodiment, the drive assembly of the foldable under-actuated adaptive capture device in this embodiment includes a code disc 9, a first drive motor 10, a first reducer 11, a flange 12, and a third synchronous pulley 13 , the second gear 14 and the second transmission shaft 15, the code disc 9, the first drive motor 10, and the first reducer 11 are installed on the lower surface of the substrate 5 through the flange 12, and the code disc 9 is connected with the first drive motor 10 , the output shaft of the first driving motor 10 is connected with the second transmission shaft 15 through the first reducer 11, the third synchronous pulley 13 and the second gear 14 are sequentially set on the second transmission shaft 15, the second gear 14 and the second transmission shaft A gear 3 meshes, and the third synchronous pulley 13 is connected with the second synchronous pulley 6 through a synchronous belt. ...

specific Embodiment approach 3

[0017] Specific implementation mode three: combination figure 2 and image 3 To illustrate this embodiment, each finger mechanism of the foldable underactuated adaptive capture device in this embodiment includes an underactuated mechanism, a root finger segment assembly 16, a middle finger segment assembly 17, a top finger segment assembly 18, Middle knuckle joint shaft 19, top knuckle joint shaft 20, underdrive transmission bracket 21, fourth synchronous pulley 22, fifth synchronous pulley 23 and sixth synchronous pulley 24, one end of the root finger segment assembly 16 passes through the middle The finger joint shaft 19 is connected to one end of the middle finger assembly 17, and the other end of the middle finger assembly 17 is connected to one end of the top finger assembly 18 through the top finger joint shaft 20, and the underactuation mechanism is passed through the underactuation transmission bracket 21 is installed at one end of the root finger assembly 16, the fo...

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Abstract

The invention relates to a capturing device, in particular to an underactuation self-adaptive capturing device capable of being folded and unfolded. The underactuation self-adaptive capturing device capable of being folded and unfolded aims to solve the problems that an existing space robot is high in weight, complex in structure and poor in reliability and is provided with a great number of driving motors. According to the underactuation self-adaptive capturing device capable of being folded and unfolded, a single-finger root joint shaft is arranged on the upper surface of one end of a substrate, a two-finger root shared joint shaft is arranged on the upper surface of the other end of the substrate, a driving assembly is arranged on the lower surface of the substrate, a first transmission shaft is arranged on the lower surface of the substrate through a first bearing block, the single-finger root joint shaft is sleeved with a first synchronous belt wheel, the first transmission shaft is sleeved with a second synchronous belt wheel, the first synchronous belt wheel is connected with the second synchronous belt wheel through a synchronous belt, the middle of the two-finger root shared joint shaft is sleeved with a first gear, and the first gear is connected with the driving assembly. The underactuation self-adaptive capturing device capable of being folded and unfolded is used for the aerospace field.

Description

technical field [0001] The invention relates to a capture device, in particular to a foldable under-actuated self-adaptive capture device, which belongs to the field of aerospace. Background technique [0002] With the development of aerospace technology, the competition in space has become increasingly fierce, and more and more spacecraft have been launched into space to perform various tasks. When the fuel carried by the spacecraft itself is exhausted or the functional units are aging and fail, the service life of the spacecraft will end. How to improve the survivability of spacecraft in space orbit and enhance its control efficiency is a difficult and hot issue for future spacecraft on-orbit service. The development of remote control and network communication technology provides the possibility to solve the above problems. Space vehicles can provide various on-orbit services with the help of remote control technology, including the capture, refueling, maintenance and re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10B64G4/00
Inventor 刘荣强郭宏伟夏艳邓宗全
Owner HARBIN INST OF TECH
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