Bionic dry adhesion mechanism based on loading of composite constant-force spring

Abstract

The invention discloses a bionic dry adhesion mechanism based on loading of a composite constant-force spring. The bionic dry adhesion mechanism is composed of an adhesion sole unit, a composite constant-force spring loading mechanism, an electric motor, a transmission mechanism and a mechanism frame, wherein the adhesion sole unit is used to touch and adhere an target object; the composite constant-force spring loading mechanism is used to control adhesion / releasing of an adhesion sole; and the electric motor and the transmission mechanism are used to drive loading / unloading of the composite constant-force spring loading mechanism. The mechanism frame is used to support the whole mechanism and keep a relative position of each part of the whole mechanism. According to the invention, a bionic dry adhesion material is adopted, and adhesion force is not influenced by the shape of the target; the composite constant-force spring is used, so that the adhesion unit is applicable to adhesion surfaces with various materials, and the mechanism has robustness aiming at local adhesion failures; and through cooperative operations with equipment such as a mechanical hand, target capture efficiency can be greatly increased.

Description

technical field [0001] The invention aims to serve the cleaning of space orbital debris, and relates to a bionic dry adhesion device that can be applied to the space environment and can adapt to the adhesion surface of different materials. The device has strong adaptability to the adhesion target and a wide range of applications, which greatly improves the success rate and reliability of adhesion. Background technique [0002] With the continuous development of aerospace technology in various countries in the world, the number of satellites, rocket bodies and other debris in the orbit of the earth has increased to more than 100,000. It constitutes an increasingly serious safety hazard. Once these debris collides with a normally operating spacecraft, the damage caused is incalculable. Therefore studying how to clean up these fragments has become a popular research direction, which is also the research target of the patent of the present invention. [0003] The traditional c...

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Problems solved by technology

[0003] The traditional capture method is usually to squeeze the object with claws or arms to generate enough friction to capture the target object or use a net to trap the target. However, in space microgravity and vacuum environment, space debris has different shapes and sizes. And for non-cooperative target objects such as space debris, the traditional clamping between objects is difficult to produce an ideal capture effect in space. At this time, it is an effective capture method to capture the target by adsorption or adhesion

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