Foldable and curved space truss capture mechanism

Abstract

The invention relates to a space truss catching mechanism having foldable and bent functions. The mechanism comprises a base and a plurality of foldable and bent truss mechanisms arranged on the base,each truss mechanism comprises N (larger than or equal to 2 of the N) folding and unfolding units which are sequentially connected with one another; each folding and unfolding unit comprises two triangular frames which are arranged in parallel, and each triangular frame comprise a roller shaft and two side edges; the two parallel side edges of the same folding and unfolding unit are connected through a 3R branched chain, and two parallel roller shafts are connected through a scissor fork mechanism; the triangular frames of the bottoms of the Nth (smaller than or equal to N and less than or equal to N of the N) folding and unfolding units and the triangular frames of the tops of the N-1 folding and unfolding units are provided with the common roller shaft, the two side edges at the bottomof the Nth folding and unfolding units rotate around the common roller shaft under the driving of a bending driving device, so that the plurality of truss mechanisms are close to one another; and thefolding and unfolding units are unfolded or folded under the driving of a folding and unfolding driving device installed on the base. According to the mechanism, the truss mechanisms can be bent and unfolded at the same time, is especially suitable for grabbing tasks of large non-cooperative targets in a space environment.

Description

technical field [0001] The invention relates to the technical field of foldable mechanisms, in particular to a foldable and curved spatial truss capture mechanism. Background technique [0002] As more and more satellites are launched by human beings, there are more and more space junks in the space orbit, ranging from artificial satellite fragments, paint flakes, dust, to the whole spaceship wreckage, threatening the normal satellites more and more. It is also more and more urgent to study the technology of removing space junk such as these abandoned satellites. On the one hand, in the space environment, ordinary robotic arms are too large to be put into orbit by launch vehicles; on the other hand, due to the large volume of space junk, it is difficult for traditional space robotic arms to capture large space junk. [0003] Chinese patent application CN201310503724.3 discloses a rope net type space debris capture and removal system, including a launching subsystem and a fl...

AI Technical Summary

Problems solved by technology

[0005] When the rope net capture system captures the target object, it needs the rope net to completely cover the target object, which is not suitable for capturing large targets, and the rope net is easy to knot or entangle during capture, and the controllability is poor

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