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Foldable catching metamorphic mechanism based on constraint screw.

A technology of metamorphic mechanism and capture mechanism, which is applied in the direction of manipulator, program-controlled manipulator, space navigation equipment, etc., can solve the problems of poor overall rigidity of the mechanism, unsuitable for objects, and limited range of objects to be captured, so as to reduce the quality and reduce the burden. Effect

Active Publication Date: 2018-10-16
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The above-mentioned existing technical solutions all use flexible parts as the main body of the mechanism, so the overall rigidity of the mechanism is relatively poor, and it is not suitable for capturing moving objects in space
In addition, the use of flexible parts will limit the size of the capture mechanism, thereby limiting the range of captured objects

Method used

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  • Foldable catching metamorphic mechanism based on constraint screw.
  • Foldable catching metamorphic mechanism based on constraint screw.
  • Foldable catching metamorphic mechanism based on constraint screw.

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] This embodiment provides a metamorphic unit, such as Figure 1-4 As shown, it includes: a catch mechanism 11, a rotating branch mechanism 12, a telescopic branch mechanism 13, and a hinge mechanism 14.

[0054] Wherein, the catching mechanism 11 comprises two identical scissor bars 101 and two identical connecting rods 102, and the two scissor bars 101 are connected to each other by the rotating pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods 102 They are respectively connected to the tops of the two scissor bars 101 through the rotating pair R2 and the rotating pair R3; the catching mechanism forms a catching surface for the catching process. The rotation pair R2 and the rotation pair R3 provide the degree of freedom for the capture surface to perform capture movement.

[0055] Two identical rotating branch mechanisms 12, the rotating branch mechanism 12 comprises the first rotating rod 103, the second rotating rod 104, the third rotati...

Embodiment 2

[0071] This embodiment provides a kind of foldable grasping mechanical arm, such as Figure 5-7 As shown, it includes four identical metamorphic units 201 (the metamorphic units 201 here have the same structure as the metamorphic units in Embodiment 1, which will not be repeated here), and the adjacent metamorphic units 201 branch Mechanism 202 is connected; the telescopic branch mechanism 202 is a hybrid mechanism composed of four rotating pairs and two sliding pairs and is connected in series. After the two scissor rods 203 of each cell-changing unit 201 undergo a folding movement, the mechanical arm will be fully expanded. At this time, the scissor rods 203 and the connecting rod 204 in the cell-changing unit 201 will perform an overturning motion, That is, the entire robotic arm will perform a capture movement.

Embodiment 3

[0073] This embodiment provides a foldable catch mechanism, such as Figure 8-10 As shown, it includes a chassis 301, four foldable grasping manipulators formed by adopting a metamorphic unit 302 (the metamorphic unit 302 here has the same structure as the metamorphic unit in Embodiment 1, and will not be described in detail here). 303 , four mechanical arms 303 are arranged on the chassis 301 in a circular array.

[0074] The rigid and expandable arresting mechanism has three states of folding, stretching and arresting, and different states are used in different situations to complete the arresting task in space. The rigid and expandable capture mechanism is put into the launch vehicle in a folded state, and then unfolded in space to perform the task of capturing a designated target.

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Abstract

The invention provides a foldable catching metamorphic mechanism based on constraint screw. The foldable catching metamorphic mechanism based on constraint screw comprises a plurality of identical metamorphic units. Each of the metamorphic units comprises a catching mechanism, and the catching mechanism comprises two scissor-shaped rods, two connecting rods, and the two scissor-shaped rods are connected with each other through a rotating pair R1 to form a scissor-shaped mechanism. The bottom ends of the two connecting rods are connected to the top ends of the two scissor-shaped rods separatelythrough a rotating pair R2 and a rotating pair R3, and rotating branch mechanisms comprise first rotating rods, second rotating rods, third rotating rods, fourth rotating rods and fifth rotating rods, wherein the first rotating rods, the second rotating rods, the third rotating rods, the fourth rotating rods and the fifth rotating rods are rotatably connected in sequence. The fifth rotating rodsare connected to the top end of the connecting rods through a rotating pair R4, the first rotating rods are connected to the bottom end of the scissor-shaped rods through a rotating pair R5, and the two rotating branch mechanisms are connected to each other through a hinge mechanism. By controlling the redundant degrees of freedom and retaining the two degrees of freedom, that is the folding and catching, the foldable catching metamorphic mechanism reduces the number and types of degrees of freedom in order to simplify the structure.

Description

technical field [0001] The invention relates to a constrained helix-based expandable and catching metamorphic mechanism. Background technique [0002] The space manipulator has integrated space perception, maneuvering and operation capabilities, and completes on-orbit assembly, pollution cleaning, observation and inspection, faulty module replacement, and on-orbit refueling of spacecraft through on-orbit operations, ground remote operations, or autonomous operations. , Consumable load replacement and replenishment, orbit cleaning, orbit transfer and other work are the core equipment for spacecraft on-orbit assembly and maintenance. [0003] Chinese patent document CN 107685881 A discloses a space flexible capture device and its capture method. The capture device is composed of a tether for recovery, a throwing rope wrapped around a target object, two throwing rods and a frame. It can complete the task of capturing the target by only using two throwing ropes with adhesive pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G4/00B25J9/00
CPCB25J9/0009B64G4/00B64G2004/005
Inventor 李兵贾广鲁黄海林郭宏伟
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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