Foldable and bendable space truss capturing device

A space truss and bending technology, which is applied in the direction of program-controlled manipulators, manufacturing tools, chucks, etc., can solve the problems of small bending space of the mechanism, inability to adapt to the shape of the object, and the offset of the grasping surface, etc., to achieve small size and convenient transportation process , good stability

Active Publication Date: 2018-12-25
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] For non-cooperative targets with large-scale and large-inertia space, due to the different surface shapes of objects, the simultaneous expansion and contraction of the folding and bending units cannot adapt to the shape of the object, and the bending movement space of the mechanism is small, and the capture of the mechanism is limited. The surface will be biased and the adaptability is poor

Method used

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  • Foldable and bendable space truss capturing device
  • Foldable and bendable space truss capturing device
  • Foldable and bendable space truss capturing device

Examples

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Embodiment 1

[0046] This embodiment provides a space truss capture device, comprising a base 1 and three identical capture robot claws 2, wherein the three capture robot claws 2 can work together, as figure 1 As shown, for example, for a larger non-cooperative target A, three catching manipulator claws 2 are respectively deployed to appropriate positions, and the capture of a larger non-cooperative target A is completed cooperatively. Preferably, the three catching manipulator claws 2 are in the form of The circular array is distributed on the base 1; it is also possible to use only one grasping robot claw 2 to work alone, such as figure 2 As shown, for example, for a small non-cooperative target B, after the single capture robot claw 2 is unfolded and bent, it wraps the small non-cooperative target B to complete the capture process.

[0047] The grasping robot claw 2 includes several sequentially connected folding and bending units 3. Preferably, this embodiment shows a grasping robot cl...

Embodiment 2

[0061] The difference between this embodiment and Embodiment 1 lies in the difference in the folding drive unit. This embodiment provides a folding drive unit 8 that uses a new type of artificial muscle material as the folding and bending unit 3. In the same folding and bending unit 3, The folding driving unit 8 is used as the driving of the upper supporting frame 31, and is mainly used for the unfolding process of the folding and bending unit 3; Figure 9 As shown, it specifically includes a driving member 81, a slide rail (optical axis) 82, and a spring 83 arranged on the slide rail 82, wherein the driving member 81 is arranged to directly act on the catch mechanism 4, so that the catch mechanism 4 acts, thereby Drive the position of the upper support frame 31 to change to complete the process of folding or unfolding.

[0062] See you again Figure 9, in order to improve the overall rigidity of the structure, in a folding and bending unit 3, the upper support frame 31 is pr...

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Abstract

The invention provides a foldable and bendable space truss capturing device. The foldable and bendable space truss capturing device comprises a substrate and a plurality of capturing mechanical paws,wherein each capturing mechanical paw comprises a plurality of folding and bending units which are connected in sequence; each folding and bending unit comprises two support frames; each support frameis provided with a frame side edge and a hinged seat arranged in the direction vertical to the frame side edge slidably; the two frame side edges in the same folding and bending unit are parallel toeach other, and one frame side edge can move relative to the other frame side edge; the two frame side edges in the same folding and bending unit are connected through a capturing mechanism, and the two hinged seats are connected through a driving branch chain arranged on the plane where the two frame side edges are arranged vertically; a plurality of folding and driving units are mounted on eachsupport frame, and drive the corresponding hinged seat to slide respectively, so that the relative positions of the two frame side edges in the same folding and bending unit change. The foldable and bendable space truss capturing device has the advantages of large bending motion space, good capturing adaptability and high integral structure rigidity.

Description

technical field [0001] The present invention relates to the technical field of space expandable mechanism, more particularly, relates to a space truss capture device that can be folded and bent. Background technique [0002] With the development of the aerospace industry, more and more aerospace projects will use some large-scale on-orbit structures to meet the needs of different space missions, such as the capture and removal of space junk; however, due to the limitation of the carrying volume, it can be launched to The size of the non-folding structure in space cannot meet the needs of the task, and the traditional articulated manipulator obviously cannot achieve capture. In order to achieve the goal of light weight, high reliability, high stability and expandability, the mechanism design revolves around the space The innovative design of the truss-type reconfigurable structure enables the mechanical arm to be in a folded state during launch to save carrying space. Instit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/00
CPCB25J9/0075B25J15/0052
Inventor 李兵江子奔黄海林
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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