Rigidizable inflatable capturing hand

An inflatable, airbag technology, applied in the directions of manipulators, program-controlled manipulators, joints, etc., can solve the problem of increasing the launch volume and mass of the capture mechanism and its control system, increasing the complexity and operation difficulty of the system, and increasing the capture mechanism and the captured Capture target damage and other problems, to achieve the effect of increasing the total capture force and friction force, uniform distribution of the capture force, and low difficulty

Inactive Publication Date: 2021-11-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for non-cooperative targets, including self-owned aircraft without cooperative grasping mechanisms, invalid satellites, and other large-scale space debris, it is necessary to use large-scale capture mechanisms to complete the task. For mechanical capture mechanisms, it is It is necessary to greatly increase the size of the capture mechanism and increase the number of joints, which will increase the launch volume and mass of the capture mechanism and its control system, significantly increase the complexity and operational difficulty of the system, and reduce the operational reliability of the system. Increased manufacturing and launch costs
In addition, during the capture process, the rigid manipulator or capture hand has a small capture area, which can easily lead to excessive local capture force, resulting in damage to the capture mechanism and the captured target.

Method used

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  • Rigidizable inflatable capturing hand
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Experimental program
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Effect test

specific Embodiment approach 1

[0030] Specific implementation mode one: as figure 1 As shown, this embodiment discloses a rigid inflatable catcher, which includes multi-section inflatable knuckles 1, multiple inflatable joints 2 and multiple tightening airbags 3; the multi-section inflatable knuckles 1 are arranged in sequence , the inner ends of the adjacent end surfaces of every two adjacent inflatable knuckles 1 are connected by a hinge 4, and an inflatable joint 2 is fixedly connected between each two adjacent inflatable knuckles 1, and the outer surface of each inflatable knuckle 1 The inner side is connected with a tightening air bag 3, and the multi-section inflatable knuckles 1 are rigid inflatable knuckles.

[0031] Furthermore, if figure 1 As shown, the inflatable joint 2 is in the shape of a bellows.

[0032] Furthermore, if figure 1 As shown, the length of the multi-section inflatable knuckles 1 is equal in length, or decreases or increases from the rear end to the front end; the outer wall d...

Embodiment 1

[0041] This embodiment discloses a rigid inflatable catcher; it includes nine inflatable knuckles 1, eight inflatable joints 2 and ten tightening airbags 3; the nine inflatable knuckles 1 are from the rear end to the front end Decreasing in size, the inner ends of the two adjacent end surfaces of every two adjacent inflatable knuckles 1 are connected by a hinge 4, and an inflatable joint 2 is fixedly connected between every two adjacent inflatable knuckles 1, and nine inflatable knuckles 1 From the rear end to the front end, it is defined as: the first inflatable knuckle, the second inflatable knuckle, the third inflatable knuckle, the fourth inflatable knuckle, the fifth inflatable knuckle, the sixth inflatable knuckle , the seventh inflatable knuckle, the eighth inflatable knuckle and the ninth inflatable knuckle, the inner sides of the outer surfaces of the second inflatable knuckle and the third inflatable knuckle are respectively connected with two tightening airbags 3 A ...

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Abstract

The invention discloses a rigidizable inflatable capturing hand, and belongs to the technical field of spaceflight on-orbit control. The invention discloses the rigidizable inflatable capturing hand which comprises a plurality of inflatable knuckles, a plurality of inflatable joints and a plurality of hooping air bags, wherein the inflatable knuckles are sequentially arranged, the inner ends of the adjacent end faces of every two adjacent inflatable knuckles are connected through a hinge, one inflatable joint is fixedly connected between every two adjacent inflatable knuckles, the inner sides of the outer surfaces of the inflatable knuckles are connected to the hooping air bags, and the inflatable knuckles are rigidizable inflatable knuckles. According to the rigidizable inflatable capturing hand, winding type capturing of the capturing hand is achieved through inflation and deflation of the driving air bags in the inflatable joints, the capturing force can be controlled and adjusted, the control mode is simple, reliable and easy to achieve, the rigidizable inflatable capturing hand has high adaptability to targets of different shapes and sizes, the rigidizable inflatable capturing hand is used for operations such as on-orbit capturing, releasing and relative fixing of the space target.

Description

technical field [0001] The invention belongs to the technical field of aerospace on-orbit control, and in particular relates to a rigidizable inflatable catcher. Background technique [0002] On-orbit operation and service of space targets (including cooperative targets and non-cooperative targets) requires capture, release, and relative fixation of targets by capture agencies. The existing space target capture mechanism is mainly in the form of rigid mechanical arm or mechanical claw, which can be used to capture space cooperation targets. However, for non-cooperative targets, including self-owned aircraft without cooperative grasping mechanisms, invalid satellites, and other large-scale space debris, it is necessary to use large-scale capture mechanisms to complete the task. For mechanical capture mechanisms, it is It is necessary to greatly increase the size of the capture mechanism and increase the number of joints, which will increase the launch volume and mass of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/14B25J17/00
CPCB25J9/142B25J17/00
Inventor 苗常青朱延楠刘文翔姜晨旭
Owner HARBIN INST OF TECH
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