Single-blade double-curved-surface self-adaptive capturing manipulator

Abstract

The invention provides a uniparted hyperboloid self-adaptive capturing manipulator, and relates to the technical field of space capturing. The folding and unfolding device comprises a folding and unfolding fixing frame, rope clusters, a rotating assembly and a driving motor, the multiple rope clusters are arranged on the folding and unfolding fixing frame, the first ends of the rope clusters are fixedly connected with the first end of the folding and unfolding fixing frame, the rotating assembly is arranged at the second end of the folding and unfolding fixing frame, and the second ends of the rope clusters are fixedly connected with the rotating assembly; the driving motor is arranged at the second end of the folding and unfolding fixing frame, and the driving end of the driving motor is connected with the rotating assembly. A uniparted hyperboloid structure is adopted, folding and unfolding deformation of the curved surface of the rope gripper can be achieved through simple rotation, and the capturing principle is formed. The rope is used as the gripper, and the advantages of flexibility and mechanical strength are achieved. And folding and unfolding in the height direction are achieved through the folding and unfolding fixing frame, and transportation is convenient. And by adopting a simple capturing principle and structure, engineering manufacturing and assembling and subsequent maintenance are easy to realize.

Description

Technical Field

[0001] This invention relates to the field of space capture technology, specifically to a single-leaf hyperboloid adaptive capture manipulator. Background Technology

[0002] Deep space exploration, as a crucial space activity for humanity to explore the mysteries of the universe and develop space resources, is a cutting-edge and strategically significant technological field in aerospace engineering. Since the first artificial satellite entered space in the 1960s, the continuous development and innovation of aerospace technology has propelled humanity's exploration range from near-Earth space to the edge of the solar system and even deeper regions of the universe. With the significant increase in the complexity and coverage of deep space missions, the demand for advanced technologies from probes is becoming increasingly urgent, especially robotics technologies for efficient interaction with the deep space environment. Against this backdrop, space capture technology, as a core support, has become a fundamental technological means for key tasks such as satellite maintenance, orbital debris removal, celestial sample collection, and on-orbit assembly.

[0003] In deep space exploration scenarios, space capture faces multiple severe challenges. The extreme environment of high vacuum and microgravity, coupled with the unstructured nature, non-cooperative properties, and motion uncertainties of the target object, places extremely high demands on the performance of the capture mechanism. Unlike surface objects, space targets lack fluid resistance, allowing the kinetic energy imparted by external loads to be retained for extended periods. This makes them highly susceptible to altering their trajectory or even structurally breaking down due to violent collisions or impacts. However, physical contact is a necessary element of space capture. This characteristic makes the target object prone to deviating from its intended trajectory or disintegrating due to contact forces, potentially damaging the capture device and ultimately leading to mission failure or system malfunction. Therefore, compliant contact is a fundamental requirement for space capture missions. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a single-leaf hyperboloid adaptive capture manipulator that uses multiple rope clusters to precisely capture target objects through a wrapping mechanism. Specifically, the rope clusters serve as end effectors, and a rotational drive device stretches and twists them, thereby constructing an envelope network in space. This allows for the capture and fixation of targets of different shapes, ensuring that the captured target is not easily dislodged. Furthermore, rotation enables the expansion and contraction deformation of the rope gripper's curved surface, forming the capture principle and providing low-impact, high-fault-tolerance, and adaptive operational performance for spatial capture.

[0005] Specifically, the present invention provides a single-leaf hyperboloid adaptive capture manipulator, which includes a folding and fixing frame, a rope cluster, a rotating component and a drive motor. The folding and fixing frame is provided with multiple rope clusters, and the first end of the rope cluster is fixedly connected to the first end of the folding and fixing frame. The second end of the rope cluster is fixedly connected to the rotating component. The rotating component and the drive motor are both located at the second end of the folding and fixing frame, and the drive end of the drive motor is connected to the rotating component. The folding and fixing frame includes a 3R link, a chassis, and a second connecting ring. The first end of the 3R link is fixedly connected to the side wall of the chassis, and the second end of the 3R link is fixedly connected to the side wall of the second connecting ring. The rotating assembly includes a first connecting ring, a turntable slide rail, and a drive gear. The outer side wall of the first connecting ring is slidably connected to the chassis via the turntable slide rail. The drive gear is mounted on the chassis, and the center of the drive gear is fixedly connected to the output end of the drive motor. The inner side wall of the first connecting ring is provided with a driven tooth structure that meshes with the drive tooth structure of the drive gear, so that the drive gear can drive the first connecting ring to rotate.

[0006] Furthermore, the second connecting ring is provided with multiple protruding structures for connecting the 3R connecting rod.

[0007] Furthermore, the outer wall of the first connecting ring is provided with a raised slider, which is slidably connected to the inner wall slide of the turntable slide rail, and the outer wall of the turntable slide rail is fixedly connected to the chassis.

[0008] Furthermore, the first connecting ring and the deployed 3R link, the second connecting ring and the deployed 3R link, and the chassis and the deployed 3R link are respectively in a perpendicular state.

[0009] Furthermore, the 3R linkage includes a first linkage, a second linkage, and a rotating joint base. The first end of the first linkage is fixedly connected to the side wall of the second connecting ring, the second end of the first linkage is hinged to the first end of the second linkage, and the second end of the second linkage is fixedly connected to the side wall of the chassis through the rotating joint base.

[0010] Furthermore, an intermediate revolute joint is formed at the connection between the first and second links, enabling the 3R link to be highly folded and unfolded with a folding ratio of 0.4.

[0011] Furthermore, both the driving tooth structure of the driving gear and the driven tooth structure of the first connecting ring are inclined tooth structures.

[0012] Furthermore, the first end of the rope cluster is fixedly connected to the second connecting ring, and the second end of the rope cluster is fixedly connected to the first connecting ring; and the multiple rope clusters within the unfolded fixed frame form a capture area.

[0013] Furthermore, the second end of the unfolding and fixing frame is fixedly connected to the end of the robotic arm.

[0014] Furthermore, during capture, the drive motor drives the active gear and the first connecting ring to rotate, causing multiple rope clusters to twist and stretch to form a single-page hyperboloid, thereby achieving the grasping of the object.

[0015] Compared with the prior art, the present invention has the following advantages: (1) The present invention adopts a novel single-leaf hyperboloid structure, which can realize the expansion and contraction deformation of the rope gripper surface through simple rotation, forming a capture principle and providing low-impact, high-fault-tolerant, and adaptive operation performance for space capture.

[0016] (2) The present invention uses a rope as a gripper. A rope is a simple engineering structure that combines flexibility and mechanical strength. It makes up for the shortcomings of rigid grippers which generally cannot meet the flexibility requirements, and avoids the risks of air leakage and bursting of pneumatic grippers as well as the structural damage and material deterioration of soft grippers.

[0017] (3) The second connecting ring of the robot arm and the lower base are connected by a 3R connecting rod. Since the robot arm uses a rope as a gripper, the whole can be folded and unfolded in the height direction with the outer frame. It is convenient to transport when folded and convenient to unfold when used.

[0018] (4) The present invention uses a 3R linkage to achieve folding and unfolding, a rope as a gripper, and a motor to drive the gears to achieve drive and transmission through the meshing of two gears. The capture principle is simple, making the structure of the manipulator simple, easy to manufacture and assemble, and convenient for subsequent maintenance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the single-leaf hyperboloid adaptive capture robot of the present invention; Figure 2 This is a half-sectional schematic diagram of the single-leaf hyperboloid adaptive capture robot of the present invention; Figure 3 This is a schematic diagram of the capture state structure of the single-leaf hyperboloid adaptive capture robot of the present invention; Figure 4 This is a schematic diagram of the rotating component structure of the single-leaf hyperboloid adaptive capture robot of the present invention; Figure 5 This is a schematic diagram of the capture gripper structure of the single-leaf hyperboloid adaptive capture robot of the present invention; Figure 6 This is a schematic diagram of the first connecting ring structure of the single-leaf hyperboloid adaptive capture robot of the present invention.

[0020] Key reference numerals: 1. Folding and fixing frame; 2. Rope cluster; 3. Rotating assembly; 4. Drive motor; 5. Drive gear; 6. Rotating sub-base; 7. Driven gear structure; 9. First connecting ring; 10. Chassis; 11. Turntable slide rail; 12. Raised slider; 13. Target object; 14. 3R connecting rod; 15. Second connecting ring; 16. First connecting rod; 17. Second connecting rod; 19. First through hole; 20. Second through hole. Detailed Implementation

[0021] To fully explain the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0022] This invention provides a single-leaf hyperboloid adaptive capture robot, such as... Figure 1-6 As shown, the device includes a folding and fixing frame 1, rope clusters 2, a rotating component 3, and a drive motor 4. Multiple rope clusters 2 are provided on the folding and fixing frame 1, and the first end of each rope cluster 2 is fixedly connected to the first end of the folding and fixing frame 1. The rotating component 3 is located at the second end of the folding and fixing frame 1, and the second end of each rope cluster 2 is fixedly connected to the rotating component 3. The drive motor 4 is located at the second end of the folding and fixing frame 1, and the drive end of the drive motor 4 is connected to the rotating component 3.

[0023] like Figure 2 and Figure 3 The folding and fixing frame 1 of the present invention includes a 3R connecting rod 14, a base 10, and a second connecting ring 15. The first end of the 3R connecting rod 14 is fixedly connected to the side wall of the base 10, and the second end of the 3R connecting rod 14 is fixedly connected to the side wall of the second connecting ring 15.

[0024] like Figure 4 and Figure 6 The rotating assembly 3 of the present invention includes a first connecting ring 9, a turntable slide rail 11, and a drive gear 5. The upper surface of the first connecting ring 9 has multiple first through holes 19 for connecting to the rope bundle 2. A raised slider 12 is provided on the outer wall of the first connecting ring 9, and the raised slider 12 is slidably connected to the inner wall slide rail 11. The outer wall of the turntable slide rail 11 is fixedly connected to the chassis 10. The drive gear 5 is mounted on the chassis 10, and its center is fixedly connected to the output end of the drive motor 4. The inner wall of the first connecting ring 9 has a driven gear structure 7 that meshes with the driving gear 5, allowing the drive gear 5 to drive the first connecting ring 9 to rotate. Both the drive gear 5 and the driven gear structure 7 are helical gears for smoother transmission. The meshing of the drive gear 5 and the driven gear structure 7 causes the first connecting ring 9 to rotate on the chassis 10.

[0025] The second connecting ring 15 is provided with a plurality of protruding structures for connecting the 3R connecting rod 14, and the upper surface of the second connecting ring 15 is provided with a plurality of second through holes 20 for connecting the rope cluster 2.

[0026] The first connecting ring 9, the second connecting ring 15, the chassis 10, the 3R connecting rod 14, and the rope cluster 2 are in a perpendicular relationship.

[0027] The 3R link 14 includes a first link 16, a second link 17, and a rotating base 6. The first end of the first link 16 is fixedly connected to the side wall of the second connecting ring 15, the second end of the first link 16 is hinged to the first end of the second link 17, and the second end of the second link 17 is fixedly connected to the side wall of the chassis 10 through the rotating base 6.

[0028] The connection between the first link 16 and the second link 17 forms an intermediate revolute joint, enabling the 3R link 14 to be highly folded and unfolded with a folding ratio of 0.4.

[0029] The second end of the folding and fixing frame 1 is also fixedly connected to the end of the robotic arm.

[0030] Figure 5 The rope cluster 2 of this invention serves as the core component of the gripper. The rope cluster 2 is composed of 24 parallel elastic textile ropes arranged in a ring with equal spacing. Its upper end is vertically connected to the second connecting ring 15 in the unfolding and fixing frame 1, and is parallel to the 3R connecting rod 14, forming a cylindrical capture cage. During capture, the drive motor 4 drives the drive gear 5 and the first connecting ring 9 to rotate, causing the multiple rope clusters 2 to twist and stretch, forming a single-page hyperboloid surface, thereby achieving the grasping of the object.

[0031] The following describes the single-leaf hyperboloid adaptive capture robot of the present invention in further detail with reference to embodiments. The usage process of the single-leaf hyperboloid adaptive capture robot of the present invention is as follows: After the robotic arm finishes its transport phase, the 3R linkage unfolds, meaning the first and second linkages unfold in a straight line, thus entering the working state. When the target object 13 is detected, the robotic arm approaches it, guiding it through the second connecting ring 15 into the robotic arm's capture space to enclose it. At this time, the drive motor 4 drives the drive gear 5 to rotate, simultaneously rotating the first connecting ring 9 meshed with it. The first connecting ring 9 then rotates the lower end of the textile elastic rope connected to it relative to the folding and fixing frame 1. Since the upper end of the textile elastic rope is connected to the second connecting ring 15 of the folding and fixing frame 1, when the drive motor 4 rotates, the rope cluster 2 is driven by a single rotation, causing the textile elastic rope to stretch and twist, thereby fitting a single-leaf hyperboloid shape in space to enclose the target object 13, completing one capture. After the device completes its operation, the 3R linkages fold together, meaning the first and second linkages are close together in a parallel state.

[0032] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A single-leaf hyperboloid adaptive capture robot, characterized in that, It includes a folding and fixing frame, a rope cluster, a rotating component and a drive motor. The folding and fixing frame is provided with multiple rope clusters, and the first end of the rope cluster is fixedly connected to the first end of the folding and fixing frame. The second end of the rope cluster is fixedly connected to the rotating component. The rotating component and the drive motor are both located at the second end of the folding and fixing frame, and the drive end of the drive motor is connected to the rotating component. The folding and fixing frame includes a 3R link, a chassis, and a second connecting ring. The first end of the 3R link is fixedly connected to the side wall of the chassis, and the second end of the 3R link is fixedly connected to the side wall of the second connecting ring. The rotating assembly includes a first connecting ring, a turntable slide rail, and a drive gear. The outer side wall of the first connecting ring is slidably connected to the chassis via the turntable slide rail. The drive gear is mounted on the chassis, and the center of the drive gear is fixedly connected to the output end of the drive motor. The inner side wall of the first connecting ring is provided with a driven tooth structure that meshes with the drive tooth structure of the drive gear, so that the drive gear can drive the first connecting ring to rotate.

2. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: The second connecting ring is provided with multiple protrusions for connecting the 3R connecting rod.

3. The single-leaf hyperboloid adaptive capture robot according to claim 2, characterized in that: The outer side wall of the first connecting ring is provided with a raised slider, which is slidably connected to the inner side wall slide of the turntable slide rail. The outer side wall of the turntable slide rail is fixedly connected to the chassis.

4. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: The first connecting ring and the deployed 3R link, the second connecting ring and the deployed 3R link, and the chassis and the deployed 3R link are all perpendicular to each other.

5. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: The 3R linkage includes a first link, a second link, and a rotating joint base. The first end of the first link is fixedly connected to the side wall of the second connecting ring, the second end of the first link is hinged to the first end of the second link, and the second end of the second link is fixedly connected to the side wall of the chassis through the rotating joint base.

6. The single-leaf hyperboloid adaptive capture robot according to claim 5, characterized in that: The connection between the first and second links forms an intermediate revolute joint, enabling the 3R link to be highly folded and unfolded with a folding ratio of 0.

4.

7. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: Both the driving tooth structure of the driving gear and the driven tooth structure of the first connecting ring are inclined tooth structures.

8. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: The first end of the rope cluster is fixedly connected to the second connecting ring, and the second end of the rope cluster is fixedly connected to the first connecting ring; and the multiple rope clusters within the unfolded fixed frame form a capture area.

9. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: The second end of the folding and fixing frame is fixedly connected to the end of the robotic arm.

10. The single-leaf hyperboloid adaptive capture robot according to claim 1, characterized in that: During capture, the drive motor drives the active gear and the first connecting ring to rotate, causing multiple rope clusters to twist and stretch to form a single-page hyperboloid, thereby achieving the grasping of the object.

Images