An envelope-type space capture mechanism

Abstract

The present invention discloses an envelope-type space capture mechanism, including an origami gripper and a connecting rod drive mechanism. The origami gripper includes 13 origami units, each of which includes two first folding plates, two second folding plates, and two third folding plates. The connecting rod drive mechanism includes a main shaft, a slider, a fixed disc, a long connecting rod, and a short connecting rod. The fixed disc is provided at one end of the main shaft, and the slider is provided on the main shaft. One end of the long connecting rod is hinged to the edge of the origami unit, and the other end of the long connecting rod is hinged to the fixed disc. One end of the short connecting rod is hinged to the long connecting rod, and the other end of the short connecting rod is hinged to the edge of the slider. The envelope-type space capture mechanism of the present invention is based on continuous folding envelope capture combined with weak rigidity folding plates to achieve collision buffering energy absorption capture and adaptive grasping. The origami gripper is composed of weak rigidity folding plates and crease hinges. Compared with traditional space capture mechanisms, it meets the envelope capture characteristics, buffering energy absorption characteristics, and adaptive grasping characteristics.

Description

Technical Field

[0001] The present invention relates to the field of on-orbit capture technology, and in particular to an envelope-type space capture mechanism. Background Art

[0002] Existing on-orbit capture technologies are roughly divided into rigid on-orbit capture technologies and flexible on-orbit capture technologies:

[0003] Existing rigid on-orbit capture devices can autonomously complete capture, repair, and maintenance tasks on-orbit, eliminating human involvement and reducing space operation costs. They are the current mainstream mode of on-orbit operations and fall under the category of hard capture. However, rigid capture devices are prone to collision safety issues during operation and are unable to achieve non-cooperative objectives, particularly the on-orbit capture of multi-scale and multi-modal space debris, limiting their application to a certain extent.

[0004] Flexible on-orbit capture devices using flying nets or pneumatic flexible capture mechanisms address the collision safety issues inherent in on-orbit capture using rigid capture devices, overcoming limitations such as harsh operating conditions. Flying net capture devices are suitable for capturing non-cooperative targets, but they lack repeatability, reliable grip, and stability of the assembly's motion. Pneumatic flexible capture mechanisms also face challenges in capture envelope, reliable grip, and adaptability to space environments. Furthermore, the supply and control of the air source complicates the application of pneumatic flexible capture mechanisms in space.

[0005] Therefore, how to develop an envelope-type space capture mechanism has become an urgent problem to be solved by technicians in this field. Summary of the Invention

[0006] The purpose of the present invention is to provide an envelope-type space capture mechanism to solve the above technical problems.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] The present invention provides an envelope-type space capture mechanism, comprising an origami gripper and a connecting rod drive mechanism, wherein the origami gripper and the connecting rod drive mechanism are hingedly matched; the origami gripper comprises several origami units, each origami unit comprises two first folding plates, two second folding plates and two third folding plates, and the folding plates are hingedly matched; the connecting rod drive mechanism comprises a main shaft, a slider, a fixed disk, a long connecting rod and a short connecting rod, the fixed disk is fixedly arranged at the working end of the main shaft, the slider is slidably arranged on the main shaft, one end of the long connecting rod is hingedly matched with the edge of the origami unit, the other end of the long connecting rod is hingedly matched with the edge of the fixed disk, one end of the short connecting rod is hingedly matched with the long connecting rod, and the other end of the short connecting rod is hingedly matched with the edge of the slider.

[0009] Furthermore, the side of the first folding plate away from the paper-folding unit is hinged to the first folding plate of the adjacent paper-folding unit through the first fold hinge of the first folding plate; the side of the first folding plate close to the paper-folding unit is hinged to the other first folding plate of the paper-folding unit through the second fold hinge of the first folding plate.

[0010] Furthermore, the side of the second folding plate close to the fixed disk is hinged to the first folding plate of the present origami unit through the second folding plate second fold hinge; the side of the second folding plate away from the fixed disk is hinged to the third folding plate of the present origami unit through the third folding plate first fold hinge; the side of the second folding plate away from the present origami unit is hinged to the second folding plate of the adjacent origami unit through the second folding plate first fold hinge.

[0011] Furthermore, the side of the third folding plate close to the paper folding unit is hingedly connected to another third folding plate of the paper folding unit through the second fold hinge of the third folding plate.

[0012] Furthermore, the number of the origami units is 13.

[0013] Furthermore, a fixing disc buckle that cooperates with the long connecting rod is provided on the edge of the fixing disc.

[0014] Furthermore, a slider buckle that cooperates with the short connecting rod is provided on the edge of the slider.

[0015] Furthermore, the long connecting rod is provided with a first fixed hinge support which is hingedly matched with the end of the short connecting rod away from the slider.

[0016] Furthermore, a second fixed hinge support is provided on the first fold hinge of the first folding plate and is hingedly matched with the end of the long connecting rod away from the fixed disc.

[0017] Furthermore, the number of the long connecting rods and the number of the short connecting rods are both 13.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] The envelope-type space capture mechanism of the present invention uses a slider with a slider buckle as a component that withstands external forces. When the slider is subjected to external forces, it pushes the short connecting rod to move. The thirteen short connecting rods push the long rod through the first fixed hinge support on the long connecting rod. The long connecting rod transmits the thrust to the fold hinge at the connection of the folding plates, completing the drive of the origami gripper. The envelope-type space capture mechanism of the present invention completes the folding between the folding plates through the thrust at the hinge, and finally completes the capture and envelopment of the target object by the origami gripper; the envelope-type space capture mechanism of the present invention is based on continuous folding surface enveloping capture combined with weak rigid folding plates to achieve collision buffering energy absorption capture and adaptive gripping. The origami gripper consists of weak rigid folding plates and crease hinges. Compared with traditional space capture mechanisms, it meets the envelope capture characteristics, buffering energy absorption characteristics and adaptive gripping characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of the envelope-type space capture mechanism of the present invention;

[0022] Figure 2 Schematic diagram of the connecting rod driving mechanism of the present invention;

[0023] Figure 3 It is a schematic diagram of the slider structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the main shaft and fixed disc structure of the present invention;

[0025] Figure 5 This is a schematic structural diagram of the connection between the fixed disc and the long connecting rod of the present invention;

[0026] Figure 6 This is a structural diagram of the short connecting rod connection of the slider of the present invention;

[0027] Figure 7 This is a schematic structural diagram of the connection between the long connecting rod and the short connecting rod of the present invention;

[0028] Figure 8 This is a schematic structural diagram of the connection between the connecting rod drive mechanism and the paper folding unit of the present invention;

[0029] Figure 9 Schematic diagram of the structure of the paper folding unit of the present invention;

[0030] Figure 10 Schematic diagram of the structure of the first folding plate, the second folding plate and the third folding plate of the present invention;

[0031] Figure 11 It is a structural schematic diagram of the origami gripper of the present invention.

[0032] Explanation of the accompanying drawings: 1. Origami gripper; 101. First folding plate; 101-1. First folding plate first fold hinge; 101-2. First folding plate second fold hinge; 102. Second folding plate; 102-1. Second folding plate first fold hinge; 102-2. Second folding plate second fold hinge; 103. Third folding plate; 103-1. Third folding plate first fold hinge; 103-2. Third folding plate second fold hinge; 2. Connecting rod drive mechanism; 201. Main shaft; 202. Slider; 202-1. Slider buckle; 203. Fixed disk; 203-1. Fixed disk buckle; 204. Long connecting rod; 204-1. First fixed hinge support; 204-2. Second fixed hinge support; 205. Short connecting rod. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0035] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0036] like Figures 1 to 11 As shown, an envelope-type spatial capture mechanism includes an origami gripper 1, whose folding plate is driven by a connecting rod drive mechanism 2. The connecting rod drive mechanism 2 includes a slider 202 and a fixed disk 203. The slider 202 is forced to push a short connecting rod 205, which in turn pushes a long connecting rod 204 to drive the origami unit.

[0037] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, the connecting rod driving mechanism 2 includes thirteen identical connecting rod structures, each of which includes a long connecting rod 204 and a short connecting rod 205. As shown, the long connecting rod 204 and the short connecting rod 205 are connected to each other through a first fixed hinge support 204-1.

[0038] The slider 202 is sleeved on the main shaft 201 and can slide relatively along the main shaft 201 .

[0039] The fixed disc 203 is fixed to the top of the main shaft 201 and connected to the long connecting rod 204 via the fixed disc buckle 203-1, forming a fixed hinge support structure. The long connecting rod 204 can rotate relative to this point. The slider 202 and the short connecting rod 205 are connected via the slider buckle 202-1 to form a sliding hinge support structure. The short connecting rod 205 can also rotate relative to this structure.

[0040] When the connecting rod driving mechanism 2 is driven, the slider 202 is forced to move along the main shaft 201 toward the fixed disk 203. At this time, the short connecting rod 205 is pushed by the slider buckle 202-1, and then the short connecting rod 205 rotates around the slider buckle 202-1 toward the fixed disk 203. Then, the short connecting rod 205 pushes the long connecting rod 204 through the first fixed hinge support 204-1 to rotate in the opposite direction toward the main shaft 201 around the fixed disk 203, so as to achieve the driving effect.

[0041] like Figure 10 and Figure 11 As shown, the origami gripper 1 includes thirteen identical origami units, each of which is composed of six folding plates, and each of which has two first folding plates 101, two second folding plates 102, and two third folding plates 103; the first folding plate first fold hinge 101-1 and the first folding plate second fold hinge 101-2 connect the two first folding plates 101; the first folding plate 101 and the second folding plate 102 are connected through the second folding plate second fold hinge 102-2, and the second folding plate first fold hinge 102-1 connects two identical second folding plates 102; the second folding plate 102 and the third folding plate 103 are connected to each other through the third folding plate first fold hinge 103-1, and the third folding plate second fold hinge 103-2 connects two identical third folding plates 103.

[0042] like Figure 8 As shown, when the connecting rod driving mechanism 2 is driven, the long connecting rod 204 acts on the first folding plate first fold hinge 101-1 through the second fixed hinge support 204-2. Since the left and right sides of a single paper folding unit are symmetrical with each other along the first folding plate first fold hinge 101-1, the first folding plate first fold hinge 101-1 is subjected to force from both first folding plates 101. Then, the left first folding plate 101 rotates clockwise around the first folding plate second fold hinge 101-2, while the right first folding plate 101 moves counterclockwise around the first folding plate second fold hinge 101-2. The first folding plate second fold hinge 101-2 moves downward under the action of the two first folding plates 101.

[0043] The first folding plate 101 and the second folding plate 102 interact with each other through the second folding plate second fold hinge 102-2, and the second folding plate 102 rotates inward around the second folding plate second fold hinge 102-2; the second folding plate 102 interacts with the third folding plate 103, and is connected to each other through the third folding plate first fold hinge 103-1, and the folding plate 103 bends downward; finally, the second fixed hinge support 204-2 on the long connecting rod 204 interacts with the first folding plate second fold hinge 101-2, thereby completing the control of the origami unit and finally completing the capture and grasping of the space debris.

[0044] The origami unit, consisting of each fold vertex and all the folding plates connected to it, is equivalent to a spatially closed spherical rod mechanism. The folding plates within the folding unit bend the origami unit through relative rotation, thereby enabling the origami gripper 1 to grasp the target object. The bending of the origami unit forms a closed structure at the tip, thus achieving an enveloping grip of the target object.

[0045] In this embodiment, the main shaft 201 passes through a slider 202. Thirteen slider clips 202-1 are provided on the outside of the slider 202 for securing a short connecting rod 205. The slider clips 202-1 secure the short connecting rod 205 and secure the short connecting rod 205 by passing a short pin through the slider clip 202-1 and a pre-set hole at one end of the short connecting rod 205. A fixed disc 203 is fixed to the top of the main shaft 201. Thirteen fixed disc clips 203-1 are provided on the outside of the fixed disc 203 for securing a long connecting rod 204. The fixed disc clips 203-1 secure the long connecting rod 204 and secure the long connecting rod 204 by passing a short pin through the fixed disc clip 203-1 and a pre-set hole at one end of the long connecting rod 204. When the slider 202 is pushed, it slides along the main shaft 201. During this process, the long connecting rod 204 and the short connecting rod 205 are connected together through the first fixed hinge support 204-1. The two connecting rods are hinged together by a short pin passing through the lug of the short connecting rod 205 and the first fixed hinge support 204-1 of the long connecting rod 204. In the process of pushing the slider 202, the short connecting rod 205 is pushed toward the long connecting rod 204 to complete the action.

[0046] like Figure 9As shown, in this embodiment, when the first folding plate 101 is connected to the first folding plate 101 by the first folding plate second fold hinge 101-2 and the first folding plate first fold hinge 101-1, the slender axis passes through the two reserved circular holes on the outside of the first folding plate 101. When the first folding plate 101 and the second folding plate 102 are connected to the second folding plate second fold hinge 102-2 and the second folding plate first fold hinge 102-1, the slender axis passes through the reserved circular holes on the outside of the first folding plate 101 and the second folding plate 102; when the second folding plate 102 and the third folding plate 103 are connected to the third folding plate 103 by the third folding plate first fold hinge 103-1, the slender axis passes through the reserved circular holes on the outside of the third folding plate 103 and the second folding plate 102; when the third folding plate 103 is connected to the third folding plate 103 by the third folding plate second fold hinge 103-2, the slender axis passes through the two reserved circular holes on the outside of the third folding plate 103.

[0047] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An envelope-type space capture mechanism, characterized by: The invention comprises an origami gripper (1) and a connecting rod driving mechanism (2), wherein the origami gripper (1) and the connecting rod driving mechanism (2) are hingedly matched; the origami gripper (1) comprises a plurality of origami units, each of which comprises two first folding plates (101), two second folding plates (102) and two third folding plates (103), and the folding plates are hingedly matched; the connecting rod driving mechanism (2) comprises a main shaft (201), a slider (202), a fixed disc (203), a long connecting rod (204) and a short connecting rod (205), wherein ... The fixed disc (203) is fixedly arranged on the working end of the main shaft (201), the slider (202) is slidably arranged on the main shaft (201), one end of the long connecting rod (204) is hingedly matched with the edge of the paper folding unit, the other end of the long connecting rod (204) is hingedly matched with the edge of the fixed disc (203), one end of the short connecting rod (205) is hingedly matched with the long connecting rod (204), and the other end of the short connecting rod (205) is hingedly matched with the edge of the slider (202).

2. The envelope-type space capture mechanism according to claim 1, characterized in that: The side of the first folding plate (101) away from the paper folding unit is hinged to the first folding plate (101) of the adjacent paper folding unit through the first folding plate first fold hinge (101-1); the side of the first folding plate (101) close to the paper folding unit is hinged to the other first folding plate (101) of the paper folding unit through the first folding plate second fold hinge (101-2).

3. The envelope-type space capture mechanism according to claim 2, characterized in that: The side of the second folding plate (102) close to the fixed disc (203) is hinged to the first folding plate (101) of the paper folding unit through the second folding plate second fold hinge (102-2); the side of the second folding plate (102) away from the fixed disc (203) is hinged to the third folding plate (103) of the paper folding unit through the third folding plate first fold hinge (103-1); and the side of the second folding plate (102) away from the paper folding unit is hinged to the second folding plate (102) of the adjacent paper folding unit through the second folding plate first fold hinge (102-1).

4. The envelope-type space capture mechanism according to claim 3, characterized in that: The side of the third folding plate (103) close to the paper folding unit is hingedly connected to another third folding plate (103) of the paper folding unit through the third folding plate second fold hinge (103-2).

5. The envelope-type space capture mechanism according to claim 1, characterized in that: The number of the origami units is 13.

6. The envelope-type space capture mechanism according to claim 1, characterized in that: The edge of the fixed disc (203) is provided with a fixed disc buckle (203-1) that cooperates with the long connecting rod (204).

7. The envelope-type space capture mechanism according to claim 1, characterized in that: The edge of the slider (202) is provided with a slider buckle (202-1) that cooperates with the short connecting rod (205).

8. The envelope-type space capture mechanism according to claim 1, characterized in that: The long connecting rod (204) is provided with a first fixed hinge support (204-1) hingedly matched with an end of the short connecting rod (205) away from the slider (202).

9. The envelope-type space capture mechanism according to claim 4, characterized in that: The first folding plate first fold hinge (101-1) is provided with a second fixed hinge support (204-2) hingedly matched with one end of the long connecting rod (204) away from the fixed disc (203).

10. The envelope-type space capture mechanism according to claim 1, characterized in that: The number of the long connecting rods (204) and the number of the short connecting rods (205) are both 13.

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