A moving target winding and capturing mechanism with touch feedback and a control method thereof

Abstract

The present invention belongs to the technical field of capturing non-cooperative space targets, and particularly relates to a motion target coiling and capturing mechanism with touch feedback and a control method thereof. In view of the difficulties and challenges in capturing non-cooperative moving targets, based on bionics theory and inspired by the octopus form, the present invention proposes an octopus-inspired coiling and capturing mechanism composed of a rotating base, a palm plate, and mechanical coiling and capturing tentacles installed on the rotating base, which can achieve adaptive capture of moving targets with uncertain parameters and complex and diverse geometric shapes.

Description

Technical Field

[0001] The present invention belongs to the technical field of space non-cooperative target capture, and in particular relates to a moving target capture mechanism with touch feedback and a control method. Background Art

[0002] Moving targets have important research value and broad application prospects in industrial production, deep-sea operations and space operations. Here, moving targets specifically refer to cooperative or non-cooperative targets, whose speed, angle, and moment of inertia are obtained with errors or even unknown. Uncertain moving targets pose a huge threat to the system, especially space moving targets, which threaten operating spacecraft and satellites by causing cascade collision disasters. Moving targets are generally not stationary, especially space moving targets, which can maintain free tumbling motion for a long time due to the extremely small friction in space. At this time, special measuring devices are needed to increase the possibility of capturing moving targets. In addition, such targets usually do not have special interfaces suitable for capture mechanisms, which further increases the difficulty of capturing moving targets. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a moving target reeling mechanism with touch feedback and a control method. In order to obtain the rotation direction and speed of the moving target, the present invention proposes that the contact feedback mechanism obtains the information through touch deformation, and on this basis, the reeling mechanism adjusts the overall steering and base rotation speed, thereby achieving a relative motion range that can be grasped with the target, thereby reducing the impact of the capture impact on the reeling mechanism.

[0004] The moving target capturing mechanism with touch feedback provided by the present invention comprises a base, a palm plate rotatable relative to the base, and a group of reel arms arranged in a circular array on the palm plate; each reel arm has a clasping characteristic, and the end of the reel arm has a force sensing characteristic; when the reel arm is retracted, a capturing space for accommodating the moving target is formed between the palm plate and the reel arm.

[0005] Furthermore, in the above-mentioned moving target winding and capturing mechanism with touch feedback, each winding arm has a base fixed on the palm plate, a joint group swingably connected to the base, a force sensor arranged at the end of the joint group, and a plurality of control motors fixed on the base; the joint group has a plurality of joints connected in sequence, wherein two adjacent joints are rotationally connected, and a plurality of driven rollers are arranged on the rotation axis of each joint; in each winding arm, the number of control motors is consistent with the number of joints, and an active roller is arranged at the output end of each control motor; a rope is arranged between the active roller and the driven roller to form a linkage relationship between the active roller and the driven roller.

[0006] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, each motor corresponds to controlling a strand of rope winding, and each driven roller can freely rotate around its corresponding rotation axis; an anchor position is provided on the outermost joint, and each strand of rope is led out from the anchor position, successively bypasses a driven roller corresponding to each joint, then bypasses the driving roller, and then successively bypasses another driven roller corresponding to each joint and returns to the anchor position for fixation; an interval is formed between the rotation axes of adjacent joints, and when each strand of rope passes through the same interval twice, it satisfies one of the two states of crossing and non-crossing; by adjusting the crossing and non-crossing states of each strand of rope in each interval, the rope winding system can be decoupled.

[0007] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, three control motors are provided on the base, and each motor corresponds to a strand of rope winding, which are respectively denoted as the first rope winding, the second rope winding, and the third rope winding; each joint group has three joints, and six driven rollers are correspondingly provided on the rotation axis of each joint. Two intervals are formed between the rotation axes of the three joints, which are respectively denoted as interval A and interval B;

[0008] For the first rope winding in interval A: non-crossing;

[0009] For the first rope winding in interval B: non-crossing;

[0010] For the second rope winding in interval A: crossing;

[0011] For the second rope winding in interval B: non-crossing;

[0012] For the third rope winding in interval A: non-crossing;

[0013] For the third rope winding in interval B: crossing.

[0014] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, in each joint group, the rotation axes on which adjacent joints rely deflect from each other, and the deflection angle is in the range of 10° to 20°.

[0015] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, the surface of the force sensor is made of a flexible material, and the force sensor converts the deformation amount generated when stressed into an electrical signal to determine the magnitude of the force.

[0016] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, four winding arms are arranged in a circumferential array on the palm plate.

[0017] Further, in the above-mentioned moving target winding and capturing mechanism with touch feedback, an auxiliary arm extending laterally is also provided at the position of the rotation axis of the joint. The auxiliary arm is arc-shaped and bends towards the center of the palm plate.

[0018] Based on the above-mentioned moving target rolling and capturing mechanism with touch feedback, the present invention also proposes a control method. The rolling arms are closed towards the target direction. When the i-th (i ∈ [1, N]) rolling arm touches the target, the other rolling arms j (j ≠ i ∈ [1, N]) grasp towards it with the i-th rolling arm as the center. When the pressure pj received by the force sensor of any rolling arm j (j ≠ i ∈ [1, N]) is pj ≥ max, the grasping stops, where N is the number of rolling arms.

[0019] In the above control method, it is determined whether the i-th rolling arm touches the target by checking whether the pressure received by the force sensor of the i-th rolling arm satisfies pi ≥ min.

[0020] Beneficial effects

[0021] Contact feedback sensors are installed at the ends of the rolling arms. The feedback sensors are made of a section of flexible silicone material, which contains a deformation sensor inside and can convert the amount of deformation into an electrical signal to obtain force data. A single rolling arm is controlled by multiple motors. The motors are connected to the pulleys on each joint through winding. Through the decoupling matrix, the torque is transmitted to each joint to achieve self-decoupling control of the joints. In addition, the different joints on each robotic arm are axially rotated and installed at 15-degree intervals in sequence. When the robotic arm contracts, it helps to wrap the target and improve the capture success rate. Further, by installing auxiliary arms, it prevents the target from slipping away between the tentacles. Description of the drawings

[0022] Figures 1 to 3 It is a schematic structural diagram of the rolling and capturing mechanism.

[0023] Figure 4 and Figure 5 It is a schematic structural diagram of the rolling arm. Detailed implementation manners

[0024] Inspired by the octopus tentacles, a moving target rolling and capturing mechanism with touch feedback and a control method are proposed.

[0025] As Figures 1 to 3 shown, the moving target rolling and capturing mechanism with touch feedback includes a base 1, a palm plate 2 rotatable relative to the base 1, and a group of rolling arms 3 arranged in a circumferential array on the palm plate 2; each rolling arm 3 has a property of being able to hold tightly, and the end of the rolling arm 3 has a force sensing property; when the rolling arms 3 are retracted, a capture space for accommodating the moving target is formed between the palm plate 2 and the rolling arms 3.

[0026] As Figure 4As shown, each winding arm 3 has a base 31 fixed on the palm plate 2, a joint group 32 swingably connected to the base 31, a force sensor 33 provided at the end of the joint group 32, and a number of control motors 34 fixed on the base 31; the joint group 32 has a number of joints 32 connected in sequence, where two adjacent joints 32 are rotatably connected, and a number of driven rollers 321 are provided on the rotation axis of each joint 32; in each winding arm 3, the number of control motors 34 is the same as the number of joints 32, and a driving roller 341 is provided at the output end of each control motor 34; a winding rope 35 is wound between the driving roller 341 and the driven roller 321 to form a linkage relationship between the driving roller 341 and the driven roller 321.

[0027] The layout of the winding rope system is as Figure 5 shown, specifically as Figure 5 shown. Each motor 34 corresponds to controlling one strand of the winding rope 35, and each driven roller 321 can freely rotate around its corresponding rotation axis; an anchor position 322 is provided on the farthest joint 32, and each strand of the winding rope 35 is led out from the anchor position 322, successively bypasses one driven roller 321 corresponding to each joint, then bypasses the driving roller 341, and then successively bypasses the other driven roller 321 corresponding to each joint and returns to the anchor position 322 for fixation; an interval is formed between the rotation axes of adjacent joints 32. When each strand of the winding rope 35 passes through the same interval twice, it satisfies one of the two states of crossing and non-crossing; by adjusting the crossing and non-crossing states of each strand of the winding rope 35 in each interval, the winding rope system can be decoupled.

[0028] Taking the structure of three joints 32 as an example, a decouplable winding rope system is introduced below. Those skilled in the art should understand that other decouplable winding rope systems are also feasible solutions. As Figure 5 shown, three control motors 34 are provided on the base 31, and each motor 34 corresponds to one strand of the winding rope 35, which are respectively denoted as the first winding rope, the second winding rope, and the third winding rope; each joint group 32 has three joints 32, and six driven rollers 321 are correspondingly provided on the rotation axis of each joint 32. Two intervals are formed between the rotation axes of the three joints 32, which are respectively denoted as interval A and interval B;

[0029] For the first winding rope in interval A: non-crossing;

[0030] For the first winding rope in interval B: non-crossing;

[0031] For the second winding rope in interval A: crossing;

[0032] For the second winding rope in interval B: non-crossing;

[0033] For the third winding rope in interval A: non-crossing;

[0034] The third winding rope is within the interval B: crossing.

[0035] As Figure 4 shown, in each joint group 32, the rotation axes on which adjacent joints 32 rely respectively are deflected from each other, and the deflection angle is within the range of 10° to 20°, preferably 15°, which helps to firmly grasp the target during the winding and capturing process.

[0036] The surface of the force sensor 33 is made of a flexible material. The force sensor 33 converts the deformation amount generated when stressed into an electrical signal to determine the magnitude of the force.

[0037] As a preferred solution, four winding arms 3 are arranged in a circumferential array on the palm plate 2.

[0038] As a further preferred solution, an auxiliary arm 36 extending laterally is also provided at the position of the rotation axis of the joint 32. The auxiliary arm 36 is arc-shaped and bends towards the center of the palm plate 2, which helps to more stably grasp the target during the winding and capturing process.

[0039] Furthermore, a control method for the winding and capturing mechanism is proposed as follows: Close the winding arm 3 towards the target direction. When the i-th (i ∈ [1, N]) winding arm 3 touches the target, the other winding arms 3j (j ≠ i ∈ [1, N]) take the i-th winding arm 3 as the center and grasp towards it; when the pressure pj received by the force sensor 33 of any winding arm 3j (j ≠ i ∈ [1, N]) is pj ≥ max, stop grasping; where N is the number of winding arms 3.

[0040] Among them, it is determined whether the i-th winding arm 3 touches the target by checking whether the pressure received by the force sensor 33 of the i-th winding arm 3 satisfies pi ≥ min.

[0041] The above embodiments are exemplary, and their purpose is to illustrate the technical concept and characteristics of the present invention, so that those skilled in this field can understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A moving target rolling and capturing mechanism with touch feedback, characterized in that: It includes a base (1), a palm plate (2) rotatable relative to the base (1), and a group of winding arms (3) circumferentially arranged on the palm plate (2); each winding arm (3) has a clamping property and a force sensing property at the end of the winding arm (3); when the winding arms (3) are retracted, a capture space for accommodating a moving target is formed between the palm plate (2) and the winding arms (3). Each winding arm (3) has a base (31) fixed on the palm plate (2), a joint group (32) swingably connected to the base (31), a force sensor (33) provided at the end of the joint group (32), and a plurality of control motors (34) fixed on the base (31); the joint group (32) has a plurality of joints (32) connected in sequence, wherein two adjacent joints (32) are rotatably connected, and a plurality of driven rollers (321) are provided on the rotation axis of each joint (32); in each winding arm (3), the number of the control motors (34) is the same as the number of the joints (32), and a driving roller (341) is provided at the output end of each control motor (34); a winding rope (35) is wound between the driving roller (341) and the driven rollers (321) to form a linkage relationship between the driving roller (341) and the driven rollers (321). Each motor (34) corresponds to controlling one winding rope (35), and each driven roller (321) can freely rotate around its corresponding rotation axis; an anchor position (322) is provided on the joint (32) at the farthest end, and each winding rope (35) is led out from the anchor position (322), sequentially bypasses one driven roller (321) corresponding to each joint, then bypasses the driving roller (341), and then sequentially bypasses the other driven roller (321) corresponding to each joint and returns to the anchor position (322) for fixing; an interval is formed between the rotation axes of adjacent joints (32), and when each winding rope (35) passes through the same interval twice, it satisfies one of the two states of crossing and non-crossing; by adjusting the crossing and non-crossing states of each winding rope (35) in each interval, the winding rope system can be decoupled.

2. The moving target rolling and capturing mechanism with touch feedback according to claim 1, characterized in that: Three control motors (34) are provided on the base (31), and each motor (34) corresponds to one winding rope (35), which are respectively denoted as the first winding rope, the second winding rope, and the third winding rope; each joint group (32) has three joints (32), and six driven rollers (321) are correspondingly provided on the rotation axis of each joint (32), and two intervals are formed between the rotation axes of the three joints (32), which are respectively denoted as interval A and interval B. The first winding rope in interval A: non-crossing. The first winding rope in interval B: non-crossing. The second winding rope in interval A: crossing. The second winding rope in interval B: non-crossing. The third winding rope in interval A: non-crossing. The third winding rope in interval B: crossing.

3. The moving target rolling and capturing mechanism with touch feedback according to claim 1, wherein: In each joint group (32), the rotation axes on which adjacent joints (32) depend on each other are deflected from each other, and the deflection angle is in the range of 10° to 20°.

4. The moving target rolling and capturing mechanism with touch feedback according to claim 1, wherein: The surface of the force sensor (33) is made of a flexible material. The force sensor (33) converts the deformation generated when a force is applied into an electrical signal to determine the magnitude of the force.

5. The moving target rolling and capturing mechanism with touch feedback according to claim 1, characterized in that: Four curling arms (3) are arranged in a circumferential array on the palm plate (2).

6. The moving target rolling and capturing mechanism with touch feedback according to claim 1, characterized in that: An auxiliary arm (36) extending laterally is further provided at the position of the rotation axis of the joint (32). The auxiliary arm (36) is arc-shaped and bends towards the center of the palm plate (2).

7. The control method of the moving target rolling and capturing mechanism with touch feedback according to claim 1, characterized in that: When curling arms (3) are closed towards the target direction, when the i-th (i ∈ [1, N]) curling arm (3) touches the target, the other curling arms (3) j (j ≠ i ∈ [1, N]) grasp towards it with the i-th curling arm (3) as the center; when the pressure pj received by the force sensor (33) of any curling arm (3) j (j ≠ i ∈ [1, N]) is pj ≥ max, stop grasping; where N is the number of curling arms (3).

8. The control method of the moving target rolling and capturing mechanism with touch feedback according to claim 7, characterized in that: By checking whether the pressure received by the force sensor (33) of the i-th curling arm (3) satisfies pi ≥ min, it is determined whether the i-th curling arm (3) touches the target.

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