Flexible-rigid coupling space folding net system capturing manipulator

Abstract

The application provides a rigid-flexible coupling space folding net system capturing manipulator, which comprises a linear driving assembly and a capturing folding assembly, the capturing folding assembly is uniformly distributed around the linear driving assembly, the linear driving assembly comprises a screw nut, a ball screw, a shaft coupling, a driving motor, a fixed base, a moving disc, a guide column, a support frame and a base, the moving disc is sleeved on the screw nut, the capturing folding assembly comprises a top knuckle, a connecting knuckle, a rotating shaft, a torsional spring, a bottom knuckle and a flexible cable, the top knuckle is rotationally connected with the connecting knuckle through the rotating shaft, the torsional spring is sleeved on the rotating shaft, and the flexible cable is spirally arranged in the knuckles in sequence, the application drives the movement of each knuckle through the ball screw and the torsional spring, the flexible cable and the capturing folding assembly are matched to form a capturing net, only one flexible cable is needed to control the folding and unfolding of the capturing net, the extension radius of the capturing net can be adjusted according to the requirement, and the application has the advantages of large folding and unfolding ratio, strong adaptability and large capturing space.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a rigid-flexible coupled spatial folding mesh system for capturing robotic arms. Background Technology

[0002] Space capture technology is mainly used for capturing non-cooperative targets outside the spacecraft or space station. Therefore, space capture should have basic capture and sensing analysis functions, a flexible workspace, working modes to cope with different capture targets, controllable capture stiffness and force, and also need to consider on-orbit service. The robot also needs to be lightweight, small in size, have a high retraction ratio, and be adaptable to the working environment of vacuum and weightlessness.

[0003] Currently, space capture primarily employs contact-based capture methods, categorized into rigid connection capture and flexible connection capture. Rigid connection capture mainly utilizes a combination of a robotic arm and an end effector for grasping and capturing. While rigid connection capture is a relatively mature technology, its complex structure, large mass, and volume significantly increase the burden on spacecraft transportation. Furthermore, most mature rigid capture mechanisms are currently used for capturing cooperative space targets. Flexible connection capture utilizes methods such as nets, tethered devices, and flexible gripping mechanisms. This method typically offers advantages such as simple structure, low cost, large capture space, and good target adaptability, but it cannot meet rigidity requirements. Therefore, it is necessary to design a rigid-flexible coupled space folding net system capture robotic arm. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a rigid-flexible coupled spatial folding and unfolding net system capture robot. The movement of the finger joints is driven by ball screws and torsion springs, and the flexible cable is spirally threaded through each finger joint. Only a single drive is needed to control the folding and unfolding of the capture and unfolding components, realizing the variable stiffness and unidirectional continuity of the robot. It adopts a combination of rigid linear drive and flexible capture and unfolding, which has strong adaptability and compliance while also being rigid. Moreover, it can be assembled into any number of finger joints according to actual application needs, and has good expandability and easy replacement.

[0005] This invention provides a rigid-flexible coupled spatial folding and unfolding net system capture robot, comprising a linear drive assembly and a capture and unfolding assembly. The capture and unfolding assembly is evenly distributed around the linear drive assembly along its circumference. The linear drive assembly includes a lead screw nut, a ball screw, a coupling, a drive motor, a fixed base, a movable disc, guide posts, a support frame, and a base. The lead screw nut is fitted onto the ball screw, and the two are helically driven. The first end of the ball screw is connected to the drive motor via the coupling. The drive motor is mounted on the base. The second end of the ball screw is mounted on the fixed base. The movable disc is fitted onto the lead screw nut. The guide posts are evenly distributed around the ball screw along its circumference. The first end of the guide post is connected to the support frame, which is located below the fixed base. The second end of the guide post passes through a guide hole on the movable disc and is fixed thereon. The base is supported by a capture and retraction assembly comprising a top finger joint, a connecting finger joint, a rotating shaft, a torsion spring, a bottom finger joint, and a flexible cable. The top of the top finger joint has an arc-shaped surface, and the bottom of the top finger joint is rotatably connected to the top of the connecting finger joint via the rotating shaft. The torsion spring is sleeved on the rotating shaft, and both ends of the torsion spring are respectively inserted into the hinge holes of the connecting finger joint. Multiple connecting fingers are arranged in a straight line and are rotatably connected to each other via the rotating shaft, and each rotating shaft is provided with a torsion spring. The bottom of the bottom finger joint is rotatably connected to the hinge interface of the movable disc. The top finger joint, the connecting finger joint, and the bottom finger joint are all provided with flexible cable through holes in their middle portions. The first end of the flexible cable is fixed to the top finger joint, and the second end of the flexible cable spirally passes through the flexible cable through holes of the top finger joint, the connecting finger joint, and the bottom finger joint arranged in a circular array and is fixed to the movable disc. The flexible rope and the various capture and retraction components arranged along the circumference of the movable flower disc cooperate to form a capture net. The retraction or extension of the capture net can be controlled by tightening or loosening a single flexible rope, and the extension radius of the capture net formed by the extension of the capture and retraction components can be adjusted as needed.

[0006] Preferably, each of the flexible cable through holes is provided with a flexible cable copper sleeve.

[0007] Preferably, the movable flower plate has guide holes and hinge interfaces arranged alternately on its periphery.

[0008] Preferably, the torsion spring connecting adjacent phalanges is installed in the center direction of the capture and retraction assembly, so that the capture and retraction assembly can move continuously in one direction.

[0009] Preferably, the torsion spring on the copper sleeve pin of the movable flower disc is installed in the outer direction of the capture and retraction assembly, driving the capture and retraction assembly to extend outward.

[0010] Preferably, when the capture robot is not in operation, the moving disc is located at the bottom of the ball screw, the flexible cable is tightened, the torsion spring is subjected to increased force, the top joint, the connecting joint and the bottom joint are all tightened inward, and the capture and retraction assembly is retracted inward.

[0011] Preferably, when the capture robot is in working condition, the drive motor drives the ball screw to rotate through the coupling, the movable disc connected to the screw nut moves upward, the flexible cable loosens, the torsion spring experiences reduced force, and the top finger joint, connecting finger joint, and bottom finger joint all extend outward, and each of the capture and retraction components extends to form a capture net.

[0012] Preferably, the support frame has a cross-shaped structure, which, in conjunction with the guide column, divides the space between the support frame and the movable flower plate into four rhomboid spaces, and the capturing and retracting component is accommodated in the rhomboid spaces when it is retracted.

[0013] Preferably, when the capture robot is in working condition, the ball screw drives the moving disc to rise through the screw nut, thereby causing each joint in the capture and retraction assembly to extend outward, and the torsion spring on the moving disc drives the capture and retraction assembly to extend outward.

[0014] Preferably, after a target is detected, the flexible cable tightens, the capture and retraction assembly encloses the target object, the torsion spring is compressed and deformed, the angle between each finger joint changes, and the spirally installed flexible cable and the capture and retraction assembly form a capture net, which cooperates with the finger joints with variable stiffness to enclose the target.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The present invention provides a rigid-flexible coupling spatial folding and unfolding net system for capturing robotic arms. Each finger joint is driven to move by a ball screw and a torsion spring. Flexible cables are spirally threaded through the flexible cable through-holes of each finger joint. The flexible cables and the capturing and unfolding components work together to form a capturing net. Only a single flexible cable is needed to control the folding and unfolding of the capturing net, and the extension radius of the capturing net can be adjusted according to needs, realizing the variable stiffness and unidirectional continuity of the robotic arm.

[0017] 2. The rigid-flexible coupled spatial folding and unfolding net system capture robot of the present invention adopts a combination of rigid linear drive and flexible capture and unfolding, which has strong adaptability and compliance while also being rigid. Moreover, it can be assembled into any number of fingers according to actual application needs, and has good expandability and easy replacement.

[0018] 3. The rigid-flexible coupling space folding net system capture manipulator of the present invention has a support frame and guide column combination in the linear drive component, so that the capture and retrieval component is placed in the support frame after being folded up. It has the advantages of large folding ratio, small mass, strong adaptability and large capture space, which reduces the transportation burden of spacecraft. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the rigid-flexible coupled spatial folding net system for capturing the robotic arm of the present invention;

[0020] Figure 2 This is a front view of the rigid-flexible coupled spatial folding net system for capturing the robotic arm of the present invention;

[0021] Figure 3 This is a DD cross-sectional view of the rigid-flexible coupled spatial folding net system for capturing the robotic arm of the present invention;

[0022] Figure 4 This is an AA cross-sectional view of the rigid-flexible coupled spatial folding net system capturing robot of the present invention;

[0023] Figure 5 This is a BB cross-sectional view of the rigid-flexible coupling spatial folding net system capturing robot of the present invention;

[0024] Figure 6 This is a schematic diagram of the operation of the rigid-flexible coupled spatial folding net system of the present invention to capture the unfolding of the robotic arm;

[0025] Figure 7 This is a front view schematic diagram of the rigid-flexible coupling spatial folding net system of the present invention capturing the unfolded robotic arm;

[0026] Figure 8 This is a top view schematic diagram of the rigid-flexible coupling spatial folding net system of the present invention capturing the unfolded robotic arm.

[0027] Key reference numerals:

[0028] Linear drive assembly 1, lead screw nut 11, ball screw 12, coupling 13, drive motor 14, fixed base 15, moving disc 16, guide hole 161, hinge interface 162, guide post 17, support frame 18, base 19, capture and retraction assembly 2, top finger 21, flexible cable through hole 211, connecting finger 22, rotating shaft 23, torsion spring 24, bottom finger 25, flexible cable 26, flexible cable copper sleeve 27. Detailed Implementation

[0029] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0030] This invention relates to a rigid-flexible coupled spatial folding mesh system for capturing robotic arms, such as... Figure 1As shown, it includes a linear drive assembly 1 and a capture and retraction assembly 2. The capture and retraction assembly 2 is evenly distributed around the linear drive assembly 1 along the circumference. The flexible rope 26 and the capture and retraction assemblies 2 arranged along the circumference of the movable flower disc 16 cooperate to form a capture net. The tightening or loosening of a single flexible rope 26 controls the retraction or extension of the capture net, and the extension radius of the capture net formed by the extension of the capture and retraction assembly 2 can be adjusted according to the needs.

[0031] like Figures 2-5 As shown, the linear drive assembly 1 includes a lead screw nut 11, a ball screw 12, a coupling 13, a drive motor 14, a fixed base 15, a movable disc 16, guide posts 17, a support frame 18, and a base 19. The lead screw nut 11 is fitted onto the ball screw 12, and the two are connected by a helical drive. The first end of the ball screw 12 is connected to the drive motor 14 through the coupling 13. The drive motor 14 is mounted on the base 19. The second end of the ball screw 12 is mounted on the fixed base 15. The movable disc 16 is fitted onto the lead screw nut 11. The movable disc 16 has guide holes 161 and hinge interfaces 162 alternately arranged on its circumference. The guide posts 17 are evenly distributed around the ball screw 12 along the circumference. The first end of the guide post 17 is connected to the support frame 18, and the support frame 18 is located below the fixed base 15. The second end of the guide post 17 passes through the guide hole 161 on the movable disc 16 and is fixed on the base 19. The support frame 18 has a cross-shaped structure, which, together with the guide column 17, divides the space between the support frame 18 and the movable flower plate 16 into four rhomboid spaces, and the capture and retraction component 2 is accommodated in the rhomboid space when it is retracted.

[0032] like Figure 3As shown, the capture and retraction assembly 2 includes a top finger 21, a connecting finger 22, a rotating shaft 23, a torsion spring 24, a bottom finger 25, and a flexible cable 26. The top of the top finger 21 has an arc-shaped surface, and the bottom of the top finger 21 is rotatably connected to the top of the connecting finger 22 via the rotating shaft 23. The torsion spring 24 is sleeved on the rotating shaft 23, and both ends of the torsion spring 24 are respectively inserted into the hinge holes of the connecting finger 22. The installation direction of the torsion spring 24 connecting adjacent fingers is the center direction of the capture and retraction assembly 2, enabling the capture and retraction assembly 2 to move continuously in one direction. Multiple connecting fingers 22 are arranged in a straight line, and each connecting finger 22 is rotatably connected to the other via the rotating shaft 23. The rotating shaft 23 is equipped with... A torsion spring 24 is provided, and the bottom of the bottom finger joint 25 is rotatably connected to the hinge interface 162 of the movable flower plate 16. The installation direction of the torsion spring 24 on the copper sleeve pin of the movable flower plate 16 is the outside of the capture and retraction assembly 2, which drives the capture and retraction assembly 2 to extend outward. The middle of the top finger joint 21, the connecting finger joint 22 and the bottom finger joint 25 are all provided with flexible cable through holes 211. The first end of the flexible cable 26 is fixed on the top finger joint 21, and the second end of the flexible cable 26 spirally passes through the flexible cable through holes 211 of the top finger joint 21, the connecting finger joint 22 and the bottom finger joint 25 in a circular array and is fixed on the movable flower plate 16. Each flexible cable through hole 211 is provided with a flexible cable copper sleeve 27.

[0033] like Figures 6-8 As shown, when the capture robot is not in operation, the movable disc 16 is located at the bottom of the ball screw 12, the flexible cable 26 is tightened, the torsion spring 24 experiences increased force, and the top finger 21, connecting finger 22, and bottom finger 25 all tighten inward, causing the capture and unfolding assembly 2 to retract inward. When the capture robot is in operation, the drive motor 14 drives the ball screw 12 to rotate through the coupling 13, causing the movable disc 16 connected to the screw nut 11 to move upward, the flexible cable 26 to loosen, the torsion spring 24 experiences reduced force, and the top finger 21, connecting finger 22, and bottom finger 25 all unfold outward, extending each capture and unfolding assembly 2 to form a capture net. When the capture robot is in operation, the ball screw 12 drives the movable disc 16 to rise through the screw nut 11, causing each finger in the capture and unfolding assembly 2 to extend outward, and the torsion spring 24 on the movable disc 16 drives the capture and unfolding assembly 2 to extend outward. After a target is detected, the flexible cable 26 tightens, and the capture and retraction assembly 2 envelops the target object. The torsion spring 24 is compressed and deformed, and the angle between each finger joint changes. The spirally installed flexible cable 26 and the capture and retraction assembly 2 form a capture net, which works with the variable stiffness of the fingers to better envelop the target.

[0034] The rigid-flexible coupled spatial unfolding net system capture robot of the present invention will be further described below with reference to embodiments:

[0035] like Figures 1 to 8As shown, the capture manipulator adopts a modular design, with each joint connected by a torsion spring 24, allowing the joints to rotate outwards only, exhibiting variable stiffness and unidirectional continuity. A flexible cable 26 is threaded through the four joints; when the cable 26 is tightened, the capture and retraction assembly 2 retracts; when the cable 26 is loosened, the capture and retraction assembly 2 opens. The deployment and retraction of the capture and retraction assembly 2 can be controlled by a single power drive, greatly simplifying the power system of traditional capture manipulators. A flexible cable 26 is used to spirally thread through the four joints from top to bottom without turning back, forming a capture net. Compared to traditional spatial capture nets, the capture net not only has excellent capture capabilities but also allows control of the net system through the joints of the capture and retraction assembly 2, solving the problem of waste caused by the inability to control the traditional rope net after launch. The linear drive assembly 1 uses four guide posts 17 and a cross-shaped top support frame 18 to provide a receiving space. The four joints of the capture and retraction assembly 2 have a corresponding shape design, allowing them to perfectly nest within the receiving space of the linear drive assembly 1 after retraction. The bottom joint 22 of the capture and unfolding assembly 2 is fixed to the moving disc 16 of the linear drive assembly 1. The moving disc 16 is driven up and down by the ball screw 12 and the drive motor 14. The capture and unfolding assembly 2 is composed of joints, flexible cables 26, a rotating shaft 23, and torsion springs 24. The torsion springs 24 are located between the joints, providing force for the twisting and resetting of the joints. The flexible cables 26 are spirally wound on the capture and unfolding assembly 2 to form a capture net. The tension and relaxation of the flexible cables 26 control the opening and closing of the capture and unfolding assembly 2. The flexible cables 26 and the drive motor 14 control the robot arm to unfold and capture. At the same time, the torsion springs 24 give the robot arm variable stiffness. A single flexible cable 27 controls the capture net, which has the advantages of strong adaptability, light weight, and high unfolding ratio.

[0036] This invention relates to a rigid-flexible coupled spatial folding and unfolding net system for capturing robotic arms. The movement of the finger joints is driven by a ball screw 12 and a torsion spring 24. The flexible cable 26 is spirally threaded through each finger joint. Only a single drive is needed to control the folding and unfolding of the capture and unfolding assembly 2, thereby achieving variable stiffness and unidirectional continuity of the robotic arm. It adopts a combination of rigid linear drive and flexible capture and unfolding, which has strong adaptability and compliance while also being rigid. Moreover, it can be assembled into any number of finger joints according to actual application needs, and has good expandability and easy replacement.

[0037] 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 rigid-flexible coupled spatial folding net system for capturing robotic arms, characterized in that, It includes a linear drive assembly and a capture and deployment assembly, wherein the capture and deployment assembly is evenly distributed around the linear drive assembly along the circumference. The linear drive assembly includes a lead screw nut, a ball screw, a coupling, a drive motor, a fixed base, a movable disc, guide posts, a support frame, and a base. The lead screw nut is fitted onto the ball screw, and the two are connected by a helical drive. The first end of the ball screw is connected to the drive motor via the coupling. The drive motor is mounted on the base. The second end of the ball screw is mounted on the fixed base. The movable disc is fitted onto the lead screw nut. The guide posts are evenly distributed around the ball screw along its circumference. The first end of each guide post is connected to the support frame, and the support frame is located below the fixed base. The second end of each guide post passes through a guide hole on the movable disc and is fixed to the base. The capture and retraction assembly includes a top finger joint, a connecting finger joint, a rotating shaft, a torsion spring, a bottom finger joint, and a flexible cable. The top of the top finger joint has an arc-shaped surface, and the bottom of the top finger joint is rotatably connected to the top of the connecting finger joint via the rotating shaft. The torsion spring is sleeved on the rotating shaft, and both ends of the torsion spring are respectively inserted into the hinge holes of the connecting finger joint. Multiple connecting fingers are arranged in a straight line, and each connecting finger joint is rotatably connected to the rotating shaft, and the rotating shaft is provided with the torsion spring. The bottom of the bottom finger joint is rotatably connected to the hinge interface of the movable flower disc. The top finger joint, the connecting finger joint, and the bottom finger joint all have flexible cable through holes in their middle parts. The first end of the flexible cable is fixed on the top finger joint, and the second end of the flexible cable spirally passes through the flexible cable through holes of the top finger joint, the connecting finger joint, and the bottom finger joint arranged in a circular array and is fixed on the movable flower disc. The flexible rope and the various capture and retraction components arranged along the circumference of the moving flower disc cooperate to form a capture net. The capture net can be controlled to retract or extend by tightening or loosening a single flexible rope, and the extension radius of the capture net formed by the extension of the capture and retraction components can be adjusted.

2. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, Each of the aforementioned flexible cable through holes is provided with a flexible cable copper sleeve.

3. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, The movable flower plate has guide holes and hinge interfaces arranged alternately on its periphery.

4. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, The torsion spring connecting adjacent phalanges is installed in the center direction of the capture and retraction assembly, enabling the capture and retraction assembly to move continuously in one direction.

5. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, The torsion spring on the copper sleeve pin of the movable flower disc is installed in the outer direction of the capture and retraction assembly, driving the capture and retraction assembly to extend outward.

6. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, When the capture robot is not in operation, the moving disc is located at the bottom of the ball screw, the flexible cable is tightened, the torsion spring is subjected to increased force, the top joint, connecting joint and bottom joint are all tightened inward, and the capture and retraction assembly retracts inward.

7. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, When the capture robot is in operation, the drive motor drives the ball screw to rotate through the coupling, the movable disc connected to the screw nut moves upward, the flexible cable loosens, the torsion spring experiences reduced force, and the top finger joint, connecting finger joint, and bottom finger joint all extend outward, and each of the capture and retraction components extends to form a capture net.

8. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, The support frame has a cross-shaped structure, which, together with the guide column, divides the space between the support frame and the movable flower plate into four rhomboid spaces. When the capture and retracting component is retracted, it is housed within the rhomboid spaces.

9. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 7, characterized in that, When the capture robot is in operation, the ball screw drives the moving disc to rise through the screw nut, thereby causing each joint in the capture and retraction assembly to extend outward. The torsion spring on the moving disc drives the capture and retraction assembly to extend outward.

10. The rigid-flexible coupled spatial folding net system for capturing robotic arms according to claim 1, characterized in that, Upon detection of a target, the flexible cable tightens, the capture and retraction assembly envelops the target object, the torsion spring deforms under pressure, the angle between each finger joint changes, and the spirally installed flexible cable and the capture and retraction assembly form a capture net, which, in conjunction with the variable stiffness of the finger joints, envelops the target.

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