A space columnar object capturing and transferring device

Abstract

The present application relates to a kind of space columnar object capture transfer device, comprising: ring type capture component 1, the ring type capture component 1 includes several capture arms 15;Slip roll component 2, the slip roll component 2 is connected with the ring type capture component 1, slip roll component 2 includes several relative to space columnar object and can be slid and the slip roll of auxiliary space columnar object positioning part.Sliding roll component 2 is adjusted after columnar aircraft is captured by the way of ring type capture component 1 preliminary capture to columnar aircraft, and columnar aircraft is positioned in circumferential direction and axial direction bidirectionally.

Description

Technical Field

[0001] This invention belongs to the field of automated equipment, and specifically relates to a spatial cylindrical object capture and transfer device. Background Technology

[0002] Automated capture and transfer of objects requires consideration of the working environment and the posture of the object to be captured. Since humans cannot adapt well to various working environments and there are safety risks, gripping and transfer devices are used for material turning or moving in the middle of the process.

[0003] Current grasping and transport devices are mostly single-function fixed clamps, which cannot adjust the posture and position of the object after capture if the object is in a certain state of motion. Summary of the Invention

[0004] This invention relates to a spatial cylindrical object capture and transfer device. It is used for capturing cylindrical objects in mid-air. The device has functions of capture, spiral rolling, positioning, and object transfer.

[0005] To address the aforementioned technical problems, the first aspect of this invention relates to a spatial cylindrical object capture and transfer device comprising:

[0006] A wraparound capture assembly 1, the wraparound capture assembly including a plurality of capture and grasping arms 15;

[0007] The sliding assembly 2 is connected to the circumferential capture assembly 1. The sliding assembly 2 includes several sliding components that can slide relative to the spatial cylindrical object and assist in the positioning of the spatial cylindrical object.

[0008] Furthermore, the sliding assembly 2 includes a plurality of cylindrical aircraft friction wheels 23 that can slide relative to the cylindrical object, and the rotation axis of the friction wheel is deviated from the axis of the aircraft by 5° to 30°; the axis of the first cylindrical aircraft friction wheel 23 is parallel to the axis of the second cylindrical aircraft friction wheel 23.

[0009] Preferably, the rotation axis of the friction wheel deviates from the axis of the aircraft by 10°.

[0010] Furthermore, the cylindrical aircraft friction wheel 23 includes: a cylindrical friction wheel 231 and a cylindrical friction wheel drive motor 232 for driving the cylindrical friction wheel 231 to rotate;

[0011] The columnar friction wheel 231 is connected to the columnar friction wheel drive motor 232. The columnar friction wheel 231 can rotate around the rotation axis of the columnar friction wheel drive motor 232. The bottom surface of the columnar friction wheel 231 is larger than the top surface.

[0012] The bottom surface of the first columnar friction wheel corresponds to the top surface of the second columnar friction wheel, and the top surface of the first columnar friction wheel corresponds to the bottom surface of the second columnar friction wheel.

[0013] Furthermore, the sliding roller assembly 2 also includes: a positioning spring pin 22 that can contact the cylindrical object, and an auxiliary sliding roller component 24;

[0014] The positioning spring pin 22 includes a spring pin head 221, a spring 222, and a spring pin cylinder 223. The spring pin head 221 is sleeved on the spring pin cylinder 223. The first end of the spring 222 is connected to the spring pin head, and the second end is fixedly connected to the bottom of the spring pin cylinder 223.

[0015] Furthermore, the encircling capture assembly 1 also includes several movable rods that drive the capture and grabbing arm 15.

[0016] Furthermore, the encircling capture assembly 1 also includes: a capture drive rod 11, a ball-head space link 12, a capture rotation rod 13, and a capture main frame swing rod 14.

[0017] One end of the drive rod 11 is movably connected to the first end of the ball-head space connecting rod 12;

[0018] The ball-head space link 12 includes a ball head with a slot, and the second end is movably connected to the capture rotating rod 13 via the ball head;

[0019] One end of the capture rotating rod 13 is movably connected to the capture main frame swing rod 14;

[0020] The capture main frame swing rod 14 is fixedly connected to the capture and grabbing arm 15;

[0021] The capture arm 15 is equipped with capture auxiliary wheels 16 that can slide relative to the cylindrical object.

[0022] Furthermore, the encircling capture assembly 1 also includes a drive motor 10, which is fixedly connected to the capture drive rod 11. The capture drive rod 11 rotates around the drive shaft of the drive motor 10 to drive the capture and grabbing arm 15.

[0023] Optionally, the space columnar object capture and transfer device further includes an item transfer assembly 3, which includes an item transfer compartment 31, a door sliding frame 32, and a sliding frame guide wheel assembly 33.

[0024] The item transfer compartment 31 is a hollow geometric body, and it is provided with a transfer chute 311 that connects the inside and outside of the transfer compartment 31. The chute 311 is arranged along the opening direction of the item transfer compartment 31.

[0025] The sliding frame 32 is fixedly connected to the item transfer compartment 31 on both sides; the sliding frame guide wheel assembly 33 is installed at one end of the sliding frame 32.

[0026] The sliding frame 32 includes a sliding baffle 322, which is disposed inside the item transfer compartment 31 and can slide back and forth along the slide groove 311.

[0027] Optionally, the spatial cylindrical object capture and transfer device further includes a flange 4 and a multi-degree-of-freedom robotic arm 5, wherein the multi-degree-of-freedom robotic arm 5 is fixedly connected to the circumferential capture assembly 1 and the sliding roller assembly 2 via the flange 4.

[0028] A second aspect of the present invention provides an application of a spatial cylindrical object capture and transfer device, the spatial cylindrical object capture and transfer device being used to capture a spatial cylindrical object and transfer the spatial cylindrical object and the object to be transferred therein.

[0029] The beneficial effects of this invention are: after capturing a cylindrical object, the spatial cylindrical object capture and transfer device adjusts the circumferential and axial bidirectional positioning of the captured cylindrical object. Attached Figure Description

[0030] Figure 1 Assembly diagram of a space cylindrical object capture and transfer device;

[0031] Figure 2 Assembly drawing of the roller assembly;

[0032] Figure 3 Assembly diagram of the wraparound capture component;

[0033] Figure 4 Assembly diagram of goods transfer components;

[0034] Figure 5 Image of a space columnar object capture and transfer device awaiting capture;

[0035] Figure 6 Image of a space columnar object capture and transfer device;

[0036] The meaning of the numbers in the diagram:

[0037] 1. Encircling capture assembly, 2. Sliding and rolling assembly, 3. Item transfer assembly, 4. Flange, 5. Multi-degree-of-freedom robotic arm, 10. Drive motor, 11. Capture drive rod, 12. Ball-head space linkage, 13. Capture rotating rod, 14. Capture main frame swing rod, 15. Capture grabbing arm, 22. Positioning spring pin, 23. Columnar aircraft friction wheel, 24. Auxiliary sliding and rolling component, 31. Item transfer cabin, 32. Cabin door sliding frame, 33. Sliding frame guide wheel assembly, 221. Spring pin head, 222. Spring, 223. Spring pin cylinder, 231. Columnar friction wheel, 232. Columnar friction wheel drive motor, 311. Transfer chute, 322. Sliding baffle. Detailed Implementation

[0038] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0039] In some embodiments, such as Figure 1 and Figure 2 As shown, a space cylindrical object capture and transfer device includes:

[0040] A wraparound capture assembly 1, the wraparound capture assembly including a plurality of capture and grasping arms 15;

[0041] The sliding assembly 2 is connected to the circumferential capture assembly 1. The sliding assembly 2 includes several sliding components that can slide relative to the spatial cylindrical object and assist in the positioning of the spatial cylindrical object.

[0042] The capture and grappling arm 15 is a slender, arc-shaped structure that can meet a wider range of capture conditions. When the capture and grappling arm 15 closes, it contacts the target spacecraft and undergoes elastic deformation, providing continuous pressure for the friction process. The optional arrangement of the four capture and grappling arms 15 makes the target spacecraft more stable relative to the capture and transfer device during the capture process, ensuring the smooth progress of the friction process.

[0043] In some embodiments, such as Figure 2 As shown, the space cylindrical object capture and transfer device includes a sliding assembly 2 comprising several cylindrical aircraft friction wheels 23 that can slide relative to the cylindrical object. The rotation axis of the friction wheels deviates from the axis of the aircraft by 5° to 30°. The axis of the first cylindrical aircraft friction wheel 23 is parallel to the axis of the second cylindrical aircraft friction wheel 23.

[0044] Preferably, the rotation axis of the friction wheel deviates from the axis of the aircraft by 10°. This deviation angle is set to facilitate the adjustment of the cylindrical aircraft's position using up and down spirals. When the deviation angle is small, the circumferential motion component is larger; when the deviation angle is large, the axial motion component is larger. The angle can be adjusted according to the axial length and proportion of the cylindrical object, or two sets of friction wheels can be set to adjust the position of the object to be grasped in the circumferential and axial directions respectively.

[0045] In some embodiments, such as Figure 2 As shown, the space cylindrical object capture and transfer device includes a cylindrical spacecraft friction wheel 23 comprising: a cylindrical friction wheel 231 and a cylindrical friction wheel drive motor 232 for driving the cylindrical friction wheel 231 to rotate.

[0046] The columnar friction wheel 231 is connected to the columnar friction wheel drive motor 232 and can rotate around the rotation axis of the columnar friction wheel drive motor 232. The bottom surface of the columnar friction wheel 231 is larger than the top surface.

[0047] The bottom surface of the first columnar friction wheel corresponds to the top surface of the second columnar friction wheel, and the top surface of the first columnar friction wheel corresponds to the bottom surface of the second columnar friction wheel.

[0048] In some embodiments, such as Figure 2 As shown, the spatial cylindrical object capture and transfer device, the sliding assembly 2 further includes: a positioning spring pin 22 that can contact the cylindrical object, and an auxiliary sliding component 24;

[0049] The positioning spring pin 22 includes a spring pin head 221, a spring 222, and a spring pin cylinder 223. The spring pin head 221 is sleeved on the spring pin cylinder 223. The first end of the spring 222 is connected to the spring pin head, and the second end is fixedly connected to the bottom of the spring pin cylinder 223.

[0050] The sliding assembly 2 achieves relative helical movement between the target aircraft and the capture and transfer device through the rotation of two aircraft friction wheels (i.e., cylindrical friction wheels 231). The two aircraft friction wheels can be arranged left and right, which is more conducive to the dynamic balance of the target object. The two motors (i.e., cylindrical friction wheel drive motors 232) drive the target object independently without a complex transmission structure, reducing their own weight and improving the fault tolerance rate of drive failure. After the positioning spring pin 22 of the capture and transfer device slides to the predetermined slide position of the target aircraft, it pops out to position and locks the capture and transfer device along the axis of the target aircraft. The aircraft in the capture device changes from helical motion to rotational motion. When the positioning pin reaches the positioning hole of the target aircraft, the aircraft friction wheels stop moving, and the target aircraft and the capture device reach the object transfer docking position. The positioning slot of the target aircraft is located on the surface of the aircraft. The slot occupies a small space, has little impact on air resistance, and does not affect the internal space of the aircraft.

[0051] In some embodiments, such as Figure 1 and Figure 3 As shown, the spatial cylindrical object capture and transfer device, the ring-shaped capture assembly 1 also includes several movable rods for driving the capture and holding arm 15.

[0052] In some embodiments, such as Figure 3 As shown, the spatial cylindrical object capture and transfer device includes a movable rod mechanism comprising: a capture drive rod 11, a ball-head spatial connecting rod 12, a capture rotating rod 13, and a capture main frame swing rod 14.

[0053] One end of the drive rod 11 is movably connected to the first end of the ball-head space connecting rod 12;

[0054] The ball-head space link 12 includes a ball head with a slot, and the second end is movably connected to the capture rotating rod 13 via the ball head;

[0055] One end of the capture rotating rod 13 is movably connected to the capture main frame swing rod 14;

[0056] The capture main frame swing rod 14 is fixedly connected to the capture and grabbing arm 15;

[0057] The capture arm 15 is equipped with capture auxiliary wheels 16 that can slide relative to the cylindrical object.

[0058] In some embodiments, such as Figure 3 As shown, the spatial cylindrical object capture and transfer device includes a movable rod mechanism that further includes a drive motor 10, which is fixedly connected to the capture drive rod 11, and the capture drive rod 11 rotates around the drive shaft of the drive motor 10.

[0059] Among them, the ring-type capture assembly drives multiple space linkages to move through one motor (i.e., drive motor 10). The capture main frame swing rod 14 is fixedly connected to the capture and retrieval arm 15, which drives the capture and retrieval arm 15 to open and close, thereby enabling the capture and transfer device to capture the target spacecraft.

[0060] In some embodiments, such as Figure 1 and Figure 4 As shown, the spatial cylindrical object capture and transfer device also includes an item transfer assembly 3, which includes an item transfer compartment 31, a door sliding frame 32, and a sliding frame guide wheel assembly 33.

[0061] The item transfer compartment 31 is a hollow geometric body, and it is provided with a transfer chute 311 that connects the inside and outside of the transfer compartment 31. The chute 311 is arranged along the opening direction of the item transfer compartment 31.

[0062] The sliding frame 32 is fixedly connected to the item transfer compartment 31 on both sides; the sliding frame guide wheel assembly 33 is installed at one end of the sliding frame 32.

[0063] The sliding frame 32 includes a sliding baffle 322, which is disposed inside the item transfer compartment 31 and can slide back and forth along the slide groove 311.

[0064] Among them, the item transfer component 3 is used to launch the transfer item into the transfer cabin along the hatch of the target aircraft. After the item enters the transfer cabin 31, the sliding frame 32 moves backward to the end and closes the hatch. When the sliding frame is pushed forward, the hatch opens. The push rod inside the transfer cabin pushes the item out of the hatch and can provide a certain thrust for the transfer item. The item transfer component 3 carries the item and transfers it.

[0065] In some embodiments, such as Figure 4 As shown, the spatial cylindrical object capture and transfer device also includes a flange 4 and a multi-degree-of-freedom robotic arm 5, which is fixedly connected to the circumferential capture assembly 1 and the sliding roller assembly 2 via the flange 4.

[0066] The spatial cylindrical object capture and transfer device is located at the end of the robotic arm and is used to capture, position, and transfer cylindrical objects. The capture and transfer device includes a connecting flange, a ring-type capture assembly, a spiral sliding assembly, and an object transfer assembly.

[0067] In some embodiments, such as Figure 5 As shown, the space columnar object capture and transfer device is used to capture a space columnar object and transfer the space columnar object and the object to be transferred therein.

[0068] Example 1

[0069] Workflow of the space cylindrical object capture and transfer device:

[0070] 1. The robotic arm drives the capture and transfer device toward the cylindrical aircraft;

[0071] 2. The capture and transfer device aligns the opening of the capture and grabbing arm with the lower part of the target aircraft's body. When the cylindrical aircraft enters the capture range, the capture and grabbing arm begins to quickly close and surround the target aircraft to prevent the target aircraft from escaping.

[0072] 3. The capture and grabbing arm slows down its closing speed to bring the target aircraft into the preset position and provides friction between the friction wheel and the aircraft;

[0073] 4. The friction wheel rotates, causing the target aircraft to spiral downwards until the locating pin enters the locating slot;

[0074] 5. The target aircraft ejects the transported items into the transport compartment;

[0075] 6. The cargo transfer compartment closes its door, the capture arm releases, and the target aircraft detaches.

[0076] This invention can also be applied to capturing objects of other shapes, such as cubes and spheres. Accordingly, the shape of the capturing arm can be appropriately changed, such as a zigzag shape or a hemispherical shape. At the same time, its working environment is not limited to conventional environments and can also be used in liquid environments.

[0077] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A space cylindrical object capture and transfer device for capturing a target spacecraft and transferring an object to be transferred within the target spacecraft, wherein the target spacecraft is a cylindrical spacecraft, characterized in that, include: The ring-shaped capture assembly (1) includes a plurality of capture and grasping arms (15), the capture and grasping arms (15) having a slender arc-shaped structure, and the capture and grasping arms (15) undergo elastic deformation when they close and come into contact with the target spacecraft to provide continuous pressure for the friction process; The sliding assembly (2) is connected to the encircling capture assembly (1). The sliding assembly (2) includes a first cylindrical spacecraft friction wheel, a second cylindrical spacecraft friction wheel, and a positioning spring pin (22) that can contact the target spacecraft. Both the first cylindrical spacecraft friction wheel and the second cylindrical spacecraft friction wheel can slide relative to the target spacecraft. The rotation axis of each cylindrical spacecraft friction wheel has a deviation of 5° to 30° from the axis of the target spacecraft. The axis of the first cylindrical spacecraft friction wheel is parallel to the axis of the second cylindrical spacecraft friction wheel. as well as The item transfer assembly (3) includes an item transfer compartment (31), a door sliding frame (32), and a sliding frame guide wheel assembly (33). The item transfer compartment (31) is a hollow geometric body and is provided with a transfer chute (311) connecting the inside and outside of the item transfer compartment (31). The transfer chute (311) is arranged along the opening direction of the item transfer compartment (31). The two sides of the door sliding frame (32) are fixedly connected to the item transfer compartment (31), and the sliding frame guide wheel assembly (33) is installed at one end of the door sliding frame (32). The door sliding frame (32) includes a sliding baffle (322), which is arranged inside the item transfer compartment (31) and can slide back and forth along the transfer chute (311). The first and second cylindrical spacecraft friction wheels rotate to achieve relative spiral movement between the target spacecraft and the space cylindrical object capture and transfer device. The positioning spring pin (22) pops out and positions itself after reaching the predetermined slide position of the target spacecraft during the relative spiral movement, so as to lock the relative movement between the target spacecraft and the space cylindrical object capture and transfer device along the axis of the target spacecraft, so that the target spacecraft relative to the space cylindrical object capture and transfer device changes from relative spiral movement to relative rotational movement. Once the positioning spring pin (22) reaches the positioning hole of the target spacecraft, the first cylindrical spacecraft friction wheel and the second cylindrical spacecraft friction wheel stop moving, so that the target spacecraft and the space cylindrical object capture and transfer device reach the object transfer docking position; The item transfer assembly (3) is used to receive the item to be transferred into the item transfer cabin (31) by the target spacecraft, and to close the item transfer cabin (31) after the item to be transferred enters the item transfer cabin (31) in order to carry and transfer the item to be transferred.

2. The spatial cylindrical object capture and transfer device according to claim 1, characterized in that, The cylindrical aircraft friction wheel includes a cylindrical friction wheel (231) and a cylindrical friction wheel drive motor (232) that drives the cylindrical friction wheel (231) to rotate. The columnar friction wheel (231) is connected to the columnar friction wheel drive motor (232). The columnar friction wheel (231) can rotate around the rotation axis of the columnar friction wheel drive motor (232). The bottom surface of the columnar friction wheel (231) is larger than the top surface. The bottom surface of the first cylindrical friction wheel (231) corresponds to the top surface of the second cylindrical friction wheel (231), and the top surface of the first cylindrical friction wheel (231) corresponds to the bottom surface of the second cylindrical friction wheel (231).

3. The spatial cylindrical object capture and transfer device according to claim 1, characterized in that, The roller assembly (2) also includes an auxiliary roller component (24); The positioning spring pin (22) includes a spring pin head (221), a spring (222) and a spring pin cylinder (223). The spring pin head (221) is sleeved on the spring pin cylinder (223). The first end of the spring (222) is connected to the spring pin head (221), and the second end is fixedly connected to the bottom of the spring pin cylinder (223).

4. The spatial cylindrical object capture and transfer device according to claim 1, characterized in that, The circumferential capture assembly (1) also includes several movable rods that drive the capture arm (15).

5. The spatial cylindrical object capture and transfer device according to claim 1 or 4, characterized in that, The encircling capture assembly (1) also includes a capture drive rod (11), a ball-head space link (12), a capture rotation rod (13), and a capture main frame swing rod (14). One end of the capture drive rod (11) is movably connected to the first end of the ball-head space link (12); The ball-head space link (12) includes a ball head with a slot, and the second end of the ball-head space link (12) is movably connected to the rod body of the capture rotating rod (13) through the ball head; One end of the capture rotating rod (13) is movably connected to the rod body of the capture main frame swing rod (14); The capture main frame swing rod (14) is fixedly connected to the capture grabbing arm (15); The capture arm (15) is equipped with a capture auxiliary wheel (16) that can slide relative to the cylindrical object.

6. The spatial cylindrical object capture and transfer device according to claim 5, characterized in that, The encircling capture assembly (1) also includes a drive motor (10), which is fixedly connected to the rod body of the capture drive rod (11). The capture drive rod (11) rotates around the drive shaft of the drive motor (10) to drive the capture grab arm (15).

7. The spatial cylindrical object capture and transfer device according to claim 1, characterized in that, It also includes a flange (4) and a multi-degree-of-freedom robotic arm (5), which is fixedly connected to the circumferential capture assembly (1) and the sliding roller assembly (2) via the flange (4).

8. An application of a spatial cylindrical object capture and transfer device according to any one of claims 1 to 7, characterized in that, The space cylindrical object capture and transfer device is used to capture and transfer a target spacecraft, and to transfer objects to be transferred within the target spacecraft, wherein the target spacecraft is a cylindrical spacecraft.

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