Tethered net deployment and retrieval space capture manipulator

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a rope net folding and unfolding type space capturing mechanical hand, which comprises a mobile flower disc module, a motor driving module, a capturing folding and unfolding module and driving ropes, the mobile flower disc module is arranged above the motor driving module, the capturing folding and unfolding module is arranged above the mobile flower disc module, the capturing folding and unfolding module comprises folding and unfolding units and connecting scissors rods, the folding and unfolding units are connected in a ring structure through a plurality of pairs of connecting scissors rods, capturing ropes in the driving ropes are wound between the folding and unfolding units to form a capturing space, a collection rope is wound through an opening net pulley at the top of an opening net rod in the capturing folding and unfolding module, and both ends of the collection rope are wound on a rope collector. The capturing rope is wound to form the capturing space at a capturing starting stage, and the capturing process is completed by unfolding the collection rope, so that the space is large, the capturing speed is fast, and the response is fast.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a rope-net retraction and deployment type space capture robotic arm. Background Technology

[0002] The space capture mechanism is the core functional unit of the space robot system, mainly responsible for control tasks such as capturing, de-rotating, and preventing escape of the target. In the initial research stage, the space capture robot system basically uses a rigid structure as the motion carrier, that is, the realization of the capture function requires the movement of the space manipulator system.

[0003] Currently, existing capture mechanisms are mainly divided into rigid capture and flexible capture. Rigid capture is mainly used for capturing stationary targets and has certain limitations. Flexible capture mechanisms, on the other hand, have better shape adaptability and can achieve effective envelope capture of targets, but lack reusability. With the proposal of rigid-flexible coupling systems, space capture theory based on flexible cables or driven by them has gradually become a research hotspot. Rigid-flexible coupling systems have both the repeatability of rigid capture systems and the ability to achieve envelope capture of targets. Therefore, expanding this technology and system is of great significance for improving on-orbit operation and space safety. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a foldable, large-capture-space, fast-capture-speed, and rationally controlled rope-net retraction and deployment space capture robot, thereby solving the problems existing in the prior art.

[0005] The technical solution adopted in this invention is a rope-net retraction and deployment type space capture robot, which includes a moving flower plate module, a motor drive module, a capture and deployment module, and a drive rope. The motor drive module is located at the bottom of the capture robot, and the moving flower plate module is located above the motor drive module. The moving flower plate module includes a fixed bracket, a support ring, a guide slider, and a moving flower plate. The fixed bracket is located at the upper end of the guide column in the motor drive module, and a support ring is located below the fixed bracket. The support ring is connected to the upper end of the lifting screw in the motor drive module. The guide slider is slidably mounted on the guide column, and the moving flower plate is located below the guide slider. A locking nut is located in the middle of the moving flower plate, and the locking nut is connected to... The lifting screw is connected via a screw nut; the capture and unfolding module is located above the moving flower disc module, and includes three unfolding units and three pairs of equal-length connecting scissor rods. The three unfolding units are connected end-to-end by multiple pairs of connecting scissor rods to form a ring structure. Each unfolding unit includes an opening rod, a first closing rod, a second closing rod, a first scissor rod, a second scissor rod, three equal-length upper unfolding rods, and three equal-length lower unfolding rods. The first and second closing rods are respectively located on both sides of the opening rod, and the opening rod and the first closing rod are connected by the first scissor rod, and the opening rod and the second closing rod are connected by the second scissor rod. The lower ends are rotatably connected to the first ends of the upper unfolding rods, and the second ends of each upper unfolding rod are rotatably connected to the support lugs on the support rings. The first end of each lower unfolding rod is rotatably connected to the middle part of the upper unfolding rod, and the second end of the lower unfolding rod is rotatably connected to the lugs on the moving flower discs. The drive ropes include three capture ropes and three gathering ropes. The first end of each capture rope is fixed to the gathering lug in the motor drive module, and the second end of each capture rope passes through the bottom of the first net-gathering rod to the pulley at the top of the first net-gathering rod, and then winds around the pulley at the top of the second net-gathering rod in the adjacent folding and unfolding unit. The nets are wound sequentially around the pulley of the second net-collecting rod in the Yuanzhong module until they pass through the lower end of the second net-collecting rod in the adjacent unfolding unit and are fixed to the corresponding gathering lug. Each gathering rope is wound around the opening pulley at the top of the opening rod, and both ends of each gathering rope are wound around the rope take-up device in the motor drive module. Each gathering rope is located inside each capture rope and pulls the corresponding capture rope into the receiving slot of the opening rod. At this time, the three capture ropes are in the unfolded state and surround the inside of the capture unfolding module to form a capture space. By unfolding each gathering rope, each capture rope is gathered towards the center of the unfolding module, thereby realizing the capture of the spatial target by the robot arm.

[0006] Furthermore, when not in operation, the movable disc is located at the lower end of the lifting screw in the motor drive module. By driving the lifting motor in the motor drive module, the movable disc moves up and down along the lifting screw, enabling the folding and unfolding of the space capture robot. When in operation, the movable disc is located at the upper end of the lifting screw in the motor drive module. By unfolding the retraction rope, the capture rope converges towards the center of the space capture robot, enabling the space capture robot to capture the target.

[0007] Furthermore, the motor drive module includes a base, a motor housing connector, a motor bracket, a lifting motor, a lifting screw, guide columns, a coiling ring, and a rope take-up device. The base is equipped with the motor housing connector, and the motor bracket is located above the motor housing connector. The lifting motor is located in the motor bracket, and the output shaft of the lifting motor is connected to the lower end of the lifting screw via a coupling. The guide columns are evenly distributed around the lifting screw, and the lower ends of the guide columns are connected to the motor bracket. The outer arc surface of the coiling ring is evenly distributed with three sets of coiling lugs for fixing the flexible rope, and the coiling ring is located on the outside of the motor bracket. The coiling ring is connected to the motor bracket and the motor housing connector, and the rope take-up device is located on the base.

[0008] Furthermore, the support ring includes an upper support ring and a lower support ring. The outer arc surface of the upper support ring is evenly provided with multiple upper fixing grooves, and the outer arc surface of the lower support ring is evenly provided with multiple support lugs corresponding to the upper fixing grooves. The outer arc surface of the lower support ring is evenly provided with multiple lower fixing grooves, and the outer arc surface of the upper support ring is evenly provided with multiple support lugs corresponding to the lower fixing grooves. The upper support ring is engaged above the lower support ring, and the support lugs on the upper support ring are engaged in the lower fixing grooves, and the support lugs on the lower support ring are engaged in the upper fixing grooves.

[0009] Preferably, the movable flower plate includes an upper movable flower plate and a lower movable flower plate. The outer arc surface of the upper movable flower plate is evenly provided with a plurality of upper flower plate grooves, and the outer arc surface of the lower movable flower plate is evenly provided with a plurality of flower plate lugs corresponding to the upper flower plate grooves. The outer arc surface of the lower movable flower plate is evenly provided with a plurality of lower flower plate grooves, and the outer arc surface of the upper movable flower plate is evenly provided with a plurality of flower plate lugs corresponding to the lower flower plate grooves. The upper movable flower plate is engaged above the lower movable flower plate, and the flower plate lugs on the upper movable flower plate are engaged in the lower flower plate grooves, and the flower plate lugs on the lower movable flower plate are engaged in the upper flower plate grooves.

[0010] Furthermore, the opening pole, the first net-collecting pole, and the second net-collecting pole are provided with a uniform receiving groove in the middle, and the upper end of the receiving groove in the opening pole is provided with an opening pulley. Multiple pulleys are evenly distributed in the receiving grooves of the first net-collecting pole and the second net-collecting pole. The opening pole, the first net-collecting pole, and the second net-collecting pole are symmetrically provided with a left side plate and a right side plate on both sides, and the upper end of the left side plate and the right side plate is provided with a sliding groove.

[0011] Preferably, the first scissor bar and the second scissor bar have the same structure, and both the first scissor bar and the second scissor bar include a first support rod and a second support rod. The middle part of the first support rod is rotatably connected to the middle part of the second support rod, and the first end of both the first support rod and the first end of the second support rod are rotatably connected to a pin. The first end of the first support rod in the first scissor bar is slidably disposed in a groove at the upper end of the left side plate of the opening rod through a pin, and the second end of the first support rod is rotatably connected to the lower end of the right side plate of the first closing rod. The first end of the first support rod is slidably mounted in the groove at the upper end of the right side plate of the first net-collecting rod via a pin, and the second end of the second support rod is rotatably connected to the lower end of the left side plate of the net-opening rod; the first end of the first support rod of the second scissor bar is slidably mounted in the groove at the upper end of the left side plate of the second net-collecting rod via a pin, and the second end of the first support rod is rotatably connected to the lower end of the right side plate of the net-opening rod; the first end of the second support rod of the second scissor bar is slidably mounted in the groove at the upper end of the right side plate of the net-opening rod via a pin, and the second end of the second support rod is rotatably connected to the lower end of the left side plate of the second net-collecting rod.

[0012] Preferably, each pair of connecting scissor lifts includes a first connecting rod and a second connecting rod. The middle part of the first connecting rod is rotatably connected to the middle part of the second connecting rod, and the first end of both the first connecting rod and the first end of the second connecting rod are rotatably connected to a pin. The first end of the first connecting rod is located in a groove at the upper end of the left side plate of the first net-collecting rod via a pin, and the second end of the first connecting rod is rotatably connected to the lower end of the right side plate of the second net-collecting rod in the adjacent folding and unfolding unit. The first end of the second connecting rod is located in a groove at the upper end of the right side plate of the second net-collecting rod in the adjacent folding and unfolding unit via a pin, and the second end of the second connecting rod is rotatably connected to the lower end of the left side plate of the first net-collecting rod.

[0013] The features and beneficial effects of this invention are:

[0014] 1. The present invention provides a rope net retraction and deployment type spatial capture robot. In the initial stage of capture, the present invention uses capture ropes to wrap around each folding and deployment unit to form a capture space. The capture process is completed by unfolding the retraction ropes at each open net pole. It has the characteristics of large capture space, fast capture speed and fast response.

[0015] 2. The present invention provides a rope net retraction and unfolding space capture robot. Through the action of the lifting motor, the moving flower plate can be driven to move up and down along the lifting screw, thereby realizing the folding and unfolding of the folding and unfolding module. This is beneficial to the folding and unfolding operation of the space capture robot. At the same time, the connection between the various components in the folding and unfolding module is simple, and the scissor mechanism is used as the main structure. The overall structure has high rigidity, high stability, and the unfolding process is easy to control.

[0016] 3. The present invention provides a rope net retraction and deployment type space capture robot, in which the capture rope is wound between each folding and deployment unit to form a large capture space, and is retracted by the retraction rope. By using the retraction rope net in conjunction with the capture rope net for retraction, not only is the retraction process simplified and the retraction efficiency improved, but the capture speed is also accelerated, and the capture accuracy of the space capture robot for the target is improved.

[0017] 4. The present invention provides a rope net retraction and deployment type space capture robot, which adopts a rigid folding and deployment mechanism and a flexible capture rope net. It uses a rigid-flexible coupling robot to capture the target, which has excellent compliance, allows the captured target to have a certain deviation, and the structure has high stability.

[0018] 5. The rope-net retraction space capture manipulator provided by this invention has a drive structure that can work normally in high vacuum and strong radiation environments, and will not experience accuracy distortion in the chaotic and complex electromagnetic radiation field of space, thus adapting well to the space environment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the rope-net retraction and deployment space capture robot of the present invention;

[0020] Figure 2 This is a schematic diagram showing the connection between the motor drive module and the movable flower plate module of the present invention;

[0021] Figure 3 This is the present invention. Figure 2 Sectional view along the BB direction;

[0022] Figure 4 This is a schematic diagram of the support ring structure in the movable flower plate module of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the movable flower plate in the movable flower plate module of the present invention;

[0024] Figure 6 This is a top view of the rope-net retraction and deployment space capture robot of the present invention;

[0025] Figure 7 This is a front view of the rope-net retraction and deployment space capture robot of the present invention;

[0026] Figure 8 This is a schematic diagram of the drive rope connection of the rope-net retraction and deployment space capture robot of the present invention;

[0027] Figure 9 This is a schematic diagram of the openable rod structure in the unfolding module of this invention;

[0028] Figure 10 This is a schematic diagram of the working process of the rope-net retraction and deployment space capture robot of the present invention after capture.

[0029] Key reference numerals:

[0030] Motor drive module 1; base 11; motor housing connector 12; motor bracket 13; lifting motor 14; lifting screw 15; guide column 16; gathering ring 17; gathering lug 18; positioning pin 19; moving flower plate module 2; fixed bracket 21; support ring 22; upper support ring 221; lower support ring 222; upper fixing groove 223; support lug 224; lower fixing groove 225; guide slider 23; moving flower plate 24; upper moving flower plate 241; lower moving flower plate 242; upper flower plate groove 243; flower plate lug 244; lower flower plate groove 245. 45; Locking nut 25; Folding module 3; Folding unit 31; Net opening rod 311; Receiving groove 3111; Left side plate 3112; Right side plate 3113; Slide 3114; First net taking-up rod 312; Second net taking-up rod 313; First scissor bar 314; First support rod 3141; Second support rod 3142; Second scissor bar 315; Upper unfolding rod 316; Lower unfolding rod 317; Connecting scissor bar 32; First connecting rod 321; Second connecting rod 322; Capture rope 4; Gathering rope 5; Capture space 6; Capture target 7. Detailed Implementation

[0031] 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.

[0032] The present invention provides a rope-net retraction and deployment type space capture robot, such as... Figure 1 As shown, it includes a moving flower plate module 2, a motor drive module 1, a capture and unfolding module 3, and multiple drive ropes.

[0033] like Figure 2 and Figure 3As shown, the motor drive module 1 is located at the bottom of the capture robot, and the motor drive module 1 includes a base 11, a motor housing connector 12, a motor bracket 13, a lifting motor 14, a lifting screw 15, a guide column 16, a coiling ring 17, and a rope retractor. The base 11 is provided with the motor housing connector 12, and the motor bracket 13 is provided above the motor housing connector 12. The base 11 and the motor housing connector 12, as well as the motor bracket 13 and the motor housing connector 12, are positioned by positioning pins 19. The machine bracket 13 houses a lifting motor 14, and the output shaft of the lifting motor 14 is connected to the lower end of the lifting screw 15 via a coupling. Guide columns 16 are evenly distributed around the lifting screw 15, and the lower ends of the guide columns 16 are connected to the motor bracket 13. The outer arc surface of the gathering ring 17 is evenly provided with three sets of gathering lugs 18 for fixing the flexible rope, and the gathering ring 17 is located on the outside of the motor bracket 13. The gathering ring 17 is connected to the motor bracket 13 and the motor housing connector 12, and the rope take-up device is located on the base 11. The motor bracket 13 and the guide slider 23 in the moving flower plate module 2 are connected by three guide columns 16. The three guide columns 16 are evenly distributed and fixed with screws, which helps to ensure the stability of the mechanism.

[0034] like Figure 2 and Figure 3 As shown, the movable flower plate module 2 is located above the motor drive module 1. The movable flower plate module 2 includes a fixed bracket 21, a support ring 22, a guide slider 23, a movable flower plate 24, and a locking nut 25. The fixed bracket 21 is located on the upper end of the guide column 16 in the motor drive module 1, and the support ring 22 is located below the fixed bracket 21. The support ring 22 is connected to the upper end of the lifting screw 15 in the motor drive module 1 through the flower plate bearing. The guide slider 23 is slidably located on the guide column 16, and the movable flower plate 24 is located below the guide slider 23. The locking nut 25 is located in the middle of the movable flower plate 24, and the locking nut 25 is connected to the lifting screw 15 through the screw nut transmission. When the lifting motor 14 rotates, the movable flower plate 24 can move up and down along the lifting screw 15, thereby realizing the unfolding or folding of the folding module 3.

[0035] like Figure 4As shown, the support ring 22 includes an upper support ring 221 and a lower support ring 222. The outer arc surface of the upper support ring 221 is evenly provided with multiple upper fixing grooves 223, and the outer arc surface of the lower support ring 222 is evenly provided with multiple support lugs 224 corresponding to the upper fixing grooves 223. The outer arc surface of the lower support ring 222 is evenly provided with multiple lower fixing grooves 225, and the outer arc surface of the upper support ring 221 is evenly provided with multiple support lugs 224 corresponding to the lower fixing grooves 222. The upper support ring 221 is engaged above the lower support ring 222, and the support lugs 224 on the upper support ring 221 are engaged in the lower fixing grooves 225. The support lugs 224 on the lower support ring 222 are engaged in the upper fixing grooves 223. The upper support ring 221 and the lower support ring 222 are cross-fixed and connected to each other, making the connection of the support ring 22 more stable.

[0036] like Figure 5 As shown, the movable flower plate 24 includes an upper movable flower plate 241 and a lower movable flower plate 242. The outer arc surface of the upper movable flower plate 241 is evenly provided with multiple upper flower plate grooves 243, and the outer arc surface of the lower movable flower plate 242 is evenly provided with multiple flower plate lugs 244 corresponding to the upper flower plate grooves 243. The outer arc surface of the lower movable flower plate 242 is evenly provided with multiple lower flower plate grooves 245, and the outer arc surface of the upper movable flower plate 241 is evenly provided with multiple flower plate lugs 244 corresponding to the lower flower plate grooves 243. The groove 245 corresponds to the lug 244 of the flower plate. The upper moving flower plate 241 is engaged above the lower moving flower plate 242, and the lug 244 on the upper moving flower plate 241 is engaged in the groove 245 of the lower flower plate. The lug 244 on the lower moving flower plate 242 is engaged in the groove 243 of the upper flower plate. The upper moving flower plate 241 and the lower moving flower plate 242 are cross-fixed and connected to each other, and can move along the lifting screw 15 under the action of the lifting motor 14.

[0037] like Figure 6 and Figure 7As shown, the capture and unfolding module 3 is located above the movable flower plate module 2, and the capture and unfolding module 3 includes three unfolding units 31 and three pairs of equal-length connecting scissor rods 32. The three unfolding units 31 are connected end to end by multiple pairs of connecting scissor rods 32 to form a ring structure. Each unfolding unit 31 includes an opening rod 311, a first net-receiving rod 312, a second net-receiving rod 313, a first scissor rod 314, a second scissor rod 315, three equal-length upper unfolding rods 316, and three equal-length lower unfolding rods 317. The first net-receiving rod 312 and the second net-receiving rod 313 are respectively located on both sides of the opening rod 311, and the opening rod 311... The first net-collecting rod 312 is connected to the first scissor bar 314, and the second net-collecting rod 313 is connected to the first net-opening rod 315. The lower ends of the net-opening rod 311, the first net-collecting rod 312, and the second net-collecting rod 313 are respectively rotatably connected to the first end of the upper unfolding rod 316, and the second end of each upper unfolding rod 316 is rotatably connected to the support lug 224 on the support ring 22. The first end of each lower unfolding rod 317 is rotatably connected to the middle part of the upper unfolding rod 316, and the second end of the lower unfolding rod 317 is rotatably connected to the flower plate lug 244 on the movable flower plate 24.

[0038] like Figure 8 As shown, the opening pole 311, the first net-collecting pole 312, and the second net-collecting pole 313 are provided with a uniform receiving groove 3111 in the middle, and the upper end of the receiving groove 3111 in the opening pole 311 is provided with an opening pulley. Multiple pulleys are evenly distributed in the receiving groove 3111 of the first net-collecting pole 312 and the second net-collecting pole 313. The opening pole 311, the first net-collecting pole 312, and the second net-collecting pole 313 are symmetrically provided with a left side plate 3112 and a right side plate 3113 on both sides, and the upper end of the left side plate 3112 and the right side plate 3113 are provided with a sliding groove 3114.

[0039] like Figures 6-9As shown, the first scissor lift 314 and the second scissor lift 315 have the same structure, and both the first scissor lift 314 and the second scissor lift 315 include a first support rod 3141 and a second support rod 3142. The middle part of the first support rod 3141 is rotatably connected to the middle part of the second support rod 3142, and the first end of the first support rod 3141 and the first end of the second support rod 3142 are rotatably connected to a pin. The first end of the first support rod 3141 in the first scissor lift 314 is connected to the pin. The first support rod 3141 is slidably disposed in the groove 3114 at the upper end of the left side plate 3112 of the first net-opening rod 311, and the second end of the first support rod 3141 is rotatably connected to the lower end of the right side plate 3113 of the first net-receiving rod 312. The first end of the second support rod 3142 in the first scissor rod 314 is slidably disposed in the groove 3114 at the upper end of the right side plate 3113 of the first net-receiving rod 312 via a pin, and the second end of the second support rod 3142 is rotatably connected to the lower end of the left side plate 3112 of the first net-opening rod 311. The first end of the first support rod 3141 in the second scissor bar 315 is slidably disposed in the groove 3114 at the upper end of the left side plate 3112 in the second net-collecting rod 313 via a pin, and the second end of the first support rod 3141 is rotatably connected to the lower end of the right side plate 3113 in the net-opening rod 311. The first end of the second support rod 3142 in the second scissor bar 315 is slidably disposed in the groove 3114 at the upper end of the right side plate 3113 in the net-opening rod 311 via a pin, and the second end of the second support rod 3142 is rotatably connected to the lower end of the left side plate 3112 in the second net-collecting rod 313.

[0040] like Figures 6-9 As shown, each pair of connecting scissor lift rods 32 includes a first connecting rod 321 and a second connecting rod 322. The middle part of the first connecting rod 321 is rotatably connected to the middle part of the second connecting rod 322. The first end of the first connecting rod 321 and the first end of the second connecting rod 322 are rotatably connected to a pin. The first end of the first connecting rod 321 is located in the groove 3114 at the upper end of the left side plate 3112 of the first net-collecting rod 312 via a pin. The second end of the first connecting rod 321 is rotatably connected to the lower end of the right side plate 3113 of the second net-collecting rod 313 in the adjacent folding and unfolding unit 31. The first end of the second connecting rod 322 is located in the groove 3114 at the upper end of the right side plate 3113 of the second net-collecting rod 313 in the adjacent folding and unfolding unit 31 via a pin. The second end of the second connecting rod 322 is rotatably connected to the lower end of the left side plate 3112 of the first net-collecting rod 312.

[0041] like Figure 9As shown, the drive rope includes three capture ropes 4 and three gather ropes 5. The first end of each capture rope 4 is fixed to the gather lug 18 in the motor drive module 1, and the second end of each capture rope 4 passes through the bottom of the first net-gathering rod 312 to the pulley at the top of the first net-gathering rod 312, and then winds around the pulley at the top of the second net-gathering rod 313 in the adjacent folding and unfolding unit 31. It winds around the pulley of the first net-gathering rod 312 and the pulley of the second net-gathering rod 313 in the adjacent folding and unfolding unit 31 in sequence, until it passes through the lower end of the second net-gathering rod 313 in the adjacent folding and unfolding unit 31 and is fixed to the corresponding gather lug. On the 18th, each gathering rope 5 is wound around the opening pulley at the top of the opening pole 311, and both ends of each gathering rope 5 are wound around the rope take-up device in the motor drive module 1. Each gathering rope 5 is located inside each capture rope 4, and the corresponding capture rope 4 is pulled into the receiving groove 3111 of the opening pole 311. At this time, the three capture ropes 4 are in the unfolded state and surround the inside of the capture unfolding module 3 to form the capture space 6. By unfolding each gathering rope 5, each capture rope 4 can be gathered and converged towards the center of the unfolding module 3, thereby realizing the capture of the spatial target by the robot arm.

[0042] This invention provides a rope-net retraction and deployment type space capture robot, such as... Figures 1-10 As shown, it includes a motor drive module 1, a moving flower disc module 2, a folding and unfolding module 3, and multiple drive ropes. When the capture robot is in working condition, the moving flower disc 24 in the moving flower disc module 2 is located at a higher position on the lifting screw 15. The gathering rope 5 is wound through the opening pulley at the top of the opening net rod 311. The gathering rope 5 is located inside the capture space 6, and both ends of the gathering rope 5 are wound around the rope take-up device in the motor drive module 1. The capture rope 4 forms a larger capture space 6 by winding on each folding and unfolding unit 31. Through each gathering rope 5, each capture rope 4 can be gathered and converged towards the center of the folding and unfolding module 3, thereby enabling the robot to capture the target 7. When the capture robot is not in working condition, the lifting motor 14 is started. The moving flower disc 24 moves downward along the lifting screw 15 under the drive of the lifting motor 14. At this time, the folding and unfolding module 3 gradually retracts inward, thereby enabling the capture robot to be folded and stored.

[0043] This invention, by setting up a motor drive module, a moving flower plate module, and a folding and unfolding module, allows the moving flower plate to move up and down along a lifting screw via the action of a lifting motor, thereby realizing the folding and unfolding of the folding and unfolding module. This is beneficial for the folding and unfolding operations of the space capture robot. Furthermore, the connection method between the various components in the folding and unfolding module is simple, and a scissor mechanism is used as the main structure, resulting in high overall structural rigidity, high stability, and easy control of the unfolding process. Simultaneously, the capture ropes are wound around the folding and unfolding units to form a large capture space, which is then gathered using a convergence rope. By utilizing the convergence rope net in conjunction with the capture rope net, the convergence process is simplified, convergence efficiency is improved, capture speed is accelerated, and the capture accuracy of the space capture robot is enhanced. Moreover, the use of a rigid folding and unfolding mechanism and a flexible capture rope net, along with a rigid-flexible coupling robot for target capture, exhibits excellent compliance, allowing for a certain degree of deviation in the captured target, while maintaining high structural stability. Furthermore, its drive structure can operate normally in high vacuum and strong radiation environments, and will not experience accuracy distortion in the chaotic and complex electromagnetic radiation field of space, thus adapting well to the aerospace environment.

[0044] The above embodiments are merely descriptions of 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 rope-net retraction and deployment type space capture robot, characterized in that, It includes a moving flower plate module, a motor drive module, a capture and unfolding module, and a drive rope. The movable flower plate module is located above the motor drive module. The movable flower plate module includes a fixed bracket, a support ring, a guide slider, and a movable flower plate. The fixed bracket is located at the upper end of the guide column in the motor drive module, and a support ring is located below the fixed bracket. The support ring is connected to the upper end of the lifting screw in the motor drive module. The guide slider is slidably located on the guide column, and a movable flower plate is located below the guide slider. A locking nut is located in the middle of the movable flower plate, and the locking nut is connected to the lifting screw through a screw-nut transmission. The capture and unfolding module is located above the moving flower plate module. The capture and unfolding module includes three unfolding units and three pairs of equal-length connecting scissor rods. The three unfolding units are connected end to end by multiple pairs of connecting scissor rods to form a ring structure. Each unfolding unit includes an opening net rod, a first net gathering rod, a second net gathering rod, a first scissor rod, a second scissor rod, three equal-length upper unfolding rods, and three equal-length lower unfolding rods. The first net gathering rod and the second net gathering rod are respectively located on both sides of the opening net rod. The opening net rod and the first net gathering rod are connected by the first scissor rod, and the opening net rod and the second net gathering rod are connected by the second scissor rod. The lower ends of the opening net rod, the first net gathering rod, and the second net gathering rod are respectively rotatably connected to the first end of the upper unfolding rod. The second end of each upper unfolding rod is rotatably connected to the support lug on the support ring. The first end of each lower unfolding rod is rotatably connected to the middle part of the upper unfolding rod, and the second end of the lower unfolding rod is rotatably connected to the flower plate lug on the moving flower plate. The drive ropes include three capture ropes and three take-up ropes. The first end of each capture rope is fixed to the take-up lug in the motor drive module, and the second end of each capture rope passes through the bottom of the first take-up rod to the pulley at the top of the first take-up rod, and then winds around the pulley at the top of the second take-up rod in the adjacent folding and unfolding unit. It winds around the pulleys of the first take-up rod and the second take-up rod in the adjacent folding and unfolding unit in turn, until it passes through the lower end of the second take-up rod in the adjacent folding and unfolding unit and is fixed to the corresponding take-up lug. Each gathering rope is wound around the opening pulley at the top of the net-opening pole, and both ends of each gathering rope are wound around the rope retractor in the motor drive module. Each gathering rope is located inside each capture rope and pulls the corresponding capture rope into the receiving slot of the net-opening pole. At this time, the three capture ropes are in the unfolded state and surround the inside of the capture unfolding module to form a capture space. By unfolding each gathering rope, each capture rope is gathered towards the center of the unfolding module, thereby achieving the capture of the spatial target.

2. The rope-net retraction and deployment space capture robot according to claim 1, characterized in that, When not in operation, the moving disc is located at the lower end of the lifting screw in the motor drive module. By driving the lifting motor in the motor drive module, the moving disc moves up and down along the lifting screw, enabling the folding and unfolding of the space capture robot. When in operation, the moving disc is located at the upper end of the lifting screw in the motor drive module. By unfolding the retraction rope, the capture rope is brought together towards the center of the space capture robot, enabling the space capture robot to capture the target.

3. The rope-net retraction and deployment space capture robot according to claim 1, characterized in that, The motor drive module includes a base, a motor housing connector, a motor bracket, a lifting motor, a lifting screw, guide columns, a coiling ring, and a rope take-up device. The base has a motor housing connector, and the motor bracket is located above the motor housing connector. The lifting motor is located in the motor bracket, and the output shaft of the lifting motor is connected to the lower end of the lifting screw via a coupling. The guide columns are evenly distributed around the lifting screw, and the lower ends of the guide columns are connected to the motor bracket. The outer arc surface of the coiling ring has three sets of coiling lugs evenly distributed for fixing the flexible rope, and the coiling ring is located on the outside of the motor bracket. The coiling ring is connected to the motor bracket and the motor housing connector, and the rope take-up device is located on the base.

4. The rope-net retraction and deployment space capture robot according to claim 1, characterized in that, The support ring includes an upper support ring and a lower support ring. The outer arc surface of the upper support ring is evenly provided with multiple upper fixing grooves, and the outer arc surface of the lower support ring is evenly provided with multiple support lugs corresponding to the upper fixing grooves. The outer arc surface of the lower support ring is evenly provided with multiple lower fixing grooves, and the outer arc surface of the upper support ring is evenly provided with multiple support lugs corresponding to the lower fixing grooves. The upper support ring is engaged above the lower support ring, and the support lugs on the upper support ring are engaged in the lower fixing grooves, and the support lugs on the lower support ring are engaged in the upper fixing grooves.

5. The rope-net retraction and deployment space capture robot according to claim 4, characterized in that, The movable flower plate includes an upper movable flower plate and a lower movable flower plate. The outer arc surface of the upper movable flower plate is evenly provided with multiple upper flower plate grooves, and the outer arc surface of the lower movable flower plate is evenly provided with multiple flower plate lugs corresponding to the upper flower plate grooves. The outer arc surface of the lower movable flower plate is evenly provided with multiple lower flower plate grooves, and the outer arc surface of the upper movable flower plate is evenly provided with multiple flower plate lugs corresponding to the lower flower plate grooves. The upper movable flower plate is engaged above the lower movable flower plate, and the flower plate lugs on the upper movable flower plate are engaged in the lower flower plate grooves, while the flower plate lugs on the lower movable flower plate are engaged in the upper flower plate grooves.

6. The rope-net retraction and deployment space capture robot according to claim 1, characterized in that, The opening pole, the first net-collecting pole, and the second net-collecting pole are provided with a uniform receiving groove in the middle, and the upper end of the receiving groove in the opening pole is provided with an opening pulley. Multiple pulleys are evenly distributed in the receiving grooves of the first net-collecting pole and the second net-collecting pole. The opening pole, the first net-collecting pole, and the second net-collecting pole are symmetrically provided with a left side plate and a right side plate on both sides, and the upper end of the left side plate and the right side plate is provided with a sliding groove.

7. The rope-net retraction and deployment space capture robot according to claim 6, characterized in that, The first scissor bar and the second scissor bar have the same structure, and both the first scissor bar and the second scissor bar include a first support rod and a second support rod. The middle part of the first support rod is rotatably connected to the middle part of the second support rod, and the first end of the first support rod and the first end of the second support rod are rotatably connected to a pin. The first end of the first support rod of the first scissor bar is slidably disposed in the groove at the upper end of the left side plate of the opening rod through the pin, and the second end of the first support rod is rotatably connected to the lower end of the right side plate of the first net-collecting rod. The first end of the second support rod of the first scissor bar is slidably disposed in the groove at the upper end of the right side plate of the first net-collecting rod through the pin, and the second end of the second support rod is rotatably connected to the lower end of the left side plate of the opening rod. The first end of the first support rod of the second scissor lift is slidably disposed in the groove at the upper end of the left side plate of the second net-collecting rod via a pin, and the second end of the first support rod is rotatably connected to the lower end of the right side plate of the net-opening rod. The first end of the second support rod of the second scissor lift is slidably disposed in the groove at the upper end of the right side plate of the net-opening rod via a pin, and the second end of the second support rod is rotatably connected to the lower end of the left side plate of the second net-collecting rod.

8. The rope-net retraction and deployment space capture robot according to claim 7, characterized in that, Each pair of connecting scissor lifts includes a first connecting rod and a second connecting rod. The middle part of the first connecting rod is rotatably connected to the middle part of the second connecting rod, and the first end of both the first connecting rod and the first end of the second connecting rod are rotatably connected to a pin. The first end of the first connecting rod is located in a groove at the upper end of the left side plate of the first net-collecting rod via a pin, and the second end of the first connecting rod is rotatably connected to the lower end of the right side plate of the second net-collecting rod in the adjacent folding and unfolding unit. The first end of the second connecting rod is located in a groove at the upper end of the right side plate of the second net-collecting rod in the adjacent folding and unfolding unit via a pin, and the second end of the second connecting rod is rotatably connected to the lower end of the left side plate of the first net-collecting rod.

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