Space deployable gripper manipulator device

Abstract

The application discloses a kind of space deployable grabbing manipulator devices, including installation platform and manipulator body, manipulator body includes multiple sequentially connected folding and unfolding units, folding and unfolding unit is based on 3R1P truss deployable unit, it includes two racks arranged in upper and lower, two half scissors mechanisms are arranged between the two racks and are respectively connected with the two racks, two follow-up branch chains forming a grabbing surface and a driving mechanism;Wherein, rack includes two moving members, two moving members are connected by moving pair and can produce relative movement;Half scissors mechanism includes two scissors rods, one end of two scissors rods is respectively hinged on the same intermediate connecting piece, the other end of two scissors rods is respectively hinged with two moving members;Follow-up branch chain includes two wing plates hinged with each other, the free end of two wing plates is respectively hinged with two moving members corresponding in two racks.The application has the advantages of stable and reliable grabbing and strong resistance to external disturbance.

Description

Technical Field

[0001] This invention relates to the field of space capture robots, specifically to a space-deployable grasping manipulator device. Background Technology

[0002] With the development of aerospace technology, the number of spacecraft in orbit is increasing. Spacecraft structures are trending towards larger dimensions; however, due to limitations in rocket payload space and thrust, traditional spacecraft cannot truly achieve large-scale design, just as traditional solid-surface antennas are difficult to design in large sizes. Therefore, spacecraft are moving towards multi-functionality, and their structures are developing towards lightweight, modular, and deployable designs.

[0003] Space grasping manipulators are a current research hotspot in the aerospace field. Compared to traditional grasping mechanisms that can only operate under gravity, space grasping manipulators are devices that grasp non-cooperative targets in space, such as faulty or obsolete aerospace equipment and space debris, and then perform tasks such as target removal, assisted orbit changes, and on-orbit maintenance. Therefore, research on new types of space grasping manipulators is of great significance to the development of the aerospace industry.

[0004] There are some applications of space manipulators in the prior art. For example, Chinese patent document CN103786162A discloses an expandable underactuated cable-stayed truss manipulator, which is a modular manipulator for grasping targets of different shapes in space. It includes a front-end connecting device, an inter-bar corner limiting mechanism, an end cable-stayed truss, ropes, multiple positioning posts, and multiple expandable modular trusses. This prior art realizes the controllable design of the underactuated mechanism. By changing the length of the driving rope between the diagonals of the cable-stayed truss, the shape of the cable-stayed truss can be changed to complete the grasping.

[0005] However, existing space robotic arms still suffer from many practical problems, such as large size, small working space, weak grasping force, poor dexterity, complex drive, and low stability. These problems hinder the portability, transportation, and storage of the robotic arms, making them difficult to apply to grasping tasks of non-cooperative targets in space. Summary of the Invention

[0006] To at least partially address the shortcomings of the prior art, the main objective of this invention is to provide a space-deployable grasping manipulator that adopts a modular and lightweight design. The total length of the device can be controlled by removing and adding module units to adapt to grasping different non-cooperative targets in space. It has the advantages of stable and reliable grasping and strong resistance to external disturbances.

[0007] To achieve the aforementioned main objectives, the present invention provides a space-deployable grasping manipulator device, comprising a mounting platform and a manipulator body, the manipulator body being mounted on the mounting platform; wherein, the manipulator body includes multiple sequentially connected folding units, the folding units being truss-type deployable units based on 3R1P, comprising:

[0008] The two frames are arranged vertically, and each frame includes two moving components. The two moving components are connected by a sliding pair and can move relative to each other.

[0009] Two semi-scissor lift mechanisms are set between two frames and connected to the two frames respectively. Each semi-scissor lift mechanism includes two scissor bars. One end of each scissor bar is hinged to the same intermediate connector, and the other end of each scissor bar is hinged to two moving components, forming a four-bar linkage structure with the two scissor bars as fixed components and the two moving components as movable components.

[0010] Two follower chains form the gripping surface. The follower chains are located between and connected to the two frames. The follower chains include two hinged wing plates, the free ends of which are respectively hinged to two corresponding moving components in the two frames.

[0011] The drive mechanism is configured to drive two moving members in one of the frames to move relative to each other to fold and unfold multiple folding units, and is configured to drive two winglets in the follower chain to rotate relative to each other to offset the rotation of the folding units for grasping.

[0012] According to one specific embodiment of the present invention, adjacent folding and unfolding units share the same frame, so that the robot body can fold and unfold with a single degree of freedom.

[0013] According to one specific embodiment of the present invention, the driving mechanism includes a linear driver and a plurality of rotary drivers;

[0014] A linear actuator is used to drive two moving parts to produce relative movement.

[0015] The rotary actuator is used to drive the two wing plates of the two follower chains in the same folding unit to have different included angles, thereby causing the two frames in the same folding unit to deflect; wherein, the envelope grasping of the target object is completed by superimposing the grasping angle through the coordinated control of multiple rotary actuators.

[0016] Furthermore, the linear actuator is either a cylinder assembly or a motor assembly.

[0017] According to one specific embodiment of the present invention, the gripping angle of a single unfolding unit is set to no more than 30°.

[0018] According to one specific embodiment of the present invention, the number of folding and unfolding units in the robot body is 4-12.

[0019] According to one specific embodiment of the present invention, the lengths of the scissor arms in the two half-scissor mechanisms may be the same or different.

[0020] According to one specific embodiment of the present invention, the mounting platform can rotate to change the gripping direction of the robotic arm body.

[0021] The present invention has the following beneficial effects: it provides a spatially deployable grasping manipulator device, the manipulator body including multiple sequentially connected folding and unfolding units, the folding and unfolding units adopt a modular design, specifically a truss-type deployable unit based on 3R1P; wherein, the semi-scissor mechanism in the folding and unfolding unit allows the folding and unfolding unit to be stably raised and lowered, and has the advantages of high folding-to-unfold ratio, good mechanical performance and simple structure; the follower chain provides a rotating joint and a grasping surface, so that the upper and lower frames can generate a certain angle of deflection, and the grasping angles of different folding and unfolding units are superimposed to complete the envelope grasping of the target object.

[0022] The invention adopts a truss structure as a whole. The stability of the semi-scissor mechanism and the two left and right opposing branches enhance the stability of the structure. When the robot body is in the deployed state, the wing plates in the follower branches deploy simultaneously to provide effective support. When the robot is in the grasping state, the follower branches form the same offset with the upper and lower frames to solve the instability problem caused by its own weight or other reasons during the deployment and grasping process.

[0023] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0024] Figure 1 This is a folded diagram of the space-deployable gripping robotic arm device of the present invention;

[0025] Figure 2 This is an unfolded diagram of the space-deployable grasping robotic arm device of the present invention;

[0026] Figure 3 This is a structural diagram of the installation platform;

[0027] Figure 4 This is a structural diagram of the unfolded unit in its folded state;

[0028] Figure 5 This is a structural diagram of the unfolded unit.

[0029] Figure 6 This is a schematic diagram showing the connection between adjacent unfolded units;

[0030] Figure 7 This is a schematic diagram of the unfolded unit deflecting to the right;

[0031] Figure 8 This is a schematic diagram showing the unfolded unit deflected to the left;

[0032] Figure 9 This is a structural diagram of the robotic arm in its first grasping state;

[0033] Figure 10 This is a structural diagram of the second grasping state of the robotic arm.

[0034] Figure 11 This is a schematic diagram of the space-deployable gripping robotic arm device of the present invention grasping a large-volume target;

[0035] Figure 12 This is a schematic diagram of the space-deployable gripping robotic arm device of the present invention grasping a small target;

[0036] Figure 13 This is a schematic diagram of the spatially deployable grasping robotic arm device of the present invention grasping an irregular target. Detailed Implementation

[0037] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0038] like Figure 1-2 As shown, the spatially deployable grasping robotic arm device of this embodiment includes a mounting platform 10 and a robotic arm body 20, the robotic arm body 20 being mounted on the mounting platform 10; the robotic arm body 20 is used to grasp non-cooperative targets, and it has a folded state, an unfolded state, and a grasping state. Figure 3 As shown, the mounting platform 10 is preferably capable of rotating to change the gripping direction of the robot body 20, that is, the mounting platform 10 is a turntable platform; in other embodiments, the mounting platform 10 can also be driven to rotate by other rotating mechanisms, which will not be elaborated here.

[0039] The robotic arm body 20 includes multiple sequentially connected folding units 20a, preferably 4-12, for example 10; the folding unit 20a is a truss-type deployable unit based on 3R1P, such as... Figure 4-6 As shown, the folding and unfolding unit 20a includes two frames 21 arranged vertically, two semi-scissor mechanisms 22, two follower chains 23, and a drive mechanism. Adjacent folding and unfolding units 20a share the same frame 21, enabling the robotic arm body 20 to fold and unfold with a single degree of freedom.

[0040] The frame 21 includes two movable components 211, which are connected by a sliding joint P and can move relative to each other. Preferably, the frame 21 has a truss structure, and the two movable components 211 are rod-shaped members and are connected together by a telescopic rod 212 that provides the sliding joint P.

[0041] Two semi-scissor lift mechanisms 22 are disposed between and connected to the two frames 21 respectively. Each semi-scissor lift mechanism 22 includes two scissor bars 221, one end of which is hinged to the same intermediate connecting member 24, and the other end of which is hinged to two moving members 211 respectively, forming a four-bar linkage structure with the two scissor bars 221 as fixed components and the frame 21 (composed of the two moving members 211 and the telescopic rod 212) as movable components. Preferably, the hinge points between the different scissor bars 221 and the intermediate connecting member 24 are different.

[0042] The follower chain 23 provides a gripping surface. It is positioned between and connected to the two frames 21, and includes two hinged wing plates 231. The free ends of the two wing plates 231 are respectively hinged to two corresponding moving members 211 in the two frames 21. By controlling the included angle between the two wing plates 231 in the two follower chains 23 within the same folding unit 20a to be different, the folding unit 20a is formed into a triangular truss structure, such as... Figure 7-8 As shown; preferably, the grasping angle θ of a single unfolding unit is set to no more than 30°.

[0043] The drive mechanism is configured to drive two moving members 211 in one of the frames 21 to move relative to each other to fold and unfold multiple folding units 20a, and is configured to drive two wing plates 231 in the follower chain 23 to rotate relative to each other to offset the rotation of the folding units 20a for grasping.

[0044] Furthermore, the drive mechanism includes a linear actuator and multiple rotary actuators; the linear actuator is a cylinder assembly or a motor assembly, used to drive two moving components 211 to produce relative movement; the rotary actuator is used to drive the two wing plates 231 of the two follower chains 23 in the same folding unit 20a to have different included angles, thereby causing the two frames 21 in the same folding unit 20a to deflect; wherein, the enveloping grasp of the target object is completed by superimposing the grasping angles through the coordinated control of multiple rotary actuators, such as... Figure 9-10 As shown.

[0045] In this embodiment, the lengths of the scissor rods 221 in the two half-scissor mechanisms 22 are preferably the same. In other embodiments, the lengths of the scissor rods 221 in the two half-scissor mechanisms 22 can also be set to be different. The specific design is based on actual needs and will not be elaborated here.

[0046] like Figure 11-13 As shown, when grasping non-cooperative targets, the grasping method can be selected according to the size and shape of the non-cooperative target to achieve optimal adaptive grasping. In this embodiment, the space-deployable grasping manipulator is in a retracted state during transportation, and then unfolds and offsets upon entering the working environment to grasp the non-cooperative target. Furthermore, the space-deployable grasping manipulator in this embodiment can also form a large multi-jointed spatial gripper in parallel to provide better adaptability and pattern diversity.

[0047] Although the present invention has been described above through embodiments, it should be understood that the above embodiments are only used to exemplarily describe possible implementations of the present invention and should not be construed as limiting the scope of protection of the present invention. That is, any substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection of the claims of the present invention.

Claims

1. A space-deployable grasping robotic arm device, comprising a mounting platform and a robotic arm body, wherein the robotic arm body is mounted on the mounting platform; wherein, The robotic arm body includes multiple sequentially connected folding and unfolding units, which are truss-type deployable units based on 3R1P, and include: Two frames are arranged vertically, each frame including two movable components, which are connected by a sliding pair to allow relative movement. Two semi-scissor lift mechanisms are disposed between and connected to the two frames respectively. Each semi-scissor lift mechanism includes two scissor bars. One end of each scissor bar is hinged to the same intermediate connector, and the other end of each scissor bar is hinged to two moving members respectively, so as to form a four-bar linkage structure with the two scissor bars as fixed components and the two moving members as movable components. Two follower chains form the gripping surface, the follower chains are disposed between and connected to the two frames; the follower chains include two wing plates that are hinged to each other, and the free ends of the two wing plates are respectively hinged to two corresponding moving components in the two frames; The drive mechanism is configured to drive two moving members in one of the frames to move relative to each other to fold and unfold multiple folding units, and is configured to drive two wing plates in the follower chain to rotate relative to each other to offset the rotation of the folding units for grasping. The drive mechanism includes a linear driver and multiple rotary drivers; The linear actuator is used to drive the two moving components to move relative to each other; The rotary actuator is used to drive the two wing plates of the two follower chains in the same folding unit to have different included angles, thereby causing the two frames in the same folding unit to deflect; wherein, the enveloping grasp of the target object is completed by superimposing the grasping angles through the coordinated control of multiple rotary actuators.

2. The space-deployable gripping robotic arm device as described in claim 1, wherein: Adjacent folding and unfolding units share the same frame, enabling the robotic arm body to fold and unfold with a single degree of freedom.

3. The space-deployable grasping robotic arm device as described in claim 1, wherein: The linear actuator is a cylinder assembly or a motor assembly.

4. The space-deployable gripping robotic arm device as described in claim 1, wherein: The gripping angle of a single folding unit is set to no more than 30°.

5. The space-deployable grasping manipulator device as described in claim 1, wherein: The number of folding and unfolding units in the robotic arm body is 4-12.

6. The space-deployable grasping manipulator device as described in claim 1, wherein: The lengths of the scissor arms in the two half-scissor mechanisms may be the same or different.

7. The space-deployable gripping robotic arm device as described in claim 1, wherein: The mounting platform can rotate to change the gripping direction of the robotic arm.

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