A leaf-shaped lightweight and high-strength space capture mechanism

Abstract

The present invention relates to the field of capture mechanisms, specifically a lightweight and high-strength spatial capture mechanism imitating a leaf, which includes a base with a hexagonal structure. Three bearing mounts are evenly installed circumferentially on the base. Imitating leaf side grippers are rotatably installed on the three bearing mounts through bearings. Three driving mechanisms are installed on the base, and the three driving mechanisms are respectively used to drive the three imitating leaf side grippers to rotate on the bearing mounts. After the three imitating leaf side grippers gather and close, a spherical envelope space is formed to complete the capture. Moreover, a leaf tip locking mechanism is installed at a position where the three imitating leaf side grippers are far from the base, and is used to lock the three imitating leaf side grippers in the closed state. The capture tolerance of the present invention is large and it is equipped with a locking mechanism, thereby improving the capture success rate and reliability.

Description

Technical Field

[0001] The present invention relates to the field of capture mechanisms, and more specifically to a lightweight and high-strength space capture mechanism imitating a leaf blade. Background Art

[0002] In recent years, with the continuous deepening of space resource exploration activities, the amount of space debris left in space (such as coatings dropped from aircraft, particles formed by solidification of liquids discharged from aircraft, and solid particles not burned by solid rocket engines) has increased avalanche-like, seriously threatening the normal operation of on-orbit spacecraft and, to a certain extent, hindering humanity's pace of continuing to explore space.

[0003] Therefore, it is of great significance to develop a capture mechanism for space debris. In the existing related technologies, some capture mechanisms have small capture tolerances and do not have a locking mechanism, resulting in low capture success rates and poor reliability. Summary of the Invention

[0004] The purpose of the present invention is to provide a lightweight and high-strength space capture mechanism imitating a leaf blade, which has a large capture tolerance and a locking mechanism, thereby improving the capture success rate and reliability.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A lightweight and high-strength capture mechanism imitating a leaf blade includes a base with a hexagonal structure. Three bearing mounts are circumferentially and evenly installed on the base. On each of the three bearing mounts, a leaf-blade-side gripper is rotatably installed through a bearing. Three driving mechanisms are installed on the base. The three driving mechanisms are respectively used to drive the three leaf-blade-side grippers to rotate on the bearing mounts. After the three leaf-blade-side grippers gather and close, a spherical envelope space is formed to complete the capture. And at the end of each of the three leaf-blade-side grippers away from the base, a tip locking mechanism is installed for locking the three leaf-blade-side grippers in the closed state.

[0007] Further, the leaf-blade-side gripper includes a side gripper base rotatably connected to the bearing mount at one end. The other end of the side gripper base is connected to the driving mechanism. A leaf base rod is fixed in the middle of the side gripper base, and leaf edge rods are fixed at both ends of the side gripper base.

[0008] Further, a plurality of leaf vein rods are fixed between the leaf base rod and the two leaf edge rods on each leaf-blade-side gripper.

[0009] Further, the leaf base rod, the leaf edge rod, and the leaf vein rod are all composite structures of a straight line and an arc, and are made of the same carbon fiber material as the base.

[0010] Further, each of the driving mechanisms includes a motor mount Ⅰ and a motor mount Ⅱ installed on the base. A driving motor Ⅰ is installed between the motor mount Ⅰ and the motor mount Ⅱ in a limited way. The output shaft of the driving motor Ⅰ is coaxially arranged with the corresponding bearing. A flange coupling is fixed on the output shaft of the driving motor Ⅰ, and the flange coupling is fixedly connected with the side gripper base, so that the driving motor Ⅰ can drive the side gripper base to rotate through the bearing.

[0011] Further, three limiting mechanisms are circumferentially and uniformly fixed on the base. The limiting mechanism is of a Z-shaped structure and is used to limit the side gripper base.

[0012] Further, the tip locking mechanism includes two tip locking male parts and one tip locking female part. The two tip locking male parts and one tip locking female part are respectively fixed on the three blade-like side grippers. After the three blade-like side grippers gather and close, the two tip locking male parts are inserted into the tip locking female part to form a lock.

[0013] Further, the tip locking male part is fixed on the leaf base rod and the two leaf edge rods. A cylinder extends from the middle of the tip locking male part, and a hemispherical block is provided at the end of the cylinder.

[0014] Further, the tip locking female part includes a tip locking female part base fixed on the leaf base rod and the two leaf edge rods. Two semi-circular cavity frames are symmetrically arranged on the tip locking female part base. When the three blade-like side grippers gather and close, the two hemispherical blocks are inserted into the two semi-circular cavity frames. Two inclined wedges slide through the two semi-circular cavity frames respectively. Springs are provided between the two inclined wedges and the two semi-circular cavity frames respectively, so that the two inclined wedges are inserted into the semi-circular cavity frames to limit the hemispherical blocks. A driving motor Ⅱ is installed on the tip locking female part base. A motor winding column is fixed on the output shaft of the driving motor Ⅱ. Fishing lines are provided between the motor winding column and the two inclined wedges respectively, and are used to simultaneously control the two inclined wedges to move away from the two hemispherical blocks.

[0015] Further, the motor mount Ⅰ, the motor mount Ⅱ, the limiting mechanism, the bearing mount and the side gripper base are all made of carbon fiber reinforced nylon-based composite materials.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. After the three blade-like side grippers of the capture mechanism are closed, a spherical envelope space is formed, with a large capture volume, suitable for various shapes of space debris in the envelope space, and strong versatility;

[0018] 2. The capture mechanism has a locking mechanism, which improves the overall reliability and capture success rate; the closing and locking time is short, and multiple repeatable capture and release operations can be carried out;

[0019] 3. Most of the materials of the present invention are carbon fiber materials and carbon fiber reinforced nylon-based composites. The leaf-side gripper imitating the leaf is a leaf-branch truss structure, which has the characteristics of light weight, simple structure and high strength, and can reduce transportation and manufacturing costs. Brief Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the lightweight and high-strength spatial capture mechanism imitating the leaf of the present invention;

[0021] Figure 2 is a schematic structural diagram of the base and drive mechanism of the present invention;

[0022] Figure 3 is a schematic structural diagram of the leaf-side gripper imitating the leaf of the present invention;

[0023] Figure 4 is a schematic structural diagram of the overall tip locking mechanism of the present invention;

[0024] Figure 5 is a schematic structural diagram of the tip locking male part of the present invention;

[0025] Figure 6 is a schematic structural diagram of the tip locking female part of the present invention.

[0026] In the figure:

[0027] Base 1; drive mechanism 2; drive motor I 21; motor mounting seat I 22; motor mounting seat II 23; flange coupling 24; limit mechanism 25; bearing 26; bearing mounting seat 27; leaf-side gripper imitating the leaf 3; side gripper base 31; leaf rod mounting seat 32; leaf base rod 33; leaf edge rod 34; leaf vein rod 35; tip locking mechanism 4; tip locking male part 41; tip locking female part 42; tip locking female part base 421; drive motor II 422; motor winding post 423; fishing line 424; inclined wedge 425; spring 426. Detailed Embodiment

[0028] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will be combined with the attached Figures 1 to 6 A detailed description of the specific embodiments provided by the present invention will be given.

[0030] Describe the specific structure of the lightweight and high-strength spatial capture mechanism imitating a leaf:

[0031] A lightweight and high-strength spatial capture mechanism imitating a leaf, comprising:

[0032] A base 1, a driving mechanism 2, a side gripper 3 imitating a leaf, and a tip locking mechanism 4.

[0033] The base 1 has a hexagonal-like structure, is cut from a carbon fiber board, and has bolt holes for the installation of the driving mechanism 2 and the limiting mechanism 25;

[0034] The driving mechanism 2 includes a driving motor I 21, a motor mounting base I 22, a motor mounting base II 23, a flange coupling 24, a limiting mechanism 25, a bearing 26, and a bearing mounting base 27;

[0035] The driving motor I 21 is a high-torque stepper motor;

[0036] The structure and dimensions of the motor mounting base I 22 are designed according to the driving motor I 21. The motor mounting base I has a through hole for mating with the driving motor I 21 and two threaded through holes fixed to the base 1, and the material is a carbon fiber-reinforced nylon-based composite material;

[0037] The structure and dimensions of the motor mounting base II 23 are designed according to the driving motor I 21. It has a reserved circular through hole for the output shaft of the driving motor I 21, two threaded through holes fixed to the base 1, and two threaded through holes for fixing the driving motor, and the material is a carbon fiber-reinforced nylon-based composite material;

[0038] The flange coupling 24 is a flange coupling. It has a circular through hole at the top for connecting the output shaft of the driving motor I 21, two threaded through holes on the side for fixing the output shaft of the driving motor I 21, and four circular through holes at the bottom for connecting and fixing the side gripper 3 imitating a leaf. The material is aluminum alloy, and the overall structure of the coupling is simple and the cost is low.

[0039] The limiting mechanism 24 has a Z-shaped structure to limit the rotating side gripper base 31, ensuring that when the side gripper 3 imitating a leaf is closed, it does not move after pressing against the limiting mechanism 24, preventing the tip locking mechanism 4 at the upper ends of the three side grippers 3 imitating a leaf from being unable to cooperate. The bottom of the limiting mechanism 24 has two threaded through holes fixed to the base 1, and the material is a carbon fiber-reinforced nylon-based composite material;

[0040] The bearing 26 is a miniature flange deep groove ball bearing, and the material is bearing steel;

[0041] The structure and dimensions of the bearing mounting seat 27 are designed according to the bearing 26 and the base 1. It has a circular through-hole for mounting the bearing 26 and two threaded through-holes fixed to the base 1, and the material is carbon fiber reinforced nylon-based composite material;

[0042] The imitation blade side gripper 3 includes a side gripper base 31, a leaf stem mounting seat 32, a leaf base stem 33, a leaf edge stem 34, and a leaf vein stem 35;

[0043] The structure and dimensions of the side gripper base 31 are designed according to the flange coupling 24 and the bearing 26. It has four circular through-holes corresponding to the flange coupling 24 on the left side, one circular through-hole corresponding to the bearing 26 on the right side, and is connected to the drive structure. It has six circular through-holes at the bottom for the installation and fixation of the leaf base stem 33 and the leaf edge stem 34, and the material is carbon fiber reinforced nylon-based composite material;

[0044] The leaf stem mounting seat 32 is of a convex structure. It has two circular through-holes at the bottom for installation with the side gripper base 31, and one circular through-hole on the side for connecting the leaf base stem 33 or the leaf edge stem 34, and the material is carbon fiber reinforced nylon-based composite material;

[0045] The leaf base stem 33 is a composite structure of a straight line and an arc. It has one circular through-hole at the bottom for connecting the leaf stem mounting seat 32, four circular through-holes in the middle for connecting the leaf vein stem 35, and one circular through-hole at the top for connecting the leaf tip locking mechanism 4, and the material is carbon fiber cutting material;

[0046] The leaf edge stem 35 is a composite structure of a straight line and an arc. The length of the top straight line is longer than that of the leaf base stem. It has one circular through-hole at the bottom for connecting the leaf stem mounting seat 32, four circular through-holes in the middle for connecting the leaf vein stem 35, and one circular through-hole at the top for connecting the leaf tip locking mechanism 4, and the material is carbon fiber cutting material;

[0047] The leaf vein stem 35 is a composite structure of a straight rod and an arc rod. It has two circular through-holes at both ends for connecting the leaf base stem 33 and the leaf edge stem 34, and the material is carbon fiber cutting material;

[0048] The leaf tip locking mechanism 4 includes two leaf tip locking male parts 41 and one leaf tip locking female part 42. The two imitation blade side grippers 3 are installed with leaf tip locking male parts 41 at the top, and one imitation blade side gripper 3 is installed with the leaf tip locking female part 42 at the top to realize the locking and unlocking of the capture mechanism;

[0049] The bottom of the leaf tip locking male part 41 has three square counterbores, and there is one circular through-hole on each side of the counterbore for fixing the locking male part to the tips of the leaf base stem 33 and the leaf edge stem 34. A cylinder extends in the middle, and a hemispherical block is provided at the end of the cylinder;

[0050] The bottom of the tip locking female part 42 has three square counterbores, and there is a circular through hole on each side of the counterbore, which is used to fix the tip locking female part base 421 to the tips of the leaf base rod 33 and the leaf edge rod 34. The middle part is a cuboid structure for supporting the driving motor II 422. The output shaft of the driving motor II 422 is connected with a motor winding post 423, and the motor winding post 423 is connected with two fishing lines 424. The top of the cuboid structure has a semi-circular cavity frame with two semi-spherical counterbores. The size of the counterbore of the semi-circular cavity frame is larger than the semi-spherical block of the semi-spherical shape of the tip locking male part 41. A spring 426 and an inclined wedge 425 are installed at the bottom of the semi-circular cavity frame, and the bottom of the inclined wedge 425 is connected with the fishing line.

[0051] As Figures 1-6 shown:

[0052] A method for using a lightweight and high-strength space capture mechanism imitating a leaf:

[0053] S1: The capture mechanism approaches the capture target and reaches the capture position;

[0054] S2: The driving motor I 21 on the driving mechanism 2 drives the side gripper 3 of the imitated leaf to close. Through the limiting mechanism 25 of the base 1, the side gripper 3 of the imitated leaf moves to the corresponding position;

[0055] S3: The tip locking male part 41 and the tip locking female part 42 on the tip locking mechanism 4 are locked to complete the envelope.

[0056] The principle of the present invention is:

[0057] The driving motor I 21 on the driving mechanism 2 rotates to drive the side gripper 3 located on the flange coupling 24 and the bearing 26 to close. Under the action of the limiting mechanism 25, the side gripper 3 moves to the corresponding position. At this time, the tip locking male part 41 and the tip locking female part 42 interact and close to complete the envelope; when releasing, the tip locking male part 41 and the tip locking female part 42 are released from each other, and then the driving mechanism 2 drives the side gripper 3 to complete the opening of the gripper;

[0058] When the gripper closes, the semi-spherical block at the top of the tip locking male part 41 contacts the inclined wedge 425 to compress the spring 426 and enters the semi-circular cavity frame at the top of the tip locking female part base 421. The spring 426 is compressed, and the inclined wedge 425 limits the semi-spherical block. When the side gripper 3 of the imitated leaf opens, the driving motor II 422 rotates forward to drive the motor winding post 423 to rotate, the fishing line 424 contracts, the inclined wedge 425 compresses the spring 426 to unlock. After the side gripper 3 of the imitated leaf opens, the driving motor II 422 rotates in reverse to drive the motor winding post 423 to rotate, the fishing line 424 elongates, the spring 426 is stretched, and the inclined wedge 425 returns to the initial state.

Claims

1. A blade-like lightweight and high-strength capture mechanism, characterized by: The invention comprises a base (1) of a hexagonal structure, three bearing mounting seats (27) are evenly mounted on the base (1) in a circumferential direction, and blade-like side grippers (3) are rotatably mounted on the three bearing mounting seats (27) via bearings (26); three driving mechanisms (2) are mounted on the base (1), and the three driving mechanisms (2) are respectively used to drive the three blade-like side grippers (3) to rotate on the bearing mounting seats (27); after the three blade-like side grippers (3) are gathered and closed, a spherical envelope space is formed to complete the capture; and a blade tip locking mechanism (4) is mounted on the three blade-like side grippers (3) away from the base (1) to lock the three blade-like side grippers (3) in a closed state; The blade tip locking mechanism (4) comprises two blade tip locking male parts (41) and one blade tip locking female part (42), the two blade tip locking male parts (41) and the one blade tip locking female part (42) being respectively fixed on three imitation blade side grippers (3), and after the three imitation blade side grippers (3) are gathered and closed, the two blade tip locking male parts (41) are inserted into the blade tip locking female part (42) to form a locking state; The blade tip locking mother component (42) comprises a blade tip locking mother component base (421) fixed on a blade base rod (33) and two blade edge rods (34); two semicircular cavity frames are symmetrically arranged on the blade tip locking mother component base (421); when the three imitation blade side grippers (3) are gathered and closed, the two hemispherical blocks are inserted into the two semicircular cavity frames; oblique wedges (425) are slidably penetrated on the two semicircular cavity frames; the two oblique wedges (425) are respectively engaged with the two semicircular cavity frames. A spring (426) is arranged between the two inclined wedges (425) so that the two inclined wedges (425) are inserted into the semicircular cavity frame to limit the hemispherical block. The blade tip locking mother base (421) is installed with a driving motor II (422). A motor winding column (423) is fixed on the output shaft of the driving motor II (422). A fishing line (424) is arranged between the motor winding column (423) and the two inclined wedges (425) for simultaneously controlling the two inclined wedges (425) to be away from the two hemispherical blocks.

2. The blade-like lightweight and high-strength capture mechanism according to claim 1, characterized in that: The blade-like side gripper (3) comprises a side gripper base (31) with one end rotating on a bearing mounting seat (27), the other end of the side gripper base (31) being connected to a driving mechanism (2), a blade base rod (33) being fixed in the middle of the side gripper base (31), and blade edge rods (34) being fixed at both ends of the side gripper base (31).

3. The blade-like lightweight and high-strength capture mechanism according to claim 2, characterized in that: A plurality of leaf vein rods (35) are fixed between the leaf base rod (33) and the two leaf edge rods (34) on each imitation leaf side gripper (3).

4. The blade-like lightweight and high-strength capture mechanism according to claim 3, characterized in that: The leaf base rod (33), the leaf edge rod (34) and the leaf vein rod (35) are all straight line and arc composite structures, and are made of the same carbon fiber material as the base (1).

5. The blade-like lightweight and high-strength capture mechanism according to claim 2, characterized in that: Each of the driving mechanisms (2) comprises a motor mounting seat I (22) and a motor mounting seat II (23) mounted on the base (1); a driving motor I (21) is limitedly mounted between the motor mounting seat I (22) and the motor mounting seat II (23); an output shaft of the driving motor I (21) is coaxially arranged with a corresponding bearing (26); a flange coupling (24) is fixed on the output shaft of the driving motor I (21); the flange coupling (24) is fixedly connected to the side gripper base (31), so that the driving motor I (21) can drive the side gripper base (31) to rotate through the bearing (26).

6. The blade-like lightweight and high-strength capture mechanism according to claim 5, characterized in that: Three limiting mechanisms (25) are evenly fixed on the circumference of the base (1), and the limiting mechanisms (25) are Z-shaped structures and are used to limit the side gripper base (31).

7. The blade-like lightweight and high-strength capture mechanism according to claim 1, characterized in that: The blade tip locking male component (41) is fixed on the blade base rod (33) and the two blade edge rods (34); a cylinder extends from the middle of the blade tip locking male component (41), and a hemispherical block is provided at the end of the cylinder.

8. The blade-like lightweight and high-strength capture mechanism according to claim 6, characterized in that: The motor mounting seat I (22), the motor mounting seat II (23), the limiting mechanism (25), the bearing mounting seat (27) and the side gripper base (31) are all made of carbon fiber reinforced nylon-based composite material.

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