A spatial capture mechanism imitating a football structure

Abstract

The present invention relates to a capture mechanism, more specifically, a space capture mechanism of a football-like structure, including a support base of a hexagonal structure, and three connecting pieces evenly installed and fixed on the support base in the circumferential direction, and football-like truss mechanical claw unit mechanisms respectively fixed on the three connecting pieces, the three football-like truss mechanical claw unit mechanisms can rotate relative to the support base through the connecting pieces, when the three football-like truss mechanical claw unit mechanisms are aggregated away from the end of the support base, the support base and the three football-like truss mechanical claw unit mechanisms form a football shape for capture, each football-like truss mechanical claw unit mechanism is installed with a driver on the corresponding support base, and a connecting line is provided between the driver and the corresponding football-like truss mechanical claw unit mechanism. The present invention has a large envelope range and tolerance range, and is highly adaptable to space junk in a suspended state and having an uncertain geometric shape.

Description

Technical Field

[0001] The invention relates to a capturing mechanism, more specifically to a space capturing mechanism imitating a football structure. Background Art

[0002] In recent years, with the rapid development of space exploration activities, the number of spacecraft and satellites in orbit has increased significantly. At the same time, the number of failed and faulty satellites and the frequent spacecraft collision accidents have caused the amount of space debris in the space orbit to increase day by day. In addition, space debris is in a suspended state and difficult to capture. Some of it has occupied limited and precious space orbit resources, posing a serious threat to the safe operation of spacecraft and satellites in service.

[0003] Therefore, using space capture mechanisms to capture space debris is of great significance to maintaining the safety of the space environment. At present, space capture operations mainly rely on the cooperation between manipulators and manipulators, with a small envelope and tolerance range, and poor capture performance. Summary of the invention

[0004] The purpose of the present invention is to provide a space capture mechanism with a football-like structure, which has a large envelope range and tolerance range and is highly adaptable to space debris in a suspended state and with uncertain geometric shapes.

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

[0006] A spatial capture mechanism of a football-like structure comprises a support base of a hexagonal structure, three connecting pieces evenly installed and fixed on the support base in the circumferential direction, and football-like truss mechanical claw unit mechanisms respectively fixed on the three connecting pieces, the three football-like truss mechanical claw unit mechanisms can rotate relative to the support base through the connecting pieces, when the three football-like truss mechanical claw unit mechanisms are aggregated away from the end of the support base, the support base and the three football-like truss mechanical claw unit mechanisms form a football shape for capturing, each football-like truss mechanical claw unit mechanism is equipped with a driver on the corresponding support base, a connecting line is provided between the driver and the corresponding football-like truss mechanical claw unit mechanism, so that the driver can pull the football-like truss mechanical claw unit mechanism to rotate relative to the support base through the connecting line.

[0007] As a further optimization of the present technical solution, the support base includes three bottom edge connecting hinges and three bottom edge connecting tubes which are arranged in sequence end to end. The three bottom edge connecting hinges are provided with mounting grooves for installing the driver, and the three connecting parts are respectively fixed on the three bottom edge connecting hinges.

[0008] As a further optimization of the technical solution, the connecting member includes a hinge male head installed on the bottom edge connecting hinge and a hinge female head installed on the imitation football truss mechanical claw unit mechanism, and the hinge male head is rotatably connected to the hinge female head.

[0009] As a further optimization of the present technical solution, the imitation football truss mechanical claw unit mechanism is composed of multiple pentagonal units, multiple hexagonal units and an end unit, the end unit is located away from the support base end, each pentagonal unit includes five unit connecting tubes and five three-way joints arranged in sequence at intervals end to end, each hexagonal unit includes six unit connecting tubes and six three-way joints arranged in sequence at intervals end to end, adjacent pentagonal units and hexagonal units share one unit connecting tube and two three-way joints, and the imitation football truss mechanical claw unit mechanism is installed and fixed to the hinge female head near the support base.

[0010] As a further optimization of the present technical solution, the terminal unit includes two three-way joints and a unit connecting tube shared with the pentagonal unit, as well as another three two-way joints and four unit tubes. After the three football-like truss mechanical claw unit mechanisms are closed, the three terminal units form a hexagonal structure opposite to the supporting base.

[0011] As a further optimization of the technical solution, a locking magnet is provided on the terminal unit. After the three football-like truss mechanical claw unit mechanisms are closed, the locking magnets attract and adhere to each other, providing a locking force to complete the enveloping and grasping tasks.

[0012] As a further optimization of the technical solution, two drivers are installed at each of the installation slots, and connecting lines are provided between the two drivers and the corresponding football-like truss mechanical claw unit mechanisms, so as to control the expansion or aggregation of the football-like truss mechanical claw unit mechanisms.

[0013] As a further optimization of the technical solution, the driver includes a motor and a winding wheel fixed on the output shaft of the motor, and the winding wheel is used for winding the connecting wire.

[0014] The beneficial effects of the present invention are:

[0015] 1. The three soccer-like truss mechanical claw units are controlled to close by extending and shortening the connecting wires through the actuator, so that the support base and the three soccer-like truss mechanical claw units form a soccer shape for capturing space debris, thereby achieving a large envelope range and tolerance range, and having a strong adaptability to space debris in a suspended state with uncertain geometric shapes;

[0016] 2. By setting locking magnets on the edge of the football-like truss mechanical claw unit mechanism, when the edges of the three football-like truss mechanical claw unit structures touch each other, the locking magnets attract and adhere to each other, providing a locking force for the capture mechanism to prevent the captured space debris from being lost again;

[0017] 3. Through the cooperation of the driver and the connecting line, the expansion or closing control of the football truss mechanical claw unit mechanism is realized. The operation is simple, and under the small output force and deformation of the driver, the capture action with a large angle and a large envelope range can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the fully opened state of the space capture mechanism imitating the football structure;

[0019] Figure 2 It is a schematic diagram of the fully closed state of the space capture mechanism imitating the football structure;

[0020] Figure 3 yes Figure 2 Schematic diagram of partial enlarged structure;

[0021] Figure 4 It is a schematic diagram of the partial structure of the space capture mechanism imitating the football structure;

[0022] Figure 5 It is a structural diagram of a soccer-like truss mechanical claw unit mechanism;

[0023] Figure 6 It is a structural diagram of the support base;

[0024] Figure 7 It is a structural diagram of the support base and the driver;

[0025] In the figure: a soccer-like truss mechanical claw unit mechanism 1; a pentagonal unit 101; a hexagonal unit 102; an end unit 103; a support base 2; a bottom edge connecting hinge 201; a mounting groove 202; a bottom edge connecting tube 203; a driver 3; a connecting line 4; a connecting piece 5; a hinge male head 501; a hinge female head 502; and a locking magnet 6. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a direct connection, or an indirect connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] In addition, in the description of the present invention, unless otherwise specified, "plurality", "multiple groups" and "multiple roots" mean two or more.

[0029] like Figure 1-7As shown, a spatial capture mechanism imitating a football structure is described in detail:

[0030] A spatial capture mechanism of a football-like structure comprises a football-like truss mechanical claw unit mechanism 1, a support base 2, a driver 3, a connecting line 4 and a connecting piece 5. The driver 3 is connected to the support base 2 via a mounting slot 202 reserved by the support base 2.

[0031] Three identical soccer-like truss mechanical claw unit mechanisms 1 are evenly distributed on a support base 2 and connected by a connecting piece 5 .

[0032] The edges of the imitation football truss mechanical claw unit mechanism 1, that is, where the imitation football truss mechanical claw unit mechanism 1 contacts each other when closed, are provided with locking magnets 6. After the three imitation football truss mechanical claw unit mechanisms 1 are closed, the locking magnets 6 attract and adhere to each other, providing locking force to complete the enveloping and grasping tasks.

[0033] One end of the connecting wire 4 is connected to the driver 3, and the other end is connected to the end wire slot of the football-like truss mechanical claw unit mechanism 1. This connection method ensures that the mechanism connecting wire can smoothly pull the football-like truss mechanical claw unit structure to open and capture tasks.

[0034] The support base 2 is provided with six connection member 5 mounting holes and three driver 3 mounting slots to facilitate determining the position and posture of the driver 3 and to ensure a stable connection between the connection member 5 and the football-like truss mechanical claw unit mechanism 1 and the support base 2.

[0035] Combine the following Figure 1-7 The closing or unfolding action of the space capture mechanism imitating the football structure is explained as follows:

[0036] Define the unfolded state of the device as the initial state, such as Figure 1 As shown, the opening and closing capture of the imitation football truss mechanical claw unit structure 1 are controlled by the positive extension and shortening of the connecting line 4 by the driver 3; when the driver 3 drives the connecting line 4 to shorten in the positive direction, the imitation football truss mechanical claw unit structure 1 provides a closing tension through the connecting line 4, and when the edges of the three imitation football truss mechanical claw unit structures 1 contact each other, the locking magnets 6 attract and adhere to each other, providing a locking force for the capture mechanism, and gradually the mechanism completes the closing, enveloping and locking actions; when the driver 3 drives the connecting line 4 to extend in the positive direction, the driver 3 drives the connecting line 4 to generate an opening tension on the imitation football truss mechanical claw unit structure 1, and the capture mechanism completes the opening action, thereby realizing a capture action with a large angle and a large envelope range under the action of a relatively small output force and deformation of the driver 3.

[0037] Further:

[0038] There is a wire groove at the part where the hexagonal unit 102 at the end of the soccer truss mechanical claw unit structure 1 is connected to the connecting piece 5, such as Figure 7 shown.

[0039] Further Figure 6 As shown:

[0040] The support base 2 includes a bottom connection hinge 201, a mounting groove 202 and a bottom connection tube 203. The bottom connection hinge 201 is provided with a screw through hole for mounting a hinge male head 501, thereby ensuring a stable connection between the imitation football truss mechanical claw unit structure 1 and the support base 2. The mounting groove 202 ensures that the position and posture of the driver 3 are correct.

[0041] Further:

[0042] There are three connecting members 5, and the hinge male head 501 and the hinge female head 502 of the connecting member 5 are connected to the end of the imitation football truss mechanical claw unit structure 1 and the support base 2 by using bolts and nuts.

[0043] The spatial capture mechanism of the football-like structure of the present invention has the following working principles:

[0044] When the driver 3 drives the connecting line 4 to shorten in the positive direction, the football-like truss mechanical claw unit structure 1 provides a closing force through the connecting line 4. When the edges of the three football-like truss mechanical claw unit structures 1 contact each other, the locking magnets 6 attract and adhere to each other, providing a locking force for the capture mechanism, and gradually completing the closing, enveloping and locking actions of the mechanism; when the driver 3 drives the connecting line 4 to extend in the positive direction, the driver 3 drives the connecting line 4 to generate a pulling force on the football-like truss mechanical claw unit structure 1, and under the action of the pulling force, the capture mechanism completes the opening action, thereby achieving a capture action with a large angle and a large envelope range under the action of a relatively small output force and deformation of the driver 3.

[0045] This experimental device can be used to clean up suspended garbage in space and marine environments. It can produce a large-angle and large-capture tolerance capture action under a relatively small force and deformation output of the driver 3. The envelope range of the mechanism itself effectively provides the adaptability of capture and can be used to capture a variety of irregular targets.

[0046] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A space capture mechanism imitating a football structure, characterized by: The invention comprises a support base (2) of a hexagonal structure, three connecting pieces (5) evenly mounted and fixed on the support base (2) in the circumferential direction, and soccer-like truss mechanical claw unit mechanisms (1) respectively fixed on the three connecting pieces (5), the three soccer-like truss mechanical claw unit mechanisms (1) being capable of rotating relative to the support base (2) via the connecting pieces (5), and when the three soccer-like truss mechanical claw unit mechanisms (1) are aggregated away from the end of the support base (2), the support base (2) and the three soccer-like truss mechanical claw unit mechanisms (1) form a soccer ball shape for catching, and each soccer-like truss mechanical claw unit mechanism (1) is equipped with a driver (3) on the corresponding support base (2), and a connecting line (4) is provided between the driver (3) and the corresponding soccer-like truss mechanical claw unit mechanism (1), so that the driver (3) can pull the soccer-like truss mechanical claw unit mechanism (1) to rotate relative to the support base (2) via the connecting line (4); The support base (2) comprises three bottom edge connection hinges (201) and three bottom edge connection pipes (203) which are arranged in sequence end to end at intervals, and the three bottom edge connection hinges (201) are each provided with a mounting groove (202) for mounting the driver (3), and the three connection members (5) are respectively fixed on the three bottom edge connection hinges (201); The connecting member (5) comprises a hinge male head (501) mounted on the bottom edge connecting hinge (201) and a hinge female head (502) mounted on the soccer ball truss mechanical claw unit mechanism (1), and the hinge male head (501) is rotatably connected to the hinge female head (502); The soccer-like truss mechanical claw unit mechanism (1) is composed of a plurality of pentagonal units (101), a plurality of hexagonal units (102) and an end unit (103); the end unit (103) is located at an end away from the support base (2); each pentagonal unit (101) comprises five unit connecting pipes and five three-way joints which are arranged end to end in sequence; each hexagonal unit (102) comprises six unit connecting pipes and six three-way joints which are arranged end to end in sequence; adjacent pentagonal units (101) and hexagonal units (102) share one unit connecting pipe and two three-way joints; the soccer-like truss mechanical claw unit mechanism (1) is installed and fixed to the hinge female head (502) near the support base (2); The terminal unit (103) comprises two three-way joints and a unit connecting pipe shared with the pentagonal unit (101), as well as three other two-way joints and four unit pipes. After the three football-like truss mechanical claw unit mechanisms (1) are closed, the three terminal units (103) form a hexagonal structure opposite to the supporting base (2); The terminal unit (103) is provided with a locking magnet (6), and after the three football-like truss mechanical claw unit mechanisms (1) are closed, the locking magnets (6) attract and adhere to each other, providing a locking force to complete the enveloping and grasping tasks.

2. The space capture mechanism of the soccer-like structure according to claim 1, characterized in that: Two drivers (3) are installed at each of the installation slots (202), and connecting lines (4) are provided between the two drivers (3) and the corresponding football-like truss mechanical claw unit mechanisms (1), thereby controlling the expansion or aggregation of the football-like truss mechanical claw unit mechanisms (1).

3. The space capture mechanism of the soccer-like structure according to claim 2, characterized in that: The driver (3) comprises a motor and a winding wheel fixed on an output shaft of the motor, the winding wheel being used to wind the connecting wire (4).

4. The space capture mechanism of the soccer-like structure according to claim 1, characterized in that: The hinge male head (501) and the hinge female head (502) are both made of carbon fiber.

5. The space capture mechanism of the soccer-like structure according to claim 1, characterized in that: The soccer ball-like truss mechanical claw unit mechanism (1) and the supporting base (2) are both made of carbon fiber.

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