Cable-driven multi-closed-loop deployable space capture manipulator

Abstract

The application relates to a rope-driven multi-closed-loop deployable space capturing manipulator, belonging to the technical field of space deployable mechanisms, which comprises a first foldable manipulator, a second foldable manipulator and a deformable base, the first foldable manipulator and the second foldable manipulator are symmetrically arranged on the deformable base, and the first foldable manipulator and the second foldable manipulator each comprise a bottom plate, a plurality of layers of deployable units, a first rope driving unit and a second rope driving unit, the deployable units are arranged on the bottom plate, and adjacent two layers of the deployable units are connected in series through a group of intermediate frames in common, and jointly form a multi-closed-loop deployable unit structure, the first rope driving unit and the second rope driving unit are arranged at the bottom of the bottom plate and are used for realizing folding deformation of the first foldable manipulator and the second foldable manipulator, and then capturing a target object is completed. The application has the advantages of high expansibility, strong self-adaptive grasping capacity and foldability for convenient transportation, and can be widely applied to satellites, space stations and space probes.

Description

Technical Field

[0001] The present invention belongs to the technical field of space deployable mechanisms, and in particular relates to a rope-driven multi-closed-loop deployable space capture manipulator. Background Art

[0002] As humanity's exploration of outer space deepens, a vast number of probes and satellites have been deployed in Earth orbit. Some of these probes fail due to mechanical failures, fuel depletion, and other factors, becoming space debris. Recovering and reusing these failed probes not only helps reduce the amount of space debris and mitigates potential threats to other spacecraft, but also allows for the recovery of valuable materials and technologies, a highly practical endeavor.

[0003] Furthermore, numerous unknown meteorites of significant research value exist in Earth's orbit. Capturing and studying these meteorites could provide crucial information about the origin and evolution of the universe, potentially offering new insights into future technological development and resource utilization. Therefore, capturing these unknown meteorites is of immense value.

[0004] Existing space capture technologies are mainly divided into two types: capture technology for cooperative targets and capture technology for non-cooperative targets. For cooperative targets, such as robotic arm capture and docking capture methods, they usually require the target object to have a special docking device. However, many non-cooperative targets, such as failed satellites and space debris, do not have such devices, so these methods are not applicable to these targets. The capture technologies for non-cooperative targets currently mainly include flying net technology and flying fork grasping technology. Flying net technology uses a flexible net for capture, but due to its design and material limitations, it can usually only be used once, resulting in a very high cost for a single capture. Although the flying fork grasping technology can be reused, it is not very adaptable and is difficult to grasp in actual operation.

[0005] Given the limitations of these technologies, there is an urgent need to develop a manipulator that is highly flexible and adaptable, capable of handling non-cooperative targets of various shapes and sizes. Furthermore, it should be capable of multiple uses to reduce the cost of a single capture. Such a manipulator would significantly improve the efficiency and success rate of space captures, and would be crucial for maintaining a safe and stable space environment. Summary of the Invention

[0006] In response to the problems existing in the existing technology, the present invention provides a rope-driven multi-closed-loop expandable space capture manipulator. During the transportation process, the manipulator can remain in a folded state to save transportation space, and can be expanded to a sufficiently large configuration during grasping to increase the grasping range. In addition, the manipulator must also have the advantages of simple control, high reliability, and the ability to capture targets of various shapes.

[0007] The technical solution adopted by the present invention is a rope-driven multi-closed-loop deployable space capture manipulator, which includes a first folding manipulator, a second folding manipulator and a deformable base, the first folding manipulator and the second folding manipulator are symmetrically arranged on the deformable base, and the deformable base can realize the folding and unfolding of the first folding manipulator and the second folding manipulator; the first folding manipulator and the second folding manipulator each include a bottom plate, a multi-layer deployable unit, a first rope drive unit and a second rope drive unit, the multi-layer deployable unit is arranged on the bottom plate, and each layer of the deployable unit in the multi-layer deployable unit includes a lower frame, an intermediate frame, a first branch chain, a second branch chain, and a bottom plate. The first branch chain, the second branch chain, the third branch chain, the fourth branch chain, the fifth branch chain, the sixth branch chain, the first cross bar and the second cross bar, and the middle frame is located above the lower frame, the first branch chain, the second branch chain, the third branch chain, the fourth branch chain, the fifth branch chain and the sixth branch chain are all arranged between the lower frame and the middle frame, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are located at the vertices of the lower frame and the middle frame, and the first ends of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected to the first universal hinge of the vertices of the middle frame, and the second ends of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected to the first universal hinge of the vertices of the middle frame The vertices of the lower frame are connected by a second universal hinge, the first cross bar is rotatably arranged between the first branch chain and the second branch chain, and the second cross bar is rotatably arranged between the third branch chain and the fourth branch chain, the fifth branch chain and the sixth branch chain are respectively located at the long sides of the lower frame and the middle frame, and the first ends of the fifth branch chain and the sixth branch chain are connected to the first rotating pair of the long side of the middle frame, and the second ends of the fifth branch chain and the sixth branch chain are connected to the second rotating pair of the long side of the lower frame, and the two adjacent layers of expandable units are connected in series through a common set of middle frames to form a multi-closed-loop expandable unit structure, the first rope drive unit and the second rope drive unit The units are all arranged at the bottom of the base plate, and the ropes in the first rope drive unit are respectively wound through the guide wheels on the first side of the multi-layer expandable unit and the guide wheel group at the bottom of the base plate and are connected to the rope drum in the first rope drive unit. The ropes in the second rope drive unit are respectively wound through the guide wheels on the second side of the multi-layer expandable unit and the guide wheel group at the bottom of the base plate and are connected to the rope drum in the second rope drive unit. By driving the contraction and release of each rope in the first rope drive unit and the second rope drive unit, the folding deformation of the first folding and unfolding manipulator and the second folding and unfolding manipulator can be realized, and then the capture of the target object can be completed.

[0008] Preferably, the deformable base includes an outer frame, a double helical screw, a forward nut, a reverse nut, a screw motor, a first finger seat connecting rod, a second finger seat connecting rod, a first connecting plate and a second connecting plate, the screw motor is arranged in the outer frame, and the first end of the screw motor is connected to the first end of the double helical screw through a coupling, the forward nut is arranged at the first end of the double helical screw, and the forward nut is spirally connected to the double helical screw, the reverse nut is arranged at the second end of the double helical screw, and the reverse nut is spirally connected to the double helical screw, the first end of the first finger seat connecting rod is rotatably connected to the forward nut, and the second end of the first finger seat connecting rod is connected to the bottom of the first folding robot. The plates are rotatably connected, and the first end of the bottom plate in the first folding robot is rotatably connected to the left edge of the outer frame, the first end of the second finger seat connecting rod is rotatably connected to the reverse nut, the second end of the second finger seat connecting rod is rotatably connected to the bottom plate in the second folding robot, and the first end of the bottom plate in the second folding robot is rotatably connected to the right edge of the outer frame, the first connecting plate and the second connecting plate are arranged above the outer frame, and the first end of the first connecting plate is rotatably connected to the first end of the second connecting plate, the second end of the first connecting plate is rotatably connected to the second end of the bottom plate in the first folding robot, and the second end of the second connecting plate is rotatably connected to the second end of the bottom plate in the second folding robot.

[0009] Furthermore, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain have the same structure, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain all include a first connecting rod, a second connecting rod and a first joint support. The first end of the first connecting rod is universally hinged to the intermediate frame, and the second end of the first connecting rod is provided with a first gear. The second end of the first connecting rod is connected to the third rotating pair of the first end of the first joint support. The first end of the second connecting rod is universally hinged to the lower frame, and the second end of the second connecting rod is provided with a second gear. The second end of the second connecting rod is connected to the fourth rotating pair of the second end of the first joint support, and the first gear and the second gear are engaged in a transmission connection. The third rotating pair and the fourth rotating pair are both provided with a first joint torsion spring, and a first ratchet mechanism is provided between the first connecting rod and the first joint support and between the second connecting rod and the first joint support.

[0010] Further, the first end of the first cross bar is connected to the fifth rotation pair of the first joint support in the first branch chain, and the second end of the first cross bar is connected to the sixth rotation pair of the first joint support in the second branch chain, the first end of the second cross bar is connected to the seventh rotation pair of the first joint support in the third branch chain, and the second end of the second cross bar is connected to the eighth rotation pair of the first joint support in the fourth branch chain, the fifth rotation pair axis is parallel to the sixth rotation pair axis, and the sixth rotation pair axis is parallel to the seventh rotation pair axis, the seventh rotation pair axis is parallel to the eighth rotation pair axis, and the eighth rotation pair axis is parallel to the long side edge in the middle frame.

[0011] Furthermore, the fifth branch chain and the sixth branch chain have the same structure, and the fifth branch chain and the sixth branch chain both include a third link, a fourth link and a second joint support. The first end of the third link is rotatably connected to the long side of the intermediate frame, and the second end of the third link is provided with a third gear. The second end of the third link is connected to the ninth rotation pair of the first end of the second joint support. The first end of the fourth link is rotatably connected to the long side of the lower frame, and the second end of the fourth link is provided with a fourth gear. The second end of the fourth link is connected to the tenth rotation pair of the second end of the second joint support, and the third gear is meshed with the fourth gear for transmission connection. The ninth rotation pair and the tenth rotation pair are both provided with a second joint torsion spring, and a second ratchet mechanism is provided between the third link and the second joint support and between the fourth link and the second joint support.

[0012] Preferably, the intermediate frame is in a rectangular structure, a first guide wheel is provided at the first end of the first side surface of the intermediate frame, a second guide wheel is provided at the second end of the first side surface of the intermediate frame, a third guide wheel is provided at the first end of the second side surface of the intermediate frame, and a fourth guide wheel is provided at the second end of the second side surface of the intermediate frame.

[0013] Preferably, the lower frame is in a rectangular structure, a fifth guide wheel is provided at the first end of the first side surface of the lower frame, a sixth guide wheel is provided at the second end of the first side surface of the lower frame, a seventh guide wheel is provided at the first end of the second side surface of the lower frame, and an eighth guide wheel is provided at the second end of the second side surface of the lower frame.

[0014] Furthermore, the first rope drive unit includes a first rope, a second rope, a first motor, a first rope drum, a second rope drum and a first transmission shaft, the first motor is arranged on the base plate, and the output shaft of the first motor is connected to the first end of the first transmission shaft through a coupling, the first rope drum and the second rope drum are respectively arranged at the first end and the second end of the first transmission shaft, the first end of the first rope is arranged on the first guide wheel in the uppermost deployable unit, and the second end of the first rope is sequentially wound through the second guide wheel in the next deployable unit, the first guide wheel in the next deployable unit, the second guide wheel in the lowermost deployable unit, the lowermost deployable unit, and the lowermost deployable unit. The first guide wheel in the deployable unit of the next layer, the sixth guide wheel on the lower frame in the lowest deployable unit and the guide wheel group at the bottom of the base plate are connected to the second rope winding drum in the first rope drive unit, the first end of the second rope is arranged on the second guide wheel in the uppermost deployable unit, and the second end of the second rope is wound in sequence through the first guide wheel in the next deployable unit, the second guide wheel in the next deployable unit, the first guide wheel in the lowest deployable unit, the second guide wheel in the lowest deployable unit, the fifth guide wheel on the lower frame in the lowest deployable unit and the guide wheel group at the bottom of the base plate and are connected to the third rope winding drum in the second rope drive unit.

[0015] Furthermore, the second rope drive unit includes a third rope, a fourth rope, a second motor, a third rope drum, a fourth rope drum and a second transmission shaft, the second motor is arranged on the base plate, and the output shaft of the second motor is connected to the first end of the second transmission shaft through a coupling, the third rope drum and the fourth rope drum are respectively arranged at the first end and the second end of the second transmission shaft, the first end of the third rope is arranged on the third guide wheel in the uppermost deployable unit, and the second end of the third rope is wound through the fourth guide wheel in the next deployable unit, the third guide wheel in the next deployable unit, the fourth guide wheel in the lowermost deployable unit, the lowermost deployable unit, the lowermost deployable unit and the lowermost deployable unit in sequence. The third guide wheel in the deployable unit of the next layer, the eighth guide wheel on the lower frame in the lowest deployable unit and the guide wheel group at the bottom of the base plate are connected to the fourth rope winding drum in the second rope drive unit, the first end of the fourth rope is arranged on the fourth guide wheel in the uppermost deployable unit, and the second end of the fourth rope is wound through the third guide wheel in the next deployable unit, the fourth guide wheel in the next deployable unit, the third guide wheel in the lowest deployable unit, the fourth guide wheel in the lowest deployable unit, the seventh guide wheel on the lower frame in the lowest deployable unit and the guide wheel group at the bottom of the base plate are connected to the first rope winding drum in the second rope drive unit.

[0016] Preferably, the inner rotation secondary axis of the first universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the long side edge in the middle frame, the outer rotation secondary axis of the first universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the short side edge in the middle frame, and the inner rotation secondary axis of the first universal joint is parallel to the rotation secondary axis of the first rotation pair, the inner rotation secondary axis of the second universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the long side edge in the lower frame, the outer rotation secondary axis of the second universal joint in the first branch chain, the third branch chain and the fourth branch chain is parallel to the short side edge in the lower frame, and the inner rotation secondary axis of the second universal joint is parallel to the rotation secondary axis of the second rotation pair.

[0017] The characteristics and beneficial effects of the present invention are:

[0018] 1. The rope-driven multi-closed-loop expandable space capture manipulator provided by the present invention is composed of a foldable manipulator and a deformable base. The foldable manipulator is composed of multiple multi-closed-loop expandable unit structures connected in series. By folding the foldable manipulator and cooperating with the deformable base, it can maintain a compact state during transportation, saving transportation space. However, when performing the capture action, the foldable manipulator is unfolded with the cooperation of the joint torsion spring and the rope drive unit. When the deformable base is switched to the capture state, the capture range is greatly increased. Compared with the existing truss-type space capture arm, the ratio of the volume of the graspable object to the capture arm's carrying volume is larger, that is, for the target object of the same volume, the present invention requires a smaller carrying volume.

[0019] 2. The rope-driven multi-closed-loop expandable space capture manipulator provided by the present invention, when the manipulator is in the expanded state, the expandable units on each layer are synchronously and stably expanded at a uniform speed under the drive of the joint torsion spring and the constraint of the rope. At the same time, the two groups of rope drive units can fully control the expansion speed of the folding manipulator to prevent the transient expansion speed from being too fast and causing damage to the mechanical components.

[0020] 3. The rope-driven multi-closed-loop expandable space capture manipulator provided by the present invention has a one-degree-of-freedom mechanism in the expanded state. If the number of expandable units is n (n>2), the manipulator has n degrees of freedom. When the manipulator is used for capture operations, each folding manipulator is driven by two sets of rope drive units, that is, the number of drives is 2. Therefore, the entire capture arm is an under-actuated capture arm, and the under-actuated structure can adaptively capture the target object.

[0021] 4. The rope-driven multi-closed-loop deployable space capture manipulator provided by the present invention can capture non-cooperative targets with irregular shapes compared to the existing truss-type space capture manipulator, and has fewer drives and simpler control. In addition, all drives are rear-placed in the deformable base, so the effective load ratio (load mass / self-mass) of the present invention is high, and motor protection is more convenient.

[0022] 5. The rope-driven multi-closed-loop expandable space capture manipulator provided by the present invention has high scalability and can expand the number of expandable units according to the size range of the capture target, increase the envelope area of ​​the grasping surface, and improve the grasping reliability. At the same time, there are many common parts between the expandable units, the structure is simple, and it is easy to implement engineering manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the rope-driven multi-closed-loop deployable space capture manipulator in the carrying state of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure of the present invention in an expanded state;

[0025] Figure 3 It is a schematic diagram of the overall structure of the capture state of the present invention;

[0026] Figure 4 This is a schematic diagram of the overall structure of the folding and unfolding robot of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the deployable unit of the present invention;

[0028] Figure 6 Schematic diagram of the structure of the first branch of the present invention;

[0029] Figure 7 This invention Figure 6 A partial enlarged schematic diagram of point A in the middle;

[0030] Figure 8 Schematic diagram of the structure of the fifth branch of the present invention;

[0031] Figure 9 It is a structural schematic diagram of the rope drive unit of the present invention;

[0032] Figure 10 This is a schematic diagram of the threading method of the first rope drive unit of the present invention;

[0033] Figure 11 This is a schematic diagram of the threading method of the second rope drive unit of the present invention;

[0034] Figure 12 It is a structural schematic diagram of the deformable base of the present invention.

[0035] Main reference numerals:

[0036] First folding and unfolding manipulator 1; base plate 11; guide wheel assembly 111; expandable unit 12; lower frame 120; fifth guide wheel 1201; sixth guide wheel 1202; seventh guide wheel 1203; eighth guide wheel 1204; intermediate frame 121; first guide wheel 1211; second guide wheel 1212; third guide wheel 1213; fourth guide wheel 1214; first branch chain 122; first connecting rod 1221; second connecting rod 1222; first joint support 1223; first gear 1224; second gear 1225; first joint torsion spring 1226; first ratchet mechanism 1227; second branch chain 123; third branch chain 124; fourth branch chain 125; fifth branch chain 126; third connecting rod 1261; fourth connecting rod 1262; second joint support 1263; third gear 1264; fourth gear 1265; second joint torsion spring 1266; second ratchet mechanism 1267; sixth branch chain 127; first cross bar 128; second cross bar 129; first rope drive unit 13; first rope 131; second rope 132; first motor 133; first rope drum 134; second rope drum 135; first transmission shaft 136; second rope drive unit 14; third rope 141; fourth rope 142; second motor 143; third rope drum 144; fourth rope drum 145; second transmission shaft 146; second folding and unfolding robot 2; deformable base 3; outer frame 31; double helical screw 32; forward nut 33; reverse nut 34; screw motor 35; first finger seat connecting rod 36; second finger seat connecting rod 37; first connecting plate 38; second connecting plate 39. DETAILED DESCRIPTION

[0037] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0038] The present invention is a rope-driven multi-closed-loop deployable space capture manipulator, such as Figures 1-3 As shown, it includes a first folding and unfolding robot 1, a second folding and unfolding robot 2 and a deformable base 3. The first folding and unfolding robot 1 and the second folding and unfolding robot 2 are symmetrically arranged on the deformable base 3. The deformable base 3 can realize the folding and unfolding of the first folding and unfolding robot 1 and the second folding and unfolding robot 2.

[0039] like Figure 4 and Figure 5As shown, the first folding and unfolding manipulator 1 and the second folding and unfolding manipulator 2 respectively include a base plate 11, a multi-layer expandable unit 12, a first rope drive unit 13 and a second rope drive unit 14, the multi-layer expandable unit 12 is arranged on the base plate 11, and each layer of expandable unit 12 includes a lower frame 120, an intermediate frame 121, a first branch chain 122, a second branch chain 123, a third branch chain 124, a fourth branch chain 125, a fifth branch chain 126, a sixth branch chain 127, a first cross bar 128 and a second cross bar 129, the lower frame 120 is arranged on the base plate 11, and the intermediate frame 121 is located above the lower frame 120, the first branch chain 122, the second branch chain 123, the third branch chain 124 The fourth branch chain 125, the fifth branch chain 126 and the sixth branch chain 127 are all arranged between the lower frame 120 and the middle frame 121, the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 are located at the vertices of the lower frame 120 and the middle frame 121, and the first ends of the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 are respectively connected to the first universal hinge of the vertices of the middle frame 121, and the second ends of the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 are respectively connected to the second universal hinge of the vertices of the lower frame 120, and the first cross bar 128 is rotated. The first branch chain 122 is rotatably arranged between the second branch chain 123, and the second cross bar 129 is rotatably arranged between the third branch chain 124 and the fourth branch chain 125. The fifth branch chain 126 and the sixth branch chain 127 are respectively located at the long sides of the lower frame 120 and the middle frame 121, and the first ends of the fifth branch chain 126 and the sixth branch chain 127 are connected to the first rotating pair of the long side of the middle frame 121, and the second ends of the fifth branch chain 126 and the sixth branch chain 127 are connected to the second rotating pair of the long side of the lower frame 120. The two adjacent layers of expandable units 12 are connected in series through a common set of middle frames 121, together forming a multi-closed-loop expandable unit structure. The first rope drive unit 13 and the second rope drive unit 13 are connected to the first rope drive unit 13 and the second rope drive unit 13. The driving units 14 are all arranged at the bottom of the base plate 11, and the ropes in the first rope driving unit 13 are respectively wound through the guide wheels on the first side of the multi-layer expandable unit 12 and the guide wheel group at the bottom of the base plate 11 and are connected to the rope drum in the first rope driving unit 13. The ropes in the second rope driving unit 14 are respectively wound through the guide wheels on the second side of the multi-layer expandable unit 12 and the guide wheel group at the bottom of the base plate 11 and are connected to the rope drum in the second rope driving unit 14. By driving the contraction and release of each rope in the first rope driving unit 13 and the second rope driving unit 14, the folding deformation of the first folding and unfolding robot 1 and the second folding and unfolding robot 2 can be realized, and then the capture of the target object can be completed.

[0040] like Figure 5As shown, the middle frame 121 is in a rectangular structure, a first guide wheel 1211 is provided at the first end of the first side surface of the middle frame 121, and a second guide wheel 1212 is provided at the second end of the first side surface of the middle frame 121, a third guide wheel 1213 is provided at the first end of the second side surface of the middle frame 121, and a fourth guide wheel 1214 is provided at the second end of the second side surface of the middle frame 121.

[0041] like Figure 5 As shown, the lower frame 120 is a rectangular structure, a fifth guide wheel 1201 is provided at the first end of the first side surface of the lower frame 120, and a sixth guide wheel 1202 is provided at the second end of the first side surface of the lower frame 120, a seventh guide wheel 1203 is provided at the first end of the second side surface of the lower frame 120, and an eighth guide wheel 1204 is provided at the second end of the second side surface of the lower frame 120.

[0042] like Figure 6 and Figure 7 As shown, the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 have the same structure, and the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 all include a first connecting rod 1221, a second connecting rod 1222 and a first joint support 1223, a first end of the first connecting rod 1221 is universally connected to the middle frame 121, and a first gear 1224 is provided at the second end of the first connecting rod 1221, a second end of the first connecting rod 1221 is connected to the first end of the first joint support 1223 by a third rotational pair, and the second connecting rod 1221 is universally connected to the middle frame 121, and a first gear 1224 is provided at the second end of the first connecting rod 1221 The first end of the rod 1222 is universally hinged to the lower frame 120, and the second end of the second connecting rod 1222 is provided with a second gear 1225, the second end of the second connecting rod 1222 is connected to the fourth rotating pair of the second end of the first joint support 1223, and the first gear 1224 and the second gear 1225 are engaged in gear transmission connection, the third rotating pair and the fourth rotating pair are both provided with a first joint torsion spring 1226, and a first ratchet mechanism 1227 is provided between the first connecting rod 1221 and the first joint support 1223 and between the second connecting rod 1222 and the first joint support 1223.

[0043] like Figure 6 and Figure 7As shown, the first end of the first cross bar 128 is connected to the fifth rotational pair of the first joint support 1223 in the first branch chain 122, and the second end of the first cross bar 128 is connected to the sixth rotational pair of the first joint support 1223 in the second branch chain 123, the first end of the second cross bar 129 is connected to the seventh rotational pair of the first joint support 1223 in the third branch chain 124, and the second end of the second cross bar 129 is connected to the eighth rotational pair of the first joint support 1223 in the fourth branch chain 125, the fifth rotational pair axis is parallel to the sixth rotational pair axis, the sixth rotational pair axis is parallel to the seventh rotational pair axis, the seventh rotational pair axis is parallel to the eighth rotational pair axis, and the eighth rotational pair axis is parallel to the long side edge in the middle frame 121.

[0044] like Figure 8 As shown, the fifth branch chain 126 and the sixth branch chain 127 have the same structure, and the fifth branch chain 126 and the sixth branch chain 127 both include a third link 1261, a fourth link 1262 and a second joint support 1263, a first end of the third link 1261 is rotatably connected to the long side of the middle frame 121, and a second end of the third link 1261 is provided with a third gear 1264, a second end of the third link 1261 is connected to the first end of the second joint support 1263 by a ninth rotation pair, and a first end of the fourth link 1262 is connected to the long side of the lower frame 120 The long side is rotated and connected, and the second end of the fourth connecting rod 1262 is provided with a fourth gear 1265, the second end of the fourth connecting rod 1262 is connected to the tenth rotating pair with the second end of the second joint support 1163, and the third gear 1264 is connected to the fourth gear 1265 in gear meshing transmission connection, the ninth rotating pair and the tenth rotating pair are both provided with a second joint torsion spring 1266, and a second ratchet mechanism 1267 is provided between the third connecting rod 1261 and the second joint support 1263 and between the fourth connecting rod 1262 and the second joint support 1263.

[0045] In a preferred embodiment, the inner rotational secondary axis R11 of the first universal joint U1 in the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 is parallel to the long side edge of the middle frame 121, the outer rotational secondary axis R12 of the first universal joint U1 in the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 is parallel to the short side edge of the middle frame 121, and the inner rotational secondary axis R11 of the first universal joint U1 is parallel to the rotational secondary axis R11 of the first rotational secondary axis R11. The axes are parallel, the inner rotation secondary axis R21 of the second universal joint U2 in the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 is parallel to the long side edge of the lower frame 120, the outer rotation secondary axis R22 of the second universal joint U2 in the first branch chain 122, the second branch chain 123, the third branch chain 124 and the fourth branch chain 125 is parallel to the short side edge of the lower frame 120, and the inner rotation secondary axis R21 of the second universal joint U2 is parallel to the rotation secondary axis of the second rotation pair R2.

[0046] In a preferred embodiment, when the expandable unit 12 is in the folded state, the first joint torsion springs 1226 at the first and second links 1221, 1222, and the second joint torsion springs 1266 at the third and fourth links 1261, 1262 are in an energy storage state, i.e., a deformed state. At this time, the first and second ratchet mechanisms 1227, 1267 at each link do not restrict the rotation between each link and each joint support. When the expandable unit 12 is expanded, i.e., in the expanded state, the first and second ratchet mechanisms 1227, 1267 at each link restrict the rotation between each link and each joint support.

[0047] like Figure 9 and Figure 10As shown, the first rope driving unit 13 comprises a first rope 131, a second rope 132, a first motor 133, a first rope winding drum 134, a second rope winding drum 135 and a first transmission shaft 136, the first motor 133 is arranged on the bottom plate 11, and the output shaft of the first motor 133 is connected with the first end of the first transmission shaft 136 through a shaft coupling, the first rope winding drum 134 and the second rope winding drum 135 are arranged at the first end and the second end of the first transmission shaft 136 respectively, the first end of the first rope 131 is arranged on the first guide wheel 1211 in the uppermost layer of the deployable unit 12, and the second end of the first rope 131 is connected with the second rope winding drum 135 in the first rope driving unit 13 in sequence by winding through the second guide wheel 1212 in the next layer of the deployable unit 12, the first guide wheel 1211 in the next layer of the deployable unit 12, the second guide wheel 1212 in the lowermost layer of the deployable unit 12, the first guide wheel 1211 in the lowermost layer of the deployable unit 12, the sixth guide wheel 1202 on the lower frame 120 in the lowermost layer of the deployable unit 12 and the guide wheel set 111 at the bottom of the bottom plate 11, that is, the threading mode of the first rope 131 is a1-d1-c1-f1-e1-h1. The first end of the second rope 132 is arranged on the second guide wheel 1212 in the uppermost layer of the deployable unit 12, and the second end of the second rope 132 is connected with the third rope winding drum 144 in the second rope driving unit 14 in sequence by winding through the first guide wheel 1211 in the next layer of the deployable unit 12, the second guide wheel 1212 in the next layer of the deployable unit 12, the first guide wheel 1211 in the lowermost layer of the deployable unit 12, the second guide wheel 1212 in the lowermost layer of the deployable unit 12, the fifth guide wheel 1201 on the lower frame 120 in the lowermost layer of the deployable unit 12 and the guide wheel set 111 at the bottom of the bottom plate 11, that is, the threading mode of the second rope 132 is b1-c1-d1-e1-f1-g1.

[0048] As Figure 10 and Figure 11As shown, the second rope drive unit 14 includes a third rope 141, a fourth rope 142, a second motor 143, a third rope drum 144, a fourth rope drum 145 and a second transmission shaft 146. The second motor 143 is arranged on the bottom plate 11, and the output shaft of the second motor 143 is connected to the first end of the second transmission shaft 146 through a coupling. The third rope drum 144 and the fourth rope drum 145 are respectively arranged at the first end and the second end of the second transmission shaft 146. The first end of the third rope 141 is arranged on the third guide wheel 1213 in the uppermost deployable unit 12, and the third rope 141 is arranged on the third guide wheel 1213 in the uppermost deployable unit 12. The second end of 41 is sequentially wound through the fourth guide wheel 1214 in the next expandable unit 12, the third guide wheel 1213 in the next expandable unit 12, the fourth guide wheel 1214 in the lowest expandable unit 12, the third guide wheel 1213 in the lowest expandable unit 12, the eighth guide wheel 1204 on the lower frame 120 in the lowest expandable unit 12, and the guide wheel group 111 at the bottom of the base plate 11, and is connected to the fourth rope drum 145 in the second rope drive unit 14. The rope threading method of the third rope 141 is a2-d2-c2-f2-e2-h2. The first end of the fourth rope 142 is arranged on the fourth guide wheel 1214 in the uppermost expandable unit 12, and the second end of the fourth rope 142 is wound through the third guide wheel 1213 in the next expandable unit 12, the fourth guide wheel 1214 in the next expandable unit 12, the third guide wheel 1213 in the lowermost expandable unit 12, the fourth guide wheel 1214 in the lowermost expandable unit 12, the seventh guide wheel 1203 on the lower frame 120 in the lowermost expandable unit 12 and the guide wheel group 111 at the bottom of the base plate 11 and is connected to the first rope drum 134 in the second rope drive unit 14. The rope threading method of the fourth rope 142 is b2-c2-d2-e2-f2-g2.

[0049] like Figure 12As shown, the deformable base 3 includes an outer frame 31, a double helical screw 32, a forward nut 33, a reverse nut 34, a screw motor 35, a first finger seat connecting rod 36, a second finger seat connecting rod 37, a first connecting plate 38 and a second connecting plate 39. The screw motor 35 is arranged in the outer frame 31, and the first end of the screw motor 35 is connected to the first end of the double helical screw 32 through a coupling. The double helical screw 32 consists of a forward helical screw and a reverse helical screw. The forward nut 33 is arranged at the first end of the double helical screw 32, and the forward nut 33 is connected to the double helical screw 32 in a spiral transmission. The reverse nut 34 is arranged at the second end of the double helical screw 32, and the reverse nut 34 is connected to the double helical screw 32 in a spiral transmission. The first end of the first finger seat connecting rod 36 is rotatably connected to the forward nut 33. The two ends are rotatably connected to the base plate 11 in the first folding and unfolding robot 1, and the first end of the base plate 11 in the first folding and unfolding robot 1 is rotatably connected to the left edge of the outer frame 31, the first end of the second finger seat link 37 is rotatably connected to the reverse nut 34, the second end of the second finger seat link 37 is rotatably connected to the base plate 11 in the second folding and unfolding robot 2, and the first end of the base plate 11 in the second folding and unfolding robot 2 is rotatably connected to the right edge of the outer frame 31, the first connecting plate 38 and the second connecting plate 39 are arranged above the outer frame 31, and the first end of the first connecting plate 38 and the first end of the second connecting plate 39 are rotatably connected, the second end of the first connecting plate 38 is rotatably connected to the second end of the base plate 11 in the first folding and unfolding robot 1, and the second end of the second connecting plate 39 is rotatably connected to the second end of the base plate 11 in the second folding and unfolding robot 2. The double helical screw 32 is driven to rotate by the screw motor 35, which drives the double helical screw 32 to rotate spirally with the forward nut 33 and the reverse nut 34 respectively, and then the base plate 11 in the first folding and unfolding robot 1 and the base plate 11 in the second folding and unfolding robot 2 are driven to rotate by the first finger seat connecting rod 36 and the second finger seat connecting rod 37, so that the deformable base 3 can be switched between the folding and folding states.

[0050] The specific operation steps of the present invention are as follows:

[0051] like Figures 1-12 As shown, a rope-driven multi-closed-loop deployable space capture manipulator of the present invention includes a first folding manipulator 1, a second folding manipulator 2 and a deformable base 3.

[0052] like Figure 1 As shown, when the capturing manipulator is in the carrying state, each layer of the expandable units in each folding manipulator is in a folded state, and the deformable base 3 is also in a folded state. At this time, the capturing manipulator is in a compact state for easy storage and transportation.

[0053] like Figure 2As shown, when the capture manipulator reaches the predetermined position and prepares to grasp the target, it drives the deformable base 3 and each folding and deploying manipulator to deploy. That is, when the deformable base 3 deploys, the screw motor 35 drives the double helical screw 32 to rotate, driving the forward nut 33 and the reverse nut 34 on the double helical screw 32 to move toward each other. The forward nut 33 and the reverse nut 34 respectively drive the base plate 11 of the first folding and deploying manipulator 1 and the base plate 11 of the second folding and deploying manipulator 2 to rotate in different directions through the first finger base connecting rod 36 and the second finger base connecting rod 37, thereby deploying the deformable base 3. When the first folding and deploying manipulator 1 and the second folding and deploying manipulator 2 deploy, the motors in the first rope drive unit 13 and the second rope drive unit 14 in each folding and deploying manipulator rotate, slowly releasing the ropes in each folding and deploying manipulator. At this time, the deployable units of each layer slowly deploy under the drive of the joint torsion springs and the constraints of the ropes. When each folding and unfolding manipulator is unfolded, the first ratchet mechanism 1227 restricts the relative rotation of the first link 1221 and the second link 1222 in the first branch chain 122, the second branch chain 123, the third branch chain 124, and the fourth branch chain 125, and the second ratchet mechanism 1267 restricts the relative rotation of the third link 1261 and the fourth link 1262 in the fifth branch chain 126 and the sixth branch chain 127.

[0054] like Figure 3 As shown, after the first folding robot 1, the second folding robot 2, and the deformable base 3 are deployed, the capture robot enters a predetermined position and can begin capturing the target object. During capture, the motors in each folding robot drive the ropes to contract and release, causing each layer of deployable units in each folding robot to deform synchronously. The motors in the first rope drive unit 13 and the second rope drive unit 14 coordinate to bring the first folding robot 1 and the second folding robot 2, which are located away from the deformable base 3, closer together. The deployable units in each layer of the folding robot then move toward the target object. When a deployable unit in a layer contacts the object, it ceases deformation due to the object's reaction force. However, because the folding robot's degrees of freedom n (the number of multi-closed-loop units) is greater than the number of actuators, the entire mechanism is underactuated. The deployable units in the remaining layers can continue to deform until the deployable unit 12 farthest from the deformable base 3 contacts the target object and applies a certain force, stopping the deformation. At this point, the target object is captured.

[0055] When the target object needs to be released, the motors in each folding manipulator drive the ropes to contract and release. At this time, the layers of expandable units in each folding manipulator are deformed synchronously. Through the coordinated cooperation of the motors in the first rope drive unit 13 and the second rope drive unit 14, the first folding manipulator 1 and the second folding manipulator 2 away from the deformable base 3 can be moved away from each other. At this time, the layers of expandable units in each folding manipulator move in the direction away from the target object until the layers of expandable units 12 no longer exert contact force on the target object, thereby completing the release of the target object.

[0056] The above embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A rope-driven multi-closed-loop deployable space capture manipulator, characterized in that: It includes a first folding and unfolding manipulator, a second folding and unfolding manipulator and a deformable base. The first folding and unfolding manipulator and the second folding and unfolding manipulator are symmetrically arranged on the deformable base, and the deformable base can realize the folding and unfolding of the first folding and unfolding manipulator and the second folding and unfolding manipulator; The first folding and unfolding manipulator and the second folding and unfolding manipulator each include a base plate, a multi-layer expandable unit, a first rope drive unit and a second rope drive unit, the multi-layer expandable unit is arranged on the base plate, and each layer of the expandable unit in the multi-layer expandable unit includes a lower frame, an intermediate frame, a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a fifth branch chain, a sixth branch chain, a first cross bar and a second cross bar, and the intermediate frame is located above the lower frame, and the first branch chain, the second branch chain, the third branch chain, the fourth branch chain, the fifth branch chain and the sixth branch chain are all arranged on the lower frame and Between the middle frames, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are located at the vertices of the lower frame and the middle frame, and the first ends of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected to the first universal hinge of the vertices of the middle frame, and the second ends of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected to the second universal hinge of the vertices of the lower frame, the first cross bar is rotatably arranged between the first branch chain and the second branch chain, and the second cross bar is rotatably arranged between the third branch chain and the fourth branch chain. The fifth branch chain and the sixth branch chain are respectively located at the long sides of the lower frame and the middle frame, and the first ends of the fifth branch chain and the sixth branch chain are connected to the first rotating pair of the long side of the middle frame, and the second ends of the fifth branch chain and the sixth branch chain are connected to the second rotating pair of the long side of the lower frame. The two adjacent layers of expandable units are connected in series through a common set of middle frames, together forming a multi-closed-loop expandable unit structure. The first rope drive unit and the second rope drive unit are both arranged at the bottom of the base plate, and the ropes in the first rope drive unit are respectively wound through the guide wheels on the first side of the multi-layer expandable unit and the guide wheel group at the bottom of the base plate and connected to the rope drum in the first rope drive unit. The ropes in the second rope drive unit are respectively wound through the guide wheels on the second side of the multi-layer expandable unit and the guide wheel group at the bottom of the base plate and connected to the rope drum in the second rope drive unit. By driving the contraction and release of each rope in the first rope drive unit and the second rope drive unit, the folding and deformation of the first and second folding and expandable manipulators can be achieved, thereby completing the capture of the target object; The deformable base includes an outer frame, a double helical screw, a forward nut, a reverse nut, a screw motor, a first finger seat connecting rod, a second finger seat connecting rod, a first connecting plate and a second connecting plate. The screw motor is arranged in the outer frame, and the first end of the screw motor is connected to the first end of the double helical screw through a coupling. The forward nut is arranged at the first end of the double helical screw, and the forward nut is spirally connected to the double helical screw. The reverse nut is arranged at the second end of the double helical screw, and the reverse nut is spirally connected to the double helical screw. The first end of the first finger seat connecting rod is rotatably connected to the forward nut, and the second end of the first finger seat connecting rod is rotatably connected to the base plate in the first folding robot. The cam is connected to the bottom plate of the second folding robot by rotating the first end of the second finger seat connecting rod and the reverse nut, and the second end of the second finger seat connecting rod is connected to the bottom plate of the second folding robot by rotating the first end of the second folding robot, and the first end of the bottom plate of the second folding robot is connected to the right edge of the outer frame. The first connecting plate and the second connecting plate are arranged above the outer frame, and the first end of the first connecting plate and the first end of the second connecting plate are connected by rotating the second end of the first connecting plate and the second end of the second connecting plate are connected by rotating the second end of the bottom plate of the first folding robot.

2. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 1, characterized in that: The first branch chain, the second branch chain, the third branch chain and the fourth branch chain respectively include a first connecting rod, a second connecting rod and a first joint support. The first end of the first connecting rod is universally hinged to the intermediate frame, and the second end of the first connecting rod is provided with a first gear. The second end of the first connecting rod is connected to the third rotating pair of the first end of the first joint support. The first end of the second connecting rod is universally hinged to the lower frame, and the second end of the second connecting rod is provided with a second gear. The second end of the second connecting rod is connected to the fourth rotating pair of the second end of the first joint support, and the first gear and the second gear are engaged in a transmission connection. The third rotating pair and the fourth rotating pair are both provided with a first joint torsion spring, and a first ratchet mechanism is provided between the first connecting rod and the first joint support and between the second connecting rod and the first joint support.

3. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 2, characterized in that: The first end of the first cross bar is connected to the fifth rotation pair of the first joint support in the first branch chain, and the second end of the first cross bar is connected to the sixth rotation pair of the first joint support in the second branch chain, the first end of the second cross bar is connected to the seventh rotation pair of the first joint support in the third branch chain, and the second end of the second cross bar is connected to the eighth rotation pair of the first joint support in the fourth branch chain, the fifth rotation pair axis is parallel to the sixth rotation pair axis, and the sixth rotation pair axis is parallel to the seventh rotation pair axis, the seventh rotation pair axis is parallel to the eighth rotation pair axis, and the eighth rotation pair axis is parallel to the long side edge in the middle frame.

4. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 3, characterized in that: The fifth branch chain and the sixth branch chain have the same structure, and the fifth branch chain and the sixth branch chain both include a third link, a fourth link and a second joint support. The first end of the third link is rotatably connected to the long side of the intermediate frame, and the second end of the third link is provided with a third gear. The second end of the third link is connected to the ninth rotation pair of the first end of the second joint support. The first end of the fourth link is rotatably connected to the long side of the lower frame, and the second end of the fourth link is provided with a fourth gear. The second end of the fourth link is connected to the tenth rotation pair of the second end of the second joint support, and the third gear is meshed with the fourth gear for transmission connection. The ninth rotation pair and the tenth rotation pair are both provided with a second joint torsion spring, and a second ratchet mechanism is provided between the third link and the second joint support and between the fourth link and the second joint support.

5. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 1, characterized in that: The intermediate frame is in a rectangular structure, a first guide wheel is provided at the first end of the first side surface of the intermediate frame, a second guide wheel is provided at the second end of the first side surface of the intermediate frame, a third guide wheel is provided at the first end of the second side surface of the intermediate frame, and a fourth guide wheel is provided at the second end of the second side surface of the intermediate frame.

6. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 5, characterized in that: The lower frame is in a rectangular structure, a fifth guide wheel is provided at the first end of the first side surface of the lower frame, a sixth guide wheel is provided at the second end of the first side surface of the lower frame, a seventh guide wheel is provided at the first end of the second side surface of the lower frame, and an eighth guide wheel is provided at the second end of the second side surface of the lower frame.

7. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 6, characterized in that: The first rope drive unit includes a first rope, a second rope, a first motor, a first rope drum, a second rope drum and a first transmission shaft, the first motor is arranged on the base plate, and the output shaft of the first motor is connected to the first end of the first transmission shaft through a coupling, the first rope drum and the second rope drum are respectively arranged at the first end and the second end of the first transmission shaft, the first end of the first rope is arranged on the first guide wheel in the uppermost deployable unit, and the second end of the first rope is sequentially wound through the second guide wheel in the next deployable unit, the first guide wheel in the next deployable unit, the second guide wheel in the lowermost deployable unit, the lowermost deployable unit, and the lowermost deployable unit. The first guide wheel in the expandable unit, the sixth guide wheel on the lower frame in the lowest expandable unit and the guide wheel group at the bottom of the base plate are connected to the second rope winding drum in the first rope drive unit, the first end of the second rope is arranged on the second guide wheel in the uppermost expandable unit, and the second end of the second rope is wound through the first guide wheel in the next expandable unit, the second guide wheel in the next expandable unit, the first guide wheel in the lowest expandable unit, the second guide wheel in the lowest expandable unit, the fifth guide wheel on the lower frame in the lowest expandable unit and the guide wheel group at the bottom of the base plate and are connected to the third rope winding drum in the second rope drive unit.

8. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 6, characterized in that: The second rope drive unit includes a third rope, a fourth rope, a second motor, a third rope drum, a fourth rope drum and a second transmission shaft, the second motor is arranged on the base plate, and the output shaft of the second motor is connected to the first end of the second transmission shaft through a coupling, the third rope drum and the fourth rope drum are respectively arranged at the first end and the second end of the second transmission shaft, the first end of the third rope is arranged on the third guide wheel in the uppermost deployable unit, and the second end of the third rope is wound around and passes through the fourth guide wheel in the next deployable unit, the third guide wheel in the next deployable unit, the fourth guide wheel in the lowermost deployable unit, the lowermost deployable unit, the The third guide wheel in the expandable unit, the eighth guide wheel on the lower frame in the lowest expandable unit and the guide wheel group at the bottom of the base plate are connected to the fourth rope winding drum in the second rope drive unit, the first end of the fourth rope is arranged on the fourth guide wheel in the uppermost expandable unit, and the second end of the fourth rope is wound through the third guide wheel in the next expandable unit, the fourth guide wheel in the next expandable unit, the third guide wheel in the lowest expandable unit, the fourth guide wheel in the lowest expandable unit, the seventh guide wheel on the lower frame in the lowest expandable unit and the guide wheel group at the bottom of the base plate are connected to the first rope winding drum in the second rope drive unit.

9. The rope-driven multi-closed-loop deployable space capture manipulator according to claim 1, characterized in that: The inner rotation secondary axis of the first universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the long side edge in the middle frame, the outer rotation secondary axis of the first universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the short side edge in the middle frame, and the inner rotation secondary axis of the first universal joint is parallel to the rotation secondary axis of the first rotation pair, the inner rotation secondary axis of the second universal joint in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain is parallel to the long side edge in the lower frame, the outer rotation secondary axis of the second universal joint in the first branch chain, the third branch chain and the fourth branch chain is parallel to the short side edge in the lower frame, and the inner rotation secondary axis of the second universal joint is parallel to the rotation secondary axis of the second rotation pair.

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