Self-adaptive bistable space capturing manipulator

Abstract

The invention belongs to the technical field of manipulators, and provides a self-adaptive bistable space capturing manipulator which comprises a lifting assembly, a plurality of shear fork folding and unfolding mechanisms and a clamping mechanism, and the shear fork folding and unfolding mechanisms are arranged on the peripheral side of the lifting assembly along the circumference; a clamping connecting rod and a linear sliding module of the clamping mechanism are rotationally connected with an upper-layer faceplate of the shear fork folding and unfolding mechanism, and a lifting lead screw in the lifting assembly rotates forwards and backwards to control the distance between the first center faceplate and the second center faceplate, so that the shear fork folding and unfolding mechanism is driven to be folded and unfolded; the flexible part in the clamping mechanism is matched with the linear sliding module, the flexible part enables the capturing clamping jaw to have self-adaptive capacity, and the device has the advantages of being large in capturing range, small in folding size and fast in dynamic response and can adapt to the space environment; and the space capture manipulator is more suitable for coping with a capture task of a non-cooperative target.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to an adaptive bistable space capture manipulator. Background Art

[0002] Rocket debris after launching satellites, and even space debris caused by spacecraft accidents, have caused precious orbital resources to become increasingly scarce. Therefore, various countries have conducted a lot of research on the sustainable development of space activities. Space non-cooperative target capture technology is one of the key basic research that has become increasingly popular with the rapid development of aerospace engineering. Limited by the in-orbit service life of various spacecraft, a large amount of space waste equipment and debris have accumulated in satellite orbits, posing a great threat and safety hazard to spacecraft in orbit.

[0003] With the vigorous development of the space industry in various countries over the past few decades, the number of objects in orbit has increased dramatically. If space debris is not effectively handled, the probability of spacecraft collision will continue to increase. Such collisions may not only cause damage or failure of spacecraft, but may also produce more debris, further exacerbating the problem of space debris. In addition, for spacecraft that are unable to work normally due to fuel exhaustion or local damage, they can be taken over, repaired and reprocessed through space non-cooperative target capture technology. Existing manipulators cannot adapt to the irregular shape of space debris, and the grippers are difficult to effectively fit objects with complex shapes or uneven surfaces. Therefore, it is necessary to design an adaptive bistable space capture manipulator. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an adaptive bistable space capture manipulator. The present invention controls the distance between the first center disc and the second center disc by the forward and reverse rotation of the lifting screw in the lifting assembly, drives the scissors-type folding and unfolding mechanism to fold and unfold, and then drives the symmetrically arranged clamping links to rotate with the center axis as the rotation axis. The flexible parts in the clamping mechanism cooperate with the linear sliding module. The flexible parts make the capture claws adaptive, and have the advantages of large capture range, small folded volume and fast dynamic response, so that it is more suitable for space environment operations, and the space capture manipulator is more suitable for capturing non-cooperative targets.

[0005] The present invention provides an adaptive bistable space capture manipulator, which includes a lifting component, a scissor-type folding and spreading mechanism and a clamping mechanism. A plurality of the scissor-type folding and spreading mechanisms are circumferentially arranged on the circumferential side of the lifting component. The clamping connecting rod and the linear sliding module of the clamping mechanism are respectively rotatably connected to the upper faceplate of the scissor-type folding and spreading mechanism. The lifting component includes a first central faceplate, a lifting screw, a screw nut, a driving motor, a second central faceplate, a first connecting rod and a second connecting rod. The first central faceplate is spirally moved with the lifting screw through the screw nut. The output shaft of the driving motor is connected to the first end of the lifting screw through a coupling. The second central faceplate is arranged on the second end of the lifting screw. end, the first connecting rod is circumferentially arranged on the circumferential side of the first central flower disc, and the first end of each of the first connecting rods is rotatably connected to each hinge interface on the first central flower disc, the second connecting rod is circumferentially arranged on the circumferential side of the second central flower disc, and the first end of each of the second connecting rods is rotatably connected to each hinge interface on the second central flower disc; the scissors-fork folding and unfolding mechanism includes a lower flower disc, an upper flower disc, a first scissors rod and a second scissors rod, the upper flower disc is located above the lower flower disc, the second end of the first connecting rod is rotatably connected to the first end of the lower flower disc, the second end of the second connecting rod is rotatably connected to the first end of the upper flower disc, the first scissors rod and The middle intersection of the second scissor rod is rotatably connected by a pin, the first end of the first scissor rod is rotatably connected to the second end of the lower flower disc, the second end of the first scissor rod is rotatably connected to the second end of the upper flower disc, the first end of the second scissor rod is rotatably connected to the third end of the lower flower disc, and the second end of the second scissor rod is rotatably connected to the third end of the upper flower disc; the clamping mechanism includes a clamping link, a linear sliding module, a flexible member and a capturing clamp, the clamping link is symmetrically arranged on both sides of the flexible member, the first end and the second end of the flexible member are respectively connected to the middle of the clamping link on both sides through a transition member, the third end of the flexible member is connected to the linear sliding module The movable rod is rotatably connected, the first end of the capture clamp is rotatably connected to the fourth end of the upper flower disc, the fixed end of the linear sliding module is rotatably connected to the fifth end of the upper flower disc, and the second end of the capture clamp is provided with an axial threaded hole, which is connected to the first end of the clamping link with a matching threaded bearing; the distance between the first center flower disc and the second center flower disc is controlled by the forward and reverse rotation of the lifting screw rod, the scissors-type folding and unfolding mechanism is driven to fold and unfold, and then the symmetrically arranged clamping link is driven to rotate with the center axis as the rotation axis, and the flexible part in the clamping mechanism cooperates with the linear sliding module, so that each capture clamp can adapt to the outer contour of the non-cooperative target and complete the capture.

[0006] Preferably, the clamping link in the clamping mechanism takes the rotating secondary axis connecting the capturing clamping claw and the clamping link as the central axis, and forms an offset axis by offsetting the central axis. Taking the axis of the offset axis as a reference, the clamping link realizes the offset of the moving secondary axis on the rod. The symmetrically arranged clamping links take the central axis as the rotation axis, and the formed contour has multiple equidistant nodes. Through the constraint of the flexible part by the linear sliding module, the equidistant nodes of the contour are retained to two, thereby realizing the bistable clamping of the clamping mechanism.

[0007] Preferably, the driving motor is arranged on a base, a supporting plate is further arranged above the base, and the coupling is passed through a central hole of the supporting plate.

[0008] Preferably, the first central faceplate and the second central faceplate are both provided with weight-reducing notches.

[0009] Preferably, it includes a lifting assembly, six scissor-type folding and unfolding mechanisms and three clamping mechanisms.

[0010] Preferably, the first central faceplate and the second central faceplate are both hexagonal, regular enneagonal or regular dodecagonal structures.

[0011] Preferably, the middle portion of the clamping connecting rod is a connecting axis in the axial rotation direction.

[0012] Preferably, the flexible member is a Y-shaped flexible member.

[0013] Preferably, the capture clamp includes a first component and a second component. In a first stable state, the first length in the capture clamp is equal to the second length, the first component rotates around the first axis, and the second component rotates around the second axis simultaneously. At this time, the flexible part is deformed, and the manipulator falls to the minimum potential energy point due to internal stress. The first component and the second component rotate to the second lowest potential energy point, and the stress of the flexible part is released, thereby switching to the second stable state.

[0014] Preferably, the degree of freedom of the clamping mechanism under the constraints of each kinematic pair is 0, the clamping mechanism generates a first steady state of movement through the deformation of the first flexible member among the flexible members, the first member and the second member rotate, the first flexible member among the flexible members is stretched, the constraint force generated by the deformation is difficult to effectively restrict the flexible members, the degree of freedom of the clamping mechanism is released, the first steady state point reaches the second steady state point, the third steady state point reaches the fourth steady point, the deformation of the flexible member disappears, and the clamping mechanism returns to its initial stable state.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The adaptive bistable space capture manipulator of the present invention has the advantages of large capture range, small folded volume and high structural reliability through the cooperation of the scissor-type folding and unfolding mechanism and the clamping mechanism. It can adapt to complex spatial environments. Most of the kinematic pairs contained are rotating pairs, and the manufacturing process is simple and easy to engineer.

[0017] 2. The adaptive bistable space capture manipulator of the present invention has a bistable characteristic and a larger capture range through the flexible components in the clamping mechanism, and its bistable characteristic enables it to have a faster dynamic response performance. The capture claws have adaptive capabilities through the flexible parts, making the space capture manipulator more suitable for capturing tasks of non-cooperative targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an overall schematic diagram of the fully folded adaptive bistable space capture manipulator of the present invention;

[0019] Figure 2 A state diagram of the fully deployed adaptive bistable spatial capture manipulator of the present invention;

[0020] Figure 3 A state diagram of a partially unfolded adaptive bistable spatial capture manipulator of the present invention;

[0021] Figure 4 It is a schematic diagram of the lifting component in the adaptive bistable space capture manipulator of the present invention;

[0022] Figure 5 It is a partially enlarged schematic diagram of the lifting component in the adaptive bistable space capture manipulator of the present invention;

[0023] Figure 6 It is a schematic diagram of the scissor-type folding and unfolding mechanism in the adaptive bistable space capture manipulator of the present invention;

[0024] Figure 7 A schematic diagram of a capture component in the adaptive bistable space capture manipulator of the present invention;

[0025] Figure 8a and Figure 8b It is a schematic diagram of the steady-state switching of the capture component in the adaptive bistable space capture manipulator of the present invention.

[0026] Main reference numerals:

[0027] Lifting assembly 1, first center faceplate 11, lifting screw 12, screw nut 13, drive motor 14, second center faceplate 15, first connecting rod 16, second connecting rod 17, support plate 18, scissors-fork folding and unfolding mechanism 2, lower faceplate 21, upper faceplate 22, first scissors-fork rod 23, second scissors-fork rod 24, clamping mechanism 3, clamping connecting rod 31, linear sliding module 32, flexible member 33, capture claw 34, base 4. DETAILED DESCRIPTION

[0028] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0029] The adaptive bistable space capture manipulator of the present invention is as follows: Figure 1 to Figure 3 As shown, it includes a lifting component 1, a scissors-type folding and spreading mechanism 2, a clamping mechanism 3 and a base 4, including a lifting component 1, six scissors-type folding and spreading mechanisms 2 and three clamping mechanisms 3. The multiple scissors-type folding and spreading mechanisms 2 are circumferentially arranged on the circumferential side of the lifting component 1. The clamping connecting rod 31 and the linear sliding module 32 of the clamping mechanism 3 are respectively rotatably connected with the upper disc 22 of the scissors-type folding and spreading mechanism 2. The distance between the first center disc 11 and the second center disc 15 is controlled by the forward and reverse rotation of the lifting screw rod 12, and the scissors-type folding and spreading mechanism 2 is driven to fold and unfold, and then the symmetrically arranged clamping connecting rod 31 is driven to rotate with the central axis as the rotation axis. Through the cooperation of the flexible member 33 in the clamping mechanism 3 and the linear sliding module 32, each capture claw 34 cooperates to adapt to the outer contour of the non-cooperative target and complete the capture.

[0030] like Figure 4 and Figure 5 As shown, the lifting assembly 1 includes a first center faceplate 11, a lifting screw 12, a screw nut 13, a driving motor 14, a second center faceplate 15, a first connecting rod 16 and a second connecting rod 17. The first center faceplate 11 is spirally moved with the lifting screw 12 through the screw nut 13, the output shaft of the driving motor 14 is connected to the first end of the lifting screw 12 through a coupling, the second center faceplate 15 is arranged at the second end of the lifting screw 12, the first connecting rod 16 is circumferentially arranged on the circumferential side of the first center faceplate 11, and the first ends of the first connecting rods 16 are respectively rotatably connected to the respective hinge interfaces on the first center faceplate 11, the second connecting rod 17 is circumferentially arranged on the circumferential side of the second center faceplate 15, and the first ends of the second connecting rods 17 are respectively rotatably connected to the respective hinge interfaces on the second center faceplate 15, the driving motor 14 is arranged on the base 4, and a support plate 18 is also arranged above the base 4, and the coupling is penetrated in the center hole of the support plate 18. The first central faceplate 11 and the second central faceplate 15 are both hexagonal, regular enneagonal or regular dodecagonal structures, and weight-reducing notches are provided on the first central faceplate 11 and the second central faceplate 15 .

[0031] like Figure 6 As shown, the scissors-fork folding and unfolding mechanism 2 includes a lower flower disc 21, an upper flower disc 22, a first scissors-fork rod 23 and a second scissors-fork rod 24, the upper flower disc 22 is located above the lower flower disc 21, the second end of the first connecting rod 16 is rotatably connected to the first end of the lower flower disc 21, the second end of the second connecting rod 17 is rotatably connected to the first end of the upper flower disc 22, the first scissors-fork rod 23 and the second scissors-fork rod 24 are rotatably connected at the middle intersection through a pin, the first end of the first scissors-fork rod 23 is rotatably connected to the second end of the lower flower disc 21, the second end of the first scissors-fork rod 23 is rotatably connected to the second end of the upper flower disc 22, the first end of the second scissors-fork rod 24 is rotatably connected to the third end of the lower flower disc 21, and the second end of the second scissors-fork rod 24 is rotatably connected to the third end of the upper flower disc 22.

[0032] like Figure 7 As shown, the clamping mechanism 3 includes a clamping link 31, a linear sliding module 32, a flexible member 33 and a capturing claw 34. The clamping link 31 is symmetrically arranged on both sides of the flexible member 33. The first end and the second end of the flexible member 33 are respectively connected to the middle parts of the clamping links 31 on both sides through adapters. The middle part of the clamping link 31 is a connecting shaft in the axial rotation direction. The third end of the flexible member 33 is rotatably connected to the moving rod of the linear sliding module 32. The first end of the capturing claw 34 is rotatably connected to the fourth end of the upper faceplate 22. The fixed end of the linear sliding module 32 is rotatably connected to the fifth end of the upper faceplate 22. The second end of the capturing claw 34 is provided with an axial threaded hole. The threaded bearing is connected to the first end of the clamping link 31, and the flexible member 33 is a Y-shaped flexible member, so that the capture jaw 34 maintains tension during clamping. The clamping link 31 in the clamping mechanism 3 takes the rotating secondary axis connecting the capture jaw 34 and the clamping link 31 as the central axis, and forms an offset axis by offsetting the central axis. With the axis of the offset axis as a reference, the clamping link 31 realizes the offset of the moving secondary axis on the rod. The symmetrically arranged clamping link 31 takes the central axis as the rotation axis, and the formed profile has multiple equidistant nodes. Through the constraint of the flexible member 33 by the linear sliding module 32, the equidistant nodes of the profile are retained to two, thereby realizing the bistable clamping of the clamping mechanism 3.

[0033] Figure 8a and Figure 8bAs shown, the capture jaw 34 includes a first component AB and a second component CD, and the manipulator switches to a stable state: in the first stable state, the first length BE in the capture jaw 34 is equal to the second length CE, the first component AB in the capture jaw 34 rotates around the first axis BF, and the second component CD rotates around the second axis CG at the same time, the flexible component 33 is deformed, and the manipulator falls to the minimum potential energy point due to internal stress, the first component AB and the second component CD rotate to the second potential energy minimum point, and the stress of the flexible component 33 is released, thereby switching to the second stable state. The degree of freedom of the clamping mechanism 3 under the constraints of each kinematic pair is 0, and the clamping mechanism 3 generates movement through the deformation of the first flexible component in the flexible component 33, which is the first stable state, the first component AB and the second component CD rotate, and the first flexible component AD in the flexible component 33 is stretched. The constraint force generated by the deformation is difficult to effectively restrict the flexible component 33, and the degree of freedom of the clamping mechanism 3 is released, the first stable point A reaches the second stable point A*, and the third stable point D reaches the fourth stable point D*, the deformation of the flexible component 33 disappears, and the clamping mechanism 3 returns to the initial stable state.

[0034] The adaptive bistable space capture manipulator of the present invention controls the distance between the first center disc 11 and the second center disc 15 by the forward and reverse rotation of the lifting screw 12 in the lifting assembly 1, drives the scissors-type folding and unfolding mechanism 2 to fold and unfold, and then drives the symmetrically arranged clamping links 31 to rotate with the center axis as the rotation axis. Through the cooperation of the flexible part 33 and the linear sliding module 32 in the clamping mechanism 3, the flexible part 33 makes the capture claw 34 have adaptive ability, and has the advantages of large capture range, small folding volume and fast dynamic response, so that it is more suitable for space environment operations, and makes the space capture manipulator more suitable for capturing tasks of non-cooperative targets.

[0035] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design 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 all fall within the protection scope determined by the claims of the present invention.

Claims

1. An adaptive bistable space capture manipulator, characterized in that: It includes a lifting assembly, a scissor-type folding and unfolding mechanism, and a clamping mechanism. A plurality of the scissor-type folding and spreading mechanisms are circumferentially arranged on the circumferential side of the lifting assembly, and the clamping connecting rod and the linear sliding module of the clamping mechanism are rotatably connected to the upper faceplate of the scissor-type folding and spreading mechanism respectively; The lifting assembly comprises a first center faceplate, a lifting screw, a screw nut, a driving motor, a second center faceplate, a first connecting rod and a second connecting rod, wherein the first center faceplate is spirally moved with the lifting screw through the screw nut, the output shaft of the driving motor is connected to the first end of the lifting screw through a coupling, the second center faceplate is arranged on the second end of the lifting screw, the first connecting rod is circumferentially arranged on the circumferential side of the first center faceplate, and the first ends of the first connecting rods are respectively rotatably connected to the respective hinge interfaces on the first center faceplate, the second connecting rod is circumferentially arranged on the circumferential side of the second center faceplate, and the first ends of the second connecting rods are respectively rotatably connected to the respective hinge interfaces on the second center faceplate; The scissor-fork folding and unfolding mechanism comprises a lower flower disc, an upper flower disc, a first scissor-fork rod and a second scissor-fork rod, the upper flower disc is located above the lower flower disc, the second end of the first connecting rod is rotatably connected to the first end of the lower flower disc, the second end of the second connecting rod is rotatably connected to the first end of the upper flower disc, the first scissor-fork rod and the second scissor-fork rod are rotatably connected at the middle intersection through a pin, the first end of the first scissor-fork rod is rotatably connected to the second end of the lower flower disc, the second end of the first scissor-fork rod is rotatably connected to the second end of the upper flower disc, the first end of the second scissor-fork rod is rotatably connected to the third end of the lower flower disc, and the second end of the second scissor-fork rod is rotatably connected to the third end of the upper flower disc; The clamping mechanism comprises a clamping link, a linear sliding module, a flexible member and a capturing clamp, wherein the clamping link is symmetrically arranged on both sides of the flexible member, the first end and the second end of the flexible member are respectively connected to the middle parts of the clamping links on both sides through adapters, the third end of the flexible member is rotatably connected to the moving rod of the linear sliding module, the first end of the capturing clamp is rotatably connected to the fourth end of the upper faceplate, the fixed end of the linear sliding module is rotatably connected to the fifth end of the upper faceplate, and the second end of the capturing clamp is provided with an axial threaded hole, which cooperates with a threaded bearing to be connected to the first end of the clamping link; The distance between the first center faceplate and the second center faceplate is controlled by the forward and reverse rotation of the lifting screw rod, and the scissors-type folding and unfolding mechanism is driven to fold and unfold, thereby driving the symmetrically arranged clamping links to rotate with the center axis as the rotation axis. Through the cooperation between the flexible parts in the clamping mechanism and the linear sliding module, each of the capture claws can cooperate to adapt to the outer contour of the non-cooperative target and complete the capture.

2. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The clamping link in the clamping mechanism takes the rotating secondary axis connecting the capturing clamping claw and the clamping link as the central axis, and forms an offset axis by offsetting the central axis. Taking the axis of the offset axis as a reference, the clamping link realizes the offset of the moving secondary axis on the rod. The symmetrically arranged clamping links take the central axis as the rotation axis, and the formed contour has multiple equidistant nodes. Through the constraint of the flexible part by the linear sliding module, the equidistant nodes of the contour are retained to two, thereby realizing the bistable clamping of the clamping mechanism.

3. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The driving motor is arranged on a base, a supporting plate is arranged above the base, and the coupling is passed through a central hole of the supporting plate.

4. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The first central faceplate and the second central faceplate are both provided with weight-reducing notches.

5. The adaptive bistable space capture manipulator according to claim 1, characterized in that: It includes a lifting component, six scissor-type folding and unfolding mechanisms and three clamping mechanisms.

6. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The first central faceplate and the second central faceplate are both hexagonal, regular enneagonal or regular dodecagonal structures.

7. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The middle part of the clamping connecting rod is a connecting shaft in the axial rotation direction.

8. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The flexible member is a Y-shaped flexible member.

9. The adaptive bistable space capture manipulator according to claim 1, characterized in that: The capture clamp includes a first component and a second component. In a first stable state, the first length in the capture clamp is equal to the second length. The first component rotates around the first axis and the second component rotates around the second axis simultaneously. At this time, the flexible part is deformed, and the manipulator falls to the minimum potential energy point due to internal stress. The first component and the second component rotate to the second lowest potential energy point, and the stress of the flexible part is released, thereby switching to the second stable state.

10. The adaptive bistable space capture manipulator according to claim 9, characterized in that: The degree of freedom of the clamping mechanism under the constraints of each kinematic pair is 0. The clamping mechanism generates a first stable state of movement through the deformation of the first flexible member among the flexible members. The first member and the second member rotate, and the first flexible member among the flexible members is stretched. The constraint force generated by the deformation is difficult to effectively restrict the flexible members. The degree of freedom of the clamping mechanism is released, the first stable point reaches the second stable point, the third stable point reaches the fourth stable point, the deformation of the flexible member disappears, and the clamping mechanism returns to its initial stable state.

Images