Adaptive bistable space capture robot

Abstract

The application belongs to the technical field of mechanical hands and provides a self-adaptive bistable space capturing mechanical hand, which comprises a lifting assembly, a scissor folding and unfolding mechanism and a clamping mechanism. Multiple scissor folding and unfolding mechanisms are arranged on the circumferential side of the lifting assembly. The clamping connecting rod and the linear sliding module of the clamping mechanism are respectively rotationally connected with the upper disc of the scissor folding and unfolding mechanism. The distance between the first central disc and the second central disc is controlled by the forward and reverse rotation of the lifting screw rod in the lifting assembly, the scissor folding and unfolding mechanism is driven to fold and unfold, and the symmetrically arranged clamping connecting rod is driven to rotate around the central shaft. The flexible member in the clamping mechanism cooperates with the linear sliding module. The flexible member enables the capturing clamping jaw to have self-adaptive capability. The space capturing mechanical hand has the advantages of large capturing range, small folding volume and fast dynamic response, can adapt to the space environment, and is more suitable for the capturing task of non-cooperative targets.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to an adaptive bistable space capture robotic arm. Background Technology

[0002] Rocket debris after satellite launches, and even space debris from spacecraft accidents, are decimating precious orbital resources. Therefore, various countries have conducted extensive research on the sustainable development of space activities. Non-cooperative target acquisition technology in space is one of the key fundamental research areas that has emerged alongside the rapid development of space engineering. Due to the limited on-orbit service life of various spacecraft, a large amount of abandoned space equipment and debris accumulates in satellite orbits, posing a significant threat and safety hazard to spacecraft in operation.

[0003] With the rapid development of space programs worldwide over the past few decades, the number of objects in orbit has increased dramatically. If space debris is not effectively managed, the probability of spacecraft collisions will continue to rise. Such collisions could not only damage or disable spacecraft but also generate more debris, further exacerbating the space debris problem. Furthermore, for spacecraft that have run out of fuel or are partially damaged and unable to function properly, non-cooperative space target capture technology can enable takeover, repair, and reprocessing. Existing robotic arms are unable to handle irregularly shaped space debris, and grippers struggle to effectively conform to objects with complex shapes or uneven surfaces. Therefore, it is necessary to design an adaptive bistable space capture robotic arm. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an adaptive bistable space capture manipulator. This invention controls the distance between the first and second central discs by rotating the lifting screw in the lifting assembly in both directions, driving the scissor-fork folding and unfolding mechanism to retract and expand. This, in turn, drives the symmetrically arranged clamping links to rotate around the central axis. Through the cooperation of a flexible component and a linear sliding module in the clamping mechanism, the flexible component enables the capture gripper to have adaptive capabilities, offering advantages such as a large capture range, small retraction volume, and fast dynamic response. This makes it more suitable for space environment operations, making the space capture manipulator more suitable for capturing non-cooperative targets.

[0005] This invention provides an adaptive bistable space capture manipulator, comprising a lifting assembly, a scissor-folding mechanism, and a clamping mechanism. Multiple scissor-folding mechanisms are arranged circumferentially around the lifting assembly. The clamping mechanism's clamping link and linear sliding module are rotatably connected to the upper plate of the scissor-folding mechanism. The lifting assembly includes a first central plate, a lifting screw, a screw nut, a drive motor, a second central plate, a first connecting rod, and a second connecting rod. The first central plate moves helically with the lifting screw via the screw nut. The output shaft of the drive motor is connected to the first end of the lifting screw via a coupling. The second central plate is disposed on the second end of the lifting screw. The first connecting rod is circumferentially arranged on the periphery of the first central flower plate, and the first end of each of the first connecting rods is rotatably connected to a hinge interface on the first central flower plate. The second connecting rod is circumferentially arranged on the periphery of the second central flower plate, and the first end of each of the second connecting rods is rotatably connected to a hinge interface on the second central flower plate. The scissor-fork folding mechanism includes a lower flower plate, an upper flower plate, a first scissor rod, and a second scissor rod. The upper flower plate is located above the lower flower plate. The second end of the first connecting rod is rotatably connected to the first end of the lower flower plate, and the second end of the second connecting rod is rotatably connected to the first end of the upper flower plate. The first scissor rod is rotatably connected to the first end of the lower flower plate. The second scissor bar is rotatably connected at its midpoint intersection via a pin. The first end of the first scissor bar is rotatably connected to the second end of the lower flower plate, and the second end of the first scissor bar is rotatably connected to the second end of the upper flower plate. The first end of the second scissor bar is rotatably connected to the third end of the lower flower plate, and the second end of the second scissor bar is rotatably connected to the third end of the upper flower plate. The clamping mechanism includes clamping links, a linear sliding module, a flexible component, and capturing jaws. The clamping links are symmetrically arranged on both sides of the flexible component. The first and second ends of the flexible component are respectively connected to the middle of the clamping links on both sides via adapters. The third end of the flexible component is connected to the linear sliding module. The moving rod is rotatably connected, the first end of the capturing claw is rotatably connected to the fourth end of the upper flower plate, the fixed end of the linear sliding module is rotatably connected to the fifth end of the upper flower plate, and the second end of the capturing claw is provided with an axial threaded hole, which is connected to the first end of the clamping link with a threaded bearing; the distance between the first center flower plate and the second center flower plate is controlled by the forward and reverse rotation of the lifting screw, which drives the scissor fork folding and unfolding mechanism to retract and unfold, and then drives the symmetrically arranged clamping link to rotate around the central axis. Through the cooperation of the flexible part in the clamping mechanism and the linear sliding module, each of the capturing claws can adapt to the shape contour of the non-cooperative target and complete the capture.

[0006] Preferably, the clamping link in the clamping mechanism has a central axis with the axis of the rotating joint connecting the capturing jaw and the clamping link as the central axis. By offsetting the central axis, an offset axis is formed. With the axis of the offset axis as the reference, the clamping link achieves the offset of the axis of the moving joint on the rod. The symmetrically arranged clamping links have a contour with multiple equidistant nodes with the central axis as the rotation axis. 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 drive motor is mounted on the base, and a support plate is also provided above the base, with the coupling passing through the central hole of the support plate.

[0008] Preferably, both the first and second central flower plates are provided with weight-reducing slots.

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

[0010] Preferably, both the first and second central flower discs are hexagonal, nonagonal, or dodecagonal in shape.

[0011] Preferably, the middle part of the clamping link is a connecting shaft in the axial rotation direction.

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

[0013] Preferably, the capturing gripper includes a first component and a second component. In the first steady state, the first length of the capturing gripper 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 component deforms, and the manipulator falls to the point of minimum potential energy due to internal stress. The first component and the second component rotate to the second point of minimum potential energy, and the stress of the flexible component is released, thereby switching to the second steady state.

[0014] Preferably, the clamping mechanism has zero degrees of freedom under the constraints of each kinematic pair. The clamping mechanism generates motion to a first steady state through the deformation of the first flexible member in the flexible member. When the first and second members rotate, the first flexible member in the flexible member is stretched. The constraint force generated by the deformation is difficult to effectively restrict the flexible member. The degrees of freedom of the clamping mechanism are released. The first steady state point reaches the second steady state point, the third steady state point reaches the fourth steady state point, the deformation of the flexible member disappears, and the clamping mechanism returns to the 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, through the cooperation of the scissor-folding mechanism and the gripping mechanism, has the advantages of large capture range, small folding volume and high structural reliability. It can adapt to complex space environments. Most of the kinematic pairs contained therein are revolute pairs, and the manufacturing process is simple and easy to engineer.

[0017] 2. The adaptive bistable space capture manipulator of the present invention, through the flexible components in the gripping mechanism, enables the mechanical capture hand to have bistable characteristics and a larger capture range, and its bistable characteristics enable it to have faster dynamic response performance. The capture gripper has adaptive capability through the flexible components, making the space capture manipulator more suitable for capturing non-cooperative targets. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the adaptive bistable space capture manipulator of the present invention fully retracted;

[0019] Figure 2 This is a diagram showing the fully deployed state of the adaptive bistable space capture manipulator of the present invention.

[0020] Figure 3 This is a diagram showing the unfolded state of the adaptive bistable space capture manipulator of the present invention.

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

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

[0023] Figure 6 This is a schematic diagram of the scissor-folding mechanism in the adaptive bistable space capture robot of the present invention;

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

[0025] Figure 8a and Figure 8b This 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] Key reference numerals:

[0027] Lifting assembly 1, first central disc 11, lifting screw 12, screw nut 13, drive motor 14, second central disc 15, first connecting rod 16, second connecting rod 17, support plate 18, scissor folding mechanism 2, lower disc 21, upper disc 22, first scissor bar 23, second scissor bar 24, clamping mechanism 3, clamping link 31, linear sliding module 32, flexible component 33, capturing gripper 34, base 4. Detailed Implementation

[0028] To fully explain the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0029] The present invention relates to an adaptive bistable space capture manipulator, such as... Figures 1-3 As shown, it includes a lifting assembly 1, a scissor folding mechanism 2, a clamping mechanism 3, and a base 4. It includes one lifting assembly 1, six scissor folding mechanisms 2, and three clamping mechanisms 3. The multiple scissor folding mechanisms 2 are arranged circumferentially around the lifting assembly 1. The clamping link 31 and the linear sliding module 32 of the clamping mechanism 3 are rotatably connected to the upper plate 22 of the scissor folding mechanism 2. The distance between the first central plate 11 and the second central plate 15 is controlled by the forward and reverse rotation of the lifting screw 12, which drives the scissor folding mechanism 2 to retract and unfold. In turn, it drives the symmetrically arranged clamping link 31 to rotate around the central axis. Through the cooperation of the flexible part 33 in the clamping mechanism 3 and the linear sliding module 32, the various capturing claws 34 cooperate to adapt to the shape 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 central disc 11, a lifting screw 12, a screw nut 13, a drive motor 14, a second central disc 15, a first connecting rod 16, and a second connecting rod 17. The first central disc 11 moves helically with the lifting screw 12 via the screw nut 13. The output shaft of the drive motor 14 is connected to the first end of the lifting screw 12 via a coupling. The second central disc 15 is located at the second end of the lifting screw 12. The first connecting rod 16 is circumferentially arranged on the periphery of the first central disc 11, and the first end of each first connecting rod 16 is rotatably connected to each hinge interface on the first central disc 11. The second connecting rod 17 is circumferentially arranged on the periphery of the second central disc 15, and the first end of each second connecting rod 17 is rotatably connected to each hinge interface on the second central disc 15. The drive motor 14 is mounted on a base 4, and a support plate 18 is also mounted above the base 4. The coupling passes through the central hole of the support plate 18. Both the first central flower plate 11 and the second central flower plate 15 are hexagonal, nonagonal, or dodecagonal in shape, and both the first central flower plate 11 and the second central flower plate 15 have weight-reducing slots.

[0031] like Figure 6 As shown, the scissor lift mechanism 2 includes a lower flower plate 21, an upper flower plate 22, a first scissor bar 23, and a second scissor bar 24. The upper flower plate 22 is located above the lower flower plate 21. The second end of the first connecting rod 16 is rotatably connected to the first end of the lower flower plate 21, and the second end of the second connecting rod 17 is rotatably connected to the first end of the upper flower plate 22. The first scissor bar 23 and the second scissor bar 24 are rotatably connected at their midpoint intersection by a pin. The first end of the first scissor bar 23 is rotatably connected to the second end of the lower flower plate 21, and the second end of the first scissor bar 23 is rotatably connected to the second end of the upper flower plate 22. The first end of the second scissor bar 24 is rotatably connected to the third end of the lower flower plate 21, and the second end of the second scissor bar 24 is rotatably connected to the third end of the upper flower plate 22.

[0032] like Figure 7 As shown, the clamping mechanism 3 includes a clamping link 31, a linear sliding module 32, a flexible component 33, and a capturing gripper 34. The clamping link 31 is symmetrically arranged on both sides of the flexible component 33. The first and second ends of the flexible component 33 are respectively connected to the middle of the clamping link 31 on both sides through adapters. The middle of the clamping link 31 is a connecting shaft in the axial rotation direction. The third end of the flexible component 33 is rotatably connected to the moving rod of the linear sliding module 32. The first end of the capturing gripper 34 is rotatably connected to the fourth end of the upper flower plate 22. The fixed end of the linear sliding module 32 is rotatably connected to the fifth end of the upper flower plate 22. The second end of the capturing gripper 34 is provided with an axial threaded hole. The threaded bearing is connected to the first end of the clamping link 31. The flexible part 33 is a Y-shaped flexible part, which keeps the tension of the capturing jaw 34 during clamping. The clamping link 31 in the clamping mechanism 3 takes the axis of the rotating joint connecting the capturing jaw 34 and the clamping link 31 as the central axis. By offsetting the central axis, an offset axis is formed. With the axis of the offset axis as the reference, the clamping link 31 realizes the offset of the axis of the moving joint on the rod. The symmetrically arranged clamping links 31 take the central axis as the rotation axis, and the resulting profile has multiple equidistant nodes. By constraining the flexible part 33 through 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 capturing gripper 34 includes a first component AB and a second component CD. The steady-state switching of the manipulator is as follows: In the first steady state, the first length BE of the capturing gripper 34 is equal to the second length CE. The first component AB of the capturing gripper 34 rotates around the first axis BF, and the second component CD rotates around the second axis CG simultaneously. The flexible component 33 deforms, and the manipulator falls towards the point of minimum potential energy due to internal stress. The first component AB and the second component CD rotate to the second point of minimum potential energy, and the stress in the flexible component 33 is released, thus switching to the second steady state. The gripping mechanism 3 has 0 degrees of freedom under the constraints of each kinematic pair. The gripping mechanism 3 generates motion through the deformation of the first flexible component in the flexible component 33, which is the first steady state. The rotation of the first component AB and the second component CD stretches the first flexible component AD in the flexible component 33. The constraint force generated by the deformation is difficult to effectively restrict the flexible component 33, and the degrees of freedom of the gripping mechanism 3 are released. The first steady-state point A reaches the second steady-state point A*, and the third steady-state point D reaches the fourth steady-state point D*. The deformation of the flexible component 33 disappears, and the gripping mechanism 3 returns to the initial stable state.

[0034] This invention relates to an adaptive bistable space capture manipulator. The invention controls the distance between the first central disc 11 and the second central disc 15 by rotating the lifting screw 12 in the lifting assembly 1 in both directions. This drives the scissor-fork folding and unfolding mechanism 2 to retract and unfold, thereby driving the symmetrically arranged clamping links 31 to rotate around the central axis. Through the cooperation of the flexible element 33 in the clamping mechanism 3 and the linear sliding module 32, the flexible element 33 enables the capture gripper 34 to have adaptive capabilities. This results in advantages such as a large capture range, small retraction volume, and fast dynamic response, making it more suitable for space environment operations and more suitable for capturing non-cooperative targets.

[0035] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined 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 lift mechanism, and a clamping mechanism. Multiple scissor lift mechanisms are arranged circumferentially on the periphery of the lifting assembly, and the clamping linkage and linear sliding module of the clamping mechanism are rotatably connected to the upper plate of the scissor lift mechanism. The lifting assembly includes a first central disc, a lifting screw, a screw nut, a drive motor, a second central disc, a first connecting rod, and a second connecting rod. The first central disc moves helically with the lifting screw via the screw nut. The output shaft of the drive motor is connected to the first end of the lifting screw via a coupling. The second central disc is disposed at the second end of the lifting screw. The first connecting rod is circumferentially disposed on the periphery of the first central disc, and the first end of each first connecting rod is rotatably connected to a hinge interface on the first central disc. The second connecting rod is circumferentially disposed on the periphery of the second central disc, and the first end of each second connecting rod is rotatably connected to a hinge interface on the second central disc. The scissor lift mechanism includes a lower flower plate, an upper flower plate, a first scissor bar, and a second scissor bar. The upper flower plate is located above the lower flower plate. The second end of the first connecting rod is rotatably connected to the first end of the lower flower plate, and the second end of the second connecting rod is rotatably connected to the first end of the upper flower plate. The first scissor bar and the second scissor bar are rotatably connected at their midpoint intersection by a pin. The first end of the first scissor bar is rotatably connected to the second end of the lower flower plate, and the second end of the first scissor bar is rotatably connected to the second end of the upper flower plate. The first end of the second scissor bar is rotatably connected to the third end of the lower flower plate, and the second end of the second scissor bar is rotatably connected to the third end of the upper flower plate. The clamping mechanism includes clamping links, a linear sliding module, a flexible component, and a capturing claw. The clamping links are symmetrically arranged on both sides of the flexible component. The first and second ends of the flexible component are respectively connected to the middle of the clamping links on both sides through adapters. The third end of the flexible component is rotatably connected to the moving rod of the linear sliding module. The first end of the capturing claw is rotatably connected to the fourth end of the upper disc. The fixed end of the linear sliding module is rotatably connected to the fifth end of the upper disc. The second end of the capturing claw is provided with an axial threaded hole, which is connected to the first end of the clamping link in conjunction with a threaded bearing. The distance between the first and second central discs is controlled by the forward and reverse rotation of the lifting screw, which drives the scissor fork folding and unfolding mechanism to retract and unfold. This, in turn, drives the symmetrically arranged clamping links to rotate around the central axis. Through the cooperation of the flexible component in the clamping mechanism and the linear sliding module, each of the capturing jaws can adapt to the shape 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 is centered on the axis of the rotating joint connecting the capturing jaw and the clamping link. By offsetting the central axis, an offset axis is formed. With the axis of the offset axis as a reference, the clamping link achieves the offset of the axis of the moving joint on the link. The symmetrically arranged clamping links rotate around the central axis, and the resulting profile has multiple equidistant nodes. Through the constraint of the flexible part by the linear sliding module, the equidistant nodes of the profile 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 drive motor is mounted on the base, and a support plate is also provided above the base. The coupling passes through the central hole of the support plate.

4. The adaptive bistable space capture manipulator according to claim 1, characterized in that, Both the first and second central flower discs have weight-reducing slots.

5. The adaptive bistable space capture manipulator according to claim 1, characterized in that, It includes a lifting assembly, six scissor-lift mechanisms, and three clamping mechanisms.

6. The adaptive bistable space capture manipulator according to claim 1, characterized in that, Both the first and second central flower discs are hexagonal, nonagonal, or dodecagonal structures.

7. The adaptive bistable space capture manipulator according to claim 1, characterized in that, The middle part of the clamping link 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 component is a Y-shaped flexible component.

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

10. The adaptive bistable space capture manipulator according to claim 9, characterized in that, The clamping mechanism has zero degrees of freedom under the constraints of each kinematic pair. The clamping mechanism generates motion to the first steady state through the deformation of the first flexible member in the flexible member. When the first and second members rotate, the first flexible member in the flexible member is stretched. The constraint force generated by the deformation is difficult to effectively restrict the flexible member. The degrees of freedom of the clamping mechanism are released. The first steady state point reaches the second steady state point, the third steady state point reaches the fourth steady state point, the deformation of the flexible member disappears, and the clamping mechanism returns to the initial stable state.

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