Bionic flexible electrostatic adhesion device, space manipulator and adhesion method

Abstract

The invention relates to the technical field of electrostatic adhesion, and particularly provides a bionic flexible electrostatic adhesion device, a space manipulator and an adhesion method. The plurality of adhesion discs are arranged on the supply mechanism in a sleeving manner; the supply mechanism is used for storing a plurality of adhesion discs and supplying the adhesion discs; the disc taking mechanism is provided with a disc taking device used for taking the adhesion discs from the supply mechanism, and the disc taking device is arranged in the middle of the supply mechanism; the disc taking device is used for stretching out the adhesion disc to capture and adhere a non-cooperative target; and the adhesion execution assembly is arranged on the supply mechanism and used for applying static electricity to the adhesion disc, and then vibration or impact generated by the space manipulator in the capturing process is reduced by replacing a traditional non-contact capturing device with a static electricity adhesion mode.

Description

Technical Field

[0001] The present application relates to the technical field of electrostatic adhesion, and in particular to a bionic flexible electrostatic adhesion device, a space robot arm and an adhesion method. Background Art

[0002] The space mobility of the manipulator is an important factor for the smooth operation of space facilities, which places high demands on the attachment device of the space manipulator. Existing space target capture technologies are mainly divided into two types: contact and non-contact. Contact capture (such as rigid connection and flexible connection) can provide relatively stable docking, but rigid connection is prone to collision and requires high control accuracy for the service satellite, while flexible connection has certain deficiencies in capture stability and accuracy. In contrast, non-contact capture can effectively avoid collision risks and has a lower development difficulty, so it is favored by R&D personnel.

[0003] At present, non-contact capture devices mainly include flying nets, rope devices and harpoons, etc. However, in a vacuum environment, when the non-contact capture device fixed on the space manipulator launches the flying net, rope or harpoon, the space manipulator will be subjected to a reverse force, causing the space manipulator to be subjected to greater vibration or stimulation, thereby affecting the stability of the space manipulator.

[0004] Therefore, the prior art has defects and deficiencies and needs further improvement and development. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a bionic flexible electrostatic adhesion device, a space robot arm and an adhesion method, aiming to solve the problem that the non-contact capture device in the prior art easily affects the stability of the space robot arm.

[0006] The technical solution adopted by the present application to solve the technical problem is as follows: a bionic flexible electrostatic adhesion device for non-cooperative target capture, comprising: Several adhesive discs; A supply mechanism, on which a plurality of the adhesive discs are sleeved; the supply mechanism is used to store a plurality of the adhesive discs and supply the adhesive discs; A tray taking mechanism, wherein the tray taking mechanism is arranged between the supply mechanism and the plurality of adhesive trays; the plurality of adhesive trays are all located above the supply mechanism; the tray taking mechanism is provided with a tray taker for taking the adhesive tray from the supply mechanism, and the tray taker is arranged above the supply mechanism; An adhesion performing component is disposed on the supply mechanism and is used for applying static electricity to the adhesion disk.

[0007] Optionally, the supply mechanism comprises: Base, the base has a fixed end and a storage end arranged oppositely, a plurality of positioning holes are evenly spaced on the outer edge of the base, and a plurality of lifting holes are evenly spaced between the plurality of positioning holes; a fixed sleeve is arranged on one side of the plurality of positioning holes located at the fixed end; the base is also provided with a clearance hole; A plurality of lead screw stepping motors, the plurality of lead screw stepping motors are fixedly arranged in the fixed end; the lead screws of the plurality of lead screw stepping motors extend out from the plurality of lifting holes; A plurality of positioning members, one end of the positioning member is fixedly sleeved in the fixed sleeve; Push plate, the outer edge of the push plate is provided with push plate holes corresponding to the plurality of positioning holes one by one, and lifting nuts corresponding to the plurality of lifting holes one by one are arranged between the plurality of push plate holes; the plurality of positioning members all extend out from the push plate; a plurality of adhesion plates are all arranged on the push plate; Wherein, the lifting nut meshes with the lead screw, when the lead screw stepping motor drives the lead screw to rotate, the lifting nut moves up and down in the lead screw, driving the push plate to move up and down.

[0008] Optionally, the plurality of positioning members all include positioning rods, flexible retaining rings and cutting knives; the flexible retaining rings are arranged at the other ends of the positioning rods, and cutting knives are arranged on the flexible retaining rings; the flexible retaining rings are used to limit the position of the adhesion plate, and the cutting knives are used to cut the adhesion plate.

[0009] Optionally, the disc taking mechanism further includes: A telescopic stepping motor, the telescopic stepping motor includes a motor body and a motor telescopic shaft, the motor body is fixedly arranged in the fixed end, and the motor telescopic shaft extends out from the clearance hole; Coupling, one end of the coupling is fixedly sleeved on the motor telescopic shaft; the other end of the coupling is connected with the disc taker.

[0010] Optionally, the disc taker includes: Disc taker housing, the disc taker housing includes a C-shaped part and a placement groove, and the C-shaped part is fixedly arranged below the placement groove; Reduction stepping motor, the reduction stepping motor is arranged in the C-shaped part, and the reduction rotating shaft of the reduction stepping motor extends into the placement groove; Guide disc, the guide disc is fixedly sleeved in the reduction rotating shaft, and a plurality of rotating protrusions are arranged on one side of the guide disc away from the reduction stepping motor; Guide frame, the guide frame is clamped in the guide disc, and the guide frame has a plurality of brackets; A plurality of disc taking clips, the plurality of disc taking clips are movably sleeved in the plurality of guide frames; A plurality of retractable plates for taking out the disk, wherein the retractable plates for taking out the disk are movably arranged in the plurality of retractable plates for taking out the disk; Among them, a plurality of the plate-taking clamps are constrained by the guide plate and a plurality of guide frames, and are driven by the reduction stepping motor to perform expansion or contraction movement along the radial direction of the guide plate.

[0011] Optionally, several of the disc removal clamps have: A disc taking clamp body, wherein the orthographic projection of the disc taking clamp body is arranged in a sector shape; An active groove, wherein the active groove is provided on the outer side of the disc taking clamp body, and a spring is provided between the plurality of the disc taking clamp telescopic plates and the plurality of active grooves, and the spring is used to provide a pre-tightening force for the disc taking clamp telescopic plates; An arc-shaped groove, wherein the arc-shaped groove is provided at the bottom of the disc taking clamp body, and the shape of the arc-shaped groove is adapted to the shape of the rotating protrusion; the rotating protrusion moves in the arc-shaped groove; Among them, the centers of the circles of several of the arc-shaped grooves do not coincide with the radial direction of the guide plate. When the guide plate rotates clockwise under the drive of the deceleration stepper motor, the rotating protrusion slides clockwise in the arc-shaped groove, driving the several disc taking clamps to expand along the radial direction of the guide plate. When the guide plate rotates counterclockwise under the drive of the deceleration stepper motor, the rotating protrusion slides counterclockwise in the arc-shaped groove, driving the several disc taking clamps to contract along the radial direction of the guide plate.

[0012] Optionally, the plurality of adhesive discs each comprise: A flexible film, wherein a side of the flexible film close to the push plate is coated with a conductive coating, and a side of the flexible film away from the push plate is coated with an adhesive; A partition layer, wherein the partition layer is provided with a plurality of branch claws, the flexible film is provided between the plurality of branch claws, and the partition layer is used to prevent the plurality of adhesive discs from sticking to each other; The number of the branch claws is 12, which divide the flexible film into 12 fan-shaped blocks; When the flexible film is not taken by the disc taking mechanism, the outer edges of the sector-shaped blocks are connected.

[0013] Optionally, the adhesion execution component includes: A wire, one end of which is electrically connected to the conductive coating; an electrostatic generator, the other end of the wire being electrically connected to the electrostatic generator; Among them, after the disc remover takes one of the adhesive discs and extends it outward, the electrostatic generator is used to generate static electricity, and the static electricity is transmitted to the conductive coating by the wire. When the adhesive disc approaches the non-cooperative target, the flexible film will be attached to the surface of the non-cooperative target under the action of the electrostatic force, and the adhesive can achieve reliable adhesion to the surface of the non-cooperative target.

[0014] The technical solution adopted by the present application to solve the technical problem is as follows: a space robot arm, which includes the bionic flexible electrostatic adhesion device as described above.

[0015] The technical solution adopted by the present application to solve the technical problem is as follows: an adhesion method, the adhesion method includes the bionic flexible electrostatic adhesion device as described above, the adhesion method includes: When a target is found, the plate taker is controlled to move downward, and when the plate taker takes an adhesive plate, the plate taker is controlled to move upward; When the plate remover moves upward, the supply mechanism is controlled to raise the adhesive plate to the height of the adhesive plate, so as to complete the replacement of the adhesive plate in the supply mechanism; When approaching the non-cooperative target, the adhesion execution component applies static electricity to the adhesion plate, and under the action of the electrostatic force, the adhesion plate is adsorbed onto the target; When the bionic flexible electrostatic adhesion device needs to be detached from the target surface, the disc taking clamp of the disc taking device shrinks, the adhesive disc is detached from the disc taking device, and one of the adhesive discs is discarded to complete the desorption.

[0016] Compared with the prior art, the present application provides a bionic flexible electrostatic adhesion device, a space robot arm and an adhesion method. The bionic flexible electrostatic adhesion device imitates the biological process of fly feet secreting mucus for adhesion. When the adhesion disk is taken by the disk taking mechanism, the supply mechanism supplies the adhesion disk. After the disk taker takes the adhesion disk, when it approaches the non-cooperative target, the adhesion execution component applies static electricity to the adhesion disk, and the adhesion disk is adsorbed onto the non-cooperative target. When the bionic flexible electrostatic adhesion device needs to detach from the target surface, the disk taking clamp of the disk taker contracts, the adhesion disk detaches from the disk taker, and one of the adhesion disks is discarded to complete the desorption. Then, by using electrostatic adhesion to replace the traditional non-contact capture device, the reverse force generated when the robot arm launches the capture device can be effectively avoided, and the vibration or impact generated by the space robot arm during the capture process can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the three-dimensional structure of the bionic flexible electrostatic adhesion device provided in this application; Figure 2It is a schematic perspective view of another perspective of the bionic flexible electrostatic adhesion device provided in this application; Figure 3 is provided in this application Figure 1 An enlarged schematic view of part A in Figure 4 It is a schematic exploded perspective view of the bionic flexible electrostatic adhesion device provided in this application; Figure 5 It is a front view of the bionic flexible electrostatic adhesion device provided in this application; Figure 6 is provided in this application Figure 5 A cross-sectional view along the direction of I-I in Figure 7 It is a schematic flowchart of the adhesion method provided in this application.

[0018] Explanation of reference numerals: 10. Bionic flexible electrostatic adhesion device; 11. Adhesion disc; 111. Flexible film; 112. Spacer layer; 1121. Branch claw; 12. Feeding mechanism; 121. Clearance hole; 122. Base; 1221. Fixed end; 1222. Storage end; 1223. Positioning hole; 1224. Lifting hole; 1225. Fixed sleeve; 123. Lead screw stepper motor; 124. Positioning member; 1241. Positioning rod; 1242. Flexible retaining ring; 1243. Cutting knife; 125. Pushing disc; 1251. Pushing disc hole; 1252. Lifting nut; 13. Disc taking mechanism; 131. Disc taker; 1311. Disc taker housing; 1312. C-shaped member; 1313. Placing groove; 1314. Deceleration stepper motor; 1315. Guide disc; 1316. Guide frame; 1317. Disc taking clamp; 1318. Disc taking clamp telescopic plate; 1319. Disc taking clamp body; 1320. Movable groove; 1321. Arc-shaped groove; 1322. Rotating protrusion; 133. Telescopic stepper motor; 1331. Motor body; 1332. Motor telescopic shaft; 134. Coupling; 14. Adhesion execution component. Detailed Description of the Invention

[0019] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0020] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] Please refer to Figure 1 to Figure 2 The first embodiment of the present application provides a bionic flexible electrostatic adhesion device 10 for capturing non-cooperative targets. Specifically, the non-cooperative targets refer to space targets that cannot provide effective cooperative information, including space debris, temporarily disabled spacecraft, obsolete and abandoned spacecraft or small satellites, comets, asteroids and other target objects entering the outer space of the earth.

[0023] Please refer to Figures 1 to 5In some embodiments, the bionic flexible electrostatic adhesion device 10 includes a supply mechanism 12, a plate-taking mechanism 13 and a plurality of adhesion plates 11, wherein the plurality of adhesion plates 11 are used to adsorb non-cooperative targets; the plurality of adhesion plates 11 are sleeved on the supply mechanism 12; the supply mechanism 12 is used to store the plurality of adhesion plates 11; the supply mechanism 12 and the plurality of adhesion plates 11 are both sleeved in the plate-taking mechanism 13; the plurality of adhesion plates 11 are all located above the supply mechanism 12; the plate-taking mechanism 13 is provided with a plate-taking device 131 for taking the adhesion plates 11 from the supply mechanism 12, and the plate-taking device 131 is arranged above the supply mechanism 12; the plate-taking device 131 is used to extend the adhesion plates 11 to capture and adhere the non-cooperative targets; an adhesion execution component 14, wherein the adhesion execution component 14 is arranged on the supply mechanism 12, specifically, The storage bin of the supply mechanism 12; the adhesion execution component 14 is used to apply static electricity to the adhesion disk 11; wherein, when the disk picking mechanism 13 takes the adhesion disk 11, the supply mechanism 12 supplies the adhesion disk 11, and after the disk picker 131 takes the adhesion disk 11, when it approaches the non-cooperative target, the adhesion execution component 14 applies static electricity to the adhesion disk 11, and the adhesion disk is adsorbed onto the non-cooperative target, and when the bionic flexible electrostatic adhesion device 10 needs to detach from the target surface, the disk picking clamp 1317 of the disk picker 131 contracts, and the adhesion disk 11 detaches from the disk picker 131, discarding one of the adhesion disks to complete the desorption, and then by using electrostatic adhesion to replace the traditional non-contact capture device, it can effectively avoid the reverse force generated when the robotic arm launches the capture device, and reduce the vibration or impact generated by the space robotic arm during the capture process.

[0024] Please refer to Figure 1 to Figure 2In some embodiments, the supply mechanism 12 includes a base 122, a plurality of screw stepper motors 123, a plurality of positioning members 124 and a push plate 125; the base 122 has a fixed end 1221 and a storage end 1222 that are relatively arranged, and a plurality of positioning holes 1223 are evenly spaced on the outer edge of the base 122, and a plurality of lifting holes 1224 are evenly spaced between the plurality of positioning holes 1223; a plurality of positioning holes 1223 are located on one side of the fixed end 1221 and are each provided with a fixing sleeve 1225; the base 122 is also provided with an avoidance hole 121, so that the positioning of the adhesive plate 11 is more accurate, which helps to improve the efficiency of the entire supply process; a plurality of the screw stepper motors 123 are fixedly arranged in the fixed end 1221; the screws of a plurality of the screw stepper motors 123 are pushed out from a plurality of the lifting holes 1224 1223, and a lifting nut 1252 is provided between the pushing plate holes 1251 and the lifting holes 1224; the positioning members 124 are all extended from the pushing plate 125; the adhesive plates 11 are all arranged on the pushing plate 125; wherein the lifting nut 1252 is engaged with the screw rod, and when the screw rod stepping motor 123 drives the screw rod to rotate, the lifting nut 1252 moves up and down in the screw rod, driving the pushing plate 125 to move up and down, so that the adhesive plate 11 can be stored and supplied stably and reliably, ensuring that the position of the adhesive plate 11 can be accurately controlled during the plate retrieval process.

[0025] Please refer to Figures 1 to 3 In some embodiments, several of the positioning members 124 include a positioning rod 1241, a flexible retaining ring 1242 and a cutting knife 1243; the flexible retaining ring 1242 is arranged at the other end of the positioning rod 1241, and the flexible retaining ring 1242 is provided with a cutting knife 1243; the flexible retaining ring 1242 is used to limit the position of the adhesive disc 11, and the cutting knife 1243 is used to cut the adhesive disc 11, thereby effectively limiting the movement of the adhesive disc 11 and avoiding the adhesive disc 11 from being offset or disturbed during the supply process. At the same time, the setting of the cutting knife 1243 can ensure that the edge of the adhesive disc 11 is accurately divided when it is taken out, avoiding unnecessary adhesion problems.

[0026] Please refer to Figure 4, in some embodiments, the disk picking mechanism 13 further includes a telescopic stepper motor 133 and a coupling 134. The telescopic stepper motor 133 includes a motor body 1331 and a motor telescopic shaft 1332. The motor body 1331 is fixedly arranged in the fixed end 1221, and the motor telescopic shaft 1332 extends out from the clearance hole 121. One end of the coupling 134 is fixedly sleeved on the motor telescopic shaft 1332. The other end of the coupling 134 is connected to the disk picker 131, so that the disk picker 131 can be telescoped smoothly and precisely when needed, accurately adjust the position of the disk picker 131, and avoid the excessive vibration or out-of-control situation that may occur during the disk picking process.

[0027] Please refer to Figure 4 , in some embodiments, the disk picker 131 includes a disk picker housing 1311, a deceleration stepper motor 1314, a guide disk 1315, a guide frame 1316, a plurality of disk picking clips 1317, and a plurality of disk picking clip telescopic plates 1318. The disk picker housing 1311 includes a C-shaped member 1312 and a placement groove 1313. The C-shaped member 1312 is fixedly arranged below the placement groove 1313. The deceleration stepper motor 1314 is arranged in the C-shaped member 1312, and the deceleration rotating shaft of the deceleration stepper motor 1314 extends into the placement groove 1313. The guide disk 1315 is fixedly sleeved in the deceleration rotating shaft. A plurality of rotating protrusions 1322 are arranged on one side of the guide disk 1315 away from the deceleration stepper motor 1314. The guide frame 1316 is engaged in the guide disk 1315, and the guide frame 1316 has a plurality of brackets. A plurality of disk picking clips 1317 are movably sleeved in a plurality of the guide frames 1316. A plurality of the disk picking clip telescopic plates 1318 are all movably arranged in a plurality of the disk picking clips 1317. Among them, under the constraint of the guide disk 1315 and a plurality of guide frames 1316, a plurality of the disk picking clips 1317 perform expansion or contraction movements along the radial direction of the guide disk 1315 through the drive of the deceleration stepper motor 1314, so as to ensure that a plurality of the disk picking clips 1317 can accurately contract or expand, effectively reducing the mechanical vibration and error during the disk picking process.

[0028] Please refer to Figures 5 and 6In some embodiments, several of the disk retrieval clamps 1317 have a disk retrieval clamp body 1319, an active groove 1320, and an arc-shaped groove 1321; the orthographic projection of the disk retrieval clamp body 1319 is set to a fan shape, so that it can effectively cooperate with the guide plate 1315 and the guide frame 1316, thereby reducing the problem of poor sliding or jamming of the disk retrieval clamp 1317 due to inappropriate shape during operation; the active groove 1320 is arranged on the outer side of the disk retrieval clamp body 1319, and a spring is arranged between several of the disk retrieval clamp telescopic plates 1318 and several active grooves 1320, and the spring is used to provide a pre-tightening force for the disk retrieval clamp telescopic plates 1318, thereby ensuring that the disk retrieval clamp 1317 can work stably when it contracts or expands in the horizontal plane; the arc-shaped groove 1321 is arranged at the bottom of the disk retrieval clamp body 1319, and the shape of the arc-shaped groove 1321 is adapted to the shape of the rotating protrusion 1322; The rotating protrusion 1322 moves in the arc-shaped groove 1321; wherein, the centers of the circles of several of the arc-shaped grooves 1321 do not coincide with the radial direction of the guide plate 1315. When the guide plate 1315 rotates clockwise under the drive of the deceleration stepping motor 1314, the rotating protrusion 1322 slides clockwise in the arc-shaped groove 1321, driving the several disk-taking clamps 1317 to expand along the radial direction of the guide plate 1315. When the guide plate 1315 rotates counterclockwise under the drive of the deceleration stepping motor 1314, the rotating protrusion 1322 slides counterclockwise in the arc-shaped groove 1321, driving the several disk-taking clamps 1317 to contract along the radial direction of the guide plate 1315, thereby enabling the disk-taking clamp 1317 to maintain a smooth motion trajectory during the expansion and contraction process, reducing mechanical friction, and improving the service life and work efficiency of the disk-taking clamp 1317.

[0029] Please refer to Figures 4 to 6 In some embodiments, the plurality of adhesive discs 11 include a flexible film 111 and a partition 112; the side of the flexible film 111 close to the push disc 125 is coated with a conductive coating, and the side of the flexible film 111 away from the push disc 125 is coated with an adhesive; the partition 112 is provided with a plurality of branch claws 1121, the flexible film 111 is provided between the plurality of branch claws 1121, and the partition 112 is used to prevent the plurality of adhesive discs 11 from sticking to each other; thus, an appropriate spacing can be maintained between the adhesive discs 11, thereby avoiding adhesion or mutual interference between the adhesive discs 11 during storage, which not only improves the storage efficiency of the adhesive discs 11, but also improves the stability of the entire supply mechanism 12.

[0030] Please refer to Figure 1In some embodiments, the number of branch claws 1121 is set to 12, dividing the flexible film 111 into 12 fan-shaped blocks; wherein, when the flexible film 111 is not taken by the disc taking mechanism 13, the outer edges of the fan-shaped blocks are connected, thereby ensuring that the structure of the flexible film 111 is not easily deformed or damaged during use, thereby improving the service life and stability of the adhesive disc 11.

[0031] Please refer to Figure 1 In some embodiments, a U-shaped claw is provided on one side of the branch claws 1121 away from the disc removal mechanism 13, and the U-shaped claw half surrounds the positioning rod 1241, thereby achieving precise positioning and fixation of the adhesive disc 11, and improving the stability of storage and release of the entire adhesive disc 11.

[0032] In some embodiments, the adhesion execution component 14 includes a wire and an electrostatic generator; the wire is used to conduct static electricity, and one end of the wire is electrically connected to the conductive coating; the electrostatic generator is used to generate static electricity, and the other end of the wire is electrically connected to the electrostatic generator; wherein, after the disc remover 131 takes one of the adhesion discs 11 and extends it outward, the electrostatic generator generates static electricity, and the static electricity is transmitted to the conductive coating by the wire, and when the adhesion disc 11 approaches the non-cooperative target, the flexible film 111 will be attached to the surface of the non-cooperative target under the action of the electrostatic force, and the adhesive achieves reliable adhesion to the surface of the non-cooperative target, so that the adhesion disc 11 can be quickly and stably attached to the surface of the non-cooperative target when it approaches the target.

[0033] In some embodiments, the electrostatic generator is configured as a high-voltage electrostatic generator, and the high-voltage electrostatic generator can be disposed on a storage bin of the supply structure as required, thereby preventing the electrostatic generator from being exposed to the outside and damaged.

[0034] In some embodiments, the specific working principle of the bionic flexible electrostatic adhesion device 10 of the present application is as follows: First, the supply mechanism 12 is responsible for storing a plurality of adhesive discs 11. The adhesive disc 11 is provided by a flexible film 111 and an interlayer 112 structure, and the back of the flexible film 111 of each adhesive disc 11 is coated with a conductive coating and the front is coated with an adhesive. When adhesion is required, the disc taker 131 moves downward under the drive of the telescopic stepping motor 133; at this time, the disc taker clamp 1317 is in an expanded state. During the descent process, the arc surface of the disc taker clamp telescopic plate 1318 first contacts the adhesive disc 11, and the disc taker clamp telescopic plate 1318 is compressed under the action of force and retracted into the disc taker clamp 1317. As the disc taker 131 continues to descend and exceeds the critical position, the disc taker clamp telescopic plate 1318 pops out and clamps an adhesive disc 11 through the gap between the disc taker clamp 1317 and the disc taker clamp telescopic plate 1318. Subsequently, the disc taker 131 moves upward under the drive of the telescopic stepper motor 133 and successfully takes out an adhesive disc 11. When the disc taker 131 takes the adhesive disc 11 and starts to rise, the screw stepper motor 123 of the supply mechanism 12 drives the push disc 125 to rise by the thickness of an adhesive disc 11, breaking through the flexible retaining ring 1242, so that the first adhesive disc 11 is pushed out of the storage bin, and at the same time, the cutting knife 1243 cuts the connecting part of the fan-shaped edge of the flexible film 111. When the disc taker 131 successfully takes the adhesive disc 11 and extends it close to the target surface, the electrostatic generator is activated to generate high-voltage static electricity, which is transferred to the conductive coating on the back of the flexible film 111 through the wire. At this time, under the action of the electrostatic force, the flexible film 111 will adhere to the target surface, and then achieve firm adhesion through the adhesive coated on the front of the flexible film 111. When desorption is required, the disc clip 1317 of the disc remover 131 will shrink. Specifically, the guide disc 1315 rotates counterclockwise under the drive of the deceleration stepper motor 1314, and the rotating protrusion 1322 slides counterclockwise in the arc groove 1321, driving the plurality of disc clips 1317 to shrink along the radial direction of the guide disc 1315, so as to achieve the overall shrinkage of the plurality of disc clips 1317. The adhesive disc 11 can be detached from the disc remover 131, completing the desorption process while sacrificing one adhesive disc 11. In the next adhesion operation, the above steps are repeated to ensure that the adhesion and desorption process of each adhesive disc 11 proceeds smoothly, thereby avoiding the stability problem of the space robot arm that may occur during the operation of the traditional non-contact capture device, and helping to improve the capture efficiency of non-cooperative targets.

[0035] The second embodiment of the present application provides a space robot arm, which includes the bionic flexible electrostatic adhesion device as described above, thereby significantly improving the stability of the space robot arm, ensuring that the capture operation can be completed efficiently and accurately in a vacuum environment, and greatly improving the control accuracy of the satellite.

[0036] Please refer to Figure 7 The technical solution adopted by the present application to solve the technical problem is as follows: an adhesion method, the adhesion method includes the bionic flexible electrostatic adhesion device as described above, the adhesion method includes: Step S100: When a non-cooperative target is found, the plate picker is controlled to move downward, and when the plate picker picks up an adhesive plate, the plate picker is controlled to move upward.

[0037] Specifically, when a non-cooperative target is found, the disc remover is controlled to move downward under the drive of the telescopic motor. At this time, the disc clamp is in an expanded state. During the descent process, the arc surface of the telescopic plate of the disc clamp first contacts the adhesive disc, and the telescopic plate of the disc clamp is compressed under the action of force and retracted into the disc clamp. As the disc remover continues to descend and exceeds the critical position, the telescopic plate of the disc clamp pops up and clamps an adhesive disc through the gap between the disc clamp and the telescopic plate of the disc clamp. Subsequently, the disc remover moves upward under the drive of the telescopic stepper motor, successfully removes an adhesive disc, and controls the disc remover to move upward under the drive of the telescopic motor, bringing the adhesive disc up with it.

[0038] Step S200: When the disc remover moves upward, the supply mechanism is controlled to raise the adhesive disc by the height of the adhesive disc, thereby completing the replacement of the adhesive disc in the supply mechanism.

[0039] Specifically, when the disc remover moves upward, the screw stepper motor of the supply mechanism drives the push plate to rise by the thickness of an adhesive disc, so that the adhesive disc breaks through the flexible retaining ring, completing the replacement of the adhesive disc in the supply mechanism, so that the first adhesive disc is pushed out of the storage bin, and at the same time the cutting knife cuts the connected fan-shaped edges of the flexible film.

[0040] Step S300: When approaching the non-cooperative target, the adhesion execution component applies static electricity to the adhesion plate, and under the action of the electrostatic force, the adhesion plate is adsorbed onto the target.

[0041] Specifically, when the bionic flexible electrostatic adhesion device approaches the non-cooperative target, the electrostatic generator of the adhesion execution component applies static electricity to the adhesion plate, and under the action of the electrostatic force, the adhesion plate is adsorbed onto the target.

[0042] Step S400: When the bionic flexible electrostatic adhesion device needs to be detached from the target surface, the disc clamp of the disc remover shrinks, the adhesive disc is detached from the disc remover, and one of the adhesive discs is discarded, thereby completing the desorption.

[0043] Specifically, when the bionic flexible electrostatic adhesion device needs to detach from the target surface, the guide plate rotates counterclockwise under the drive of the reduction stepper motor, and the rotating protrusion slides counterclockwise in the arc-shaped groove, driving the plurality of disc clamps to perform a contraction movement along the radial direction of the guide plate, thereby realizing the overall contraction of the plurality of disc clamps, and the adhesion plate detaches from the disc remover, and one of the adhesion plates is discarded to complete the desorption.

[0044] In summary, the present application provides a bionic flexible electrostatic adhesion device, a space manipulator and an adhesion method, wherein the bionic flexible electrostatic adhesion device comprises: a plurality of adhesion disks; a supply mechanism, wherein the plurality of adhesion disks are sleeved on the supply mechanism; the supply mechanism is used to store the plurality of adhesion disks; a disk-taking mechanism, wherein the supply mechanism and the plurality of adhesion disks are sleeved in the disk-taking mechanism; the plurality of adhesion disks are located above the supply mechanism; the disk-taking mechanism is provided with a disk-taking device for taking the adhesion disk from the supply mechanism, wherein the disk-taking device is arranged above the supply mechanism; the non-cooperative target is captured and adhered; an adhesion execution component, wherein the adhesion execution component is arranged on the supply mechanism, and the adhesion execution component is used to apply static electricity to the adhesion disk. Furthermore, by using electrostatic adhesion to replace the traditional non-contact capture device, the reverse force generated when the manipulator launches the capture device can be effectively avoided, and the vibration or impact generated by the space manipulator during the capture process can be reduced.

[0045] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A biomimetic flexible electrostatic adhesion device for non-cooperative target capture, characterized in that: The bionic flexible electrostatic adhesion device includes: A number of adhesion discs; A supply mechanism, with a number of the adhesion discs sleeved on the supply mechanism; the supply mechanism is used to store a number of the adhesion discs and supply the adhesion discs; A disc taking mechanism, which is arranged between the supply mechanism and a number of the adhesion discs; a number of the adhesion discs are all located above the supply mechanism; the disc taking mechanism is provided with a disc taker for taking the adhesion discs from the supply mechanism, and the disc taker is arranged above the supply mechanism; An adhesion execution component, which is arranged on the supply mechanism, and the adhesion execution component is used to apply static electricity to the adhesion discs.

2. The bionic flexible electrostatic adhesion device according to claim 1, wherein The supply mechanism includes: A base, which has a fixed end and a storage end arranged oppositely, and a number of positioning holes are evenly spaced on the outer edge of the base, and a number of lifting holes are evenly spaced between the positioning holes; a fixed sleeve is arranged on one side of the fixed end of a number of the positioning holes; the base is also provided with a clearance hole; A number of lead screw stepping motors, which are fixedly arranged in the fixed end; the lead screws of a number of the lead screw stepping motors extend out from a number of the lifting holes; A number of positioning members, with one end of the positioning member fixedly sleeved in the fixed sleeve; A push plate, and the outer edge of the push plate is provided with push plate holes corresponding to a number of the positioning holes one by one, and lifting nuts corresponding to a number of the lifting holes one by one are arranged between a number of the push plate holes; a number of the positioning members all extend out from the push plate; a number of the adhesion discs are all arranged on the push plate; Wherein, the lifting nut meshes with the lead screw, and when the lead screw stepping motor drives the lead screw to rotate, the lifting nut moves up and down in the lead screw, driving the push plate to move up and down.

3. The bionic flexible electrostatic adhesion device according to claim 2, wherein A number of the positioning members all include a positioning rod, a flexible retaining ring and a cutting knife; the flexible retaining ring is arranged at the other end of the positioning rod, and a cutting knife is arranged on the flexible retaining ring; the flexible retaining ring is used to limit the position of the adhesion disc, and the cutting knife is used to cut the adhesion disc.

4. The bionic flexible electrostatic adhesion device according to claim 2, wherein The disc taking mechanism further includes: A telescopic stepping motor, which includes a motor body and a motor telescopic shaft, the motor body is fixedly arranged in the fixed end, and the motor telescopic shaft extends out from the clearance hole; A coupling, with one end of the coupling fixedly sleeved on the motor telescopic shaft; the other end of the coupling is connected to the disc taker.

5. The bionic flexible electrostatic adhesion device according to claim 4, wherein The disc taker includes: A disc taker housing, which includes a C-shaped part and a placement groove, and the C-shaped part is fixedly arranged below the placement groove; A reduction stepping motor, which is arranged in the C-shaped part, and the reduction rotating shaft of the reduction stepping motor extends into the placement groove; A guide plate, wherein the guide plate is fixedly sleeved in the deceleration shaft, and a plurality of rotating protrusions are arranged on a side of the guide plate away from the deceleration stepping motor; A guide frame, the guide frame is engaged in the guide plate, and the guide frame has a plurality of brackets; A plurality of disk-taking clamps, wherein the plurality of disk-taking clamps are movably sleeved in the plurality of guide frames; A plurality of retractable plates for taking out the disk, wherein the retractable plates for taking out the disk are movably arranged in the plurality of retractable plates for taking out the disk; Among them, a plurality of the plate-taking clamps are constrained by the guide plate and a plurality of guide frames, and are driven by the reduction stepping motor to perform expansion or contraction movement along the radial direction of the guide plate.

6. The bionic flexible electrostatic adhesion device according to claim 5, characterized in that: Several of the disc removal clamps have: A disc taking clamp body, wherein the orthographic projection of the disc taking clamp body is arranged in a sector shape; An active groove, wherein the active groove is provided on the outer side of the disc taking clamp body, and a spring is provided between the plurality of the disc taking clamp telescopic plates and the plurality of active grooves, and the spring is used to provide a pre-tightening force for the disc taking clamp telescopic plates; An arc-shaped groove, wherein the arc-shaped groove is provided at the bottom of the disc taking clamp body, and the shape of the arc-shaped groove is adapted to the shape of the rotating protrusion; the rotating protrusion moves in the arc-shaped groove; Among them, the centers of the circles of several of the arc-shaped grooves do not coincide with the radial direction of the guide plate. When the guide plate rotates clockwise under the drive of the deceleration stepper motor, the rotating protrusion slides clockwise in the arc-shaped groove, driving the several disc taking clamps to expand along the radial direction of the guide plate. When the guide plate rotates counterclockwise under the drive of the deceleration stepper motor, the rotating protrusion slides counterclockwise in the arc-shaped groove, driving the several disc taking clamps to contract along the radial direction of the guide plate.

7. The bionic flexible electrostatic adhesion device according to claim 2, characterized in that: Several of the adhesive discs include: A flexible film, wherein a side of the flexible film close to the push plate is coated with a conductive coating, and a side of the flexible film away from the push plate is coated with an adhesive; A partition layer, wherein the partition layer is provided with a plurality of branch claws, the flexible film is provided between the plurality of branch claws, and the partition layer is used to prevent the plurality of adhesive discs from sticking to each other; The number of the branch claws is 12, which divide the flexible film into 12 fan-shaped blocks; When the flexible film is not taken by the disc taking mechanism, the outer edges of the sector-shaped blocks are connected.

8. The bionic flexible electrostatic adhesion device according to claim 7, characterized in that: The adhesion execution component comprises: A wire, one end of which is electrically connected to the conductive coating; An electrostatic generator, the other end of the wire is electrically connected to the electrostatic generator; wherein, after the disc remover takes one of the adhesive discs and extends it outward, the electrostatic generator is used to generate static electricity, and the static electricity is transferred to the conductive coating by the wire, and when the adhesive disc approaches the non-cooperative target, the flexible film will be attached to the surface of the non-cooperative target under the action of the electrostatic force, and the adhesive can achieve reliable adhesion to the surface of the non-cooperative target.

9. A space robot arm, characterized in that: The space robot arm comprises the bionic flexible electrostatic adhesion device as described in any one of claims 1-8.

10. A method of adhesion, characterized in that: The adhesion method comprises the biomimetic flexible electrostatic adhesion device according to any one of claims 1 to 8, and the adhesion method comprises: When a target is found, the plate taker is controlled to move downward, and when the plate taker takes an adhesive plate, the plate taker is controlled to move upward; When the plate remover moves upward, the supply mechanism is controlled to raise the adhesive plate to the height of the adhesive plate, so as to complete the replacement of the adhesive plate in the supply mechanism; When approaching the non-cooperative target, the adhesion execution component applies static electricity to the adhesion plate, and under the action of the electrostatic force, the adhesion plate is adsorbed onto the target; When the bionic flexible electrostatic adhesion device needs to be detached from the target surface, the disc taking clamp of the disc taking device shrinks, the adhesive disc is detached from the disc taking device, and one of the adhesive discs is discarded to complete the desorption.

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