Expandable metamorphic space manipulator for on-orbit grabbing

Abstract

The embodiment of the invention provides a deployable metamorphic space manipulator for in-orbit grabbing. The deployable metamorphic space manipulator comprises a manipulator base, a palm driving mechanism, a plurality of deployable palm mechanisms and a plurality of deployable finger mechanisms. The expandable palm mechanism comprises a first base connecting rod, a second base connecting rod, a left driving connecting rod group, a right driving connecting rod group and a finger connecting piece; the first ends of the left driving connecting rod group and the right driving connecting rod group are fixedly connected with a first output connecting piece and a second output connecting piece of the palm driving mechanism respectively, and the second ends are hinged to a first base connecting rod and a second base connecting rod respectively; the palm driving mechanism drives the first output connecting piece and the second output connecting piece to rotate to drive the finger connecting pieces to move in the direction away from or close to the manipulator base, so that the expandable palm mechanism is expanded or folded. In the embodiment of the invention, the deployable metamorphic space manipulator for on-orbit grabbing is high in grabbing flexibility and universality, and can be used for space tasks in various environments and working conditions.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a deployable variable cell space manipulator for on-orbit grasping. Background Art

[0002] With the advancement of science and technology, the aerospace industry has flourished, and more and more spacecraft have been launched into space and orbit. As a key technology for on-orbit missions such as extending the service life of spacecraft, ensuring the normal function of spacecraft, and building large-scale space facilities, on-orbit servicing technology has been widely valued by major aerospace powers in the world. On-orbit grabbing technology is a type of on-orbit servicing technology, which mainly uses the end effector of the robotic arm to grab space targets, such as obtaining modules to be assembled in the satellite compartment, grabbing out-of-control spacecraft, and recovering debris generated after satellite failure.

[0003] At present, the on-orbit grasping technology can grasp the target through the space manipulator. As a bionic design, the space manipulator has structures such as palms and fingers, and is fixed to the end of the manipulator through a connecting mechanism. In the existing technology, the space manipulator has weak adaptability to the shape and size of space targets, low grasping flexibility, low versatility, and thick fingers. Therefore, it is difficult to apply to occasions where the size and shape of space targets vary greatly, flexibility requirements are high, and the working space is narrow. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a deployable variable-cell space manipulator for on-orbit grasping, so as to improve the adaptability and flexibility of the space manipulator to the shape and size of space targets. The specific technical solution is as follows:

[0005] The embodiment of the present application provides an expandable variable cell space manipulator for on-track grasping, and the expandable variable cell space manipulator for on-track grasping includes: a manipulator base, a palm drive mechanism, a plurality of expandable palm mechanisms, and a plurality of expandable finger mechanisms; the palm drive mechanism is installed on the manipulator base, and has a first output connector and a second output connector with opposite rotation directions; a plurality of expandable palm mechanisms are arranged at intervals along the circumference of the manipulator base; the expandable palm mechanism includes a first base connecting rod, a second base connecting rod, a left drive connecting rod group, a right drive connecting rod group, a finger connecting member and a metamorphic cell assembly; the metamorphic cell assembly includes a metamorphic cell drive mechanism and a metamorphic cell connecting rod mechanism; the metamorphic cell drive mechanism is respectively connected to the finger connecting member and the manipulator base, and is used to drive the finger connecting member to lift up or tilt downward; the left drive connecting rod group The first ends of the connecting rod group and the right driving connecting rod group are respectively fixedly connected to the first output connecting member and the second output connecting member of the palm driving mechanism, and the second ends are respectively hinged to the first base connecting rod and the second base connecting rod; the first ends of the first base connecting rod and the second base connecting rod are respectively rotatably connected to the manipulator base, and the second ends are hinged to the finger connecting member through the metamorphic connecting rod mechanism; the palm driving mechanism drives the first output connecting member and the second output connecting member to rotate, thereby driving the first ends of the left driving connecting rod group and the right driving connecting rod group to approach or move away from each other, so as to drive the finger connecting member to move in the direction away from or close to the manipulator base, so that the expandable palm mechanism is expanded or folded; one end of the expandable finger mechanism is connected to the expandable palm mechanism through the finger connecting member, and the other end is used to grasp objects.

[0006] In some embodiments, the left drive link group includes a first left drive rod and a second left drive rod, wherein the first end of the first left drive rod is fixedly connected to the first output connecting member, and the second end is hinged to the first end of the second left drive rod; the second end of the second left drive rod is hinged to the first base connecting rod; the right drive link group includes a first right drive rod and a second right drive rod, wherein the first end of the first right drive rod is fixedly connected to the second output connecting member, and the second end is hinged to the first end of the second right drive rod; the second end of the second right drive rod is hinged to the second base connecting rod.

[0007] In some embodiments, the manipulator base includes a base body and a plurality of base extensions, wherein the plurality of base extensions are circumferentially spaced apart on the outer edge of the base body; the first ends of the first base connecting rod and the second base connecting rod are rotatably connected to two adjacent base extensions, respectively.

[0008] In some embodiments, the palm drive mechanism has a driving power member and a driving transmission assembly; the first output connecting member and the second output connecting member are arranged at intervals in the height direction, and are connected to the driving power member through the driving transmission assembly, and the driving power member transmits power to the first output connecting member and the second output connecting member through the driving transmission assembly to drive the first output connecting member and the second output connecting member to rotate in opposite directions.

[0009] In some embodiments, the driving power member is a driving motor, the output shaft of the driving motor is a gear shaft, and the driving transmission assembly includes: a first connecting seat, a second connecting seat, a first transmission gear, a second transmission gear, a transmission gear shaft and an intermediate transmission gear; the first connecting seat is fixedly connected to the manipulator base; the first transmission gear is sleeved on the first connecting seat and is rotatably connected to the first connecting seat, and the first output connecting member is fixedly connected to the first transmission gear; the transmission gear shaft has a gear tooth portion and a shaft body portion, the gear tooth portion is meshed with the outside of the first transmission gear, the intermediate transmission gear is fixedly installed on the shaft body portion, and the intermediate transmission gear is meshed with the outside of the gear shaft of the driving motor; the intermediate transmission gear is located in the second transmission gear and is meshed with the inside of the second transmission gear, and the second transmission gear is fixedly connected to the second output connecting member.

[0010] In some embodiments, the metamorphosis drive mechanism includes: a first slider, a second slider, a third slider and an active rotating member; the third slider is rotatably connected to the manipulator base and is sleeved on the outside of the first end of the second slider, and the second slider can slide back and forth along the third slider; the second slider is sleeved on the outside of the first end of the first slider, the second slider is slidably connected to the first slider, and the second end of the first slider is hinged to the finger connector; the active rotating member is installed on the manipulator base, and can drive the third slider to rotate, so as to drive the first slider and the second slider to rotate, so as to lift the finger connector upward or tilt downward.

[0011] In some embodiments, the metamorphic linkage mechanism includes a left metamorphic linkage assembly and a right metamorphic linkage assembly, and the second ends of the first base linkage and the second base linkage are hinged to the finger connector through the left metamorphic linkage assembly and the right metamorphic linkage assembly, respectively.

[0012] In some embodiments, the left metamorphic rod assembly includes a first left metamorphic rod and a second left metamorphic rod; the first end of the first left metamorphic rod is hinged to the second end of the first base connecting rod, and the second end is rotatably connected to the first end of the second left metamorphic rod; the second end of the second left metamorphic rod is rotatably connected to the first side of the finger connector; the right metamorphic rod assembly includes a first right metamorphic rod and a second right metamorphic rod; the first end of the first right metamorphic rod is hinged to the second end of the second base connecting rod, and the second end is rotatably connected to the first end of the second right metamorphic rod; the second end of the second right metamorphic rod is rotatably connected to the second side of the finger connector.

[0013] In some embodiments, the deployable finger mechanism includes: a first knuckle connector, a plurality of second knuckle connectors, a plurality of knuckle assemblies and a finger top connector; the plurality of knuckle assemblies are respectively arranged between the first knuckle connector and the second knuckle connector closest to the first knuckle connector, between two adjacent second knuckle connectors and between the outermost second knuckle connector and the finger top connector; the first knuckle connector includes: a first knuckle connecting plate, a second knuckle connecting plate and a first connecting rod grasping assembly, the first knuckle connecting plate and the second knuckle connecting plate are hinged, and the The first link grabbing assembly is located between the first knuckle connecting plate and the second knuckle connecting plate, and the first link grabbing assembly is used to change the angle between the first knuckle connecting plate and the second knuckle connecting plate; the second knuckle connecting member includes: a third knuckle connecting plate, a fourth knuckle connecting plate and a second link grabbing assembly, the third knuckle connecting plate and the fourth knuckle connecting plate are hinged, the second link grabbing assembly is located between the third knuckle connecting plate and the fourth knuckle connecting plate, and the second link grabbing assembly is used to change the angle between the third knuckle connecting plate and the fourth knuckle connecting plate.

[0014] In some embodiments, the first link grabbing assembly includes: a first grabbing link, a second grabbing link, a first link rotating shaft and a first grabbing driving member; one end of the first grabbing link is hinged to the first knuckle connecting plate, and the other end is connected to one end of the second grabbing link through the first link rotating shaft, and the other end of the second grabbing link is hinged to the second knuckle connecting plate; the first grabbing driving member is installed on the first knuckle connecting plate, and the output shaft of the first grabbing driving member can drive the first grabbing link to rotate, so as to drive the second grabbing link to rotate, so as to change the position between the first knuckle connecting plate and the second knuckle connecting plate. Angle; the second link grabbing assembly includes: a third grabbing link, a fourth grabbing link, a second link rotating shaft and a second grabbing driving member; one end of the third grabbing link is hinged to the third knuckle connecting plate, and the other end is connected to one end of the fourth grabbing link through the second link rotating shaft, and the other end of the third grabbing link is hinged to the fourth grabbing link; the second grabbing driving member is installed on the third knuckle connecting plate, and the output shaft of the second grabbing driving member can drive the third grabbing link to rotate, so as to drive the fourth grabbing link to rotate, so as to change the angle between the third knuckle connecting plate and the fourth knuckle connecting plate.

[0015] In some embodiments, the knuckle assembly closest to the first knuckle connector is the first knuckle assembly, the knuckle assembly between two adjacent second knuckle connectors is the second knuckle assembly, and the knuckle assembly between the second knuckle connector and the finger top connector is the third knuckle assembly; the first knuckle assembly, the second knuckle assembly and the third knuckle assembly all include: a first scissors mechanism, a second scissors mechanism and a scissors drive mechanism; the scissors drive mechanism of the first knuckle assembly is arranged on the second knuckle connecting plate of the first knuckle connector, one end of the first scissors mechanism and the second scissors mechanism are arranged on the second knuckle connecting plate of the first knuckle connector, and the other end is hinged to the third knuckle connecting plate of the first second knuckle connector; the The scissors-fork driving mechanism of the second finger joint assembly is arranged on the fourth finger joint connecting plate of the first second finger joint connecting member, one end of the first scissors-fork mechanism and the second scissors-fork mechanism are arranged on the fourth finger joint connecting plate of the first second finger joint connecting member, and the other end is hinged to the third finger joint connecting plate of the second second finger joint connecting member; the scissors-fork driving mechanism of the third finger joint assembly is arranged on the fourth finger joint connecting plate of the second second finger joint connecting member, one end of the first scissors-fork mechanism and the second scissors-fork mechanism are arranged on the fourth finger joint connecting plate of the second second finger joint connecting member, and the other end is hinged to the finger top connecting member; the scissors-fork driving mechanism is used to drive the first scissors-fork mechanism to expand or fold, so as to drive the second scissors-fork mechanism to expand or fold.

[0016] In some embodiments, the scissors-fork drive mechanism includes: a scissors-fork drive motor, a scissors-fork drive screw and a scissors-fork drive nut; the scissors-fork drive nut is threadedly connected to the scissors-fork drive screw, and the scissors-fork drive motor can drive the scissors-fork drive screw to rotate so that the scissors-fork drive nut reciprocates along the axial direction of the scissors-fork drive screw; the first scissors-fork mechanism includes a first scissors-fork drive connecting rod group and a second scissors-fork drive connecting rod group; the second scissors-fork mechanism includes a third scissors-fork drive connecting rod group, a fourth scissors-fork drive connecting rod group, a scissors-fork sliding connection piece and a scissors-fork sliding connection matching piece; one end of the first scissors-fork drive connecting rod group in the first finger joint assembly is hinged to the scissors-fork drive nut, and the other end is hinged to the second scissors-fork drive connecting rod group; One end of the second scissors-fork transmission link group is hinged to the second knuckle connecting plate of the first knuckle connecting member, and the other end is hinged to the third knuckle connecting plate of the first second knuckle connecting member; the scissors-fork sliding connecting member in the first knuckle assembly is fixedly connected to the second knuckle connecting plate of the first knuckle connecting member, one end of the third scissors-fork transmission link group is hinged to the scissors-fork sliding connecting member, and the other end is hinged to the third knuckle connecting plate of the first second knuckle connecting member; one end of the fourth scissors-fork transmission link group is hinged to one end of the scissors-fork sliding connection matching member, and the other end is hinged to the third scissors-fork transmission link group; the other end of the scissors-fork sliding connection matching member is slidably connected to the scissors-fork sliding connecting member.

[0017] In some embodiments, the first scissors-fork transmission link group includes: a first scissors-fork link and a second scissors-fork link; the second scissors-fork transmission link group includes: a third scissors-fork link and a fourth scissors-fork link; the third scissors-fork transmission link group includes: a fifth scissors-fork link and a sixth scissors-fork link; the fourth scissors-fork transmission link group includes: a seventh scissors-fork link and an eighth scissors-fork link; the first end of the first scissors-fork link of the first finger joint assembly is hinged to the scissors-fork drive nut, the second end is hinged to the first end of the second scissors-fork link, and the middle part is hinged to the middle part of the third scissors-fork link; the second end of the second scissors-fork link is hinged to the middle part of the fourth scissors-fork link; the first end of the third scissors-fork link is hinged to the second finger joint of the first finger joint connector The connecting plate is hinged, and the second end is hinged to the first end of the fourth scissors-fork link, and the second end of the fourth scissors-fork link is hinged to the third knuckle connecting plate of the first second knuckle connecting member; the first end of the fifth scissors-fork link of the first knuckle assembly is hinged to the scissors-fork sliding connecting member, the second end is hinged to the first end of the sixth scissors-fork link, and the middle part is hinged to the middle part of the seventh scissors-fork link; the second end of the sixth scissors-fork link is hinged to the third knuckle connecting plate of the first second knuckle connecting member; the first end of the seventh scissors-fork link is hinged to one end of the scissors-fork sliding connection mating member, the second end is hinged to the first end of the eighth scissors-fork link, and the second end of the eighth scissors-fork link is hinged to the sixth scissors-fork link.

[0018] Beneficial effects of the embodiments of the present application:

[0019] The expandable variable cell space manipulator for on-track grasping provided by the embodiment of the present application, the palm drive mechanism can drive the first output connector and the second output connector to rotate to drive the first ends of the left drive link group and the right drive link group to move closer to or away from each other, so as to drive the finger connector to move in the direction away from or close to the manipulator base, so that the expandable palm mechanism can be unfolded or folded; the variable cell drive mechanism in the variable cell assembly can drive the finger connector to rise upward or tilt downward, so as to enable the expandable finger mechanism to be folded or spread. Through the above-mentioned arrangement, the working space of the expandable palm mechanism and the expandable finger mechanism can be adjusted according to actual needs, and the flexibility of the expandable variable cell space manipulator for on-track grasping is also increased. For example, when the working space of the expandable variable cell space manipulator for on-track grasping is limited, the expandable palm mechanism and the expandable finger mechanism can be folded so that the expandable variable cell space manipulator for on-track grasping can complete the grasping of objects in a smaller space, thereby improving the universality and flexibility of the expandable variable cell space manipulator for on-track grasping.

[0020] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0022] Figure 1 An axonometric view of a deployable variable cell space manipulator for on-orbit grasping provided in an embodiment of the present application;

[0023] Figure 2 for Figure 1 An axonometric view of a manipulator base, a palm drive mechanism, and a deployable palm mechanism in a deployable variable cell space manipulator for on-orbit grasping;

[0024] Figure 3 A schematic diagram of the unfoldable palm mechanism in the folded state in the embodiment of the present application;

[0025] Figure 4 A schematic diagram of the unfolded palm mechanism in the embodiment of the present application;

[0026] Figure 5 for Figure 1 An axonometric view of a manipulator base in a deployable variable cell space manipulator for on-orbit grasping is shown;

[0027] Figure 6 for Figure 1 A cross-sectional view of a palm drive mechanism and a manipulator base in a deployable variable cell space manipulator for on-orbit grasping is shown;

[0028] Figure 7 for Figure 6 A partial enlarged view of the connection between the palm drive mechanism and the manipulator base;

[0029] Figure 8 A top view of the connection between the second output connector and the palm drive mechanism in the embodiment of the present application;

[0030] Fig. 9 for Figure 8 A cross-sectional view along the AA direction showing the connection between the second output connector part and the palm drive mechanism;

[0031] Fig.10 for Fig. 9 An exploded view of the second output connector portion and the palm drive mechanism;

[0032] Fig.11 for Figure 2 The schematic diagram of the expandable palm mechanism being connected to the manipulator base and the palm drive mechanism when the palm mechanism is in an untransformed state;

[0033] Fig.12 for Figure 2 The schematic diagram of the expandable palm mechanism connected with the manipulator base and the palm drive mechanism in the cell state is shown;

[0034] Fig.13a This is a schematic diagram of the unmodified cell state of the deployable variable cell space manipulator for on-track grasping in an embodiment of the present application (the deployable finger mechanism is not shown);

[0035] Fig.13b for Fig.13a An enlarged view of the deployable variable cell space manipulator for on-orbit grasping at the finger connection part is shown;

[0036] Fig.14 This is a schematic diagram of the cell-changing state of the deployable variable-cell space manipulator for on-track grasping in an embodiment of the present application (the deployable finger mechanism is not shown);

[0037] Fig.15 This is a schematic diagram of the connection between the metamorphic component and the manipulator base in the embodiment of the present application;

[0038] Fig.16 This is an isometric view of the unfoldable finger mechanism in the embodiment of the present application after unfolding;

[0039] Fig.17 for Fig.16 An axonometric view of the deployable finger mechanism shown after folding;

[0040] Fig.18 for Fig.16 A schematic diagram of the deployment of the knuckle assembly in the deployable finger mechanism shown;

[0041] Fig.19 for Fig.18 A schematic diagram of the knuckle assembly after folding;

[0042] Fig. 20 for Fig.16 A schematic diagram of a first finger joint connector in the deployable finger mechanism shown;

[0043] Fig.21 for Fig.16 A schematic diagram of a second finger joint connecting member in the deployable finger mechanism shown;

[0044] Fig. 22 for Fig.21 A schematic diagram of the middle second finger joint connector after it is opened;

[0045] Fig.23 A side view of the deployable finger mechanism in an embodiment of the present application;

[0046] Fig.24 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a folded configuration and the deployable finger mechanism is in an deployed grasping configuration;

[0047] Fig.25 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a folded configuration and the deployable finger mechanism is in a folded grasping configuration;

[0048] Fig.26 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when it is in a deployed configuration and a deployable finger mechanism is in a deployed grasping configuration;

[0049] Fig. 27 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in an deployed configuration and the deployable finger mechanism is in a folded grasping configuration;

[0050] Fig.28 It is a schematic diagram of a deployable palm mechanism of a deployable variable cell space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a variable cell configuration and the deployable finger mechanism is in a deployed grasping configuration;

[0051] Fig.29 It is a schematic diagram of a deployable palm mechanism of a deployable variable cell space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a variable cell configuration and the deployable finger mechanism is in a folded grasping configuration;

[0052] Fig.30 for Fig. 27 An enlarged view of the deployable variable cellular space manipulator at position M for on-orbit grasping is shown;

[0053] Fig.31 for Fig.29 An enlarged view of the deployable variable cell space manipulator at position N for on-orbit grasping is shown;

[0054] Fig.32 for Fig.29 An enlarged view of the deployable variable cellular space manipulator at position L for on-orbit grasping is shown.

[0055] Reference numerals:

[0056] Manipulator base 100; base groove 101; base screw hole 102; base body 110; docking interface 111; base extension 120; base rotation axis 121;

[0057] Palm drive mechanism 200; first output connector 210; second output connector 220; driving power member 230; driving transmission assembly 240; first connection seat 241; second connection seat 242; second connection seat connection portion 2421; second connection seat accommodating portion 2422; first transmission gear 243; first connection convex key 2431; second transmission gear 244; second connection convex key 2441; transmission gear shaft 245; gear tooth portion 2451; shaft body portion 2452; intermediate transmission gear 246; first transparent cover 251; second transparent cover 252; third transparent cover 253; first bearing 261; second bearing 262; third bearing 263;

[0058] The palm mechanism 300 can be expanded; the first base connecting rod 310; the connecting rod connecting part 3101; the connecting rod mounting part 3102; the second base connecting rod 320; the left driving connecting rod group 330; the first left driving rod 331; the second left driving rod 332; the right driving connecting rod group 340; the first right driving rod 341; the second right driving rod 342; the finger connecting member 350; the metamorphic assembly 360; the metamorphic driving mechanism 360a; the first slider 361; the second slider 362; the limiting protrusion 3621; the third slider 363; the active rotating member 364; the coupling 365; the connecting flange 366; the slider driving motor mounting seat 367; the left metamorphic connecting rod assembly 370; the first left metamorphic rod 371; the second left metamorphic rod 372; the right metamorphic connecting rod assembly 380; the first right metamorphic rod 381; the second right metamorphic rod 382;

[0059] Deployable finger mechanism 400; first finger joint connecting member 410; first finger joint connecting plate 411; second finger joint connecting plate 412; first connecting rod grabbing assembly 413; first grabbing connecting rod 4131; second grabbing connecting rod 4132; first connecting rod rotating shaft 4133; first grabbing driving member 4134; mechanical stopper 414; second finger joint connecting member 420; third finger joint connecting plate 421; fourth finger joint connecting plate 422; second connecting rod grabbing assembly 423; third grabbing connecting rod 4231; fourth grabbing connecting rod 4232; second connecting rod rotating shaft 4233; second grabbing driving member 4234; finger joint assembly 430; first scissor mechanism 431; first scissor transmission connecting rod group 4311; first scissor connecting rod 4311a; second scissor connecting rod 4311b; second scissors-fork transmission connecting rod group 4312; third scissors-fork connecting rod 4312a; fourth scissors-fork connecting rod 4312b; second scissors-fork mechanism 432; third scissors-fork transmission connecting rod group 4321; fifth scissors-fork connecting rod 4321a; sixth scissors-fork connecting rod 4321b; fourth scissors-fork transmission connecting rod group 4322; seventh scissors-fork connecting rod 4322a; eighth scissors-fork connecting rod 4322b; scissors-fork sliding connecting piece 4323; scissors-fork sliding connecting fitting 4324; scissors-fork driving mechanism 433; scissors-fork driving motor 4331; scissors-fork driving lead screw 4332; scissors-fork driving nut 4333; nut connecting plate 4334; scissors-fork lead screw mounting seat 435; scissors-fork lead screw coupling 436; scissors-fork motor mounting seat 437; finger top connecting piece 440. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0061] The present application embodiment provides a deployable variable cell space manipulator for on-orbit grasping, see Figure 1 and Figure 2 , Figure 1 An axonometric view of a deployable variable cell space manipulator for on-orbit grasping provided in an embodiment of the present application; Figure 2 for Figure 1 The isometric view of the manipulator base, the palm drive mechanism, and the deployable palm mechanism in the deployable variable cell space manipulator for on-orbit grasping is shown; Figure 1 and Figure 2As shown, the deployable variable cell space manipulator for on-track grasping comprises: a manipulator base 100, a palm drive mechanism 200, a plurality of deployable palm mechanisms 300, and a plurality of deployable finger mechanisms 400; the palm drive mechanism 200 is mounted on the manipulator base 100, and has a first output connector 210 and a second output connector 220 with opposite rotation directions; the plurality of deployable palm mechanisms 300 are arranged at intervals along the circumference of the manipulator base 100; the deployable palm mechanisms 300 0, including a first base connecting rod 310, a second base connecting rod 320, a left driving connecting rod group 330, a right driving connecting rod group 340, a finger connecting member 350 and a metamorphic assembly 360; the metamorphic assembly 360 includes a metamorphic driving mechanism 360a and a metamorphic connecting rod mechanism; the metamorphic driving mechanism 360a is respectively connected to the finger connecting member 350 and the manipulator base 100, and is used to drive the finger connecting member 350 to rise upward or tilt downward relative to the manipulator base 100; the left driving connecting rod group 330 The first ends of the left and right driving link groups 330 and 340 are respectively fixedly connected to the first output connector 210 and the second output connector 220 of the palm driving mechanism 200, and the second ends are respectively hinged to the first base connector 310 and the second base connector 320; the first ends of the first base connector 310 and the second base connector 320 are respectively rotatably connected to the manipulator base 100, and the second ends are connected to the finger connector 350 through the metamorphic link mechanism; the palm driving mechanism 200 drives the first output connector 210 and the second output connector 220 to rotate, thereby driving the first ends of the left driving link group 330 and the right driving link group 340 to move closer to or away from each other, so as to drive the finger connector 350 to move in a direction away from or close to the manipulator base 100, so that the expandable palm mechanism 300 is expanded or folded; one end of the expandable finger mechanism 400 is connected to the expandable palm mechanism 300 through the finger connector 350, and the other end is used to grasp objects.

[0062] The palm drive mechanism 200 is used to drive the deployable palm mechanism 300 to fold or unfold. Specifically, the palm drive mechanism 200 can drive the first output connector 210 and the second output connector 220 to rotate in opposite directions to drive the first ends of the left drive link group 330 and the right drive link group 340 to move closer to or away from each other, so as to drive the finger connector 350 to move in a direction away from or close to the manipulator base 100, thereby making the deployable palm mechanism 300 unfold or fold, wherein the finger joint assembly of the deployable finger mechanism is in the scissor drive mechanism The unfolding and folding can be realized under the drive of the variable cell structure; the variable cell driving mechanism in the variable cell assembly can drive the finger connecting part to rise upward or tilt downward, so that the expandable finger mechanism can be folded or spread out. Through the above arrangement, the occupied space of the expandable palm mechanism 300 can be adjusted according to the actual working space; for example, when the working space of the expandable variable cell space manipulator for on-orbit grasping is limited, the expandable palm mechanism 300 can be folded so that the expandable variable cell space manipulator for on-orbit grasping can complete the grasping of objects in a smaller space, thereby improving the universality and flexibility of the expandable variable cell space manipulator for on-orbit grasping.

[0063] Specifically, the first base connecting rod 310, the second base connecting rod 320 and other connecting rods can be assembled rods, that is, two connecting rod half shells can be combined into one connecting rod, for example, Figure 3 As shown, each connecting rod half shell includes a connecting rod connecting portion 3101 and a connecting rod mounting portion 3102, and the connecting rod connecting portion 3101 and the connecting rod mounting portion 3102 are fixedly connected. The connecting rod connecting portion 3101 and the connecting rod mounting portion 3102 can be an integrally formed structure. The two connecting rod half shells are buckled together, and the connecting rod mounting portions 3102 of the two connecting rod half shells are fixedly connected by screws to form an integral connecting rod. Of course, the first base connecting rod 310, the second base connecting rod 320 and other connecting rods can be non-assembled rods, that is, integrally formed straight rods, and the present application does not limit the shapes of the first base connecting rod 310, the second base connecting rod 320 and other connecting rods.

[0064] The expandable variable-cell space manipulator for on-orbit grasping provided in the embodiment of the present application is a truss-type foldable design. When grasping space targets of different shapes and sizes, the palm (i.e., the expandable palm mechanism) and the fingers (i.e., the expandable finger mechanism) can be respectively expanded or folded to adapt to the shape and size of the space target.

[0065] In the present embodiment, the palm deployment mechanism (that is, the deployable palm mechanism) of the deployable variable cellular space manipulator for on-track grasping is a two-degree-of-freedom mechanism, and its active component (that is, the palm drive mechanism) adopts a rotational deployment design. The left drive link group 330 and the right drive link group 340 of each deployable palm mechanism 300 are connected in series and respectively connected to two lightweight discs (that is, the first output connecting component and the second output connecting component) with a certain height difference, opposite rotation directions and the same rotation rate. Setting two lightweight discs as active components reduces the number of motors and reduces costs.

[0066] The expandable palm mechanism of the expandable variable-cell spatial manipulator for on-orbit grasping provided in the embodiment of the present application can be a two-degree-of-freedom mechanism, and the variable-cell component 360 can be a single-degree-of-freedom mechanism. The active part of the variable-cell component 360 (that is, the variable-cell drive mechanism) only plays the role of an active part in the palm variable-cell stage, and only performs accompanying movements during the expansion and folding process of the palm expansion mechanism, thereby reducing the control difficulty and cost.

[0067] In the embodiment of the present application, the unfolding and folding movement of the unfoldable finger mechanism 400 and the unfolding and folding movement of the unfoldable palm mechanism 300 are independent of each other, and the palm drive mechanism 200 provides power for the unfolding or folding of the unfoldable palm mechanism 300. Compared with the prior art, the unfoldable variable cell space manipulator for on-orbit grasping provided by the embodiment of the present application has the following advantages: a palm variable cell mechanism (that is, a variable cell assembly) is designed, and the grasping method is diverse, which increases the flexibility of the space manipulator when grasping space targets; an unfoldable palm mechanism is designed to enhance the variability of the workspace, increase the flexibility of the space manipulator when grasping space targets and the adaptability to the size and shape of space targets; an unfoldable finger knuckle assembly based on a parallel incomplete scissor mechanism is designed, and is staggered a certain distance laterally, which increases the stiffness of the space manipulator when grasping space targets, and also increases the scope of application of the space manipulator and the adaptability to the shape of space targets.

[0068] In some embodiments of the present application, Figure 1 and Figure 2 , Figure 3 and Figure 4 As shown, Figure 3 A schematic diagram of the unfoldable palm mechanism in the folded state in the embodiment of the present application; Figure 4It is a schematic diagram of the unfolded state of the unfoldable palm mechanism in the embodiment of the present application; the left drive link group 330 includes a first left drive rod 331 and a second left drive rod 332, the first end of the first left drive rod 331 is fixedly connected to the first output connecting member 210, and the second end is hinged to the first end of the second left drive rod 332; the second end of the second left drive rod 332 is hinged to the first base connecting rod 310; the right drive link group 340 includes a first right drive rod 341 and a second right drive rod 342, the first end of the first right drive rod 341 is fixedly connected to the second output connecting member 220, and the second end is hinged to the first end of the second right drive rod 342; the second end of the second right drive rod 342 is hinged to the second base connecting rod 320.

[0069] In this embodiment, when the first output connector 210 and the second output connector 220 rotate in opposite directions so that the first end of the first left drive rod 331 and the first end of the first right drive rod 341 move away from each other, the second ends of the first left drive rod 331 and the first right drive rod 341 also move away from each other, thereby driving the first ends of the second left drive rod 332 and the second right drive rod 342 to move away from each other, and the second left drive rod 332 and the second right drive rod 342 rotate around the second ends of the first left drive rod 331 and the first right drive rod 341 respectively, and the second ends of the second left drive rod 332 and the second right drive rod 342 approach each other, and the distance between the second end of the second left drive rod 332 and the first end of the first left drive rod 331 is shortened, thereby driving the finger connector 350 to move in a direction close to the manipulator base 100, and the distance between the finger connector 350 and the manipulator base 100 is shortened, thereby realizing the folding of the expandable palm mechanism 300.

[0070] The expandable variable-cell space manipulator for on-orbit grasping provided in the embodiments of the present application can be used not only in the field of on-orbit grasping, but also in the fields of on-orbit assembly, planetary surface assembly and planetary surface grasping.

[0071] It should be noted that the number of expandable finger mechanisms 400 is the same as the number of expandable palm mechanisms 300, and the number of expandable finger mechanisms 400 can be 2 to 6. This application does not limit the number of expandable finger mechanisms 400 and the number of expandable palm mechanisms 300.

[0072] In some embodiments of the present application, Figure 2 and Figure 5 As shown, Figure 5 for Figure 1The shown is an axonometric view of a manipulator base in an expandable variable-cellular space manipulator for on-track grasping; the manipulator base 100 includes a base body 110 and a plurality of base extensions 120, and the plurality of base extensions 120 are circumferentially spaced apart and arranged at the outer edge of the base body 110; the first ends of the first base connecting rod 310 and the second base connecting rod 320 are rotatably connected to two adjacent base extensions 120, respectively.

[0073] In this embodiment, the base body 110 may be a double annular disk, and a base rotation shaft 121 is provided on the base extension 120, and the base rotation shaft 121 is fixed on the base extension 120. The first ends of the first base connecting rod 310 and the second base connecting rod 320 are respectively rotatably connected to the two adjacent base extensions 120. Specifically, the first ends of the first base connecting rod 310 and the second base connecting rod 320 are respectively rotatably connected to the two adjacent base extensions 120 through the base rotation shaft 121, thereby completing the connection between the expandable palm mechanism and the manipulator base.

[0074] Among them, Figure 2 , Figure 5 and Fig.13a As shown, two base rotation shafts 121 may be provided on each base extension 120, and the two base rotation shafts 121 are arranged at intervals along the circumferential direction, one of the two base rotation shafts 121 is connected to the second base connecting rod 320 in one expandable palm mechanism 300, and the other base rotation shaft 121 is connected to the first base connecting rod 310 in another expandable palm mechanism 300. In other words, the two base rotation shafts 121 on one base extension 120 are respectively connected to two adjacent expandable palm mechanisms 300, and the first base connecting rod 310 and the second base connecting rod 320 in one expandable palm mechanism 300 are respectively connected to the base rotation shafts 121 on two adjacent base extensions 120.

[0075] Specifically, the base extension portion 120 may be in a triangular shape or a trapezoidal shape, and the number of the base extension portions 120 corresponds to the number of the deployable finger mechanisms 400 .

[0076] More specifically, Figure 5 As shown, a docking interface 111 is also provided on one side of the base body 110 away from the first output connector 210 and the second output connector 220. One end of the docking interface 111 is connected to the base body 110 by screws, and the other end can be fixed to the end of the robot arm. In order to facilitate the connection between the robot base 100 and the expandable palm mechanism 300, a plurality of base grooves 101 and base screw holes 102 are provided on the robot base 100.

[0077] In some embodiments of the present application, see Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 , Figure 6 for Figure 1 A cross-sectional view of a palm drive mechanism and a manipulator base in a deployable variable cell space manipulator for on-orbit grasping is shown; Figure 7 for Figure 6 A partial enlarged view of the connection between the palm drive mechanism and the manipulator base; Figure 8 A top view of the connection between the second output connector and the palm drive mechanism in the embodiment of the present application; Fig. 9 for Figure 8 A cross-sectional view along the AA direction showing the connection between the second output connector part and the palm drive mechanism; Fig.10 for Fig. 9 The exploded view of the second output connector and the palm drive mechanism shown in FIG. Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the palm drive mechanism 200 has a driving power member 230 and a driving transmission assembly 240; the first output connector 210 and the second output connector 220 are arranged at intervals in the height direction, the first output connector 210 and the second output connector 220 are connected to the driving power member 230 through the driving transmission assembly 240, and the driving power member 230 transmits power to the first output connector 210 and the second output connector 220 through the driving transmission assembly 240 to drive the first output connector 210 and the second output connector 220 to rotate in opposite directions.

[0078] In this embodiment, the first output connection member 210 and the second output connection member 220 are arranged at intervals in the height direction, which can prevent the left driving link group 330 and the right driving link group 340 from interfering with each other during rotation.

[0079] In some embodiments of the present application, Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the driving power member 230 is a driving motor, the output shaft of the driving motor is a gear shaft, and the driving transmission assembly 240 includes: a first connecting seat 241, a second connecting seat 242, a first transmission gear 243, a second transmission gear 244, a transmission gear shaft 245 and an intermediate transmission gear 246; the first connecting seat 241 and the manipulator base 100 can be fixedly connected by fasteners such as screws to complete the connection between the palm drive mechanism and the manipulator base; the first transmission gear 243 is sleeved on the first connecting seat 241 and is rotatably connected to the first connecting seat 241, and the first The output connecting member 210 is fixedly connected to the first transmission gear 243; the transmission gear shaft 245 has a gear tooth portion 2451 and a shaft body portion 2452, the gear tooth portion 2451 is meshed with the outside of the first transmission gear 243, the intermediate transmission gear 246 is fixedly installed on the shaft body portion 2452 of the transmission gear shaft 245, and the intermediate transmission gear 246 is meshed with the outside of the gear shaft of the driving motor; the intermediate transmission gear 246 is located in the second transmission gear 244 and meshed with the inside of the second transmission gear 244, and the second transmission gear 244 is fixedly connected to the second output connecting member 220.

[0080] In this embodiment, the driving motor drives the gear shaft to rotate, driving the intermediate transmission gear 246 to rotate. Since the intermediate transmission gear 246 is meshed with the second transmission gear 244, the intermediate transmission gear 246 can drive the second transmission gear 244 to rotate. The second transmission gear 244 is fixedly connected to the second output connecting member 220, so the second transmission gear 244 can drive the second output connecting member 220 to rotate; since the intermediate transmission gear 246 is fixedly installed on the shaft body 2452 of the gear shaft, the intermediate transmission gear 246 can drive the transmission gear shaft 245 to rotate when it rotates; the gear tooth portion 2451 of the transmission gear shaft 245 is meshed with the first transmission gear 243, so the transmission gear shaft 245 can drive the first transmission gear 243 to rotate, and then drive the first output connecting member 210 fixedly connected to the first transmission gear 243 to be fixedly connected. Through the above arrangement, the first transmission gear 243 and the second transmission gear 244 have opposite movement directions and the same movement speed; the advantages of gear transmission are: high transmission accuracy, stable transmission and high transmission efficiency, reliable operation and long service life.

[0081] Below, refer to Figures 6 to 10 , taking the output shaft of the driving power member 230 rotating in the first direction as an example, the movement directions of the first transmission gear 243 and the second transmission gear 244 are described as follows:

[0082] The output shaft of the driving power member 230 rotates in the first direction, driving the intermediate transmission gear 246 that is externally meshed with the output shaft of the driving power member 230 to rotate in the second direction, so the transmission gear shaft 245 fixedly connected to the intermediate transmission gear 246 also rotates in the second direction; since the gear tooth portion 2451 of the transmission gear shaft 245 is externally meshed with the first transmission gear 243, the rotation direction of the first transmission gear 243 is opposite to the rotation direction of the intermediate transmission gear 246, that is, the first transmission gear 243 rotates in the first direction; since the intermediate transmission gear 246 is internally meshed with the second transmission gear 244, the rotation direction of the intermediate transmission gear 246 is the same as that of the second transmission gear 244, that is, the second transmission gear 244 rotates in the second direction, which is opposite to the rotation direction of the first transmission gear 243.

[0083] It should be noted that the first direction can be clockwise or counterclockwise. This application only takes the first direction as an example for explanation, and the second direction is the same. This application does not limit the rotation direction of the driving power member 230.

[0084] It should be noted that the gear shaft of the driving motor may be arranged in such a manner that the output gear is fixed on the output shaft of the driving motor.

[0085] Among them, Figure 6 and Figure 7 As shown, the first transmission gear 243 is provided with a first connecting key 2431, and the first connecting key 2431 is fixedly connected to the second output connecting member 220 by bolts; the second transmission gear 244 is provided with a second connecting key 2441, and the second connecting key 2441 is fixedly connected to the first output connecting member 210 by bolts, thereby completing the connection between the expandable palm expansion mechanism and the palm driving mechanism.

[0086] Specifically, Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the palm drive mechanism 200 also has a first transparent cover 251, a second transparent cover 252 and a third transparent cover 253. The first transparent cover 251 is fixedly installed on the outer end of the first transmission gear 243, the second transparent cover 252 is fixedly installed on the end of the second transmission gear 244 close to the first transmission gear 243; the third transparent cover 253 is fixedly installed on the end of the second transmission gear 244 away from the first transmission gear 243; the first transparent cover 251 and the second transparent cover 252 can play a role in dust protection.

[0087] More specifically, Figure 6 , Figure 8 , Fig. 9 and Fig.10As shown, a first bearing 261 is further provided between the first transmission gear 243 and the first base, and the first transmission gear 243 is rotatably connected to the first connection seat 241 through the first bearing 261. The second connection seat 242 includes a second connection seat connection portion 2421 and a second connection seat accommodation portion 2422, and the second connection seat connection portion 2421 is sleeved with a second bearing 262 on its outer portion, and the second transmission gear 244 is rotatably connected to the second connection seat connection portion 2421 through the second bearing 262, so that the second transmission gear 244 is rotatably connected to the second connection seat 242;

[0088] Part of the shaft body 2452 of the transmission gear shaft 245 is inserted into the second connecting seat accommodating portion 2422, and two third bearings 263 are arranged between the shaft body 2452 of the transmission gear shaft 245 and the second base accommodating portion. The two third bearings 263 are arranged in parallel at intervals along the axial direction of the shaft body 2452 of the transmission gear shaft 245.

[0089] It should be noted that the first bearing 261 , the second bearing 262 and the third bearing 263 may be deep groove ball bearings or angular contact ball bearings.

[0090] In some embodiments of the present application, Figure 3 , Figure 4 , Fig.11 , Fig.12 , Fig.13a , Fig.14 and Fig.15 As shown, Fig.11 for Figure 2 The schematic diagram of the expandable palm mechanism being connected to the manipulator base and the palm drive mechanism when the palm mechanism is in an untransformed state; Fig.12 for Figure 2 The schematic diagram of the expandable palm mechanism connected with the manipulator base and the palm drive mechanism in the cell state is shown; Fig.13a This is a schematic diagram of the unmodified cell state of the deployable variable cell space manipulator for on-track grasping in an embodiment of the present application (the deployable finger mechanism is not shown); Fig.13b for Fig.13a An enlarged view of the deployable variable cell space manipulator for on-orbit grasping at the finger connection part is shown; Fig.14 This is a schematic diagram of the cell-changing state of the deployable variable-cell space manipulator for on-track grasping in an embodiment of the present application (the deployable finger mechanism is not shown); Fig.15It is a schematic diagram of the connection between the metamorphosis component and the manipulator base in the embodiment of the present application; the metamorphosis driving mechanism 360a includes: a first slider 361, a second slider 362, a third slider 363 and an active rotating member 364; the third slider 363 is rotatably connected to the manipulator base 100, and is sleeved on the outside of the second slider 362 near the first end, and the second slider 362 can slide back and forth along the third slider 363; the second slider 362 is sleeved on the outside of the first end of the first slider 361, specifically, the second end of the second slider is sleeved on the outside of the first end of the first slider; the second slider 362 is slidably connected to the first slider 361, and the second end of the first slider 361 is hinged to the finger connector 350; the active rotating member 364 is installed on the manipulator base 100, and can drive the third slider 363 to rotate, so as to drive the first slider 361 and the second slider 362 to rotate, so as to lift the finger connector 350 upward or tilt downward.

[0091] In this embodiment, Fig.10 , Fig.11 , Fig.12 , Fig.13a , Fig.13b , Fig.14 and Fig.15 As shown, the active rotating member 364 is a slider driving motor, and the output shaft of the slider driving motor is connected to the third slider 363 through a coupling 365. Specifically, a connecting flange 366 can be provided between the coupling 365 and the third slider 363, and the connecting flange 366 is fixedly connected to the side wall of the third slider 363; the coupling 365 is connected to the third slider 363 through the connecting flange 366. Specifically, the slider driving motor is installed on the manipulator base 100 through a slider driving motor mounting seat 367.

[0092] Among them, Fig.15 As shown, a limiting protrusion 3621 is provided at the first end surface of the second slider 362, and the limiting protrusion 3621 can abut against the end surface of the third slider 363 when the second end of the second slider 362 slides to the third slider 363 to prevent the second slider 362 from falling off from the third slider 363.

[0093] In some embodiments of the present application, Fig.13b and Fig.14 As shown, the metamorphic linkage mechanism includes a left metamorphic linkage assembly 370 and a right metamorphic linkage assembly 380, and the second ends of the first base linkage 310 and the second base linkage 320 are hinged to the finger connector 350 through the left metamorphic linkage assembly 370 and the right metamorphic linkage assembly 380, respectively.

[0094] In some embodiments of the present application, Figure 1 , Fig.13band Fig.14 As shown, the left metamorphic rod assembly 370 includes a first left metamorphic rod 371 and a second left metamorphic rod 372; the first end of the first left metamorphic rod 371 is hinged to the second end of the first base connecting rod 310, and the second end is rotatably connected to the first end of the second left metamorphic rod 372; the second end of the second left metamorphic rod 372 is rotatably connected to the first side of the finger connecting member 350; the right metamorphic rod assembly 380 includes a first right metamorphic rod 381 and a second right metamorphic rod 382; the first end of the first right metamorphic rod 381 is hinged to the second end of the second base connecting rod 320, and the second end is rotatably connected to the first end of the second right metamorphic rod 382; the second end of the second right metamorphic rod 382 is rotatably connected to the second side of the finger connecting member 350.

[0095] The palm of the deployable variable-cell space manipulator for on-orbit grasping provided in this embodiment is of a variable-cell design. When the palm is in a specific position after being deployed, due to the change in the structural position, the two rotation pairs that were not collinear before the palm is deployed reach a collinear position, resulting in a change in the mechanism topology structure, performing a variable-cell action, and realizing the function of flipping the palm end (that is, the finger connector 350) upward, thereby improving the flexibility of the deployable variable-cell manipulator in grasping space targets; specifically, combined with Figure 3 and Figure 4 , to illustrate the metamorphic design: Figure 3 The unfoldable palm mechanism shown is not fully unfolded. 11 and R 12 The rotation axes are not collinear, have an angle, and cannot be rotated. There is no relative motion between the first left cell rod 371 and the second left cell rod 372. The first left cell rod 371 and the second left cell rod 372 are a rigid body. Figure 4 As shown, when the expandable palm mechanism is fully expanded, that is, when the expandable palm mechanism is expanded to the maximum position, the two rotation pairs are collinear, that is, the rotation pair R 11 and R 12 Collinearly, the first left metamorphic rod 371 and the second left metamorphic rod 372 can generate relative motion, and metamorphic motion can be performed at this time.

[0096] It should be noted that Figure 3 and Figure 4 The revolute pair R 11 and R 12 The dotted lines at the bottom represent the rotation axis between the first left amorphous rod 371 and the second left amorphous rod 372 and the rotation axis between the first right amorphous rod 381 and the second right amorphous rod 382 .

[0097] Specifically, Fig.13b and Fig.15As shown, the second end of the first slider 361 and the finger connector 350 can be hinged via a bearing assembly, and the second end of the second left cell rod 372 and the first side of the finger connector 350 can be rotatably connected via a bearing assembly. Similarly, the second end of the second right cell rod 382 and the second side of the finger connector 350 can be rotatably connected via a bearing assembly.

[0098] against Fig.11 and Fig.12 It should be noted that Fig.11 The figure shows a side view of the unfoldable palm mechanism in an untransformed state. Fig.12 FIG. 4 is a side view of the palm mechanism in the morphing state. In this perspective, the first left morphing rod 371 and the first right morphing rod 381 overlap.

[0099] In some embodiments of the present application, Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 and Fig.23 As shown, Fig.16 This is an isometric view of the unfoldable finger mechanism in the embodiment of the present application after unfolding; Fig.17 for Fig.16 An axonometric view of the deployable finger mechanism shown after folding; Fig.18 for Fig.16 A schematic diagram of the deployment of the knuckle assembly in the deployable finger mechanism shown; Fig.19 for Fig.18 A schematic diagram of the knuckle assembly after folding; Fig. 20 for Fig.16 A schematic diagram of a first finger joint connector in the deployable finger mechanism shown; Fig.21 for Fig.16 A schematic diagram of a second finger joint connecting member in the deployable finger mechanism shown; Fig. 22 for Fig.21 A schematic diagram of the middle second finger joint connector after it is opened; Fig.23It is a side view of the deployable finger mechanism in the embodiment of the present application; the deployable finger mechanism 400 includes: a first finger joint connector 410, a plurality of second finger joint connectors 420, a plurality of finger joint assemblies 430 and a finger top connector 440; the plurality of finger joint assemblies 430 are respectively arranged between the first finger joint connector 410 and the second finger joint connector 420 closest to the first finger joint connector 410, between two adjacent second finger joint connectors 420 and between the outermost second finger joint connector 420 and the finger top connector 440; the first finger joint connector 410 includes: a first finger joint connecting plate 411, a second finger joint connecting plate 412 and a first connecting rod grasping assembly 413, the first finger joint connecting plate 411 and the second finger joint connecting plate 412 2 is hinged, the first connecting rod grabbing assembly 413 is located between the first knuckle connecting plate 411 and the second knuckle connecting plate 412, and the first connecting rod grabbing assembly 413 is used to change the angle between the first knuckle connecting plate 411 and the second knuckle connecting plate 412; the second knuckle connecting member 420 includes: a third knuckle connecting plate 421, a fourth knuckle connecting plate 422 and a second connecting rod grabbing assembly 423, the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422 are hinged, the second connecting rod grabbing assembly 423 is located between the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422, and the second connecting rod grabbing assembly 423 is used to change the angle between the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422.

[0100] It should be noted that the number of the second finger joint connectors 420 and the finger joint assemblies 430 can be two, three, four or more, and the number of the finger joint assemblies 430 is greater than the number of the second finger joint connectors 420 and the difference between the two numbers is 1. Fig.16 and Fig.17 The present invention is a deployable finger mechanism having two second finger joint connecting parts 420 and three finger joint assemblies 430 .

[0101] It should be noted that the second knuckle connector 420 closest to the first knuckle connector 410 refers to the second knuckle connector 420 closest to the first knuckle connector 410 in the same deployable finger mechanism; the outermost second knuckle connector 420 refers to the second knuckle connector 420 closest to the finger top connector 440 in the same deployable finger mechanism.

[0102] It should be noted that the expandable variable-cell space manipulator used for on-orbit grasping can grasp the target object in two ways: the first is to grasp the target object through the finger top connector 440 of the expandable finger mechanism 400, that is, grasping by the fingertips, which is suitable for grasping relatively slender objects; the other is to perform envelope grasping through the expandable finger mechanism, that is, the expandable finger mechanism 400 is bent to envelope the target object, and the target object is located in the space enclosed by the expandable finger mechanism 400, and the expandable finger mechanism can achieve envelope grasping through a limited number of contact points / facing the target object.

[0103] Specifically, the first knuckle connecting plate 411 of the first knuckle connecting member 410 is fixedly connected to the finger connecting member 350 by fasteners such as screws, thereby realizing the connection between the expandable finger mechanism and the expandable palm mechanism.

[0104] In some embodiments of the present application, Fig. 20 , Fig.21 , Fig. 22 and Fig.23 As shown, the first link grabbing assembly 413 includes: a first grabbing link 4131, a second grabbing link 4132, a first link rotating shaft 4133 and a first grabbing driving member 4134; one end of the first grabbing link 4131 is hinged to the first knuckle connecting plate 411, and the other end is connected to one end of the second grabbing link 4132 through the first link rotating shaft 4133, and the specific connection method is hinged; the other end of the second grabbing link 4132 is hinged to the second knuckle connecting plate 412; the first grabbing driving member 4134 is installed on the first knuckle connecting plate 411, and the output shaft of the first grabbing driving member 4134 can drive the first grabbing link 4131 to rotate, so as to drive the second grabbing link 4132 to rotate through the first link rotating shaft 4133, so as to change the angle between the first knuckle connecting plate 411 and the second knuckle connecting plate 412.

[0105] like Fig.21 and Fig. 22As shown, the second link grabbing assembly 423 includes: a third grabbing link 4231, a fourth grabbing link 4232, a second link rotating shaft 4233 and a second grabbing driving member 4234; one end of the third grabbing link 4231 is hinged to the third finger joint connecting plate 421, and the other end is connected to one end of the fourth grabbing link 4232 through the second link rotating shaft 4233, and the specific connection method is hinged; the other end of the fourth grabbing link 4232 is hinged to the fourth finger joint connecting plate 422; the second grabbing driving member 4234 is installed on the third finger joint connecting plate 421, and the output shaft of the second grabbing driving member 4234 can drive the third grabbing link 4231 to rotate, so as to drive the fourth grabbing link 4232 to rotate through the second link rotating shaft 4233, so as to change the angle between the third finger joint connecting plate 421 and the fourth finger joint connecting plate 422.

[0106] Through the above-mentioned arrangement, the output shaft of the first grabbing driving member 4134 drives the first grabbing link 4131 to rotate, so as to drive the second grabbing link 4132 to rotate through the first link rotating shaft 4133, so as to change the angle between the first finger joint connecting plate 411 and the second finger joint connecting plate 412; the output shaft of the second grabbing driving member 4234 drives the third grabbing link 4231 to rotate, so as to drive the fourth grabbing link 4232 to rotate through the second link rotating shaft 4233, so as to change the angle between the third finger joint connecting plate 421 and the fourth finger joint connecting plate 422, so as to achieve the change of the bending degree of the expandable finger mechanism and improve the flexibility of the expandable finger mechanism.

[0107] Specifically, for the first knuckle connecting member 410 and the second knuckle connecting member 420, when the first knuckle connecting plate 411 is parallel to the second knuckle connecting plate 412, and the third knuckle connecting plate 421 is parallel to the fourth knuckle connecting plate 422, the expandable finger mechanism 400 is in a straight state; when the first grabbing driving member 4134 drives the first grabbing link 4131 to rotate, so as to drive the second grabbing link 4132 to rotate, so as to change the angle between the first knuckle connecting plate 411 and the second knuckle connecting plate 412; when the third grabbing link 4231 is driven to rotate by the output shaft of the second grabbing driving member 4234, so as to drive the fourth grabbing link 4232 to rotate, so as to change the angle between the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422, there is an angle between adjacent knuckle components, and the expandable finger mechanism 400 is in a bent state.

[0108] In some embodiments of the present application, Figures 16 to 23As shown, the finger joint assembly 430 closest to the first finger joint connector 410 is the first finger joint assembly, the finger joint assembly 430 located between two adjacent second finger joint connectors 420 is the second finger joint assembly, and the finger joint assembly 430 between the second finger joint connector 420 and the finger top connector 440 is the third finger joint assembly. The first finger joint assembly, the second finger joint assembly and the third finger joint assembly all include: a first scissors-fork mechanism 431, a second scissors-fork mechanism 432 and a scissors-fork drive mechanism 433.

[0109] The scissor drive mechanism 433 of the first knuckle assembly is arranged on the second knuckle connecting plate 412 of the first knuckle connecting member 410; one end of the first scissor mechanism 431 and the second scissor mechanism 432 of the first knuckle assembly is arranged on the second knuckle connecting plate 412 of the first knuckle connecting member 410, and the other end is hinged to the third knuckle connecting plate 421 of the first second knuckle connecting member 420. It should be noted that the first second knuckle connecting member 420 refers to the second knuckle connecting member 420 closest to the first knuckle connecting member 410, that is, along the direction away from the first knuckle connecting member 410, they are the first second knuckle connecting member 420 and the second second knuckle connecting member 420 respectively.

[0110] like Figures 16 to 23 As shown, the scissor drive mechanism 433 of the second knuckle assembly is arranged on the fourth knuckle connecting plate 422 of the first second knuckle connecting member 420; one end of the first scissor mechanism 431 and the second scissor mechanism 432 of the second knuckle assembly is arranged on the fourth knuckle connecting plate 422 of the first second knuckle connecting member 420, and the other end is hinged to the third knuckle connecting plate 421 of the second second knuckle connecting member 420.

[0111] The scissors-fork drive mechanism 433 of the third knuckle assembly is arranged on the fourth knuckle connecting plate 422 of the second second knuckle connecting piece 420; one end of the first scissors-fork mechanism 431 and the second scissors-fork mechanism 432 of the third knuckle assembly is arranged on the fourth knuckle connecting plate 422 of the second second knuckle connecting piece 420, and the other end is hinged to the finger top connecting piece 440.

[0112] like Figures 16 to 23 As shown, the scissor drive mechanism 433 is used to drive the first scissor mechanism 431 to expand or fold, so as to drive the second scissor mechanism 432 to expand or fold.

[0113] In this embodiment, Figures 16 to 23As shown, the first scissors-type mechanism 431 and the second scissors-type mechanism 432 are arranged in parallel, and the scissors-type frame can provide stable support for the deployable finger mechanism 400, and the structure is more compact. The scissors-type structure has the characteristics of magnified parallel displacement, and can have a smaller longitudinal dimension and a larger displacement magnification ratio at the same lifting height, thereby improving work efficiency.

[0114] In some embodiments of the present application, Fig.18 and Fig.19 As shown, the scissors drive mechanism 433 includes: a scissors drive motor 4331, a scissors drive screw 4332 and a scissors drive nut 4333; the scissors drive nut 4333 is threadedly connected to the scissors drive screw 4332, and the scissors drive motor 4331 can drive the scissors drive screw 4332 to rotate, so that the scissors drive nut 4333 reciprocates along the axial direction of the scissors drive screw 4332; the first scissors mechanism 431 includes a first scissors drive connecting rod group 4311 and a second scissors drive connecting rod group 4312; the second scissors mechanism 432 includes a third scissors drive connecting rod group 4321, a fourth scissors drive connecting rod group 4322, a scissors sliding connection member 4323 and a scissors sliding connection matching member 4324; specifically, as Fig.19 As shown, the scissor drive mechanism 433 also has a scissor screw mounting seat 435, a scissor screw coupling 436 and a scissor motor mounting seat 437. The number of scissor screw mounting seats 435 is two, and both ends of the scissor drive screw 4332 are rotatably mounted on the scissor screw mounting seat 435. More specifically, both ends of the scissor drive screw 4332 are rotatably mounted on the scissor screw mounting seat 435 through bearings (not shown); the body (that is, the shell part) of the scissor drive motor 4331 is fixedly mounted on the scissor motor mounting seat 437, and the output shaft of the scissor drive motor 4331 is connected to one end of the scissor drive screw 4332 through the scissor screw coupling 436.

[0115] It should be noted that Fig.19 The knuckle assembly shown is the first knuckle assembly. If it is the second knuckle assembly, then Fig.19 The second knuckle connecting plate 412 is the fourth knuckle connecting plate 422 in the second knuckle connecting member 420 .

[0116] like Figures 16 to 23 As shown, one end of the first scissor drive link group 4311 in the first finger joint assembly is hinged to the scissor drive nut 4333, and the other end is hinged to the second scissor drive link group 4312; one end of the second scissor drive link group 4312 is hinged to the second finger joint connecting plate 412 of the first finger joint connecting member 410, and the other end is hinged to the third finger joint connecting plate 421 of the first second finger joint connecting member 420; specifically, as Fig.19 As shown, the scissor drive nut 4333 is fixedly connected to the nut connecting plate 4334, and one end of the first scissor drive connecting rod group 4311 is hinged to the nut connecting plate 4334 to achieve hinge connection with the scissor drive nut 4333.

[0117] The scissor-fork sliding connection member 4323 in the first finger joint assembly is fixedly connected to the second finger joint connection plate 412 of the first finger joint connection member 410, one end of the third scissor-fork transmission link group 4321 is hinged to the scissor-fork sliding connection member 4323, and the other end is hinged to the third finger joint connection plate 421 of the first second finger joint connection member 420, one end of the fourth scissor-fork transmission link group 4322 is hinged to one end of the scissor-fork sliding connection matching member 4324, and the other end is hinged to the third scissor-fork transmission link group 4321; the other end of the scissor-fork sliding connection matching member 4324 is slidably connected to the scissor-fork sliding connection member 4323;

[0118] One end of the first scissor drive link group 4311 in the second finger joint assembly is hinged to the scissor drive nut 4333, and the other end is hinged to the second scissor drive link group 4312; one end of the second scissor drive link group 4312 is hinged to the fourth finger joint connecting plate 422 of the first second finger joint connecting member 420, and the other end is hinged to the third finger joint connecting plate 421 of the second second finger joint connecting member 420;

[0119] The scissor-fork sliding connection member 4323 in the second finger joint assembly is fixedly connected to the fourth finger joint connection plate 422 of the first second finger joint connection member 420; one end of the third scissor-fork transmission link group 4321 in the second finger joint assembly is hinged to the scissor-fork sliding connection member 4323, and the other end is hinged to the third finger joint connection plate 421 of the second second finger joint connection member 420; one end of the fourth scissor-fork transmission link group 4322 is hinged to one end of the scissor-fork sliding connection matching member 4324, and the other end is hinged to the third scissor-fork transmission link group 4321; the other end of the scissor-fork sliding connection matching member 4324 is slidably connected to the scissor-fork sliding connection member 4323;

[0120] One end of the first scissor drive link group 4311 in the third finger joint assembly is hinged to the scissor drive nut 4333, and the other end is hinged to the second scissor drive link group 4312; one end of the second scissor drive link group 4312 is hinged to the fourth finger joint connecting plate 422 of the second finger joint connecting member 420, and the other end is hinged to the finger top connecting member 440;

[0121] The scissors-fork sliding connector 4323 in the third finger joint assembly is fixedly connected to the fourth finger joint connecting plate 422 of the second second finger joint connecting member 420, one end of the third scissors-fork transmission link group 4321 is hinged to the scissors-fork sliding connector 4323, and the other end is hinged to the finger top connector 440; one end of the fourth scissors-fork transmission link group 4322 is hinged to one end of the scissors-fork sliding connection matching member 4324, and the other end is hinged to the third scissors-fork transmission link group 4321; the other end of the scissors-fork sliding connection matching member 4324 is slidably connected to the scissors-fork sliding connector 4323.

[0122] In some embodiments of the present application, Figures 16 to 23 As shown, the first scissors-fork transmission link group 4311 includes: a first scissors-fork link 4311a and a second scissors-fork link 4311b; the second scissors-fork transmission link group 4312 includes: a third scissors-fork link 4312a and a fourth scissors-fork link 4312b; the third scissors-fork transmission link group 4321 includes: a fifth scissors-fork link 4321a and a sixth scissors-fork link 4321b; the fourth scissors-fork transmission link group 4322 includes: a seventh scissors-fork link 4322a and an eighth scissors-fork link 4322b.

[0123] The first end of the first scissors link 4311a of the first knuckle assembly is hinged to the scissors drive nut 4333, the second end is hinged to the first end of the second scissors link 4311b, and the middle part is hinged to the middle part of the third scissors link 4312a; the second end of the second scissors link 4311b is hinged to the middle part of the fourth scissors link 4312b; the first end of the third scissors link 4312a is hinged to the second knuckle connecting plate 412 of the first knuckle connector 410, the second end is hinged to the first end of the fourth scissors link 4312b, and the second end of the fourth scissors link 4312b is hinged to the third knuckle connecting plate 421 of the first second knuckle connector 420.

[0124] The first end of the fifth scissors link 4321a of the first knuckle assembly is hinged to the scissors sliding connection member 4323, the second end is hinged to the first end of the sixth scissors link 4321b, and the middle part is hinged to the middle part of the seventh scissors link 4322a; the second end of the sixth scissors link 4321b is hinged to the third knuckle connecting plate 421 of the first second knuckle connection member 420; the first end of the seventh scissors link 4322a is hinged to one end of the scissors sliding connection fitting 4324, the second end is hinged to the first end of the eighth scissors link 4322b, and the second end of the eighth scissors link 4322b is hinged to the middle part of the sixth scissors link 4321b.

[0125] The first end of the first scissors link 4311a of the second knuckle assembly is hinged to the scissors drive nut 4333, the second end is hinged to the first end of the second scissors link 4311b, and the middle part is hinged to the middle part of the third scissors link 4312a; the second end of the second scissors link 4311b is hinged to the middle part of the fourth scissors link 4312b; the first end of the third scissors link 4312a is hinged to the fourth knuckle connecting plate 422 of the first second knuckle connector 420, the second end is hinged to the first end of the fourth scissors link 4312b, and the second end of the fourth scissors link 4312b is hinged to the third knuckle connecting plate 421 of the second second knuckle connector 420.

[0126] The first end of the fifth scissors link 4321a of the second knuckle assembly is hinged to the scissors sliding connection member 4323, the second end is hinged to the first end of the sixth scissors link 4321b, and the middle part is hinged to the middle part of the seventh scissors link 4322a; the second end of the sixth scissors link 4321b is hinged to the third knuckle connecting plate 421 of the second second knuckle connection member 420; the first end of the seventh scissors link 4322a is hinged to one end of the scissors sliding connection fitting 4324, the second end is hinged to the first end of the eighth scissors link 4322b, and the second end of the eighth scissors link 4322b is hinged to the middle part of the sixth scissors link 4321b.

[0127] like Figures 16 to 19 The first end of the first scissors link 4311a of the third finger joint assembly is hinged to the scissors drive nut 4333, the second end is hinged to the first end of the second scissors link 4311b, and the middle part is hinged to the middle part of the third scissors link 4312a; the second end of the second scissors link 4311b is hinged to the middle part of the fourth scissors link 4312b; the first end of the third scissors link 4312a is hinged to the fourth finger joint connecting plate 422 of the second second finger joint connecting piece 420, the second end is hinged to the first end of the fourth scissors link 4312b, and the second end of the fourth scissors link 4312b is hinged to the finger top connecting piece 440.

[0128] The first end of the fifth scissors link 4321a of the third finger joint assembly is hinged to the scissors sliding connection piece 4323, the second end is hinged to the first end of the sixth scissors link 4321b, and the middle part is hinged to the middle part of the seventh scissors link 4322a; the second end of the sixth scissors link 4321b is hinged to the finger top connection piece 440; the first end of the seventh scissors link 4322a is hinged to one end of the scissors sliding connection fitting 4324, the second end is hinged to the first end of the eighth scissors link 4322b, and the second end of the eighth scissors link 4322b is hinged to the middle part of the sixth scissors link 4321b.

[0129] The single finger joint assembly of the expandable finger mechanism of the expandable variable-cellular space manipulator for on-orbit grasping provided in the embodiment of the present application is designed as a parallel incomplete scissors-type mechanism, which uses two incomplete scissors-type mechanisms in parallel at a certain distance from each other, and designs one end of each of them to be in a fixed state and the other end to be in a free state, thereby avoiding the influence of the width change of the scissors-type mechanism on the folding and unfolding of the fingers, realizing the expansion and folding of the fingers at a fixed width, increasing the stiffness of the fingers, and providing two grasping surfaces to adapt to spatial targets of random shapes.

[0130] The expandable variable cell space manipulator for on-orbit grasping provided in the embodiment of the present application has an expandable palm mechanism and an expandable finger mechanism whose movements are independent. Therefore, the space manipulator has multiple working configurations. The typical working configuration is: Figure 24 to Figure 29 Configuration: see Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 , Fig.29 ; Fig.24 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a folded configuration and the deployable finger mechanism is in an deployed grasping configuration; Fig.25 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a folded configuration and the deployable finger mechanism is in a folded grasping configuration; Fig.26 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when it is in a deployed configuration and a deployable finger mechanism is in a deployed grasping configuration; Fig. 27 It is a schematic diagram of a deployable palm mechanism of a deployable variable cellular space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in an deployed configuration and the deployable finger mechanism is in a folded grasping configuration; Fig.28 It is a schematic diagram of a deployable palm mechanism of a deployable variable cell space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a variable cell configuration and the deployable finger mechanism is in a deployed grasping configuration; Fig.29It is a schematic diagram of a deployable palm mechanism of a deployable variable cell space manipulator for on-track grasping in an embodiment of the present application when the deployable palm mechanism is in a variable cell configuration and the deployable finger mechanism is in a folded grasping configuration; Fig.30 for Fig. 27 An enlarged view of the deployable variable cellular space manipulator at position M for on-orbit grasping is shown; Fig.31 for Fig.29 An enlarged view of the deployable variable cell space manipulator at position N for on-orbit grasping is shown; Fig.32 for Fig.29 An enlarged view of the deployable variable cellular space manipulator at position L for on-orbit grasping is shown.

[0131] Next, combine Figures 1 to 10 , Figure 24 to Figure 29 , the unfolding motion of the unfoldable palm mechanism is described:

[0132] like Figure 3 Shown and Figure 6 , Fig. 9 As shown, in the folded configuration of the unfoldable palm mechanism 300, the driving power member 230 in the palm drive mechanism 200 drives the first transmission gear 243 and the second transmission gear 244 through the intermediate transmission gear 246 and the transmission gear shaft 245 to respectively drive the first output connector 210 and the second output connector 220 to rotate, and the first output connector 210 and the second output connector 220 generate motions with opposite rotation directions and the same rotation speed. Therefore, the first output connector 210 and the second output connector 220 move toward each other, and respectively drive the left driving link group 330 and the right driving link group 340 to move, thereby pushing the first base link 310 and the second base link 320 to rotate around the base rotation shafts 121 on the two adjacent base extensions 120, respectively, so that the first left amorphous rod 371, the second left amorphous rod 372, the first right amorphous rod 381 and the second right amorphous rod 382 move upwards respectively, and thus the finger connector 350 moves upwards. While the first output connector 210 and the second output connector 220 are rotating, the finger connector 350 generates a pulling force on the first slider 361, causing the first slider 361 to move relative to the second slider 362. Since the length of the first slider 361 is limited, as the finger connector 350 continues to move, the first slider 361 generates a pulling force on the second slider 362, causing the second slider 362 to move relative to the third slider 363, until the finger connector 350 stops moving and the first slider 361 stops moving relative to the third slider 363. Figure 4 , Fig.13a As shown, at this time, the unfoldable palm mechanism 300 is fully unfolded.

[0133] It should be noted that the first slider 361 includes a first slider body (not shown) and a first slider limiting portion (not shown). The first slider limiting portion is located at the first end of the first slider body, and the first slider limiting portion can be a limiting plate protruding from the outer wall of the first slider body; the second end of the second slider 362 is circumferentially provided with a limiting side wall (not shown) that can cooperate with the first slider limiting member, and a sliding through hole (not shown) is formed in the middle of the limiting side wall. The first slider body of the first slider 361 can pass through the sliding through hole and be slidably connected to the second slider 362. During the unfolding process of the unfoldable palm mechanism 300, as the first slider 361 extends outward, the first slider limiting portion of the first slider 361 can be abutted against the limiting side wall of the second slider 362; after the first slider limiting portion abuts against the limiting side wall of the second slider 362, the first slider 361 will generate a pulling force on the second slider 362, causing the second slider 362 to move relative to the third slider 363.

[0134] Specifically, Fig.13a and Fig.13b The first slider body and the second slider 362 can be long strip-shaped shells.

[0135] Combination Figures 1 to 10 , Figure 24 to Figure 29 , the metamorphosis movement of the unfoldable palm mechanism 300 is described:

[0136] When the expandable palm mechanism 300 is expanded to a certain position, such as Figure 4 As shown, the rotation axis R between the first left cell rod 371 and the second left cell rod 372 11 The rotation axis R between the first right metamorphic rod 381 and the second right metamorphic rod 382 12 At this time, the first output connector 210 and the second output connector 220 no longer move, and the third slider 363 starts to rotate under the action of the active rotating member 364, and the third slider 363 drives the second slider 362 and the first slider 361 to rotate; Fig.14 As shown, under the rotation of the first slider 361, the finger connector 350 rotates around the above-mentioned colinear rotation axis (that is, R 11 and R 12 ) rotates, a relative displacement will occur between the first slider 361 and the second slider 362 to adapt to the change in the distance between the finger connector 350 and the third slider 363 during the rotation process, thereby generating a metamorphic motion that can unfold the palm mechanism 300. When the active rotating member 364 drives the third slider 363 to move in the reverse direction, the finger connector 350 rotates around the above-mentioned colinear axis back to the position before the metamorphic motion.

[0137] It should be noted that, since the above-mentioned rotation axes are collinear when the expandable palm mechanism 300 is expanded to a certain position, the metamorphosis of the expandable palm mechanism 300 occurs after the expandable palm mechanism 300 is expanded.

[0138] Combination Figures 1 to 29 , the folding movement of the unfoldable palm mechanism 300 is described:

[0139] When the unfoldable palm mechanism 300 is in the unfolded state, when the unfoldable palm mechanism 300 needs to be folded, the palm drive mechanism 200 drives the first output connector 210 and the second output connector 220 to generate a movement with opposite rotation directions and the same rotation speed, the first output connector 210 and the second output connector 220 drive the left drive link group 330 and the right drive link group 340 to move, and then drive the first base link 310 and the second base link 320 to move. Here, the movement of the above-mentioned rods is opposite to the movement direction of the rods when the unfoldable palm mechanism 300 is unfolded. When the finger connector 350 moves to a certain position, the first output connector 210 and the second output connector 220 stop moving, and the unfoldable palm mechanism 300 is folded.

[0140] Combination Figures 1 to 29 , the unfolding motion of the unfoldable finger mechanism is described:

[0141] like Figures 16 to 19 Under the action of the scissors drive motor 4331, the first scissors drive link group 4311, the second scissors drive link group 4312, the third scissors drive link group 4321 and the fourth scissors drive link group 4322 are driven to produce a movement perpendicular to the movement direction of the scissors sliding connection matching piece 4324, and the distance between the scissors sliding connection matching piece 4323 and the scissors sliding connection matching piece 4324 is shortened, thereby completing the expansion movement of the finger joint assembly 430.

[0142] like Figures 16 to 19 , the folding movement of the deployable finger mechanism 400 is described:

[0143] Under the action of the scissors drive motor 4331, the first scissors drive link group 4311, the second scissors drive link group 4312, the third scissors drive link group 4321 and the fourth scissors drive link group 4322 are driven to produce a movement perpendicular to the movement direction of the scissors sliding connection matching piece 4324, and the distance between the scissors sliding connection matching piece 4323 and the scissors sliding connection matching piece 4324 increases, thereby completing the folding movement of the finger joint assembly 430.

[0144] like Figures 16 to 23 , the grabbing and releasing motions of the first knuckle connector 410 and the second knuckle connector 420 are described:

[0145] For the second knuckle connector 420, the third knuckle connector plate 421, the third grabbing link 4231, the fourth grabbing link 4232 and the fourth knuckle connector plate 422 form a four-bar mechanism, and they serve as the base, active member, connecting rod and passive member of the four-bar mechanism in turn. When m (m≥3) knuckle assemblies 430 are connected in series, the third knuckle connector plate 421 is the end of the previous knuckle assembly, serving as the base of the four-bar mechanism; the fourth knuckle connector plate 422 is the beginning of the next knuckle assembly, serving as the passive member of the four-bar mechanism. The third grabbing link 4231 acts as an active member, so that the fourth grabbing link 4232 pushes the fourth knuckle connecting plate 422 to rotate around the axis between the fourth knuckle connecting plate 422 and the third knuckle connecting plate 421 (that is, the second link rotating axis 4233). The movement of the fourth knuckle connecting plate 422 drives the rotation of the knuckle assembly 430 connected thereto. The maximum design angle of rotation of the knuckle assembly 430 is determined by the singular position of the four-bar mechanism, and the maximum design angle of rotation of the knuckle assembly 430 is the maximum grabbing configuration of the second knuckle connecting member. When the second grabbing driving member 4234 drives the third grabbing link 4231 to rotate in the opposite direction, the second knuckle connecting member performs a release movement, and the mechanical limit blocks 414 on the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422 ensure the safety of the knuckle assembly when performing the release movement. Similarly, the first knuckle connecting member 410 can also generate the same four-bar mechanism movement to push the next knuckle assembly to rotate.

[0146] In this application, in addition to the above typical working configurations (that is, Figure 24 to Figure 29 In addition to the working configuration shown in the figure, the deployable palm mechanism has ∞ configurations between the folded configuration and the deployed configuration; the finger joint assembly 430 has ∞ configurations between the deployed configuration and the folded configuration; the (m-1) second finger joint connecting parts have ∞ configurations due to the movement of the four-bar mechanism; the first finger joint connecting part has ∞ configurations due to the movement of the four-bar mechanism; the m (m≥3) finger joint assemblies 430, (m-1) second finger joint connecting parts and one first finger joint connecting part of the deployable finger mechanism are connected in series, and each finger joint assembly 430 moves independently, so the deployable finger mechanism has Since the movement of the deployable palm mechanism and the movement of the deployable finger mechanism are independent, and the movement of each finger joint assembly is independent, the n-finger deployable variable cell space manipulator for on-orbit grasping has It should be noted that the n fingers here refer to n deployable finger mechanisms 400 and n deployable palm mechanisms 300.

[0147] Therefore, when grasping a space target, the expandable variable-cell space manipulator for on-orbit grasping provided in this embodiment can flexibly select the working configuration according to the properties of the space target to adapt to the size and shape of the space target and complete the grasping of the space target.

[0148] This application only develops the schematic diagram of the deployable variable cell space manipulator for on-orbit grasping in the case of n=4, m=3. In the case of n=4, m=3, there are Atypical working configuration.

[0149] It should be noted that, in actual applications, the space operating system in which the expandable variable-cell space manipulator used for on-orbit grasping is located often also has a remote control center (not shown) and a visual recognition device (not shown), which is electrically connected to the above-mentioned driving power component 230, the first grasping drive component 4134, the second grasping drive component 4234, the scissors drive motor 4331 and the slider drive motor and other drive components through the remote control center (not shown). When the visual recognition device (not shown) recognizes the space target object, the visual recognition device transmits the shape and position information of the target object to the remote control center, and the remote control center can send an electrical signal to the above-mentioned drive component for driving, and the remote control center controls the space manipulator to grasp the target object; the embodiment of the present application only provides a structure of a expandable variable-cell space manipulator for on-orbit grasping, so the structure of the remote control center and the visual recognition device is not described in detail.

[0150] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0151] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A deployable variable cell space manipulator for on-orbit grasping, characterized in that: include: A manipulator base (100), a palm drive mechanism (200), a plurality of deployable palm mechanisms (300), and a plurality of deployable finger mechanisms (400); The palm drive mechanism (200) is mounted on the manipulator base (100) and comprises a first output connection member (210) and a second output connection member (220) with opposite rotation directions; A plurality of the expandable palm mechanisms (300) are arranged at intervals along the circumference of the manipulator base (100); The expandable palm mechanism (300) comprises a first base connecting rod (310), a second base connecting rod (320), a left driving connecting rod group (330), a right driving connecting rod group (340), a finger connecting piece (350) and a metamorphosis component (360); The metamorphosis component (360) comprises a metamorphosis driving mechanism (360a) and a metamorphosis connecting rod mechanism; the metamorphosis driving mechanism (360a) is respectively connected to the finger connecting member (350) and the manipulator base (100) and is used to drive the finger connecting member (350) to be lifted upward or tilted downward; The first ends of the left driving link group (330) and the right driving link group (340) are respectively fixedly connected to the first output connecting member (210) and the second output connecting member (220) of the palm driving mechanism (200), and the second ends are respectively hinged to the first base connecting rod (310) and the second base connecting rod (320); The first ends of the first base connecting rod (310) and the second base connecting rod (320) are respectively rotatably connected to the manipulator base (100), and the second ends are hinged to the finger connecting member (350) via the metamorphic connecting rod mechanism; The palm drive mechanism (200) drives the first output connection member (210) and the second output connection member (220) to rotate, thereby driving the first ends of the left drive link group (330) and the right drive link group (340) to move closer to or farther from each other, thereby driving the finger connection member (350) to move in a direction away from or closer to the manipulator base (100), so that the expandable palm mechanism (300) is expanded or folded; One end of the expandable finger mechanism (400) is connected to the expandable palm mechanism (300) via the finger connector (350), and the other end is used for grasping an object.

2. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that: The left driving connecting rod assembly (330) comprises a first left driving rod (331) and a second left driving rod (332); the first end of the first left driving rod (331) is fixedly connected to the first output connecting member (210), and the second end is hinged to the first end of the second left driving rod (332); the second end of the second left driving rod (332) is hinged to the first base connecting rod (310); The right driving link assembly (340) comprises a first right driving rod (341) and a second right driving rod (342); the first end of the first right driving rod (341) is fixedly connected to the second output connecting member (220), and the second end is hinged to the first end of the second right driving rod (342); the second end of the second right driving rod (342) is hinged to the second base connecting rod (320).

3. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that: The robot base (100) comprises a base body (110) and a plurality of base extensions (120), wherein the plurality of base extensions (120) are arranged at intervals along the circumferential direction on the outer edge of the base body (110); The first ends of the first base connecting rod (310) and the second base connecting rod (320) are respectively rotatably connected to two adjacent base extension parts (120).

4. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that: The palm drive mechanism (200) comprises a drive power member (230) and a drive transmission assembly (240); The first output connecting member (210) and the second output connecting member (220) are arranged at intervals in the height direction and are connected to the driving power member (230) via the driving transmission assembly (240); the driving power member (230) transmits power to the first output connecting member (210) and the second output connecting member (220) via the driving transmission assembly (240), so as to drive the first output connecting member (210) and the second output connecting member (220) to rotate in opposite directions.

5. The deployable variable cell space manipulator for on-orbit grasping according to claim 4, characterized in that: The driving power member (230) is a driving motor, the output shaft of the driving motor is a gear shaft, and the driving transmission assembly (240) comprises: A first connecting seat (241), a second connecting seat (242), a first transmission gear (243), a second transmission gear (244), a transmission gear shaft (245), and an intermediate transmission gear (246); The first connecting seat (241) is fixedly connected to the manipulator base (100); The first transmission gear (243) is sleeved on the first connection seat (241) and is rotationally connected to the first connection seat (241); the first output connection member (210) is fixedly connected to the first transmission gear (243); The transmission gear shaft (245) comprises a gear tooth portion (2451) and a shaft body portion (2452), the gear tooth portion (2451) is externally meshed with the first transmission gear (243), the intermediate transmission gear (246) is fixedly mounted on the shaft body portion (2452), and the intermediate transmission gear (246) is externally meshed with the gear shaft of the drive motor; The intermediate transmission gear (246) is located inside the second transmission gear (244) and meshes with the second transmission gear (244). The second transmission gear (244) is fixedly connected to the second output connecting member (220).

6. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that: The metamorphosis driving mechanism (360a) comprises: a first slider (361), a second slider (362), a third slider (363) and an active rotating member (364); The third slider (363) is rotatably connected to the manipulator base (100) and is sleeved outside the first end of the second slider (362), and the second slider (362) is capable of reciprocatingly sliding along the third slider (363); The second slider (362) is sleeved on the outside of the first end of the first slider (361), the second slider (362) is slidably connected to the first slider (361), and the second end of the first slider (361) is hinged to the finger connector (350); The active rotating member (364) is mounted on the manipulator base (100) and is capable of driving the third slider (363) to rotate, thereby driving the first slider (361) and the second slider (362) to rotate, thereby lifting the finger connecting member (350) upward or tilting it downward.

7. The deployable variable cell space manipulator for on-orbit grasping according to claim 6, characterized in that: The metamorphic link mechanism comprises a left metamorphic link assembly (370) and a right metamorphic link assembly (380), and the second ends of the first base link (310) and the second base link (320) are respectively hinged to the finger connector (350) via the left metamorphic link assembly (370) and the right metamorphic link assembly (380).

8. The deployable variable cell space manipulator for on-orbit grasping according to claim 7, characterized in that: The left metamorphic rod assembly (370) comprises a first left metamorphic rod (371) and a second left metamorphic rod (372); the first end of the first left metamorphic rod (371) is hinged to the second end of the first base connecting rod (310), and the second end is rotationally connected to the first end of the second left metamorphic rod (372); the second end of the second left metamorphic rod (372) is rotationally connected to the first side of the finger connecting member (350); The right metamorphic rod assembly (380) comprises a first right metamorphic rod (381) and a second right metamorphic rod (382); the first end of the first right metamorphic rod (381) is hinged to the second end of the second base connecting rod (320), and the second end is rotationally connected to the first end of the second right metamorphic rod (382); the second end of the second right metamorphic rod (382) is rotationally connected to the second side of the finger connecting member (350).

9. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that: The deployable finger mechanism (400) comprises: a first finger joint connecting piece (410), a plurality of second finger joint connecting pieces (420), a plurality of finger joint assemblies (430) and a finger top connecting piece (440); The plurality of finger joint assemblies (430) are respectively arranged between the first finger joint connection member (410) and the second finger joint connection member (420) closest to the first finger joint connection member (410), between two adjacent second finger joint connection members (420), and between the outermost second finger joint connection member (420) and the finger top connection member (440); The first knuckle connecting member (410) comprises: a first knuckle connecting plate (411), a second knuckle connecting plate (412) and a first connecting rod grabbing assembly (413); the first knuckle connecting plate (411) and the second knuckle connecting plate (412) are hinged; the first connecting rod grabbing assembly (413) is located between the first knuckle connecting plate (411) and the second knuckle connecting plate (412); the first connecting rod grabbing assembly (413) is used to change the angle between the first knuckle connecting plate (411) and the second knuckle connecting plate (412); The second knuckle connecting member (420) comprises: a third knuckle connecting plate (421), a fourth knuckle connecting plate (422) and a second connecting rod grabbing assembly (423); the third knuckle connecting plate (421) and the fourth knuckle connecting plate (422) are hinged; the second connecting rod grabbing assembly (423) is located between the third knuckle connecting plate (421) and the fourth knuckle connecting plate (422); the second connecting rod grabbing assembly (423) is used to change the angle between the third knuckle connecting plate (421) and the fourth knuckle connecting plate (422).

10. The deployable variable cell space manipulator for on-orbit grasping according to claim 9, characterized in that: The first connecting rod grabbing assembly (413) comprises: A first grabbing link (4131), a second grabbing link (4132), a first link rotating shaft (4133) and a first grabbing driving member (4134); One end of the first grabbing link (4131) is hinged to the first knuckle connecting plate (411), and the other end is connected to one end of the second grabbing link (4132) via the first link rotating shaft (4133), and the other end of the second grabbing link (4132) is hinged to the second knuckle connecting plate (412); the first grabbing driving member (4134) is installed on the first knuckle connecting plate (411), and the output shaft of the first grabbing driving member (4134) can drive the first grabbing link (4131) to rotate, so as to drive the second grabbing link (4132) to rotate, so as to change the angle between the first knuckle connecting plate (411) and the second knuckle connecting plate (412); The second connecting rod grabbing assembly (423) comprises: A third grabbing link (4231), a fourth grabbing link (4232), a second link rotating shaft (4233) and a second grabbing driving member (4234); One end of the third grabbing link (4231) is hinged to the third knuckle connecting plate (421), and the other end is connected to one end of the fourth grabbing link (4232) through the second link rotating shaft (4233), and the other end of the fourth grabbing link (4232) is hinged to the fourth knuckle connecting plate (422); the second grabbing driving member (4234) is installed on the third knuckle connecting plate (421), and the output shaft of the second grabbing driving member (4234) can drive the third grabbing link (4231) to rotate, so as to drive the fourth grabbing link (4232) to rotate, so as to change the angle between the third knuckle connecting plate (421) and the fourth knuckle connecting plate (422).

11. The deployable variable cell space manipulator for on-orbit grasping according to claim 9, characterized in that: The finger joint assembly (430) closest to the first finger joint connecting piece (410) is a first finger joint assembly, the finger joint assembly (430) located between two adjacent second finger joint connecting pieces (420) is a second finger joint assembly, and the finger joint assembly (430) between the second finger joint connecting piece (420) and the finger top connecting piece (440) is a third finger joint assembly; the first finger joint assembly, the second finger joint assembly and the third finger joint assembly all include: A first scissor mechanism (431), a second scissor mechanism (432) and a scissor drive mechanism (433); The scissor drive mechanism (433) of the first knuckle assembly is arranged on the second knuckle connecting plate (412) of the first knuckle connecting member (410); one end of the first scissor mechanism (431) and the second scissor mechanism (432) are arranged on the second knuckle connecting plate (412) of the first knuckle connecting member (410), and the other end is hinged to the third knuckle connecting plate (421) of the first second knuckle connecting member (420); The scissor drive mechanism (433) of the second finger joint assembly is arranged on the fourth finger joint connecting plate (422) of the first second finger joint connecting member (420); one end of the first scissor mechanism (431) and the second scissor mechanism (432) is arranged on the fourth finger joint connecting plate (422) of the first second finger joint connecting member (420), and the other end is hinged to the third finger joint connecting plate (421) of the second second finger joint connecting member (420); The scissor drive mechanism (433) of the third finger joint assembly is arranged on the fourth finger joint connecting plate (422) of the second second finger joint connecting member (420); one end of the first scissor mechanism (431) and the second scissor mechanism (432) is arranged on the fourth finger joint connecting plate (422) of the second second finger joint connecting member (420), and the other end is hinged to the finger top connecting member (440); The scissor drive mechanism (433) is used to drive the first scissor mechanism (431) to unfold or fold, thereby driving the second scissor mechanism (432) to unfold or fold.

12. The deployable variable cell space manipulator for on-orbit grasping according to claim 11, characterized in that: The scissor drive mechanism (433) comprises: A scissor drive motor (4331), a scissor drive lead screw (4332) and a scissor drive nut (4333); The scissor drive nut (4333) is threadedly connected to the scissor drive lead screw (4332), and the scissor drive motor (4331) is capable of driving the scissor drive lead screw (4332) to rotate, so that the scissor drive nut (4333) reciprocates along the axial direction of the scissor drive lead screw (4332); The first scissor mechanism (431) comprises a first scissor drive link group (4311) and a second scissor drive link group (4312); the second scissor mechanism (432) comprises a third scissor drive link group (4321), a fourth scissor drive link group (4322), a scissor sliding connection piece (4323) and a scissor sliding connection matching piece (4324); One end of the first scissor drive link group (4311) in the first finger joint assembly is hinged to the scissor drive nut (4333), and the other end is hinged to the second scissor drive link group (4312); one end of the second scissor drive link group (4312) is hinged to the second finger joint connecting plate (412) of the first finger joint connecting member (410), and the other end is hinged to the third finger joint connecting plate (421) of the first second finger joint connecting member (420); The scissor-fork sliding connection member (4323) in the first finger joint assembly is fixedly connected to the second finger joint connection plate (412) of the first finger joint connection member (410); one end of the third scissor-fork transmission link group (4321) is hinged to the scissor-fork sliding connection member (4323), and the other end is hinged to the third finger joint connection plate (421) of the first second finger joint connection member (420); one end of the fourth scissor-fork transmission link group (4322) is hinged to one end of the scissor-fork sliding connection matching member (4324), and the other end is hinged to the third scissor-fork transmission link group (4321); the other end of the scissor-fork sliding connection matching member (4324) is slidably connected to the scissor-fork sliding connection member (4323).

13. The deployable variable cell space manipulator for on-orbit grasping according to claim 12, characterized in that: The first scissor-type transmission link group (4311) comprises: a first scissor-type link (4311a) and a second scissor-type link (4311b); The second scissor-type transmission link group (4312) comprises: a third scissor-type link (4312a) and a fourth scissor-type link (4312b); The third scissor-type transmission link group (4321) comprises: a fifth scissor-type link (4321a) and a sixth scissor-type link (4321b); The fourth scissor-type transmission link group (4322) comprises: a seventh scissor-type link (4322a) and an eighth scissor-type link (4322b); The first end of the first scissor link (4311a) of the first knuckle assembly is hinged to the scissor drive nut (4333), the second end is hinged to the first end of the second scissor link (4311b), and the middle part is hinged to the middle part of the third scissor link (4312a); the second end of the second scissor link (4311b) is hinged to the middle part of the fourth scissor link (4312b); the first end of the third scissor link (4312a) is hinged to the second knuckle connecting plate (412) of the first knuckle connecting member (410), the second end is hinged to the first end of the fourth scissor link (4312b), and the second end of the fourth scissor link (4312b) is hinged to the third knuckle connecting plate (421) of the first second knuckle connecting member (420); The first end of the fifth scissors link (4321a) of the first knuckle assembly is hinged to the scissors sliding connection piece (4323), the second end is hinged to the first end of the sixth scissors link (4321b), and the middle part is hinged to the middle part of the seventh scissors link (4322a); the second end of the sixth scissors link (4321b) is hinged to the third knuckle connecting plate (421) of the first second knuckle connecting piece (420); the first end of the seventh scissors link (4322a) is hinged to one end of the scissors sliding connection fitting (4324), the second end is hinged to the first end of the eighth scissors link (4322b), and the second end of the eighth scissors link (4322b) is hinged to the sixth scissors link (4321b).

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