A deployable variable cell space manipulator for on-orbit grasping

Abstract

An embodiment of the present application provides a deployable variable cell space manipulator for on-orbit grasping, which includes a manipulator base, a palm driving mechanism, a plurality of deployable palm mechanisms, and a plurality of deployable finger mechanisms; the deployable palm mechanism includes a first base link, a second base link, a left driving link group, a right driving link group, and a finger connecting member; the first ends of the left driving link group and the right driving link 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 link and the second base link; the palm driving mechanism drives the first output connecting member and the second output connecting member to rotate, driving the finger connecting member to move in a direction away from or close to the manipulator base, so that the deployable palm mechanism is deployed or folded. In the embodiment of the present application, the deployable variable cell space manipulator for on-orbit grasping has high grasping flexibility and strong versatility, and can be used for space tasks in various environments and working conditions.

Description

Technical Field

[0001] This application relates to the field of space technology, and particularly to a deployable variable-cell space manipulator for on-orbit grasping. Background Art

[0002] With the progress of technology, the space industry has developed vigorously, and more and more spacecraft have been launched into space and orbits. As a key technology for on-orbit tasks such as extending the service life of spacecraft, ensuring the normal function of spacecraft, and constructing large-scale space facilities, on-orbit service technology has been widely emphasized by major space-faring countries around the world. On-orbit grasping technology is a type of on-orbit service technology, which mainly grasps space targets through the end effector of a robotic arm, such as obtaining the modules to be assembled in a satellite cabin, grasping out-of-control spacecraft, and recovering debris generated after satellite failures.

[0003] Currently, on-orbit grasping technology can grasp targets through a space manipulator. As a bionic design, the space manipulator has structures such as a palm and fingers, and is fixed at the end of the robotic arm through a connecting mechanism. In the prior art, the space manipulator has weak adaptability to the shape and size of space targets, low grasping flexibility, poor versatility, and large finger thickness, so it is difficult to be applied in situations where there are large differences in the size and shape of space targets, high flexibility requirements, and narrow working spaces. Summary of the Invention

[0004] The purpose of the embodiments of this 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 solutions are as follows:

[0005] An embodiment of the present application provides a deployable variable cell space manipulator for on-orbit grasping. The deployable variable cell space manipulator for on-orbit grasping includes: a manipulator base, a palm driving mechanism, a plurality of deployable palm mechanisms, and a plurality of deployable finger mechanisms; the palm driving mechanism is installed on the manipulator base and has a first output connecting member and a second output connecting member with opposite rotation directions; a plurality of the deployable palm mechanisms are arranged at intervals along the circumferential direction of the manipulator base; the deployable palm mechanism includes a first base link, a second base link, a left driving link group, a right driving link group, a finger connecting member, and a variable cell assembly; the variable cell assembly includes a variable cell driving mechanism and a variable cell link mechanism; the variable cell driving mechanism is respectively connected to the finger connecting member and the manipulator base and is used to drive the finger connecting member to tilt upward or downward; the first ends of the left driving link group and the right driving link 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 link and the second base link; the first ends of the first base link and the second base link are respectively rotatably connected to the manipulator base, and the second ends are hinged to the finger connecting member through the variable cell link mechanism; the palm driving mechanism drives the first output connecting member and the second output connecting member to rotate, driving the first ends of the left driving link group and the right driving link group to approach or move away from each other, so as to drive the finger connecting member to move in a direction away from or close to the manipulator base, so that the deployable palm mechanism unfolds or folds; one end of the deployable finger mechanism is connected to the deployable palm mechanism through the finger connecting member, and the other end is used to grasp an object.

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

[0007] In some embodiments, the manipulator base includes a base body and a plurality of base extensions. The plurality of base extensions are arranged at intervals along the circumferential direction on the outer edge of the base body; the first ends of the first base link and the second base link are respectively rotatably connected to two adjacent base extensions.

[0008] In some embodiments, the palm driving 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. 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, and the output shaft of the driving motor is a gear shaft. 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 tooth portion and a shaft body portion, the tooth portion is externally meshed with the first transmission gear, the intermediate transmission gear is fixedly installed on the shaft body portion, and the intermediate transmission gear is externally meshed with the gear shaft of the driving motor; the intermediate transmission gear is located inside the second transmission gear and is internally meshed with the second transmission gear, and the second transmission gear is fixedly connected to the second output connecting member.

[0010] In some embodiments, the metamorphic driving mechanism includes: a first slider, a second slider, a third slider, and a driving rotating member; the third slider is rotatably connected to the manipulator base and is sleeved outside the first end of the second slider, and the second slider can reciprocally slide along the third slider; the second slider is sleeved outside 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 connecting member; the driving 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 connecting member upward or tilt it downward.

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

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

[0013] In some embodiments, the deployable finger mechanism includes: a first knuckle connecting member, a plurality of second knuckle connecting members, a plurality of knuckle assemblies, and a finger tip connecting member; the plurality of knuckle assemblies are respectively disposed between the first knuckle connecting member and the second knuckle connecting member closest to the first knuckle connecting member, between two adjacent second knuckle connecting members, and between the outermost second knuckle connecting member and the finger tip connecting member; the first knuckle connecting member includes: a first knuckle connecting plate, a second knuckle connecting plate, and a first link grasping assembly, the first knuckle connecting plate and the second knuckle connecting plate are hinged, the first link grasping assembly is located between the first knuckle connecting plate and the second knuckle connecting plate, and the first link grasping 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 grasping assembly, the third knuckle connecting plate and the fourth knuckle connecting plate are hinged, the second link grasping assembly is located between the third knuckle connecting plate and the fourth knuckle connecting plate, and the second link grasping 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 grasping assembly includes: a first grasping link, a second grasping link, a first link rotating shaft, and a first grasping driving member; one end of the first grasping link is hinged to the first finger joint connecting plate, and the other end is connected to one end of the second grasping link through the first link rotating shaft. The other end of the second grasping link is hinged to the second finger joint connecting plate; the first grasping driving member is installed on the first finger joint connecting plate, and the output shaft of the first grasping driving member can drive the first grasping link to rotate, so as to drive the second grasping link to rotate, so as to change the included angle between the first finger joint connecting plate and the second finger joint connecting plate; the second link grasping assembly includes: a third grasping link, a fourth grasping link, a second link rotating shaft, and a second grasping driving member; one end of the third grasping link is hinged to the third finger joint connecting plate, and the other end is connected to one end of the fourth grasping link through the second link rotating shaft. The other end of the third grasping link is hinged to the fourth grasping link; the second grasping driving member is installed on the third finger joint connecting plate, and the output shaft of the second grasping driving member can drive the third grasping link to rotate, so as to drive the fourth grasping link to rotate, so as to change the included angle between the third finger joint connecting plate and the fourth finger joint connecting plate.

[0015] In some embodiments, the finger joint assembly closest to the first finger joint connecting member is the first finger joint assembly, the finger joint assembly located between two adjacent second finger joint connecting members is the second finger joint assembly, and the finger joint assembly between the second finger joint connecting member and the finger tip connecting member 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 scissor mechanism, a second scissor mechanism, and a scissor driving mechanism; the scissor driving mechanism of the first finger joint assembly is arranged on the second finger joint connecting plate of the first finger joint connecting member, and one ends of the first scissor mechanism and the second scissor mechanism are arranged on the second finger joint connecting plate of the first finger joint connecting member, and the other ends are hinged to the third finger joint connecting plate of the first second finger joint connecting member; the scissor 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, and one ends of the first scissor mechanism and the second scissor mechanism are arranged on the fourth finger joint connecting plate of the first second finger joint connecting member, and the other ends are hinged to the third finger joint connecting plate of the second second finger joint connecting member; the scissor 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, and one ends of the first scissor mechanism and the second scissor mechanism are arranged on the fourth finger joint connecting plate of the second second finger joint connecting member, and the other ends are hinged to the finger tip connecting member; the scissor driving mechanism is used to drive the first scissor mechanism to expand or fold, so as to drive the second scissor mechanism to expand or fold.

[0016] In some embodiments, the scissor drive mechanism includes: a scissor drive motor, a scissor drive lead screw, and a scissor drive nut; the scissor drive nut is threadedly connected to the scissor drive lead screw, and the scissor drive motor can drive the scissor drive lead screw to rotate so that the scissor drive nut reciprocates along the axis direction of the scissor drive lead screw; the first scissor mechanism includes a first scissor transmission link group and a second scissor transmission link group; the second scissor mechanism includes a third scissor transmission link group, a fourth scissor transmission link group, a scissor sliding connector, and a scissor sliding connection fitting; one end of the first scissor transmission link group in the first finger joint assembly is hinged to the scissor drive nut, and the other end is hinged to the second scissor transmission link group; one end of the second scissor transmission link group is hinged to the second finger joint connecting plate of the first finger joint connector, and the other end is hinged to the third finger joint connecting plate of the first second finger joint connector; the scissor sliding connector in the first finger joint assembly is fixedly connected to the second finger joint connecting plate of the first finger joint connector, one end of the third scissor transmission link group is hinged to the scissor sliding connector, and the other end is hinged to the third finger joint connecting plate of the first second finger joint connector; one end of the fourth scissor transmission link group is hinged to one end of the scissor sliding connection fitting, and the other end is hinged to the third scissor transmission link group; the other end of the scissor sliding connection fitting is slidably connected to the scissor sliding connector.

[0017] In some embodiments, the first scissor transmission link group includes: a first scissor link and a second scissor link; the second scissor transmission link group includes: a third scissor link and a fourth scissor link; the third scissor transmission link group includes: a fifth scissor link and a sixth scissor link; the fourth scissor transmission link group includes: a seventh scissor link and an eighth scissor link; the first end of the first scissor link of the first finger joint assembly is hinged to the scissor drive nut, the second end is hinged to the first end of the second scissor link, and the middle part is hinged to the middle part of the third scissor link; the second end of the second scissor link is hinged to the middle part of the fourth scissor link; the first end of the third scissor link is hinged to the second finger joint connecting plate of the first finger joint connector, the second end is hinged to the first end of the fourth scissor link, and the second end of the fourth scissor link is hinged to the third finger joint connecting plate of the first second finger joint connector; the first end of the fifth scissor link of the first finger joint assembly is hinged to the scissor sliding connector, the second end is hinged to the first end of the sixth scissor link, and the middle part is hinged to the middle part of the seventh scissor link; the second end of the sixth scissor link is hinged to the third finger joint connecting plate of the first second finger joint connector; the first end of the seventh scissor link is hinged to one end of the scissor sliding connection fitting, the second end is hinged to the first end of the eighth scissor link, and the second end of the eighth scissor link is hinged to the sixth scissor 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 forFigure 1 Axonometric view of the manipulator base of the deployable variable-cell space manipulator for on-orbit grasping shown;

[0027] Figure 6 For Figure 1 Cross-sectional view of the palm drive mechanism and the manipulator base in the deployable variable-cell space manipulator for on-orbit grasping shown;

[0028] Figure 7 For Figure 6 Partial enlarged view of the connection between the palm drive mechanism and the manipulator base shown;

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

[0030] Figure 9 For Figure 8 Cross-sectional view along the AA direction of the connection between the second output connector part and the palm drive mechanism shown;

[0031] Figure 10 For Figure 9 Exploded view of the connection between the second output connector part and the palm drive mechanism shown;

[0032] Figure 11 For Figure 2 Schematic diagram of the connection between the deployable palm mechanism in the non-variable cell state and the manipulator base and the palm drive mechanism shown;

[0033] Figure 12 For Figure 2 Schematic diagram of the connection between the deployable palm mechanism in the variable cell state and the manipulator base and the palm drive mechanism shown;

[0034] Figure 13a Schematic diagram of the non-variable cell state of the deployable variable-cell space manipulator for on-orbit grasping in the embodiment of the present application (the deployable finger mechanism is not shown);

[0035] Figure 13b For Figure 13a Enlarged view of the deployable variable-cell space manipulator for on-orbit grasping at the finger connector shown;

[0036] Figure 14 Schematic diagram of the variable cell state of the deployable variable-cell space manipulator for on-orbit grasping in the embodiment of the present application (the deployable finger mechanism is not shown);

[0037] Figure 15 Schematic diagram of the connection between the variable cell component and the manipulator base in the embodiment of the present application;

[0038] Figure 16 Axonometric view of the deployable finger mechanism after deployment in the embodiment of the present application;

[0039] Figure 17 is Figure 16 the axonometric view of the deployable finger mechanism shown after folding;

[0040] Figure 18 is Figure 16 the deployment schematic diagram of the middle phalanx component of the deployable finger mechanism shown;

[0041] Figure 19 is Figure 18 the schematic diagram of the phalanx component shown after folding;

[0042] Figure 20 is Figure 16 the schematic diagram of the first phalanx connecting piece in the deployable finger mechanism shown;

[0043] Figure 21 is Figure 16 the schematic diagram of the second phalanx connecting piece in the deployable finger mechanism shown;

[0044] Figure 22 is Figure 21 the schematic diagram of the second phalanx connecting piece after opening in;

[0045] Figure 23 is the side view of the deployable finger mechanism in the embodiment of the present application;

[0046] Figure 24 is the schematic diagram of the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiment of the present application when it is in the folded configuration and the deployable finger mechanism is in the deployed grasping configuration;

[0047] Figure 25 is the schematic diagram of the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiment of the present application when it is in the folded configuration and the deployable finger mechanism is in the folded grasping configuration;

[0048] Figure 26 is the schematic diagram of the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiment of the present application when it is in the deployed configuration and the deployable finger mechanism is in the deployed grasping configuration;

[0049] Figure 27 is the schematic diagram of the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiment of the present application when it is in the deployed configuration and the deployable finger mechanism is in the folded grasping configuration;

[0050] Figure 28 is the schematic diagram of the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiment of the present application when it is in the variable cell configuration and the deployable finger mechanism is in the deployed grasping configuration;

[0051] Figure 29 Schematic diagram when the deployable palm mechanism of the deployable variable cell space manipulator for on-orbit grasping in the embodiments of the present application is in a variable cell configuration and the deployable finger mechanism is in a folded grasping configuration;

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

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

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

[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 shaft 121;

[0057] Palm drive mechanism 200; first output connecting member 210; second output connecting member 220; drive power member 230; drive transmission assembly 240; first connecting seat 241; second connecting seat 242; second connecting seat connecting portion 2421; second connecting seat accommodating portion 2422; first transmission gear 243; first connecting convex key 2431; second transmission gear 244; second connecting convex key 2441; transmission gear shaft 245; 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] Deployable palm mechanism 300; first base link 310; link connecting portion 3101; link mounting portion 3102; second base link 320; left drive link group 330; first left drive rod 331; second left drive rod 332; right drive link group 340; first right drive rod 341; second right drive rod 342; finger connecting member 350; variable cell assembly 360; variable cell drive mechanism 360a; first slider 361; second slider 362; limit protrusion 3621; third slider 363; active rotating member 364; coupling 365; connecting flange 366; slider drive motor mounting seat 367; left variable cell link assembly 370; first left variable cell rod 371; second left variable cell rod 372; right variable cell link assembly 380; first right variable cell rod 381; second right variable cell rod 382;

[0059] Expandable finger mechanism 400; first finger joint connecting piece 410; first finger joint connecting plate 411; second finger joint connecting plate 412; first link grasping assembly 413; first grasping link 4131; second grasping link 4132; first link rotating shaft 4133; first grasping driving part 4134; mechanical limit block 414; second finger joint connecting piece 420; third finger joint connecting plate 421; fourth finger joint connecting plate 422; second link grasping assembly 423; third grasping link 4231; fourth grasping link 4232; second link rotating shaft 4233; second grasping driving part 4234; finger joint assembly 430; first scissor mechanism 431; first scissor transmission link group 4311; first scissor link 4311a; second scissor link 4311b; second scissor transmission link group 4312; third scissor link 4312a; fourth scissor link 4312b; second scissor mechanism 432; third scissor transmission link group 4321; fifth scissor link 4321a; sixth scissor link 4321b; fourth scissor transmission link group 4322; seventh scissor link 4322a; eighth scissor link 4322b; scissor sliding connecting piece 4323; scissor sliding connection fitting 4324; scissor driving mechanism 433; scissor driving motor 4331; scissor driving lead screw 4332; scissor driving nut 4333; nut connecting plate 4334; scissor lead screw mounting seat 435; scissor lead screw coupling 436; scissor motor mounting seat 437; finger tip connecting piece 440. Detailed implementation manners

[0060] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the protection scope of the present application.

[0061] The embodiments of the present application provide a deployable variable cell space manipulator for on-orbit grasping. Refer to Figure 1 and Figure 2 , Figure 1 which is an axonometric view of the deployable variable cell space manipulator for on-orbit grasping provided by the embodiments of the present application; Figure 2 is Figure 1 the axonometric view of the manipulator base, palm driving mechanism, and deployable palm mechanism in the deployable variable cell space manipulator for on-orbit grasping shown in Figure 1 and Figure 2As shown in the figure, the deployable variable cell space manipulator for on-orbit grasping includes: 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 installed on the manipulator base 100 and has a first output connecting member 210 and a second output connecting member 220 with opposite rotation directions; a plurality of the deployable palm mechanisms 300 are arranged at intervals along the circumferential direction of the manipulator base 100; the deployable palm mechanism 300 includes a first base link 310, a second base link 320, a left drive link group 330, a right drive link group 340, a finger connecting member 350, and a variable cell assembly 360; the variable cell assembly 360 includes a variable cell drive mechanism 360a and a variable cell link mechanism; the variable cell drive 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 tilt upward or downward relative to the manipulator base 100; the first ends of the left drive link group 330 and the right drive link group 340 are respectively fixedly connected to the first output connecting member 210 and the second output connecting member 220 of the palm drive mechanism 200, and the second ends are respectively hinged to the first base link 310 and the second base link 320; the first ends of the first base link 310 and the second base link 320 are respectively rotatably connected to the manipulator base 100, and the second ends are connected to the finger connecting member 350 through the variable cell link mechanism; the palm drive mechanism 200 drives the first output connecting member 210 and the second output connecting member 220 to rotate, driving the first ends of the left drive link group 330 and the right drive link group 340 to approach or move away from each other, so as to drive the finger connecting member 350 to move in a direction away from or close to the manipulator base 100, so that the deployable palm mechanism 300 is deployed or folded; one end of the deployable finger mechanism 400 is connected to the deployable palm mechanism 300 through the finger connecting member 350, and the other end is used to grasp an object.

[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 this embodiment, the palm deployment mechanism (i.e., the deployable palm mechanism) of the deployable variable-cell space manipulator for on-orbit grasping is a two-degree-of-freedom mechanism. Its active component (i.e., the palm drive mechanism) adopts a rotary deployment design. The left drive link group 330 and the right drive link group 340 of each deployable palm mechanism 300 are respectively connected in series and then connected to two lightweight discs (i.e., the first output connection component and the second output connection component) with a certain height difference, opposite rotation directions, and the same rotation speed. By setting the two lightweight discs as the active components, the number of motors is reduced and the cost is lowered.

[0066] The deployable palm mechanism of the deployable variable-cell space 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 component (i.e., the variable-cell drive mechanism) of the variable-cell component 360 only acts as an active component during the palm variable-cell stage and only makes an accompanying movement during the deployment and folding of the palm deployment mechanism, reducing the control difficulty and cost.

[0067] In the embodiment of the present application, the deployment and folding movements of the deployable finger mechanism 400 and the deployment and folding movements of the deployable palm mechanism 300 are independent of each other. The palm drive mechanism 200 provides power for the deployment or folding of the deployable palm mechanism 300. Compared with the prior art, the deployable variable-cell space manipulator for on-orbit grasping provided in the embodiment of the present application: designs a palm variable-cell mechanism (i.e., the variable-cell component), with diverse grasping methods, increasing the flexibility of the space manipulator when grasping space targets; designs a deployable palm mechanism, enhancing the variability of the working space, increasing the flexibility of the space manipulator when grasping space targets and the adaptability to the size and shape of space targets; designs a deployable finger knuckle component based on a parallel incomplete scissor mechanism and is laterally staggered by a certain distance, increasing the stiffness of the space manipulator when grasping space targets, and also increasing the applicable range of the space manipulator and the adaptability to the shape of space targets.

[0068] In some embodiments of the present application, such as Figure 1 and Figure 2 、 Figure 3 and Figure 4 shown, Figure 3 is a schematic diagram of the folded state of the deployable palm mechanism in the embodiment of the present application; Figure 4Schematic diagram of the deployed state of the deployable 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 link 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 link 320.

[0069] In this embodiment, when the first output connecting member 210 and the second output connecting member 220 rotate in opposite directions so that the first ends of the first left drive rod 331 and 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. Furthermore, the first ends of the second left drive rod 332 and the second right drive rod 342 are driven to move away from each other. 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 move closer to each other. 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. Therefore, the finger connecting member 350 is driven to move towards the direction close to the manipulator base 100, and the distance between the finger connecting member 350 and the manipulator base 100 is shortened, thereby realizing the folding of the deployable palm mechanism 300.

[0070] The deployable variable cell space manipulator for on-orbit grasping provided by the embodiment of the present application can be applied not only to the field of on-orbit grasping, but also to fields such as on-orbit assembly, planetary surface assembly, and planetary surface grasping.

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

[0072] In some embodiments of the present application, such as Figure 2 and Figure 5 shown, Figure 5 is Figure 1Axonometric view of the manipulator base of the deployable variable cell space manipulator for on-orbit 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 on the outer edge of the base body 110; the first ends of the first base link 310 and the second base link 320 are respectively rotatably connected to two adjacent base extensions 120.

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

[0074] Among them, as Figure 2 , Figure 5 and Figure 13a shown, two base rotating shafts 121 can be provided on each base extension 120, and the two base rotating shafts 121 are circumferentially spaced apart. One of the two base rotating shafts 121 connects the second base link 320 in a deployable palm mechanism 300, and the other base rotating shaft 121 connects the first base link 310 in another deployable palm mechanism 300. That is to say, the two base rotating shafts 121 on one base extension 120 are respectively connected to two adjacent deployable palm mechanisms 300, and the first base link 310 and the second base link 320 in a deployable palm mechanism 300 are respectively connected to the base rotating shafts 121 on two adjacent base extensions 120.

[0075] Specifically, the base extension 120 can be triangular or trapezoidal, and the number of base extensions 120 corresponds to the number of deployable finger mechanisms 400.

[0076] More specifically, as Figure 5 shown, a docking interface 111 is further provided on the 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 robotic arm. To facilitate the connection between the manipulator base 100 and the deployable palm mechanism 300, a plurality of base grooves 101 and base screw holes 102 are provided on the manipulator base 100.

[0077] In some embodiments of the present application, refer to Figure 6 ,Figure 7 , Figure 8 , Figure 9 and Figure 10 , Figure 6 is Figure 1 a cross-sectional view of the palm drive mechanism and the manipulator base in the deployable variable-cell space manipulator for on-orbit grasping shown in the figure; Figure 7 is Figure 6 a partial enlarged view of the connection between the palm drive mechanism and the manipulator base shown in the figure; Figure 8 a top view of the connection between the second output connector part and the palm drive mechanism in the embodiment of the present application; Figure 9 is Figure 8 a cross-sectional view along the AA direction of the connection between the second output connector part and the palm drive mechanism shown in the figure; Figure 10 is Figure 9 an exploded view of the connection between the second output connector part and the palm drive mechanism shown in the figure; As Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 shown, the palm drive mechanism 200 has a drive power member 230 and a drive transmission assembly 240; the first output connector 210 and the second output connector 220 are arranged at intervals in the height direction, and the first output connector 210 and the second output connector 220 are connected to the drive power member 230 through the drive transmission assembly 240. The drive power member 230 transmits power to the first output connector 210 and the second output connector 220 through the drive 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 connector 210 and the second output connector 220 are arranged at intervals in the height direction, which can prevent interference between the left drive link group 330 and the right drive link group 340 during rotation.

[0079] In some embodiments of the present application, such as Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown, the driving power component 230 is a driving motor, and the output shaft of the driving motor is a gear shaft. 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 driving 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. The first output connecting piece 210 is fixedly connected to the first transmission gear 243. The transmission gear shaft 245 has a tooth portion 2451 and a shaft body portion 2452. The tooth portion 2451 is externally meshed with 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 externally meshed with the gear shaft of the driving motor. The intermediate transmission gear 246 is located inside the second transmission gear 244 and is internally meshed with the second transmission gear 244. The second transmission gear 244 is fixedly connected to the second output connecting piece 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 piece 220, so the second transmission gear 244 can drive the second output connecting piece 220 to rotate. Since the intermediate transmission gear 246 is fixedly installed on the shaft body portion 2452 of the gear shaft, the intermediate transmission gear 246 can drive the transmission gear shaft 245 to rotate when it rotates. The 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 piece 210 fixedly connected to the first transmission gear 243. Through the above settings, the movement directions of the first transmission gear 243 and the second transmission gear 244 are opposite, and the movement speeds are the same. The advantages of gear transmission are: high transmission accuracy, smooth transmission, high transmission efficiency, reliable operation, and long service life.

[0081] Next, with reference to Figures 6 to 10 , taking the output shaft of the driving power component 230 rotating in the first direction as an example, the movement directions of the first transmission gear 243 and the second transmission gear 244 will be described:

[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. Therefore, the transmission gear shaft 245 fixedly connected to the intermediate transmission gear 246 also rotates in the second direction. Since the 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 that 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 directions of the intermediate transmission gear 246 and the second transmission gear 244 are the same, 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 illustration, and the same goes for the second direction. This application does not limit the rotation direction of the driving power member 230.

[0084] It should be noted that the arrangement form of the gear shaft of the driving motor can be to fix the output gear on the output shaft body of the driving motor.

[0085] Among them, as Figure 6 and Figure 7 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 through a bolt; 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 through a bolt, thereby completing the connection between the deployable palm deployment mechanism and the palm driving mechanism.

[0086] Specifically, as Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 shown, the palm driving 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 at the outer end of the first transmission gear 243, and the second transparent cover 252 is fixedly installed at one end of the second transmission gear 244 close to the first transmission gear 243; the third transparent cover 253 is fixedly installed at one end of the second transmission gear 244 far from the first transmission gear 243; the setting of the first transparent cover 251 and the second transparent cover 252 can play a role in dust protection.

[0087] More specifically, as Figure 6 、 Figure 8 、 Figure 9 and Figure 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 connecting seat 241 through the first bearing 261. The second connecting seat 242 includes a second connecting seat connecting portion 2421 and a second connecting seat accommodating portion 2422. A second bearing 262 is sleeved outside the second connecting seat connecting portion 2421, and the second transmission gear 244 is rotatably connected to the second connecting seat connecting portion 2421 through the second bearing 262, realizing the rotational connection between the second transmission gear 244 and the second connecting seat 242;

[0088] A part of the shaft body portion 2452 of the transmission gear shaft 245 penetrates through the second connecting seat accommodating portion 2422. Two third bearings 263 are provided between the shaft body portion 2452 of the transmission gear shaft 245 and the second base accommodating portion, and the two third bearings 263 are arranged side by side at intervals along the axial direction of the shaft body portion 2452 of the transmission gear shaft 245.

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

[0090] In some embodiments of the present application, as Figure 3 、 Figure 4 、 Figure 11 、 Figure 12 、 Figure 13a 、 Figure 14 and Figure 15 shown, Figure 11 is Figure 2 a schematic diagram of the deployable palm mechanism connected to the manipulator base and the palm drive mechanism when it is in the non-variable cell state; Figure 12 is Figure 2 a schematic diagram of the deployable palm mechanism connected to the manipulator base and the palm drive mechanism when it is in the variable cell state; Figure 13a is a schematic diagram of the non-variable cell state of the deployable variable cell space manipulator for on-orbit grasping in the embodiments of the present application (the deployable finger mechanism is not shown); Figure 13b is Figure 13a an enlarged view of the deployable variable cell space manipulator for on-orbit grasping at the finger connecting piece shown; Figure 14 is a schematic diagram of the variable cell state of the deployable variable cell space manipulator for on-orbit grasping in the embodiments of the present application (the deployable finger mechanism is not shown); Figure 15Schematic diagram of the connection between the metamorphic cell component and the manipulator base in the embodiments of the present application; the metamorphic cell driving mechanism 360a includes: a first slider 361, a second slider 362, a third slider 363, and a driving rotating member 364; the third slider 363 is rotatably connected to the manipulator base 100 and sleeved outside the first end of the second slider 362, and the second slider 362 can reciprocally slide along the third slider 363; the second slider 362 is sleeved outside the first end of the first slider 361, specifically, the second end of the second slider is sleeved outside 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 connecting member 350; the driving 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 connecting member 350 upward or tilt it downward.

[0091] In this embodiment, as Figure 10 , Figure 11 , Figure 12 , Figure 13a , Figure 13b , Figure 14 and Figure 15 shown, the driving 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 also 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, as Figure 15 shown, a limiting protrusion 3621 is provided at the end face of the first end of the second slider 362, and the limiting protrusion 3621 can abut against the end face of the third slider 363 when the second end of the second slider 362 slides to the third slider 363, so as to prevent the second slider 362 from falling off the third slider 363.

[0093] In some embodiments of the present application, as Figure 13b and Figure 14 shown, the metamorphic cell link mechanism includes a left metamorphic cell link assembly 370 and a right metamorphic cell 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 connecting member 350 through the left metamorphic cell link assembly 370 and the right metamorphic cell link assembly 380.

[0094] In some embodiments of the present application, as Figure 1 , Figure 13band Figure 14 As shown, the left metamorphic link assembly 370 includes a first left metamorphic link 371 and a second left metamorphic link 372; the first end of the first left metamorphic link 371 is hinged to the second end of the first base link 310, and the second end is rotatably connected to the first end of the second left metamorphic link 372; the second end of the second left metamorphic link 372 is rotatably connected to the first side of the finger connecting member 350; the right metamorphic link assembly 380 includes a first right metamorphic link 381 and a second right metamorphic link 382; the first end of the first right metamorphic link 381 is hinged to the second end of the second base link 320, and the second end is rotatably connected to the first end of the second right metamorphic link 382; the second end of the second right metamorphic link 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 metamorphic design. When the palm is at a specific position after deployment, due to the change in structural position, two rotating pairs that are not collinear before the palm is deployed reach a collinear position, resulting in a change in the mechanism topological structure, performing a metamorphic action, and realizing the function of the end of the palm (i.e., the finger connecting member 350) flipping upward, improving the flexibility of the deployable variable cell manipulator when grasping space targets; specifically, in combination with Figure 3 and Figure 4 , the metamorphic design is described as follows: Figure 3 The deployable palm mechanism shown is in an incompletely deployed state. At this time, the axes of the rotating pairs R 11 and R 12 are not collinear, have an included angle, and cannot achieve rotation. There is no relative movement between the first left metamorphic link 371 and the second left metamorphic link 372, and the first left metamorphic link 371 and the second left metamorphic link 372 are a rigid body; when as Figure 4 shown, the deployable palm mechanism is completely deployed, that is, when the deployable palm mechanism is deployed to the maximum position, the two rotating pairs are collinear, that is, the rotating pairs R 11 and R 12 are collinear, and relative movement can occur between the first left metamorphic link 371 and the second left metamorphic link 372. At this time, metamorphic movement can be performed.

[0096] It should be noted that Figure 3 and Figure 4 the dotted lines at the rotating pairs R 11 and R 12 represent the axes between the first left metamorphic link 371 and the second left metamorphic link 372 and the axes between the first right metamorphic link 381 and the second right metamorphic link 382.

[0097] Specifically, as Figure 13b and Figure 15As shown, the second end of the first slider 361 and the finger connecting member 350 can be hinged through a bearing assembly. The second end of the second left variable cell rod 372 and the first side of the finger connecting member 350 can be rotatably connected through a bearing assembly. Similarly, the second end of the second right variable cell rod 382 and the second side of the finger connecting member 350 can be rotatably connected through a bearing assembly.

[0098] Regarding Figure 11 and Figure 12 , it should be noted that Figure 11 Shown is a side view of the unfoldable palm mechanism in the non-variable cell state. Figure 12 Is a side view of the unfoldable palm mechanism in the variable cell state. In this perspective, the first left variable cell rod 371 and the first right variable cell rod 381 coincide.

[0099] In some embodiments of the present application, as Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 , Figure 21 , Figure 22 and Figure 23 shown, Figure 16 Is an axonometric view of the unfoldable finger mechanism after unfolding in the embodiments of the present application; Figure 17 Is Figure 16 The axonometric view of the unfoldable finger mechanism after folding shown; Figure 18 Is Figure 16 The unfolded schematic diagram of the middle phalanx assembly of the unfoldable finger mechanism shown; Figure 19 Is Figure 18 The schematic diagram of the phalanx assembly after folding shown; Figure 20 Is Figure 16 The schematic diagram of the first phalanx connecting member in the unfoldable finger mechanism shown; Figure 21 Is Figure 16 The schematic diagram of the second phalanx connecting member in the unfoldable finger mechanism shown; Figure 22 Is Figure 21 The schematic diagram of the second phalanx connecting member after opening in Figure 23Side view of the deployable finger mechanism in the embodiments of the present application; the deployable finger mechanism 400 includes: a first knuckle connecting member 410, a plurality of second knuckle connecting members 420, a plurality of knuckle assemblies 430, and a finger tip connecting member 440; a plurality of the knuckle assemblies 430 are respectively disposed between the first knuckle connecting member 410 and the second knuckle connecting member 420 closest to the first knuckle connecting member 410, between two adjacent second knuckle connecting members 420, and between the outermost second knuckle connecting member 420 and the finger tip connecting member 440; the first knuckle connecting member 410 includes: a first knuckle connecting plate 411, a second knuckle connecting plate 412, and a first link grasping assembly 413, the first knuckle connecting plate 411 and the second knuckle connecting plate 412 are hinged, the first link grasping assembly 413 is located between the first knuckle connecting plate 411 and the second knuckle connecting plate 412, and the first link grasping assembly 413 is used to change the included 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 link grasping assembly 423, the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422 are hinged, the second link grasping assembly 423 is located between the third knuckle connecting plate 421 and the fourth knuckle connecting plate 422, and the second link grasping assembly 423 is used to change the included 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 knuckle connecting members 420 and the knuckle assemblies 430 can be two, three, four or other numbers, the number of the knuckle assemblies 430 is greater than the number of the second knuckle connecting members 420 and the difference between the two numbers is 1. Figure 16 and Figure 17 is a deployable finger mechanism with two second knuckle connecting members 420 and three knuckle assemblies 430.

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

[0102] It should be noted that the method for the deployable variable cell space manipulator for on-orbit grasping to grasp the target object can be achieved in two ways: the first is to grasp the target object through the finger tip connecting piece 440 of the deployable finger mechanism 400, that is, finger tip grasping, and this method is suitable for grasping objects with a relatively slender volume; the other is to perform envelope grasping through the deployable finger mechanism, that is, to bend and envelope the target object through the deployable finger mechanism 400, and the target object is located within the space surrounded by the deployable finger mechanism 400. The deployable finger mechanism can achieve envelope grasping of the target object through a finite number of contact points / faces.

[0103] Specifically, the first finger joint connecting plate 411 of the first finger joint connecting piece 410 is fixedly connected to the finger connecting piece 350 through fasteners such as screws to realize the connection between the deployable finger mechanism and the deployable palm mechanism.

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

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

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

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

[0108] In some embodiments of the present application, such as Figures 16 to 23As shown, the knuckle assembly 430 closest to the first knuckle connecting member 410 is the first knuckle assembly, the knuckle assembly 430 located between two adjacent second knuckle connecting members 420 is the second knuckle assembly, and the knuckle assembly 430 between the second knuckle connecting member 420 and the finger tip connecting member 440 is the third knuckle assembly. The first knuckle assembly, the second knuckle assembly, and the third knuckle assembly all include: a first scissor mechanism 431, a second scissor mechanism 432, and a scissor driving mechanism 433.

[0109] The scissor driving mechanism 433 of the first knuckle assembly is disposed on the second knuckle connecting plate 412 of the first knuckle connecting member 410; one ends of the first scissor mechanism 431 and the second scissor mechanism 432 of the first knuckle assembly are disposed on the second knuckle connecting plate 412 of the first knuckle connecting member 410, and the other ends are 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 to say, 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] As Figures 16 to 23 shown, the scissor driving mechanism 433 of the second knuckle assembly is disposed on the fourth knuckle connecting plate 422 of the first second knuckle connecting member 420; one ends of the first scissor mechanism 431 and the second scissor mechanism 432 of the second knuckle assembly are disposed on the fourth knuckle connecting plate 422 of the first second knuckle connecting member 420, and the other ends are hinged to the third knuckle connecting plate 421 of the second second knuckle connecting member 420.

[0111] The scissor driving mechanism 433 of the third knuckle assembly is disposed on the fourth knuckle connecting plate 422 of the second second knuckle connecting member 420; one ends of the first scissor mechanism 431 and the second scissor mechanism 432 of the third knuckle assembly are disposed on the fourth knuckle connecting plate 422 of the second second knuckle connecting member 420, and the other ends are hinged to the finger tip connecting member 440.

[0112] As Figures 16 to 23 shown, the scissor driving 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, as Figures 16 to 23As shown, the first scissor mechanism 431 and the second scissor mechanism 432 are arranged in parallel. The scissor-shaped frame can provide stable support for the deployable finger mechanism 400 and has a more compact structure. The scissor structure has the characteristic of amplified 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, as Figure 18 and Figure 19 shown, the scissor drive mechanism 433 includes: 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 can drive the scissor drive lead screw 4332 to rotate so that the scissor drive nut 4333 reciprocates along the axis direction of the scissor drive lead screw 4332; the first scissor mechanism 431 includes a first scissor transmission link group 4311 and a second scissor transmission link group 4312; the second scissor mechanism 432 includes a third scissor transmission link group 4321, a fourth scissor transmission link group 4322, a scissor sliding connector 4323, and a scissor sliding connection fitting 4324; specifically, as Figure 19 shown, the scissor drive mechanism 433 also has a scissor lead screw mounting seat 435, a scissor lead screw coupling 436, and a scissor motor mounting seat 437. The number of scissor lead screw mounting seats 435 is two, and both ends of the scissor drive lead screw 4332 are rotatably mounted on the scissor lead screw mounting seat 435. More specifically, both ends of the scissor drive lead screw 4332 are rotatably mounted on the scissor lead screw mounting seat 435 through bearings (not shown in the figure); the body (i.e., the housing 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 lead screw 4332 through the scissor lead screw coupling 436.

[0115] It should be noted that Figure 19 the finger joint assembly shown is the first finger joint assembly. If it is the second finger joint assembly, then Figure 19 the second finger joint connecting plate 412 in

[0116] As Figures 16 to 23 shown, one end of the first scissor transmission 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 transmission link group 4312; one end of the second scissor transmission link group 4312 is hinged to the second finger joint connecting plate 412 of the first finger joint connector 410, and the other end is hinged to the third finger joint connecting plate 421 of the first second finger joint connector 420; specifically, asFigure 19 As shown, the scissor drive nut 4333 is fixedly connected with a nut connecting plate 4334, and one end of the first scissor transmission link group 4311 is hinged to the nut connecting plate 4334 to realize the hinge connection with the scissor drive nut 4333.

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

[0118] One end of the first scissor transmission 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 transmission link group 4312; one end of the second scissor transmission link group 4312 is hinged to the fourth finger joint connecting plate 422 of the first second finger joint connecting piece 420, and the other end is hinged to the third finger joint connecting plate 421 of the second second finger joint connecting piece 420;

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

[0120] One end of the first scissor transmission 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 transmission link group 4312; one end of the second scissor transmission link group 4312 is hinged to the fourth finger joint connecting plate 422 of the second second finger joint connecting piece 420, and the other end is hinged to the finger tip connecting piece 440;

[0121] The scissor sliding connecting member 4323 in the third phalanx assembly is fixedly connected to the fourth phalanx connecting plate 422 of the second second phalanx connecting member 420. One end of the third scissor drive link group 4321 is hinged to the scissor sliding connecting member 4323, and the other end is hinged to the finger tip connecting member 440. One end of the fourth scissor drive link group 4322 is hinged to one end of the scissor sliding connection fitting 4324, and the other end is hinged to the third scissor drive link group 4321. The other end of the scissor sliding connection fitting 4324 is slidably connected to the scissor sliding connecting member 4323.

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

[0123] The first end of the first scissor link 4311a of the first phalanx 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 phalanx connecting plate 412 of the first phalanx 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 phalanx connecting plate 421 of the first second phalanx connecting member 420.

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

[0125] The first end of the first scissor link 4311a of the second finger joint 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 fourth finger joint connecting plate 422 of the first second finger joint connecting member 420, 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 finger joint connecting plate 421 of the second second finger joint connecting member 420.

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

[0127] As Figures 16 to 19 , the first end of the first scissor link 4311a of the third finger joint 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 fourth finger joint connecting plate 422 of the second second finger joint connecting member 420, 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 finger tip connecting member 440.

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

[0129] The single finger joint assembly of the deployable finger mechanism of the deployable variable cell space manipulator for on-orbit grasping provided in the embodiment of the present application is designed as a parallel incomplete scissor mechanism. In the form of two parallel incomplete scissor mechanisms with a certain distance between them, one end is designed to be in a fixed state and the other end is in a free state, avoiding the influence of the width change of the scissor mechanism on the folding and unfolding of the finger, realizing the unfolding and folding of the finger under a fixed width, increasing the stiffness of the finger, and providing two grasping surfaces to adapt to space targets with random shapes.

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

[0131] Next, in combination with Figures 1 to 10 and Figures 24 to 29 , the deployment movement of the deployable palm mechanism will be described:

[0132] As Figure 3 shown and Figure 6 and Figure 9 shown, in the folded configuration of the deployable palm mechanism 300, the driving power member 230 in the palm driving 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 drive the first output connecting member 210 and the second output connecting member 220 to rotate respectively, and the movements generated by the first output connecting member 210 and the second output connecting member 220 are opposite in rotation direction and the same in rotation speed. Therefore, the first output connecting member 210 and the second output connecting member 220 move towards each other, and drive the left driving link group 330 and the right driving link group 340 to move respectively, and then push the first base link 310 and the second base link 320 to rotate around the base rotation shafts 121 on two adjacent base extension parts 120 respectively, so that the first left variable-cell rod 371, the second left variable-cell rod 372, the first right variable-cell rod 381 and the second right variable-cell rod 382 move upward respectively, and thus the finger connecting member 350 moves upward. While the first output connecting member 210 and the second output connecting member 220 are rotating, the finger connecting member 350 will exert 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 connecting member 350 continues to move, the first slider 361 will exert a pulling force on the second slider 362, causing the second slider 362 to move relative to the third slider 363 until the movement of the finger connecting member 350 ends and the movement of the first slider 361 relative to the third slider 363 also ends. As Figure 4 and Figure 13a shown, at this time, the deployable palm mechanism 300 is fully deployed.

[0133] It should be noted that the first slider 361 includes a first slider body part (not shown in the figure) and a first slider limiting part (not shown in the figure). The first slider limiting part is located at the first end of the first slider body part, and the first slider limiting part can be a limiting plate protruding from the outer wall of the first slider body part. A limiting side wall (not shown in the figure) capable of cooperating with the first slider limiting member is provided circumferentially at the second end of the second slider 362. A sliding through hole (not shown in the figure) is formed in the middle of the limiting side wall. The first slider body part of the first slider 361 can pass through the sliding through hole to be slidably connected to the second slider 362. During the unfolding process of the deployable palm mechanism 300, as the first slider 361 extends outwards, the first slider limiting part of the first slider 361 can abut against the limiting side wall of the second slider 362. After the first slider limiting part 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, as Figure 13a and Figure 13b , the first slider body part and the second slider 362 can be strip-shaped shells.

[0135] Combined with Figures 1 to 10 , Figures 24 to 29 , the metamorphic motion of the deployable palm mechanism 300 will be described:

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

[0137] It should be noted that since the above-mentioned rotating shafts are collinear when the deployable palm mechanism 300 is deployed to a certain position, the metamorphic motion of the deployable palm mechanism 300 occurs after the deployment motion of the deployable palm mechanism 300.

[0138] Combined with Figures 1 to 29 , the folding motion of the deployable palm mechanism 300 will be described:

[0139] When the deployable palm mechanism 300 needs to be folded in the deployed state, when the palm drive mechanism 200 drives the first output connecting member 210 and the second output connecting member 220 to produce motions with opposite rotation directions and the same rotation speed, the first output connecting member 210 and the second output connecting member 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 motions of the above-mentioned various link members are all opposite to the motions of the various link members when the deployable palm mechanism 300 is deployed. When the finger connecting member 350 moves to a certain position, the first output connecting member 210 and the second output connecting member 220 stop moving, and the deployable palm mechanism 300 is folded completely.

[0140] Combined with Figures 1 to 29 , the deployment motion of the deployable finger mechanism will be described:

[0141] As Figures 16 to 19 , under the action of the scissor drive motor 4331, it drives the first scissor transmission link group 4311, the second scissor transmission link group 4312, the third scissor transmission link group 4321 and the fourth scissor transmission link group 4322 to produce a motion perpendicular to the motion direction of the scissor sliding connection fitting 4324, and the distance between the scissor sliding connection member 4323 and the scissor sliding connection fitting 4324 is shortened, thereby completing the deployment motion of the finger joint assembly 430.

[0142] As Figures 16 to 19 , the folding motion of the deployable finger mechanism 400 will be described:

[0143] Under the action of the scissor drive motor 4331, it drives the first scissor transmission link group 4311, the second scissor transmission link group 4312, the third scissor transmission link group 4321 and the fourth scissor transmission link group 4322 to produce a motion perpendicular to the motion direction of the scissor sliding connection fitting 4324, and the distance between the scissor sliding connection member 4323 and the scissor sliding connection fitting 4324 is increased, thereby completing the folding motion of the finger joint assembly 430.

[0144] As Figures 16 to 23 , the grasping and releasing motions of the first finger joint connecting member 410 and the second finger joint connecting member 420 will be described:

[0145] For the second phalange joint 420, the third phalange connecting plate 421, the third grasping link 4231, the fourth grasping link 4232 and the fourth phalange connecting plate 422 form a four-bar mechanism, and they serve as the base, the driving member, the link and the driven member of the four-bar mechanism in sequence. When m (m≥3) phalange assemblies 430 are connected in series, the third phalange connecting plate 421 is the end of the previous phalange assembly and serves as the base of the four-bar mechanism; the fourth phalange connecting plate 422 is the start of the next phalange assembly and serves as the driven member of the four-bar mechanism. The third grasping link 4231 serves as the driving member, causing the fourth grasping link 4232 to push the fourth phalange connecting plate 422 to rotate around the axis between the fourth phalange connecting plate 422 and the third phalange connecting plate 421 (i.e., the second link rotation axis 4233). The movement of the fourth phalange connecting plate 422 drives the rotation of the phalange assembly 430 connected thereto. The maximum designed rotation angle of the phalange assembly 430 is determined by the singular position of the four-bar mechanism, and the maximum designed rotation angle of the phalange assembly 430 is the maximum grasping configuration of the second phalange joint. When the second grasping driving member 4234 drives the third grasping link 4231 to rotate in the reverse direction, the second phalange joint performs a release movement, and the mechanical limit blocks 414 on the third phalange connecting plate 421 and the fourth phalange connecting plate 422 ensure the safety of the phalange assembly during the release movement. Similarly, the first phalange joint 410 can also generate the same four-bar mechanism movement to drive the rotation of the next phalange assembly.

[0146] In this application, in addition to the above typical working configurations (i.e., Figures 24 to 29 the working configurations shown), there are ∞ configurations between the folding configuration and the unfolding configuration of the deployable palm mechanism; there are ∞ configurations between the unfolding configuration and the folding configuration of the phalange assembly 430; there are ∞ configurations for (m - 1) second phalange joints due to the movement of the four-bar mechanism; there are ∞ configurations for the first phalange joint due to the movement of the four-bar mechanism; the m (m≥3) phalange assemblies 430, (m - 1) second phalange joints and one first phalange joint of the deployable finger mechanism are connected in series, and each phalange assembly 430 moves independently. Therefore, there are kinds of configurations for the deployable finger mechanism. Since the movement of the deployable palm mechanism and the movement of the deployable finger mechanism are independent, and the movement of each phalange assembly is independent, the n-finger deployable variable cell space manipulator for on-orbit grasping has kinds of non-typical working configurations. It should be noted that the n fingers here refer to having n deployable finger mechanisms 400 and n deployable palm mechanisms 300.

[0147] Therefore, when the deployable variable cell space manipulator for on-orbit grasping provided in this embodiment grasps a space target, it can flexibly select a working configuration according to the attributes 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 shows the schematic diagram of the deployable variable cell space manipulator for on-orbit grasping in the case of n = 4 and m = 3. In the case of n = 4 and m = 3, there are atypical working configurations.

[0149] It should be noted that in practical applications, the space operating system where the deployable variable cell space manipulator for on-orbit grasping is located often also has a remote control center (not shown in the figure) and a visual recognition device (not shown in the figure). The remote control center (not shown in the figure) is electrically connected to the above-mentioned driving power components 230, the first grasping driving component 4134, the second grasping driving component 4234, the scissor driving motor 4331, the slider driving motor and other driving components. When the visual recognition device (not shown in the figure) recognizes a space target object, the visual recognition device transmits the shape and position information of the target object to the remote control center. The remote control center can send electrical signals to the above-mentioned driving components for driving, and the remote control center controls the space manipulator to grasp the target object. This application embodiment only provides a structure of the deployable variable cell space manipulator for on-orbit grasping, so the structures of the remote control center and the visual recognition device are not described in detail.

[0150] It should be noted that in this article, relational terms such as first and second 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0151] The above are only the preferred embodiments of this application and are not intended to limit the protection scope of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application are all included in the protection scope of this application.

Claims

1. An unfoldable and variable-cell space manipulator for on-orbit grasping, characterized in that, Comprising: A manipulator base (100), a palm driving mechanism (200), a plurality of deployable palm mechanisms (300), and a plurality of deployable finger mechanisms (400); The palm driving mechanism (200) is installed on the manipulator base (100) and has a first output connecting member (210) and a second output connecting member (220) with opposite rotation directions; A plurality of the deployable palm mechanisms (300) are arranged at intervals along the circumferential direction of the manipulator base (100); The deployable palm mechanism (300) includes a first base link (310), a second base link (320), a left driving link group (330), a right driving link group (340), a finger connecting member (350), and a metamorphic cell assembly (360); The metamorphic cell assembly (360) includes a metamorphic cell driving mechanism (360a) and a metamorphic cell link mechanism; the metamorphic cell 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 lift upward or tilt 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 link (310) and the second base link (320); The first ends of the first base link (310) and the second base link (320) are respectively rotatably connected to the manipulator base (100), and the second ends are hinged to the finger connecting member (350) through the metamorphic cell link mechanism; The palm driving mechanism (200) drives the first output connecting member (210) and the second output connecting member (220) to rotate, driving the first ends of the left driving link group (330) and the right driving link group (340) to approach or separate from each other, so as to drive the finger connecting member (350) to move in a direction away from or close to the manipulator base (100), so that the deployable palm mechanism (300) unfolds or folds; One end of the deployable finger mechanism (400) is connected to the deployable palm mechanism (300) through the finger connecting member (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, wherein The left driving link group (330) includes 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 link (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 link (320).

3. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that, The robot base (100) includes a base body (110) and a plurality of base extensions (120). The plurality of base extensions (120) are circumferentially spaced apart on the outer edge of the base body (110). The first ends of the first base link (310) and the second base link (320) are respectively rotatably connected to two adjacent base extensions (120).

4. The deployable variable cell space manipulator for on-orbit grasping according to claim 1, characterized in that, The palm drive mechanism (200) has 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 spaced apart in the height direction and are connected to the drive power member (230) through the drive transmission assembly (240). The drive power member (230) transmits power to the first output connecting member (210) and the second output connecting member (220) through the drive transmission assembly (240) 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, wherein The drive power member (230) is a drive motor, and the output shaft of the drive motor is a gear shaft. The drive 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) is fixedly connected to the robot base (100). The first transmission gear (243) is sleeved on the first connecting seat (241) and is rotatably connected to the first connecting seat (241). The first output connecting member (210) is fixedly connected to the first transmission gear (243). The transmission gear shaft (245) has a tooth portion (2451) and a shaft body portion (2452). The tooth portion (2451) is externally meshed with the first transmission gear (243). The intermediate transmission gear (246) is fixedly installed 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 is internally meshed 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 metamorphic drive mechanism (360a) includes: a first slider (361), a second slider (362), a third slider (363), and a driving rotating member (364). The third slider (363) is rotatably connected to the manipulator base (100) and sleeved outside the first end of the second slider (362), and the second slider (362) can reciprocally slide along the third slider (363); The second slider (362) is sleeved outside 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 connecting member (350); The driving 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 connecting member (350) upward or tilt it downward.

7. The deployable variable-cell space manipulator for on-orbit grasping according to claim 6, wherein 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 link (310) and the second base link (320) are respectively hinged to the finger connecting member (350) through the left metamorphic linkage assembly (370) and the right metamorphic linkage assembly (380).

8. The deployable variable-cell space manipulator for on-orbit grasping according to claim 7, characterized in that, The left metamorphic linkage assembly (370) includes a first left metamorphic link (371) and a second left metamorphic link (372); the first end of the first left metamorphic link (371) is hinged to the second end of the first base link (310), and the second end is rotatably connected to the first end of the second left metamorphic link (372); the second end of the second left metamorphic link (372) is rotatably connected to the first side of the finger connecting member (350); The right metamorphic linkage assembly (380) includes a first right metamorphic link (381) and a second right metamorphic link (382); the first end of the first right metamorphic link (381) is hinged to the second end of the second base link (320), and the second end is rotatably connected to the first end of the second right metamorphic link (382); the second end of the second right metamorphic link (382) is rotatably 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, wherein the deployable finger mechanism (400) includes: a first knuckle connecting member (410), a plurality of second knuckle connecting members (420), a plurality of knuckle assemblies (430) and a finger tip connecting member (440); a plurality of the knuckle assemblies (430) are respectively arranged between the first knuckle connecting member (410) and the second knuckle connecting member (420) closest to the first knuckle connecting member (410), between two adjacent second knuckle connecting members (420), and between the outermost second knuckle connecting member (420) and the finger tip connecting member (440); The first finger joint connecting member (410) includes: a first finger joint connecting plate (411), a second finger joint connecting plate (412), and a first link grasping assembly (413). The first finger joint connecting plate (411) and the second finger joint connecting plate (412) are hinged. The first link grasping assembly (413) is located between the first finger joint connecting plate (411) and the second finger joint connecting plate (412), and the first link grasping assembly (413) is used to change the included angle between the first finger joint connecting plate (411) and the second finger joint connecting plate (412). The second finger joint connecting member (420) includes: a third finger joint connecting plate (421), a fourth finger joint connecting plate (422), and a second link grasping assembly (423). The third finger joint connecting plate (421) and the fourth finger joint connecting plate (422) are hinged. The second link grasping assembly (423) is located between the third finger joint connecting plate (421) and the fourth finger joint connecting plate (422), and the second link grasping assembly (423) is used to change the included angle between the third finger joint connecting plate (421) and the fourth finger joint connecting plate (422).

10. The deployable variable cell space manipulator for on-orbit grasping according to claim 9, wherein The first link grasping assembly (413) includes: a first grasping link (4131), a second grasping link (4132), a first link rotating shaft (4133), and a first grasping driving member (4134); One end of the first grasping link (4131) is hinged to the first finger joint connecting plate (411), and the other end is connected to one end of the second grasping link (4132) through the first link rotating shaft (4133). The other end of the second grasping link (4132) is hinged to the second finger joint connecting plate (412). The first grasping driving member (4134) is installed on the first finger joint connecting plate (411), and the output shaft of the first grasping driving member (4134) can drive the first grasping link (4131) to rotate, so as to drive the second grasping link (4132) to rotate, and change the included angle between the first finger joint connecting plate (411) and the second finger joint connecting plate (412). The second link grasping assembly (423) includes: a third grasping link (4231), a fourth grasping link (4232), a second link rotating shaft (4233), and a second grasping driving member (4234); One end of the third grasping link (4231) is hinged to the third knuckle connecting plate (421), and the other end is connected to one end of the fourth grasping link (4232) through the second link rotating shaft (4233). The other end of the fourth grasping link (4232) is hinged to the fourth knuckle connecting plate (422). The second grasping driving member (4234) is installed on the third knuckle connecting plate (421), and the output shaft of the second grasping driving member (4234) can drive the third grasping link (4231) to rotate, so as to drive the fourth grasping link (4232) to rotate, so as to change the included 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, wherein The knuckle assembly (430) closest to the first knuckle connecting member (410) is the first knuckle assembly, the knuckle assembly (430) located between two adjacent second knuckle connecting members (420) is the second knuckle assembly, and the knuckle assembly (430) between the second knuckle connecting member (420) and the finger tip connecting member (440) is the third knuckle assembly. The first knuckle assembly, the second knuckle assembly and the third knuckle assembly all include: A first scissor mechanism (431), a second scissor mechanism (432) and a scissor driving mechanism (433); The scissor driving mechanism (433) of the first knuckle assembly is arranged on the second knuckle connecting plate (412) of the first knuckle connecting member (410). One ends 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 ends are hinged to the third knuckle connecting plate (421) of the first second knuckle connecting member (420); The scissor driving 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 ends of the first scissor mechanism (431) and the second scissor mechanism (432) are arranged on the fourth knuckle connecting plate (422) of the first second knuckle connecting member (420), and the other ends are hinged to the third knuckle connecting plate (421) of the second second knuckle connecting member (420); The scissor driving mechanism (433) of the third knuckle assembly is arranged on the fourth knuckle connecting plate (422) of the second second knuckle connecting member (420). One ends of the first scissor mechanism (431) and the second scissor mechanism (432) are arranged on the fourth knuckle connecting plate (422) of the second second knuckle connecting member (420), and the other ends are hinged to the finger tip connecting member (440); The scissor driving 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.

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

13. The deployable variable cell space manipulator for on-orbit grasping according to claim 12, wherein The first scissor transmission link group (4311) includes: a first scissor link (4311a) and a second scissor link (4311b); The second scissor transmission link group (4312) includes: a third scissor link (4312a) and a fourth scissor link (4312b); The third scissor transmission link group (4321) includes: a fifth scissor link (4321a) and a sixth scissor link (4321b); The fourth scissor transmission link group (4322) includes: a seventh scissor link (4322a) and an eighth scissor link (4322b); The first end of the first scissor link (4311a) of the first finger joint 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 finger joint connecting plate (412) of the first finger joint 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 finger joint connecting plate (421) of the first second finger joint connecting member (420); The first end of the fifth scissor link (4321a) of the first finger joint assembly is hinged to the scissor sliding connecting member (4323), the second end is hinged to the first end of the sixth scissor link (4321b), and the middle part is hinged to the middle part of the seventh scissor link (4322a); the second end of the sixth scissor link (4321b) is hinged to the third finger joint connecting plate (421) of the first second finger joint connecting member (420); the first end of the seventh scissor link (4322a) is hinged to one end of the scissor sliding connection fitting (4324), the second end is hinged to the first end of the eighth scissor link (4322b), and the second end of the eighth scissor link (4322b) is hinged to the sixth scissor link (4321b).

Images