Capture device

Abstract

The invention relates to the technical field of space target capture, and discloses a capture device, which comprises a base, a driving mechanism and a plurality of capture execution mechanisms, the driving mechanism and each capture execution mechanism are arranged on the base, and the plurality of capture execution mechanisms are arranged around a reference axis; the capturing executing mechanism comprises a lead screw, a nut block and a connecting rod group, the connecting rod group comprises a head-end connecting rod and a tail-end connecting rod, the nut block is in threaded connection with the lead screw, and the head-end connecting rod of the connecting rod group is hinged to the nut block; the driving mechanism is in transmission connection with the lead screw in each capturing executing mechanism, and the driving mechanism drives the lead screws to rotate so that the connecting rod sets can be switched between the folding state and the stretching state. When the connecting rod group is in a folded state, the tail end connecting rod is far away from the capturing point on the reference shaft; when the connecting rod set is in the stretching state, the tail end connecting rod is close to the capturing point. The capturing device has the effects of occupying a small space and capturing a large target, the number of degrees of freedom can be reduced, and the operation complexity is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of space target capture, for example, to a capture device. Background Art

[0002] With the increase in space exploration activities, the problem of space debris has become increasingly serious, including abandoned satellite debris and incompletely burned metal fragments, etc. These space debris pose a great threat to satellites, rockets, and space stations in orbit. To address the problem of space debris, humans have begun to adopt the method of active capture and removal for space debris cleaning. This process usually involves a spacecraft controlled by the ground to perform the capture operation, which requires the use of a specially designed space capture manipulator.

[0003] For relatively large targets (such as those with a size of meters), their significant feature is their large size. Therefore, the required space capture mechanism must have a large expansion ratio to ensure that it occupies a small space during the launch process, and requires fewer degrees of freedom to effectively capture a large-range target through a small number of drives. However, the space capture mechanisms provided by related technologies are mostly articulated manipulators, and such manipulators have certain limitations: their expanded volume is limited. For large targets, larger and heavier manipulators are required, which not only increases the mass burden but also occupies more space. In addition, since articulated manipulators often have multiple degrees of freedom, this leads to complex control system requirements and higher operation difficulty, which will seriously affect the capture efficiency and success rate. Summary of the Invention

[0004] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. The summary is not a general review, nor is it intended to identify key / important constituent elements or delineate the protection scope of these embodiments, but rather serves as a preface to the subsequent detailed description.

[0005] The embodiments of the present disclosure provide a capture device that can take into account the effects of occupying a small space and capturing a large target, and can reduce the number of degrees of freedom and lower the operation complexity.

[0006] The capture device provided by the embodiments of the present disclosure includes a base, a driving mechanism, and a plurality of capture execution mechanisms. The driving mechanism and each capture execution mechanism are disposed on the base, and the plurality of capture execution mechanisms are arranged around a reference axis;

[0007] The capture execution mechanism includes a lead screw, a nut block, and a link group. The link group includes a first-end link and a last-end link. The nut block is threadedly connected to the lead screw, and the first-end link of the link group is hinged to the nut block;

[0008] The driving mechanism is connected to the lead screw in each capture actuator in a transmission manner. When the driving mechanism drives the lead screw to rotate, it can enable the link group to be switched between a folded state and an extended state;

[0009] When the link group is in the folded state, the end link is far from the capture point on the reference axis; when the link group is in the extended state, the end link is close to the capture point.

[0010] In some embodiments, the base includes a top surface and a plurality of side surfaces. The reference axis is perpendicular to the top surface. The driving mechanism is arranged on the top surface, and each capture actuator is arranged on the corresponding side surface.

[0011] In some embodiments, the capture actuator includes a guide rod, the guide rod is parallel to the lead screw, and the nut block is arranged on the guide rod in a slidable manner.

[0012] In some embodiments, the capture actuator includes a guide plate, and the guide plate is fixed to the base;

[0013] The guide plate is provided with a guide groove, and the first link of the link group is provided with a guide block. The guide block is slidably arranged in the guide groove. The guide groove and the guide block jointly limit the movement path of the first link, so that the end link approaches or moves away from the capture point.

[0014] In some embodiments, the guide groove includes a straight segment and an arc segment. The straight segment gradually moves away from the reference axis from the starting point to the ending point. The starting point of the arc segment is connected to the ending point of the straight segment, and the center of the arc segment is located on the side close to the reference axis.

[0015] In some embodiments, the link group further includes an intermediate link assembly. The first side of the intermediate link assembly is respectively hinged to the base and the first link, and the second side of the intermediate link assembly is respectively hinged to two different positions of the end link.

[0016] In some embodiments, the intermediate link assembly includes a first intermediate link, a second intermediate link, a third intermediate link, a fourth intermediate link, and a fifth intermediate link;

[0017] The first end of the first intermediate link is hinged to the end of the first link far from the nut block. The second end of the first intermediate link is hinged to a position adjacent to the first end of the second intermediate link. The first end of the third intermediate link is hinged to a position adjacent to the second end of the first intermediate link;

[0018] The first end of the second intermediate link is hinged to the base. The second end of the second intermediate link is hinged to a position adjacent to the first end of the fourth intermediate link. The first end of the fifth link is hinged to a position adjacent to the second end of the second intermediate link. The second end of the third intermediate link is hinged to the first end of the fourth intermediate link. The second end of the fourth intermediate link is hinged to a position adjacent to the first end of the end link. The second end of the fifth intermediate link is hinged to the first end of the end link.

[0019] In some embodiments, the driving mechanism includes a driving motor and a linkage unit;

[0020] The linkage unit has a power input end and a plurality of power output ends. The power input end is in transmission connection with the power output ends. The driving motor is in transmission connection with the power input end. The lead screw in each capture actuator is in transmission connection with the corresponding power output end.

[0021] In some embodiments, the linkage unit includes a first linkage assembly and a plurality of second linkage assemblies;

[0022] The first linkage assembly has a first power input end and a plurality of first power output ends. The second linkage assembly has a second power input end and a plurality of second power output ends;

[0023] The driving motor is in transmission connection with the first power input end. Each first power output end is in transmission connection with the corresponding second power input end. The lead screw in each capture actuator is in transmission connection with the corresponding second power output end.

[0024] In some embodiments, the first linkage assembly includes a first linkage rod and a first transmission intermediate member;

[0025] The first linkage rod is perpendicular to the motor shaft of the driving motor. The motor shaft of the driving motor is connected to the first linkage rod through the first transmission intermediate member. Each end of the first linkage rod is in transmission connection with the second power input end of the second linkage assembly.

[0026] In some embodiments, the first transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group.

[0027] In some embodiments, the first linkage assembly includes a worm, a worm gear and a first linkage rod;

[0028] The worm gear is arranged on the first linkage rod. The worm gear meshes with the worm. The output shaft of the motor is connected to the worm. The first linkage rod is in transmission connection with the power input end of each second linkage assembly.

[0029] In some embodiments, the second linkage assembly includes a second transmission intermediate member, a plurality of third transmission intermediate members and a plurality of second linkage rods;

[0030] The corresponding first power output end of the second linkage assembly is connected to the first end of each second linkage rod through the second transmission intermediate member;

[0031] Each second linkage rod is perpendicular to and connected to the lead screw in the corresponding capture actuator. Each second linkage rod is connected to the lead screw in the corresponding capture actuator through the corresponding third transmission intermediate member.

[0032] In some embodiments, the second transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group.

[0033] In some embodiments, the third transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group, a universal joint.

[0034] The capture device provided by the embodiments of the present disclosure can achieve the following technical effects:

[0035] The capture device provided by the embodiments of the present disclosure utilizes the combination of a lead screw, a nut block, and a link group. By driving the lead screw to rotate through a driving mechanism, the state conversion of the link group is realized, and the capture of the target is completed. This design reduces the number of degrees of freedom required. Only one driving mechanism is needed to control the entire capture process, thus greatly simplifying the design of the control system, reducing the operation complexity, and improving the capture efficiency and success rate. A plurality of capture execution mechanisms are arranged around the reference axis, and each capture execution mechanism includes a link group. The link group can be converted between a folded state and an extended state, so that the capture device as a whole has a large expansion and contraction ratio. When the link group is in the folded state, the volume can be greatly reduced, which enables the capture device to occupy a small space when not in use, facilitating transportation and storage; while when the link group is unfolded, it can cover a large operation range, facilitating the capture of larger targets. It can be seen that the capture device can take into account both the effect of occupying a small space and capturing larger targets, and can reduce the number of degrees of freedom and the operation complexity.

[0036] The above general description and the following description are only exemplary and explanatory, and are not used to limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a proportional limitation, and among them:

[0038] Figure 1 is a schematic diagram of the link group of a capture device provided by the embodiments of the present disclosure in the folded state;

[0039] Figure 2 is a schematic diagram of an intermediate process of the link group of a capture device provided by the embodiments of the present disclosure converting from the folded state to the extended state;

[0040] Figure 3 is a schematic diagram of another intermediate process of the link group of a capture device provided by the embodiments of the present disclosure converting from the folded state to the extended state;

[0041] Figure 4It is a schematic diagram when the connecting rod group of a capture device provided by an embodiment of the present disclosure is in an extended state;

[0042] Figure 5 It is a schematic structural diagram of a capture actuator provided by an embodiment of the present disclosure;

[0043] Figure 6 It is a schematic structural diagram of a guide plate provided by an embodiment of the present disclosure;

[0044] Figure 7 It is a schematic structural diagram of a first-end connecting rod provided by an embodiment of the present disclosure;

[0045] Figure 8 It is a schematic structural diagram of a driving mechanism provided by an embodiment of the present disclosure.

[0046] The descriptions of the reference numerals in the drawings are as follows:

[0047] 100 Base;

[0048] 200 Driving mechanism;

[0049] 201 Driving motor, 202 Linkage unit;

[0050] 203 First linkage assembly, 2031 First linkage rod, 2032 First transmission intermediate member, 20321 Worm, 20322 Worm gear, 2033 First transmission box;

[0051] 204 Second linkage assembly, 2041 Second transmission intermediate member, 20411 Main helical gear, 20412 Sub-helical gear, 2042 Third transmission intermediate member, 2043 Second linkage rod;

[0052] 205 Coupling, 2044 Second transmission box;

[0053] 300 Capture actuator;

[0054] 301 Lead screw, 302 Nut block;

[0055] 303 Linkage group, 3031 First-end connecting rod, 3032 End connecting rod, 3033 First intermediate connecting rod, 3034 Second intermediate connecting rod, 3035 Third intermediate connecting rod, 3036 Fourth intermediate connecting rod and 3037 Fifth intermediate connecting rod;

[0056] 304 Guide plate;

[0057] 305 Guide groove, 3051 Straight section, 3052 Arc section;

[0058] 306 Guide block, 307 Base plate, 308 Vertical plate, 309 Support, 310 Guide rod. Detailed implementation manners

[0059] In order to more comprehensively understand the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are only for reference and explanation purposes and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, multiple details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be shown in a simplified manner to simplify the drawings.

[0060] In the description of the embodiments of the present disclosure, the terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0061] Unless otherwise specified, the term "plurality" means two or more.

[0062] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0063] The term "and / or" is a description of the associated relationship of an object and indicates that three relationships can exist. For example, A and / or B means: A or B, or, the three relationships of A and B.

[0064] The term "corresponding" can refer to an associated relationship or a binding relationship. A corresponding to B means that there is an associated relationship or a binding relationship between A and B.

[0065] The embodiments of the present disclosure provide a capture device. As shown in combination with Figures 1 to 4 shown, the capture device includes a base 100, a driving mechanism 200, and a plurality of capture execution mechanisms 300. The driving mechanism 200 and each capture execution mechanism 300 are both disposed on the base 100, and the plurality of capture execution mechanisms 300 are arranged around a reference axis L. Here, the reference axis L is a virtual axis that does not actually exist in the physical structure but serves as a reference frame for assisting in describing the spatial layout of the plurality of capture execution mechanisms 300. The reference axis L is usually located at the core position of the capture device, and all the capture execution mechanisms 300 are symmetrically or asymmetrically arranged around this virtual axis. For example, the base 100 includes a top surface and a plurality of side surfaces, the reference axis L is perpendicular to the top surface, the driving mechanism 200 is disposed on the top surface, and each capture execution mechanism 300 is disposed on the corresponding side surface.

[0066] The capture actuator 300 includes a lead screw 301, a nut block 302, and a linkage group 303. The drive mechanism 200 is drivingly connected to the lead screw 301 in each capture actuator 300, and the nut block 302 is threadedly connected to the lead screw 301. The linkage group 303 includes a first-end linkage 3031 and a last-end linkage 3032, and the first-end linkage of the linkage group 303 is hinged to the nut block 302.

[0067] In the embodiments of the present disclosure, by driving the lead screw 301 to rotate, the drive mechanism 200 can cause the linkage group 303 to switch between the folded state and the extended state. Figures 1 to 4 This process is shown as follows: Figure 1 FIG. shows a schematic diagram of the linkage group 303 in the folded state; Figure 2 and Figure 3 respectively show the intermediate process of the linkage group 303 transitioning from the folded state to the extended state; Figure 4 FIG. shows the situation of the linkage group 303 in the extended state. In the folded state, the last-end linkages 3032 of the respective linkage groups 303 are away from the capture point M on the reference axis L. When the drive mechanism 200 drives the lead screw 301 to rotate, the nut block 302 moves along the lead screw 301, directly driving the first-end linkage 3031 of the linkage group 303 to move, thereby gradually unfolding the linkage group 303, and the last-end linkages 3032 of the respective linkage groups 303 gradually converge towards the capture point M on the reference axis L. In the extended state, the last-end linkages 3032 of the respective linkage groups 303 are close to the capture point M.

[0068] In the embodiments of the present disclosure, the capture point M is a virtual key reference point located on the reference axis L, which is used to guide the capture device to accurately position and capture a target (such as space debris) during operation. Through the deployment and contraction actions of the multiple capture actuators 300 and their linkage groups 303 arranged around the reference axis L, the capture device can achieve efficient capture operations near the capture point M. Specifically, when using the capture device to capture a target, first, the attitude of the capture device needs to be adjusted so that the target to be captured can be near the capture point M on the reference axis L. Then, control the drive mechanism 200 to drive the lead screw 301 to rotate, thereby driving each linkage group 303 to deform into the extended state, so that the last-end linkages 3032 of the respective linkage groups 303 converge towards the capture point M on the reference axis L. When the last-end linkages 3032 of the respective linkage groups 303 contact the target, the capture operation of the target is completed. When it is necessary to release the target, just control the drive mechanism 200 to drive the lead screw 301 to rotate in the reverse direction, thereby driving each linkage group 303 to deform into the folded state, so that the last-end linkages 3032 of the respective linkage groups 303 are away from the capture point M on the reference axis L. When the last-end linkages 3032 of the respective linkage groups 303 are separated from the target, the release of the target can be achieved.

[0069] The capture device provided by the embodiments of the present disclosure utilizes the combination of a lead screw 301, a nut block 302, and a connecting rod group 303. By driving the lead screw 301 to rotate through a driving mechanism 200, the state conversion of the connecting rod group 303 is achieved, and the capture of the target is completed. This design reduces the number of degrees of freedom required. Only one driving mechanism 200 is needed to control the entire capture process, thus greatly simplifying the design of the control system, reducing the operation complexity, and improving the capture efficiency and success rate. Multiple capture execution mechanisms 300 are arranged around a reference axis L, and each capture execution mechanism 300 includes a connecting rod group 303. The connecting rod group 303 can be converted between a folded state and an extended state, enabling the capture device to have a relatively large expansion ratio as a whole. When in the folded state, the connecting rod group 303 can significantly reduce its volume, which allows the capture device to occupy a smaller space when not in use, facilitating transportation and storage. When the connecting rod group 303 is unfolded, it can cover a larger operating range, facilitating the capture of larger targets. It can be seen that the capture device can achieve both the effects of occupying a smaller space and capturing larger targets, and can reduce the number of degrees of freedom and the operation complexity.

[0070] In the embodiments of the present disclosure, the number of capture execution mechanisms 300 can be determined according to actual design requirements. For example, the number of capture execution mechanisms 300 can be 2, 3, 4, or 5, etc. Taking Figure 1 as an example, when the number of capture execution mechanisms 300 is 4, the base 100 can be rectangular, specifically including the top surface and 4 side surfaces. The driving mechanism 200 is arranged on the top surface, and one capture execution mechanism 300 is respectively arranged on the 4 side surfaces. The reference axis L is perpendicular to the top surface and passes through the center point of the top surface.

[0071] In the embodiments of the present disclosure, as shown in Figures 1 to 7 , the capture execution mechanism 300 includes a guide plate 304, and the guide plate 304 is fixed to the base 100. The guide plate 304 is provided with a guide groove 305. A guide block 306 is arranged at the first end link 3031 of the connecting rod group 303, and the guide block 306 is slidably arranged in the guide groove 305. The guide groove 305 and the guide block 306 jointly limit the movement path of the first end link 3031, so that the end link 3032 approaches or moves away from the capture point M. By restricting the movement path of the first end link 3031 through the guide groove 305 and the guide block 306, the movement of the connecting rod group 303 becomes more stable and accurate. This helps to ensure that the end link 3032 can accurately approach or move away from the capture point M, thereby improving the accuracy of the capture operation.

[0072] In some embodiments, the guide plate 304 is fixed to the side surface of the base 100, and the length direction of the guide plate 304 is perpendicular to the top surface of the base 100. The guide groove 305 extends substantially along the length direction of the guide plate 304. The capture point M is located in the orientation facing the top surface of the base 100, and the lead screw 301 is perpendicular to the top surface of the base 100. When the link group 303 is in the folded state, the drive mechanism 200 drives the lead screw 301 to rotate so that the nut block 302 moves along the lead screw 301 towards the direction close to the top surface, directly driving the movement of the first link 3031 of the link group 303, and the link group 303 deforms towards the extended state. When the link group 303 is in the extended state, the drive mechanism 200 drives the lead screw 301 to rotate so that the nut block 302 moves along the lead screw 301 towards the direction away from the top surface, directly driving the movement of the first link 3031 of the link group 303, and the link group 303 deforms towards the folded state.

[0073] When the link group 303 is in the folded state, the guide block 306 is located in the area of the guide groove 305 away from the top surface; when the link group 303 deforms towards the extended state, the guide block 306 begins to slide towards the area of the guide groove 305 close to the top surface. Similarly, when the link group 303 is in the extended state, the guide block 306 is located in the area of the guide groove 305 close to the top surface; when the link group 303 deforms towards the folded state, the guide block 306 begins to slide towards the area of the guide groove 305 away from the top surface. During the process of realizing the state conversion of the link group 303 by driving the lead screw 301 to rotate through the drive mechanism 200, the guide block 306 is always in the guide groove 305, and the guide groove 305 and the guide block 306 cooperate with each other to limit the movement path of the first link 3031, making the movement of the link group 303 smoother and more accurate.

[0074] In the embodiments of the present disclosure, the guide groove 305 includes a straight section 3051 and an arc section 3052. The straight section 3051 gradually moves away from the reference axis L from the starting point to the ending point. The starting point of the arc section 3052 is connected to the ending point of the straight section 3051, and the center of the arc section 3052 is located on the side close to the reference axis L. It can be understood that the straight section 3051 is farther from the top surface than the arc section 3052.

[0075] Combined Figure 1 As shown, when the link group 303 is in the folded state, the guide block 306 is located at the position close to the starting point of the straight section 3051 in the guide groove 305. When the link group 303 deforms towards the extended state, the guide block 306 begins to slide towards the ending point of the straight section 3051. Since the straight section 3051 gradually moves away from the reference axis L from the starting point to the ending point, during the process of the guide block 306 sliding towards the ending point of the straight section 3051, the link group 303 will move away from the reference axis L while unfolding. Combined Figure 2As shown, when the guiding block 306 slides to the end point of the straight segment 3051 (i.e., the starting point of the arc segment 3052), the distance between the end link 3032 of the link group 303 and the reference axis L reaches the farthest, and the unfolding range formed by each link group 303 reaches the maximum. Combining Figure 3 As shown, the guiding block 306 enters the arc segment 3052 from the straight segment 3051. During the process of the guiding block 306 sliding towards the end point of the arc segment 3052, the end links 3032 of each link group 303 gradually converge towards the capture point M on the reference axis L. If the target does not need to be captured, the end links 3032 of each link group 303 finally form Figure 4 the extreme state shown, that is, the extended state.

[0076] When the link group 303 of the capture device provided by the embodiment of the present disclosure is converted from the folded state to the extended state, first, the unfolding range formed by each link group 303 reaches the maximum, which can perform a large-range enveloping grasp on the target. Therefore, the requirement for the attitude accuracy of the capture device relative to the target is relatively low, and it can also avoid interference between the link group 303 and the target.

[0077] In some embodiments, the link group 303 further includes an intermediate link assembly. The first side of the intermediate link assembly is respectively hinged to the base 100 and the first end link, and the second side of the intermediate link assembly is respectively hinged to two different positions of the end link 3032. The first side of the intermediate link assembly is respectively hinged to the base 100 and the first end link, and the second side is respectively hinged to two different positions of the end link 3032. This multi-point hinged structure makes the link group 303 more flexible during the unfolding and folding processes.

[0078] In some embodiments, the intermediate link assembly includes a first intermediate link 3033, a second intermediate link 3034, a third intermediate link 3035, a fourth intermediate link 3036, and a fifth intermediate link 3037. The first end of the first intermediate link 3033 is hinged to the end of the first end link 3031 away from the nut block 302. The second end of the first intermediate link 3033 is hinged to a position adjacent to the first end of the second intermediate link 3034. The first end of the third intermediate link 3035 is hinged to a position adjacent to the second end of the first intermediate link 3033. The first end of the second intermediate link 3034 is hinged to the base 100. The second end of the second intermediate link 3034 is hinged to a position adjacent to the first end of the fourth intermediate link 3036. The first end of the fifth intermediate link 3037 is hinged to a position adjacent to the second end of the second intermediate link 3034. The second end of the third intermediate link 3035 is hinged to the first end of the fourth intermediate link 3036. The second end of the fourth intermediate link 3036 is hinged to a position adjacent to the first end of the end link 3032. The second end of the fifth intermediate link 3037 is hinged to the first end of the end link 3032.

[0079] In the embodiments of the present disclosure, the proximity positions of the ends of the intermediate linkages are related to the size of the capture actuator 300 and the size of the target to be captured. When the degree-of-freedom requirements of the intermediate linkage assembly can be met, the proximity positions of the ends of each intermediate linkage can be determined according to the sizes of the capture actuator 300 and the target to be captured at the proximity positions of the ends of each intermediate linkage.

[0080] To meet the degrees of freedom of the intermediate linkage assembly, the proximity positions of the ends of each intermediate linkage should meet the following requirements:

[0081] The distance between the proximity position of the second end of the first intermediate linkage 3033 and the proximity position of the first end of the second intermediate linkage 3034 is equal to the distance from the hinge point between the second end of the third intermediate linkage 3035 and the first end of the fourth intermediate linkage 3036 to the proximity position of the first end of 3036;

[0082] The distance between the proximity position of the first end of the second intermediate linkage 3034 and the proximity position of the first end of the fourth intermediate linkage 3036 is equal to the distance from the proximity position of the second end of the first intermediate linkage 3033 to the hinge point between the second end of the third intermediate linkage 3035 and the first end of the fourth intermediate linkage 3036;

[0083] The distance between the proximity position of the second end of the second intermediate linkage 3034 and the proximity position of the first end of the fourth intermediate linkage 3036 is equal to the distance from the hinge point between the first end of the fifth intermediate linkage 3037 and the first end of the end linkage 3032 to the proximity position of the first end of the end linkage 3032;

[0084] The distance between the proximity position of the second end of the second intermediate linkage 3034 and the hinge point between the first end of the fifth intermediate linkage 3037 and the first end of the end linkage 3032 is equal to the distance from the proximity position of the first end of the fourth intermediate linkage 3036 to the proximity position of the first end of the end linkage 3032.

[0085] In some embodiments, the capture actuator 300 includes a substrate 307 disposed on the base 100, and a guide plate 304 fixed to the substrate 307. Specifically, the substrate 307 is fixed to and parallel with the side surface of the base 100, the guide plate 304 is fixed to the substrate 307, and the length direction of the guide plate 304 is perpendicular to the top surface of the base 100. The guide groove 305 extends substantially along the length direction of the guide plate 304. The substrate 307 is provided with a vertical plate 308, and the first end of the second intermediate link 3034 is hinged to the vertical plate 308. The vertical plate 308 and the guide plate 304 are spaced apart in a first direction. Wherein, the first direction is parallel to the side surface where the substrate 307 of the capture actuator 300 is located and perpendicular to the lead screw 301 of the capture actuator 300. In a capture actuator 300, the substrate 307 is provided with a plurality of supports 309, and the lead screw 301 is rotatably disposed on the supports 309.

[0086] In some embodiments, the capture actuator 300 includes a guide rod 310 parallel to the lead screw 301, and a nut block 302 is slidably disposed on the guide rod 310.

[0087] In some embodiments, the guide rod 310 passes through each support 309 and is fixed relative to the support 309.

[0088] In the embodiments of the present disclosure, for each capture actuator 300, the guide plate 304, the lead screw 301, the link group 303, the nut block 302, and the guide rod 310 are all directly or indirectly disposed on the substrate 307, which makes the capture actuator 300 form a relatively independent integrated body. Therefore, the installation and debugging of the capture actuator 300 become simpler and faster, and at the same time, the later maintenance work is facilitated. When maintenance or replacement is required, it can be processed in a modular manner, reducing complexity and cost.

[0089] In some embodiments, the drive mechanism 200 includes a drive motor 201 and a linkage unit 202. The linkage unit 202 has a power input end and a plurality of power output ends, the power input end is drivingly connected to the power output ends, the drive motor 201 is drivingly connected to the power input end, and the lead screw 301 in each capture actuator 300 is drivingly connected to the corresponding power output end.

[0090] In the disclosed embodiment, the linkage unit 202 can simultaneously transmit the drive motor 201 to the lead screws 301 of multiple capture actuators 300, which can reduce the number of drive motors 201 that need to be independently controlled and simplify the design of the control system. Moreover, since all the lead screws 301 are driven by the same drive motor 201 through the linkage unit 202, each capture actuator 300 can achieve highly synchronized movement, thereby ensuring that each link group 303 moves synchronously during the unfolding and folding process. In the case of precise capture of the target, the synchronous movement can ensure that the end link 3032 accurately converges to the capture point M on the reference axis L, forming a uniformly distributed force system around the target. This uniformly distributed force helps to stably clamp the target and avoid the target from slipping or being damaged due to uneven force on one side.

[0091] In some embodiments, the linkage unit 202 includes a first linkage assembly 203 and a plurality of second linkage assemblies 204. The first linkage assembly 203 has a first power input end and a plurality of first power output ends, and the second linkage assembly 204 has a second power input end and a plurality of second power output ends. The drive motor 201 is transmission-connected to the first power input end, each first power output end is transmission-connected to the corresponding second power input end, and each lead screw 301 in the capture actuator 300 is transmission-connected to the corresponding second power output end.

[0092] The disclosed embodiment sets the linkage unit 202 to include a two-stage linkage component, which can increase the number of power output ends at the end of the linkage unit 202, so that the capture device can be equipped with more capture actuators 300. Specifically, the two-stage linkage components are respectively a first linkage component 203 and a second linkage component 204, and the drive motor 201 can directly drive a first linkage component 203, and the first linkage component 203 drives multiple second linkage components 204, and a second power output end of each second linkage component 204 drives a lead screw 301 in a capture actuator 300. Therefore, by setting the first linkage component 203 and multiple second linkage components 204, one drive motor 201 can drive the lead screws 301 in more capture actuators 300 to rotate. It can be seen that by setting the first linkage component 203 and multiple second linkage components 204, the flexibility and scalability of the capture device can be significantly improved without adding additional drive motors 201.

[0093] In some embodiments, the first linkage assembly 203 includes a first linkage rod 2031 and a first transmission intermediate member 2032. The first linkage rod 2031 is perpendicular to the motor shaft of the driving motor 201. The motor shaft of the driving motor 201 is connected to the first linkage rod 2031 through the first transmission intermediate member 2032. Each end of the first linkage rod 2031 is in transmission connection with the second power input end of the second linkage assembly 204.

[0094] In the embodiments of the present disclosure, the first transmission intermediate member 2032 is the first power input end of the first linkage assembly 203, and the two ends of the first linkage rod 2031 are the first power output ends of the first linkage assembly 203. Here, the first transmission intermediate member 2032 is a worm and gear transmission group or a helical gear transmission group. Taking the first transmission intermediate member 2032 as a worm and gear transmission group as an example, in combination with Figure 8 as an example, the first transmission intermediate member 2032 includes a worm 20321 and a worm gear 20322. The output shaft of the driving motor 201 is connected to the worm 20321, the worm gear 20322 is arranged on the first linkage rod 2031, and the worm gear 20322 meshes with the worm 20321.

[0095] In some embodiments, the driving mechanism 200 further includes a coupling 205. The output shaft of the driving motor 201 is connected to the worm 20321 through the coupling 205.

[0096] In some embodiments, in combination with Figure 1 and Figure 8 as shown, the first linkage assembly 203 further includes a first transmission case 2033, and both the worm 20321 and the worm gear 20322 are arranged in the first transmission case 2033.

[0097] In some embodiments, the second linkage assembly 204 includes a second transmission intermediate member 2041, a plurality of third transmission intermediate members 2042, and a plurality of second linkage rods 2043. The first power output end corresponding to the second linkage assembly 204 is connected to the first end of each second linkage rod 2043 through the second transmission intermediate member 2041. Each second linkage rod 2043 is perpendicular to and connected to a lead screw 301 in the corresponding capture actuator 300, and each second linkage rod 2043 is connected to the lead screw 301 in the corresponding capture actuator 300 through the corresponding third transmission intermediate member 2042.

[0098] In the embodiments of the present disclosure, the second transmission intermediate member 2041 is the second power input end of the second linkage assembly 204, and the third transmission intermediate member 2042 is the second power output end of the second linkage assembly 204. Taking the first linkage assembly 203 including the first linkage rod 2031 and the first transmission intermediate member 2032 as an example, the second transmission intermediate member 2041 is connected to one end of the first linkage rod 2031.

[0099] In an embodiment of the present disclosure, the second transmission intermediate member 2041 is a worm and gear transmission group or a helical gear transmission group. Taking the case where the second transmission intermediate member 2041 is a helical gear transmission group and the number of second linkage rods 2043 in the second linkage assembly 204 is 2 as an example, in combination with Figure 8 As shown, the helical gear transmission group includes a main helical gear 20411 and two sub-helical gears 20412. Each sub-helical gear 20412 meshes with the main helical gear 20411. The two second linkage rods 2043 are coaxial and both perpendicular to the first linkage rod 2031. A main helical gear 20411 is provided at the end of the first linkage rod 2031, and a sub-helical gear 20412 is provided at one end of the second linkage rod 2043. The first linkage rod 2031 can drive the main helical gear 20411 to rotate, so that the main helical gear 20411 drives the sub-helical gear 20412 to rotate, and further drives the second linkage rod 2043 to rotate.

[0100] In some embodiments, in combination with Figure 1 and Figure 8 As shown, the second linkage assembly 204 further includes a second transmission box 2044. The main helical gear 20411 and each sub-helical gear 20412 are both provided in the second transmission box 2044.

[0101] In an embodiment of the present disclosure, the third transmission intermediate member 2042 is a worm and gear transmission group, a helical gear transmission group or a universal joint. Taking the case where the third transmission intermediate member 2042 is a universal joint as an example, one end of the universal joint is connected to one end of the second linkage rod 2043, and the other end of the universal joint is connected to one end of the lead screw 301.

[0102] In some embodiments, the first linkage rod 2031 and each second linkage rod 2043 are both parallel to the top surface of the base 100, and the second linkage rod 2043 is perpendicular to the first linkage rod 2031. Each lead screw 301 is parallel to the corresponding side surface in the base 100, and each lead screw 301 is perpendicular to the corresponding second linkage rod 2043.

[0103] In some embodiments, the capture device further includes a control module (not shown in the figure). The control module can control the drive mechanism to drive multiple capture actuators to capture the target. The control module includes a processor and a memory. Optionally, the control module may further include a communication interface and a bus. Among them, the processor, the communication interface, and the memory can complete mutual communication through the bus. The communication interface can be used for information transmission. The processor can call the logical instructions in the memory to control the drive mechanism to drive multiple capture actuators to capture the target.

[0104] In addition, when the logic instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. As a computer-readable storage medium, the memory can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the methods in the embodiments of the present disclosure. By running the program instructions / modules stored in the memory, the processor executes functional applications and data processing, that is, controls the driving mechanism to drive multiple capture execution mechanisms to capture the target.

[0105] The memory may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the terminal device and the like. In addition, the memory may include high-speed random access memory and may also include non-volatile memory.

[0106] The device embodiments described above are merely illustrative. For example, the division of the units may be only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections between each other may be through some interfaces. The indirect couplings or communication connections of the devices or units may be in electrical, mechanical or other forms. The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, in the embodiments of the present disclosure, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

Claims

1. A capture device, characterized in that, It includes a base, a driving mechanism, and a plurality of capture execution mechanisms. The driving mechanism and each capture execution mechanism are arranged on the base, and the plurality of capture execution mechanisms are arranged around the reference axis; The capture execution mechanism includes a lead screw, a nut block, and a connecting rod group. The connecting rod group includes a first-end connecting rod and a last-end connecting rod. The nut block is threadedly connected to the lead screw, and the first-end connecting rod of the connecting rod group is hinged to the nut block; The driving mechanism is in transmission connection with the lead screw in each capture execution mechanism. When the driving mechanism drives the lead screw to rotate, the connecting rod group can be converted between a folded state and an extended state; When the connecting rod group is in the folded state, the last-end connecting rod is far from the capture point on the reference axis; When the connecting rod group is in the extended state, the last-end connecting rod is close to the capture point.

2. The capture device according to claim 1, characterized in that, The base includes a top surface and a plurality of side surfaces. The reference axis is perpendicular to the top surface. The driving mechanism is arranged on the top surface, and each capture execution mechanism is arranged on the corresponding side surface.

3. The capture device according to claim 1, characterized in that, The capture execution mechanism includes a guide rod. The guide rod is parallel to the lead screw, and the nut block is slidably arranged on the guide rod.

4. The capture device according to claim 1, wherein The capture execution mechanism includes a guide plate, and the guide plate is fixed to the base; The guide plate is provided with a guide groove. The first-end connecting rod of the connecting rod group is provided with a guide block, and the guide block is slidably arranged in the guide groove. The guide groove and the guide block jointly limit the movement path of the first-end connecting rod, so that the last-end connecting rod approaches or moves away from the capture point.

5. The capture device according to claim 4, characterized in that, The guide groove includes a straight section and an arc section. The straight section gradually moves away from the reference axis from the starting point to the ending point. The starting point of the arc section is connected to the ending point of the straight section, and the center of the arc section is located on the side close to the reference axis.

6. The capture device according to claim 4, wherein, The connecting rod group further includes an intermediate connecting rod assembly. The first side of the intermediate connecting rod assembly is respectively hinged to the base and the first-end connecting rod, and the second side of the intermediate connecting rod assembly is respectively hinged to two different positions of the last-end connecting rod.

7. The capture device according to claim 6, wherein The intermediate connecting rod assembly includes a first intermediate connecting rod, a second intermediate connecting rod, a third intermediate connecting rod, a fourth intermediate connecting rod, and a fifth intermediate connecting rod; The first end of the first intermediate connecting rod is hinged to the end of the first-end connecting rod far from the nut block. The second end of the first intermediate connecting rod is hinged to a position adjacent to the first end of the second intermediate connecting rod. The first end of the third intermediate connecting rod is hinged to a position adjacent to the second end of the first intermediate connecting rod; The first end of the second intermediate connecting rod is hinged to the base. The second end of the second intermediate connecting rod is hinged to a position adjacent to the first end of the fourth intermediate connecting rod. The first end of the fifth connecting rod is hinged to a position adjacent to the second end of the second intermediate connecting rod. The second end of the third intermediate connecting rod is hinged to the first end of the fourth intermediate connecting rod. The second end of the fourth intermediate connecting rod is hinged to a position adjacent to the first end of the last-end connecting rod. The second end of the fifth intermediate connecting rod is hinged to the first end of the last-end connecting rod.

8. The capture device according to any one of claims 1 to 7, characterized in that, The driving mechanism includes a driving motor and a linkage unit; The linkage unit has a power input end and a plurality of power output ends. The power input end is in transmission connection with the power output ends. The driving motor is in transmission connection with the power input end, and the lead screw in each capture execution mechanism is in transmission connection with the corresponding power output end.

9. The capture device according to claim 8, wherein The linkage unit includes a first linkage assembly and a plurality of second linkage assemblies; The first linkage assembly has a first power input end and a plurality of first power output ends. The second linkage assembly has a second power input end and a plurality of second power output ends; The drive motor is drivingly connected to the first power input end, each first power output end is drivingly connected to the corresponding second power input end, and the lead screw in each capture actuator is drivingly connected to the corresponding second power output end.

10. The capture device according to claim 9, characterized in that, The first linkage assembly includes a first linkage rod and a first transmission intermediate member; The first linkage rod is perpendicular to the motor shaft of the drive motor. The motor shaft of the drive motor is connected to the first linkage rod through the first transmission intermediate member, and each end of the first linkage rod is drivingly connected to the second power input end of the second linkage assembly.

11. The capture device according to claim 10, characterized in that, The first transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group.

12. The capture device according to claim 9, characterized in that, The second linkage assembly includes a second transmission intermediate member, a plurality of third transmission intermediate members, and a plurality of second linkage rods; The corresponding first power output end of the second linkage assembly is connected to the first ends of the second linkage rods through the second transmission intermediate member; Each second linkage rod is perpendicular to and connected to the lead screw in the corresponding capture actuator, and each second linkage rod is connected to the lead screw in the corresponding capture actuator through the corresponding third transmission intermediate member.

13. The capture device according to claim 12, wherein The second transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group.

14. The capture device according to claim 12, wherein The third transmission intermediate member is any one of the following: a worm and worm gear transmission group, a helical gear transmission group, a universal joint.

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