Lantern-imitating variable-rigidity omnidirectional catcher
Through the imitation lantern variable stiffness omnidirectional capture device, the combination of telescopic cover module and variable stiffness finger module is used to solve the problem of insufficient adaptability of existing capture devices to space debris, and efficient capture and safe capture of fragments of different shapes, different sizes and irregular motion.
Patent Information
- Application Number
- CN202311612403.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-29
- Publication Date
- 2025-07-22
Smart Images
Figure HDA0004577121830000011 
Figure HDA0004577121830000021 
Figure HDA0004577121830000031
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of space debris removal robots, and particularly relates to an all-directional catcher with variable stiffness imitating a lantern. Background Art
[0002] With the rapid development of space technology, space activities have become increasingly complex and frequent, resulting in a lot of space debris, such as abandoned spacecraft, rocket upper stages, and disintegrated parts of space vehicles. These space debris cause great pollution to the space environment, and at the same time threaten human safety and the sustainable utilization of space resources.
[0003] In order to avoid or reduce collisions between spacecraft and space debris, and between space debris and space debris, so as to improve the human-machine safety of China's on-orbit satellites and future space stations, it has become an urgent task and an inevitable trend in the space industry to develop a catcher that can effectively perform grasping operations on unstructured and non-cooperative targets such as space debris.
[0004] However, the existing catchers lack sufficient adaptability and safety for space debris with different structures, shapes, sizes, masses, and irregular motions. They also have disadvantages such as large volume, high noise, complex structure, low power density, and small stiffness change range. Therefore, it is of great significance to develop a new generation of variable stiffness catchers.
[0005] In addition, the present invention is funded by the open fund project of the Space Intelligent Control Technology Laboratory, and the project number is: HTKJ2021KL502011. Summary of the Invention
[0006] The purpose of the present invention is to provide an all-directional catcher with variable stiffness imitating a lantern for the above-mentioned technical deficiencies, which can achieve enveloping grasping of objects, and effectively improve the adaptability of the catcher to space debris with different shapes, sizes, masses, and irregular motions.
[0007] To achieve the above purpose, the all-directional catcher with variable stiffness imitating a lantern according to the present invention includes telescopic cover modules located above and below respectively. Four uniformly distributed variable stiffness finger modules are arranged between the two telescopic cover modules. Four chute covers that can reciprocate along the horizontal axis of the telescopic cover module are symmetrically distributed on the telescopic cover module. The two ends of the variable stiffness finger module are respectively installed on the corresponding chute covers of the two telescopic cover modules.
[0008] Preferably, the telescopic cover module includes a main chute plate. There are two slideway grooves on each of the upper surface and the lower surface of the main chute plate. The two slideway grooves on the upper surface are on a straight line, and the two slideway grooves on the lower surface are on a straight line. The straight line formed by the two slideway grooves on the upper surface is perpendicular to the straight line formed by the two slideway grooves on the lower surface. Each of the two slideway grooves on the upper surface is provided with an upper chute cover that can slide on the slideway groove, and each of the two slideway grooves on the lower surface is provided with a lower chute cover that can slide on the slideway groove. A servo motor is installed on the main chute plate through a servo motor bracket. A main connecting rod is installed on each side of the main chute plate on the motor shaft of the servo motor. Both ends of the main connecting rod are respectively connected with a sub-connecting rod, and the other end of the sub-connecting rod is connected to the upper chute cover or the lower chute cover.
[0009] Preferably, the variable stiffness finger module includes a plurality of variable stiffness joints. The variable stiffness joint includes a cross-shaped joint shaft rotating body and an auxiliary plate having the same length as the long side of the joint rotating body. The long side of the joint shaft rotating body is installed opposite to the auxiliary plate. A polycaprolactone variable stiffness column is fixedly installed between the end of the long side of the joint shaft rotating body and the end of the auxiliary plate. The long sides of the joint rotating bodies or the auxiliary plates of two adjacent variable stiffness joints are fixedly connected by a plurality of superelastic nickel-titanium alloy skeletons. The ends of the short sides of the joint rotating bodies of two adjacent variable stiffness joints are fixedly connected by a shape memory alloy spring.
[0010] Preferably, a cylindrical shaft parallel to the long side of the joint shaft rotating body is further provided on the long side of the joint shaft rotating body. An angle sensor is fixedly connected to one end of the cylindrical shaft, a bearing is fixedly installed at the other end of the cylindrical shaft, a circular connecting piece is installed on the bearing, and the cylindrical shaft is clamped by a semi-circular inner sleeve and an outer sleeve, and the outer sleeve is fixedly connected to the auxiliary plate.
[0011] Preferably, the variable stiffness finger module is fixedly connected to the chute cover through the auxiliary plate.
[0012] Compared with the prior art, the present invention has the following advantages:
[0013] 1. By using the polycaprolactone variable stiffness column and the shape memory alloy spring, a driving force is generated inside the finger to achieve envelope grasping or variable stiffness flexible clamping of objects with complex shapes;
[0014] 2. There are a total of four uniformly distributed variable stiffness finger modules. The telescopic cover module and the variable stiffness finger module together form a lantern-shaped catcher. When the catcher is opened, the object can enter the catcher from any direction in the space between adjacent fingers, realizing omnidirectional capture of objects of different sizes;
[0015] 3. By controlling the contraction or expansion of the fingers through the rotation of the servo motor, the size of the grasping space can be adjusted, improving adaptability and safety;
[0016] 4. The object is enveloped and grasped by adopting a lantern-like structure model, effectively improving the adaptability of the catcher to space debris with various shapes, different sizes and masses, and irregular motions.
[0017] 5. The stiffness of the catcher fingers is adjusted by using polycaprolactone material, improving the adaptability of the catcher to the grasped object. Description of the Drawings
[0018] Figure 1 It is a schematic structural diagram of the lantern-like variable stiffness omnidirectional catcher of the present invention;
[0019] Figure 2 is Figure 1 a schematic circuit diagram of the telescopic cover module in
[0020] Figure 3 a schematic structural diagram of the telescopic cover module when the chute cover shrinks;
[0021] Figure 4 a schematic structural diagram of the telescopic cover module when the chute cover expands;
[0022] Figure 5 a schematic structural diagram of the variable stiffness joint in the present invention;
[0023] Figure 6 is Figure 5 an exploded view of
[0024] Figure 7 a schematic structural diagram of the variable stiffness finger module when in stiffness;
[0025] Figure 8 a schematic structural diagram of the lantern-like variable stiffness omnidirectional catcher when the variable stiffness finger module is in high stiffness;
[0026] Figure 9 a schematic structural diagram of the variable stiffness finger module when in low stiffness;
[0027] Figure 10 a schematic structural diagram of the lantern-like variable stiffness omnidirectional catcher when the variable stiffness finger module is in low stiffness.
[0028] The reference numerals of each component in the figure are as follows:
[0029] Retractable cover module 1, variable stiffness finger module 2, sliding chute cover 3, main chute plate 4, chute groove 5, upper chute cover 6, lower chute cover 7, servo bracket 8, servo 9, motor shaft 10, main connecting rod 11, auxiliary connecting rod 12, variable stiffness joint 13, joint axis swivel 14, auxiliary plate 15, polycaprolactone variable stiffness column 16, superelastic nickel-titanium alloy skeleton 17, shape memory alloy spring 18, cylindrical shaft 19, angle sensor 20, bearing 21, circular connector 22, inner sleeve 23, outer sleeve 24. Specific implementation mode
[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0031] As Figure 1 shown, a lantern-like variable stiffness omnidirectional catcher includes retractable cover modules 1 located above and below respectively. Four uniformly distributed variable stiffness finger modules 2 are provided between the two retractable cover modules 1. Four sliding chute covers 3 that can reciprocate along the horizontal axis of the retractable cover module 1 are symmetrically distributed on the retractable cover module 1. The two ends of the variable stiffness finger module 2 are respectively installed on the corresponding sliding chute covers 3 of the two retractable cover modules 1.
[0032] Among them, as Figure 2 shown, the retractable cover module 1 includes a main chute plate 4. There are two chute grooves 5 on the upper surface and the lower surface of the main chute plate 4 respectively. And the two chute grooves 5 on the upper surface are on a straight line, and the two chute grooves 5 on the lower surface are on a straight line. The straight line formed by the two chute grooves 5 on the upper surface is perpendicular to the straight line formed by the two chute grooves 5 on the lower surface. Each of the two chute grooves 5 on the upper surface is provided with an upper chute cover 6 that can slide on the chute groove 5. Each of the two chute grooves 5 on the lower surface is provided with a lower chute cover 7 that can slide on the chute groove 5. A servo 9 is installed on the main chute plate 4 through a servo bracket 8. On the motor shaft 10 of the servo 9, a main connecting rod 11 is installed on both sides of the main chute plate 4. Both ends of the main connecting rod 11 are respectively connected with an auxiliary connecting rod 12, and the other end of the auxiliary connecting rod 12 is connected to the upper chute cover 6 or the lower chute cover 7.
[0033] As Figure 5 and Figure 6As shown, the variable stiffness finger module 2 includes a number of variable stiffness joints 13. The variable stiffness joint 13 includes a cross-shaped joint axis rotator 14 and an auxiliary plate 15 that is as long as the long side of the joint turnover body 14. The long side of the joint axis rotator 14 is installed facing the auxiliary plate 15. A polycaprolactone variable stiffness column 16 is fixedly installed between the end of the long side of the joint axis rotator 14 and the end of the auxiliary plate 15. The long sides of the joint turnover bodies 14 or the auxiliary plates 15 of two adjacent variable stiffness joints 13 are fixedly connected by a number of superelastic nickel-titanium alloy skeletons 17. The ends of the short sides of the joint turnover bodies 14 of two adjacent variable stiffness joints 13 are fixedly connected by a shape memory alloy spring 18. The variable stiffness finger module 2 is fixedly connected to the chute cover 3 through the auxiliary plate 15.
[0034] In addition, as Figure 7 shown, a cylindrical shaft 19 parallel to it is also provided on the long side of the joint axis rotator 14. One end of the cylindrical shaft 19 is fixedly connected with an angle sensor 20, the other end of the cylindrical shaft 19 is fixedly installed with a bearing 21, a circular connecting piece 22 is installed on the bearing 21, and the cylindrical shaft 19 is clamped by a semi-circular inner sleeve 23 and an outer sleeve 24, and the outer sleeve 24 is fixedly connected with the auxiliary plate 15
[0035] When this embodiment is in use, as Figure 7 and Figure 8 shown, the shape memory alloy spring 18 can be heated by an electric current to make it contract and generate a driving force on one side of the variable stiffness joint 13. When the polycaprolactone variable stiffness column 16 of the variable stiffness joint 13 is at room temperature and in a high stiffness state, at this time, under the driving force generated by the heating and contraction of the shape memory alloy spring 18 on the inner side of the finger, the superelastic nickel-titanium alloy skeleton 17 will produce a large arc-shaped bending deformation, while the variable stiffness joint 13 is basically fixed because it is in a high stiffness state; as Figure 9 and Figure 10 shown, when the variable stiffness joint 13 is in a low stiffness state after the polycaprolactone variable stiffness column 16 is heated, at this time, under the driving force generated by the heating and contraction of the shape memory alloy spring 18, the variable stiffness joint 13 in the low stiffness state produces an obvious rotational bending.
[0036] When the polycaprolactone variable stiffness column 16 of the variable stiffness joint 13 is at room temperature and in a high stiffness state, at this time, under the driving force generated by the heating and contraction of the shape memory alloy spring 18 on the inner side of the finger, the superelastic nickel-titanium alloy skeleton 17 will produce a large arc-shaped bending deformation, while the variable stiffness joint 13 is basically fixed because it is in a high stiffness state; when the polycaprolactone variable stiffness column 16 of the variable stiffness joint 13 is in a low stiffness state after being heated, at this time, under the driving force generated by the heating and contraction of the shape memory alloy spring 18, the variable stiffness joint 13 in the low stiffness state produces an obvious rotational bending.
[0037] Meanwhile, after the steering gear 9 generates a rotational driving force, the main connecting rod 11 fixed on the motor shaft 10 rotates simultaneously, driving the two upper chute covers 6 and the two lower chute covers 7 connected to the auxiliary connecting rod 12 to move. Due to the limitation of the upper chute groove 5 on the main chute plate 4, the chute cover 3 can only move axially and longitudinally, thereby enabling the variable stiffness finger module 2 fixed on the chute cover 3 to contract inward and expand outward, thus realizing the adjustment of the size of the grasping space of the lantern-like variable stiffness catcher, as Figure 3 and Figure 4 shown.
[0038] At room temperature, the polycaprolactone variable stiffness column 16 is in a solid state, and the variable stiffness joint 13 of the variable stiffness finger module 2 presents a high stiffness state. After the shape memory alloy spring 18 contracts, the variable stiffness finger module 2 undergoes rotational deformation, and the catcher opens in a lantern shape. The catcher fingers can output a large clamping force and can be used to grasp high-rigidity objects; when the polycaprolactone variable stiffness column 16 is softened by heating, the joint is in a low stiffness state. After the shape memory alloy spring 18 contracts, the finger joint undergoes bending deformation, and the variable stiffness finger module 2 can output a small clamping force and can be used to grasp brittle objects.
[0039] In the present invention, by arranging the shape memory alloy spring 18 on the joint axis rotator 14 in the variable stiffness joint 13, the lantern-like expansion deformation of the catcher can be realized by driving the contraction of the shape memory alloy spring 18 through heating. When the shape memory alloy spring 18 is powered off, the catcher fingers can return to the initial closed state under the driving force of the outer shape memory alloy spring 18.
[0040] The lantern-like variable stiffness omnidirectional catcher of the present invention uses the polycaprolactone variable stiffness column 16 and the shape memory alloy spring 18 to generate a driving force inside the fingers to achieve enveloping grasping or variable stiffness flexible clamping of objects with complex outer shapes; there are a total of four uniformly distributed variable stiffness finger modules 2, and the telescopic cover module 1 and the variable stiffness finger module 2 together form a lantern-shaped catcher. When the catcher opens, the object can enter the catcher from any direction in the space between adjacent finger gaps, realizing the omnidirectional capture of objects of different sizes; by rotating the steering gear 9 to control the finger contraction or expansion, the size of the grasping space can be adjusted, improving the adaptability and safety; the enveloping grasping of the object is realized by adopting the lantern-like structural model, effectively improving the adaptability of the catcher to space debris with various shapes, different sizes and masses, and irregular movements; the use of polycaprolactone material to realize the adjustment of the stiffness of the catcher fingers improves the adaptability of the catcher to the grasped object.
Claims
1. An omni-directional catcher with variable stiffness imitating a lantern, characterized in that: It includes telescopic cover modules (1) located above and below respectively. There are four uniformly distributed variable stiffness finger modules (2) between the two telescopic cover modules (1). Four chute covers (3) that can reciprocate along the horizontal axis thereof are symmetrically distributed on the telescopic cover module (1). The two ends of the variable stiffness finger module (2) are respectively installed on the corresponding chute covers (3) of the two telescopic cover modules (1).
2. The lantern-shaped variable stiffness omnidirectional catcher according to claim 1, wherein: The telescopic cover module (1) includes a main chute plate (4). There are two slideway grooves (5) on the upper surface and the lower surface of the main chute plate (4). And the two slideway grooves (5) on the upper surface are on a straight line, and the two slideway grooves (5) on the lower surface are on a straight line. The straight line formed by the two slideway grooves (5) on the upper surface is perpendicular to the straight line formed by the two slideway grooves (5) on the lower surface. Each of the two slideway grooves (5) on the upper surface is provided with an upper chute cover (6) that can slide on the slideway groove (5). Each of the two slideway grooves (5) on the lower surface is provided with a lower chute cover (7) that can slide on the slideway groove (5). A servo motor (9) is installed on the main chute plate (4) through a servo bracket (8). A main connecting rod (11) is installed on both sides of the main chute plate (4) on the motor shaft (10) of the servo motor (9). One end of each of the main connecting rods (11) is connected with a sub-connecting rod (12). The other end of the sub-connecting rod (12) is connected to the upper chute cover (6) or the lower chute cover (7).
3. The lantern-like variable stiffness omnidirectional catcher according to claim 1, wherein: The variable stiffness finger module (2) includes a number of variable stiffness joints (13). The variable stiffness joint (13) includes a cross-shaped joint shaft rotator (14) and an auxiliary plate (15) having the same length as the long side of the joint turnover body (14). The long side of the joint shaft rotator (14) is oppositely installed with the auxiliary plate (15). A polycaprolactone variable stiffness column (16) is fixedly installed between the end of the long side of the joint shaft rotator (14) and the end of the auxiliary plate (15). The long sides of the joint turnover bodies (14) or the auxiliary plates (15) of two adjacent variable stiffness joints (13) are fixedly connected by a number of superelastic nickel-titanium alloy skeletons (17). The ends of the short sides of the joint turnover bodies (14) of two adjacent variable stiffness joints (13) are fixedly connected by a shape memory alloy spring (18).
4. The imitation lantern variable stiffness omnidirectional catcher according to claim 3, characterized in that: A cylindrical shaft (19) parallel to the long side of the joint shaft rotator (14) is further provided on the long side of the joint shaft rotator (14). An angle sensor (20) is fixedly connected to one end of the cylindrical shaft (19). A bearing (21) is fixedly installed at the other end of the cylindrical shaft (19). A circular connecting piece (22) is installed on the bearing (21). The cylindrical shaft (19) is clamped by a semi-circular inner sleeve (23) and an outer sleeve (24). The outer sleeve (24) is fixedly connected to the auxiliary plate (15).
5. The lantern-like variable stiffness omnidirectional catcher according to claim 3, characterized in that: The variable stiffness finger module (2) is fixedly connected to the chute cover (3) through the auxiliary plate (15).