Parallel space manipulator for capturing spherical non-cooperative target
By using a parallel spatial robotic arm structure and bevel gear drive, the problem of insufficient rigidity in serial robotic arms during the capture process is solved, achieving high-precision and stable capture of spherical non-cooperative targets.
Patent Information
- Application Number
- CN202511035425.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-25
- Publication Date
- 2025-11-07
AI Technical Summary
Existing serial robotic arms have low structural rigidity during the capture process, making them susceptible to external interference, which affects capture accuracy and stability.
It adopts a parallel spatial robotic arm structure, including a static platform, a moving platform, a drive motor, a lever, a mechanical finger, and a vision camera. It uses a bevel gear pair to drive the mechanical finger in series, providing high rigidity and flexibility to adapt to different capture postures.
It improves capture accuracy and stability, reduces external interference, and achieves capture effects with high rigidity and high flexibility.
Smart Images
Figure CN120901915A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of space non-cooperative target capture, and particularly relates to a parallel space manipulator for capturing a spherical non-cooperative target. BACKGROUND
[0002] With the rapid development of space technology, space activities are becoming more and more frequent, and the capture of space non-cooperative targets has become one of the key tasks in the field of spaceflight. At present, the capture technology for space non-cooperative targets mainly relies on traditional serial manipulators. Although the serial manipulator has a large workspace and high flexibility, it can adapt to the capture requirements of different targets to a certain extent, but its structural stiffness is low, and it is easy to be disturbed by external forces and vibrate during the capture process, affecting the capture accuracy and stability. SUMMARY
[0003] The purpose of the application is to provide a parallel space manipulator for capturing a spherical non-cooperative target, so as to solve the problem that the structural stiffness of the existing serial manipulator is low, and it is easy to be disturbed by external forces and vibrate during the capture process, affecting the capture accuracy and stability.
[0004] The above-mentioned purpose of the application is mainly realized by the following technical scheme:
[0005] A parallel space manipulator for capturing a spherical non-cooperative target, comprising a static platform, a first driving motor, a lower link, an upper link, a second driving motor, a moving platform, a mechanical finger and a vision camera, wherein the static platform is arranged outside the spacecraft cabin, and the static platform and the moving platform are provided with through holes for the non-cooperative target to pass through, one end of the lower link is connected to the static platform through a rotating joint, and the other end is connected to the upper link through a spherical hinge, the other end of the upper link is connected to the moving platform through a spherical hinge, the first driving motor is arranged on the rotating joint connecting the static platform and the lower link, and is used to drive the lower link to rotate, and a plurality of groups of the first driving motor, the lower link and the upper link are arranged between the static platform and the moving platform.
[0006] A plurality of groups of mechanical fingers are arranged on the moving platform, the second driving motor is used to drive the mechanical finger, the vision camera is used to determine and identify the motion trajectory of the non-cooperative target, and the capture of the non-cooperative target is realized.
[0007] The mechanical finger comprises an upper finger, a lower finger and a limiting claw, the lower finger is connected to the moving platform through a rotating joint, and the upper finger and the limiting claw are respectively connected to both ends of the lower finger through rotating joints.
[0008] The mechanical finger further comprises a torsional spring, and the torsional spring is arranged on the rotating joint connecting the lower finger and the limiting claw and the rotating joint connecting the lower finger and the upper finger.
[0009] The lower finger comprises two plate structures, the upper ends of the two plate structures are in contact at the connection with the upper finger, and the lower ends are respectively located on the two sides outside and inside the moving platform through hole; the upper finger is a flat plate structure, and the upper surface of the flat plate structure is provided with two triangular protrusions; the limiting clamping jaw is an H-shaped structure, and the limiting clamping jaw is arranged in the moving platform through hole.
[0010] Further comprising bevel gears, two bevel gears form a bevel gear pair, and multiple groups of mechanical fingers are sequentially connected through the bevel gear pair, the bevel gears are connected with the second driving motor, the second driving motor drives the bevel gears, and simultaneous movement of the multiple groups of mechanical fingers is realized.
[0011] The mechanical fingers are evenly distributed in three groups in the circumferential direction of the moving platform, the second driving motor and five groups of bevel gear pairs are arranged on the moving platform, the second driving motor is arranged at one end of one group of mechanical fingers, one group of bevel gear pairs is arranged at the other end of the mechanical fingers, and the other four groups of bevel gear pairs are arranged at the two ends of the other two groups of mechanical fingers.
[0012] Three groups of first driving motors, lower rod members and upper rod members are arranged between the static platform and the moving platform, the connection positions of the mechanical fingers and the moving platform and the connection positions of the upper rod members and the moving platform are staggered by 25-35° of the circumferential angle of the moving platform through hole.
[0013] The upper rod member comprises two rod structures, and the two rod structures are parallel to each other.
[0014] A plurality of arc-shaped plates are arranged above the circumferential direction of the static platform through hole, and gaps are left between the arc-shaped plates.
[0015] A plurality of visual cameras are fixed on the static platform.
[0016] Compared with the prior art, the present application has at least the following beneficial effects:
[0017] (1) The parallel mechanical arm structure adopted in the present application has high structural rigidity, is less affected by external force, has high capture precision and good stability.
[0018] (2) The present application adopts multiple pairs of upper rod members, lower rod members and first driving motors to connect the moving platform and the static platform, has certain flexibility, and is suitable for different capture postures.
[0019] (3) The preferred embodiment of the present application connects three groups of mechanical fingers through a bevel gear pair, only one driving source is needed to drive the mechanical fingers to move simultaneously, and the movement trajectories are consistent. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 It is a schematic diagram of the parallel space mechanical arm structure for capturing the spherical non-cooperative target of the present application.
[0021] Figure 2 It is a top view of the parallel space mechanical arm for capturing the spherical non-cooperative target of the present application. Detailed Implementation
[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
[0023] like Figure 1 and Figure 2 As shown, this invention discloses a parallel space robotic arm for capturing spherical non-cooperative targets, comprising a static platform 1, a first drive motor 2, a lower link 3, an upper link 5, a second motor 6, a moving platform 7, a bevel gear 8, a mechanical finger, and a vision camera 4. The static platform 1 is installed outside the spacecraft cabin, with a transfer channel for non-cooperative targets in the middle. One end of the lower link 3 is connected to the static platform 1 via a revolute joint, on which the first drive motor 2 is mounted. Driving the first drive motor 2 causes the lower link 3 to rotate around the revolute joint. The other end of the lower link 3 has two ball joint structures, which are hinged to two upper links 5 with ball joints at both ends. The other end of the upper link 5 has a ball joint structure that is hinged to the moving platform 7, which also has ball joint structures. The structure consisting of the first drive motor 2, the lower link 3, and the upper link 5 is circumferentially distributed in three groups between the static platform 1 and the moving platform 7. By controlling the movement of the three first drive motors 2, the moving platform 7 can achieve three degrees of freedom of movement relative to the static platform 1.
[0024] The mechanical fingers are mounted in three circumferentially distributed groups on the moving platform 7, including an upper finger 9, a torsion spring 10, a lower finger 11, and a limiting claw 12. The lower finger 11 is connected to the moving platform 7 via a revolute joint. The upper finger 9 and the limiting claw 12 are respectively connected to the lower finger 11 via revolute joints. The revolute joints are equipped with torsion springs 10 to maintain the fixed posture between the lower finger 11 and the upper finger 9, and between the lower finger 11 and the limiting claw 12, and to provide a certain preload. The moving platform 7 is equipped with ten bevel gears 8 forming five pairs of bevel gear pairs. The mechanical fingers are connected in series through the bevel gear sets. The input end of the bevel gear meshes with the second drive motor 6, and the output end meshes with one of the mechanical fingers. By driving the second drive motor 6, the three mechanical fingers can rotate simultaneously around the rotation axis.
[0025] The lower finger 11 includes two plate-like structures. The upper end of the plate-like structure contacts the upper finger 9 at the connection point, and the lower end is located on both sides of the through hole of the moving platform 7. The upper finger 9 is a flat plate structure with two triangular protrusions on its upper surface. The limiting claw 12 is an H-shaped structure and is set inside the through hole of the moving platform 7.
[0026] The mechanical fingers are evenly distributed in three groups along the circumference of the moving platform 7. The second drive motor 6 and five sets of bevel gear pairs are set on the moving platform 7. The second drive motor 6 is set at one end of one set of mechanical fingers, and one set of bevel gear pairs is set at the other end of the mechanical fingers. The other four sets of bevel gear pairs are respectively set at the two ends of the other two sets of mechanical fingers.
[0027] Three groups of first driving motors 2, lower rod members 3 and upper rod members 5 are arranged between the static platform 1 and the dynamic platform 7, the positions where the mechanical fingers are connected to the dynamic platform 7 and the positions where the upper rod members 5 are connected to the dynamic platform 7 are staggered by 25-35° of the circumferential angle of the through hole of the dynamic platform 7.
[0028] The upper rod member 5 comprises two rod-shaped structures which are parallel to each other.
[0029] A plurality of arc-shaped plates are arranged above the circumferential through hole of the static platform 1, and gaps are left between the arc-shaped plates.
[0030] A plurality of visual cameras 4 are fixed on the static platform 1.
[0031] Working principle: when the spherical non-cooperative target enters the combined field of view of the visual cameras 4, the visual cameras 4 make judgment and identification and determine the target motion trajectory, and the dynamic platform 7 is controlled to move to the front of the target by driving the first driving motor 2 respectively; when the target enters the capture range of the mechanical fingers, the mechanical fingers are controlled to close to complete the capture by driving the second driving motor 6, the pre-tightening force is provided by the torsional spring 10 on the upper finger 9 and the limiting clamping jaw 12 to prevent the target from escaping; the target is moved to above the transfer channel of the static platform 1 by driving the first driving motor 2 to control the mechanical arm, the mechanical fingers are controlled to continue to close by driving the second motor 6, the upper fingers 9 are reversely rotated after contacting each other to overcome the torsional torque of the torsional spring 10, the lower fingers 11 press the target to overcome the resistance of the torsional spring 10 of the limiting clamping jaw 12, the target passes through the channel in the mechanical fingers and enters the transfer channel of the static platform 1, and the transfer of the non-cooperative target is completed.
[0032] The above is only the best specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.
[0033] The contents not described in detail in the specification of the present application belong to the common technical knowledge of the person skilled in the art.
Claims
1. A parallel space manipulator for capturing a spherical non-cooperative target, characterized in that: The device comprises a static platform (1), a first driving motor (2), a lower rod (3), an upper rod (5), a second driving motor (6), a dynamic platform (7), a mechanical finger and a visual camera (4), wherein the static platform (1) is arranged outside the spacecraft cabin, the static platform (1) and the dynamic platform (7) are provided with through holes for the non-cooperative target to pass through, one end of the lower rod (3) is connected with the static platform (1) through a rotating joint, the other end is connected with the upper rod (5) through a spherical hinge, the other end of the upper rod (5) is connected with the dynamic platform (7) through a spherical hinge, the first driving motor (2) is arranged on the rotating joint connecting the static platform (1) and the lower rod (3), and is used for driving the lower rod (3) to rotate, a plurality of groups of the first driving motor (2), the lower rod (3) and the upper rod (5) are arranged between the static platform (1) and the dynamic platform (7); The dynamic platform (7) is provided with a plurality of groups of mechanical fingers, the second driving motor (6) is used for driving the mechanical fingers, the visual camera (4) is used for determining, identifying and determining the motion trajectory of the non-cooperative target, and the non-cooperative target is captured.
2. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 1, wherein: The mechanical finger comprises an upper finger (9), a lower finger (11) and a limiting claw (12), the lower finger (11) is connected with the dynamic platform (7) through a rotating joint, and the upper finger (9) and the limiting claw (12) are respectively connected at two ends of the lower finger (11) through rotating joints.
3. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 2, wherein: The mechanical finger further comprises a torsional spring (10), and the torsional spring (10) is arranged on the rotating joints connecting the lower finger (11) with the limiting claw (12) and the lower finger (11) with the upper finger (9).
4. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 2, wherein: The lower finger (11) comprises two plate-shaped structures, the upper ends of the two plate-shaped structures are in contact at the connection with the upper finger (9), and the lower ends are respectively located on the two sides of the inside and outside of the through hole of the dynamic platform (7); the upper finger (9) is a flat plate structure, and the upper surface of the flat plate structure is provided with two triangular protrusions; the limiting claw (12) is an H-shaped structure, and the limiting claw (12) is arranged in the through hole of the dynamic platform (7).
5. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 1, wherein: Further comprising bevel gears (8), two bevel gears (8) form a bevel gear pair, a plurality of groups of mechanical fingers are sequentially connected through the bevel gear pair, the bevel gear (8) is connected with the second driving motor (6), the second driving motor (6) drives the bevel gear (8), and the plurality of groups of mechanical fingers are simultaneously moved.
6. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 5, wherein: The mechanical finger is circumferentially distributed in three groups on the dynamic platform (7), the second driving motor (6) and five groups of bevel gear pairs are arranged on the dynamic platform (7), the second driving motor (6) is arranged at one end of one group of mechanical fingers, one group of bevel gear pairs is arranged at the other end of the mechanical finger, and the other four groups of bevel gear pairs are respectively arranged at the two ends of the other two groups of mechanical fingers.
7. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 6, wherein: Three groups of the first driving motor (2), the lower rod (3) and the upper rod (5) are arranged between the static platform (1) and the dynamic platform (7), the connection position of the mechanical finger and the dynamic platform (7) and the connection position of the upper rod (5) and the dynamic platform (7) are staggered by 25-35° of the circumferential angle of the through hole of the dynamic platform (7).
8. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 1, wherein: The upper rod (5) comprises two rod-shaped structures, and the two rod-shaped structures are parallel to each other.
9. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 1, wherein: A plurality of arc-shaped plates are arranged above the circumference of the through hole of the static platform (1), and gaps are left between the arc-shaped plates.
10. The parallel space manipulator for capturing a spherical non-cooperative target according to claim 1, wherein: A plurality of the visual cameras (4) are respectively fixed on the static platform (1).