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A Foldable Capturing Metamorphic Mechanism Based on Constrained Helix

A metamorphic mechanism and spiral technology, which is applied in the field of foldable and catching metamorphic mechanisms, can solve the problems of poor overall rigidity of the mechanism, inappropriate objects, and limited range of captured objects, and achieve the effect of reducing quality and burden

Active Publication Date: 2021-02-02
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The above-mentioned existing technical solutions all use flexible parts as the main body of the mechanism, so the overall rigidity of the mechanism is relatively poor, and it is not suitable for capturing moving objects in space
In addition, the use of flexible parts will limit the size of the capture mechanism, thereby limiting the range of captured objects

Method used

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  • A Foldable Capturing Metamorphic Mechanism Based on Constrained Helix
  • A Foldable Capturing Metamorphic Mechanism Based on Constrained Helix
  • A Foldable Capturing Metamorphic Mechanism Based on Constrained Helix

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Effect test

Embodiment 1

[0053] This embodiment provides a metamorphic unit, such as Figure 1-4 As shown, it includes: a catch mechanism 11, a rotating branch mechanism 12, a telescopic branch mechanism 13, and a hinge mechanism 14.

[0054] Wherein, the catching mechanism 11 comprises two identical scissor bars 101 and two identical connecting rods 102, and the two scissor bars 101 are connected to each other by the rotating pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods 102 They are respectively connected to the tops of the two scissor bars 101 through the rotating pair R2 and the rotating pair R3; the catching mechanism forms a catching surface for the catching process. The rotation pair R2 and the rotation pair R3 provide the degree of freedom for the capture surface to perform capture movement.

[0055] Two identical rotating branch mechanisms 12, the rotating branch mechanism 12 comprises the first rotating rod 103, the second rotating rod 104, the third rotati...

Embodiment 2

[0071] This embodiment provides a kind of foldable grasping mechanical arm, such as Figure 5-7 As shown, it includes four identical metamorphic units 201 (the metamorphic units 201 here have the same structure as the metamorphic units in Embodiment 1, which will not be repeated here), and the adjacent metamorphic units 201 branch Mechanism 202 is connected; the telescopic branch mechanism 202 is a hybrid mechanism composed of four rotating pairs and two sliding pairs and is connected in series. After the two scissor bars 203 of each cell-changing unit 201 undergo a folding movement, the mechanical arm will be fully unfolded. At this time, the scissor bars 203 and the connecting rod 204 in the cell-changing unit 201 will perform an overturning motion, That is, the entire robotic arm will perform a capture movement.

Embodiment 3

[0073] This embodiment provides a foldable catch mechanism, such as Figure 8-10 As shown, it includes a chassis 301, four foldable grasping manipulators formed by adopting a metamorphic unit 302 (the metamorphic unit 302 here has the same structure as the metamorphic unit in Embodiment 1, and will not be described in detail here). 303 , four mechanical arms 303 are arranged on the chassis 301 in a circular array.

[0074] The rigid and expandable capture mechanism has three states of folding, stretching, and capture, and different states are used in different situations to complete the capture task in space. The rigid and expandable capture mechanism is put into the launch vehicle in a folded state, and then unfolded in space to perform the task of capturing a designated target.

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Abstract

The invention provides a constrained helix-based foldable catch-and-change mechanism, which includes a plurality of identical change-and-change units. The two scissor rods are connected to each other through the rotating pair R1 to form a scissor mechanism; the bottom ends of the two connecting rods are respectively connected to the top ends of the two scissor rods through the rotating pair R2 and R3; The first rotating rod, the second rotating rod, the third rotating rod, the fourth rotating rod, and the fifth rotating rod; the fifth rotating rod is connected to the top of the connecting rod through the rotating pair R4, and the first rotating rod is connected to the connecting rod through the rotating pair R5 The bottom end of the scissor bar; the two rotating branches are connected to each other through a hinge mechanism. The present invention realizes reducing the number and types of degrees of freedom by controlling the redundant degrees of freedom and retaining the two degrees of freedom of folding and catching. Realize the simplification of the structure.

Description

technical field [0001] The invention relates to a constrained helix-based expandable and catching metamorphic mechanism. Background technique [0002] The space manipulator has integrated space perception, maneuvering and operation capabilities, and completes on-orbit assembly, pollution cleaning, observation and inspection, faulty module replacement, and on-orbit refueling of spacecraft through on-orbit operations, ground remote operations, or autonomous operations. , Consumable load replacement and replenishment, orbit cleaning, orbit transfer and other work are the core equipment for spacecraft on-orbit assembly and maintenance. [0003] Chinese patent document CN 107685881 A discloses a space flexible capture device and its capture method. The capture device is composed of a tether for recovery, a throwing rope wrapped around a target object, two throwing rods and a frame. It can complete the task of capturing the target by only using two throwing ropes with adhesive pa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G4/00B25J9/00
CPCB25J9/0009B64G4/00B64G2004/005
Inventor 李兵贾广鲁黄海林郭宏伟
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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