CN104691784A - Multi-claw clamping type inflatable capture manipulator - Google Patents
Multi-claw clamping type inflatable capture manipulator Download PDFInfo
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- CN104691784A CN104691784A CN201510139323.3A CN201510139323A CN104691784A CN 104691784 A CN104691784 A CN 104691784A CN 201510139323 A CN201510139323 A CN 201510139323A CN 104691784 A CN104691784 A CN 104691784A
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Abstract
The invention belongs to the field of space technology, discloses a multi-claw clamping type inflatable capture manipulator and solves problems of existing spatial target capture mechanisms. The multi-claw clamping type inflatable capture manipulator comprises a mechanical arm control mechanism which is provided with a plurality of mechanical arms in two straight rows, quantity of the mechanical arms is an odd number, one straight row of the mechanical arms is less than the other straight row of the mechanical arms, the two straight rows of mechanical arms are staggered parallelly and oppositely, and the mechanical arm control mechanism controls the two straight rows of mechanical arms to move inwards for clamping and move outwards for expansion. An arc inflatable extension arm is arranged at the front end of each mechanical arm and bent inwards, a longitudinal coil spring is arranged on the outer side of each inflatable extension arm, expanding length of each coil spring is equal to that of the corresponding inflatable extension arm, and the outer surface of each coil spring is adhered to the corresponding inflatable extension arm. The multi-claw clamping type inflatable capture manipulator is used for capturing spatial large-size non-cooperative targets.
Description
Technical field
The invention belongs to space technology field, be specifically related to the clipping inflation catching hand of a kind of multijaw.
Background technology
Extraterrestrial target (comprising cooperative target and noncooperative target) is operated in-orbit and needs arresting agency and complete the arresting in-orbit of target with serving, discharge and the relative operation such as fixing; Existing extraterrestrial target arresting agency mainly adopts mechanical type paw mechanism, can be used for arresting of implementation space cooperative target.But utilize mechanical type paw arresting agency to carry out arresting of noncooperative target, comprise one's own side's aircraft, one's own side's device cooperation component malfunction or inert satellite, the other side's spacecraft, space large scale fragment etc. that cooperation grasping mechanism is not installed, then size and the amount of articulation of arresting agency will be rolled up, increase the complexity of arresting agency and control system thereof, total quality and operation easier, reduce the reliability of system, add manufacture and launch cost, and easily damage is caused to target.
Summary of the invention
The object of the invention is the problems referred to above existed to solve existing extraterrestrial target arresting agency, provide the clipping inflation catching hand of a kind of multijaw, its technical scheme is as follows:
The clipping inflation catching hand of a kind of multijaw, it comprises mechanical arm control mechanism, mechanical arm control mechanism is provided with multiple mechanical arm, multiple mechanical arm is arranged as two in line, the quantity of mechanical arm is odd number, the wherein number ratio another in line few of an in line mechanical arm, two in line mechanical arms are parallel to be oppositely arranged, two in line mechanical arms shift to install, control two in line mechanical arms by mechanical arm control mechanism and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm of an arc is respectively arranged with in the front end of each mechanical arm, each inflation valve for spreading arm bends all to the inside, longitudinal wind spring is respectively arranged with in the outside of each inflation valve for spreading arm, the length that every root wind spring launches is identical with the length of corresponding inflation valve for spreading arm, the outer surface of every root wind spring is bonding with corresponding inflation valve for spreading arm, makes inflation valve for spreading arm curling laterally with wind spring before inflation.
Inflation valve for spreading arm adopts flexible composite, and the tube wall of inflation valve for spreading arm is followed successively by air-retaining liner, bearing layer, heater mat and skid resistant course from inside to outside, and air-retaining liner material is butyl rubber membraneous material, ensures the stability of inflation pressure in catching hand; Bearing layer material is aramid fiber reinforced composite, is the keystone configuration bearing catching hand inflation pressure; Heater mat is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course adopts anti-slip rubber material, the material layer directly contact with target, is used for the friction force in increase objective body and catching hand Contact face, can prevent target slippage, only can arrange skid resistant course at the medial surface of inflation valve for spreading arm, reduction total quality.
Be provided with valve in the rear end of every root inflation valve for spreading arm, can be connected with inflation/deflation control system, control inflated supporting core pipe in every root respectively and carry out inflation/deflation separately.
Beneficial effect of the present invention is: inflation valve for spreading arm extends length and the manipulation scope of mechanical arm, significantly shorten the size of mechanical arm, very short mechanical arm is only needed to drive inflation valve for spreading arm, have launch volume little, lightweight, launch the advantages such as reliable, can arrest larger sized noncooperative target, and do not need to coordinate the grasping mechanism be arranged on objective body, good adaptive capacity is had for the target with irregularly shaped and larger size range, form at 3 after capture target to arrest, target is arrested more firm, stable; After the inflation of inflation valve for spreading arm, there is enough rigidities of structure, after making catching hand capture target and grabbed between target and form Hard link, be convenient to operations such as target being moved, fix, target is arrested and dispose procedure mode simple and reliable, be easy to control, inflation arm adopts flexible composite, can not cause damage to target.
accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the structural pipe wall schematic diagram of inflation valve for spreading arm.
detailed description of the invention:
With reference to Fig. 1, Fig. 2 and Fig. 3, the clipping inflation catching hand of a kind of multijaw, it comprises mechanical arm control mechanism 1, mechanical arm control mechanism 1 is provided with multiple mechanical arm 2, multiple mechanical arm 2 is arranged as two in line, the quantity of mechanical arm 2 is odd number, the wherein number ratio another in line few of an in line mechanical arm 2, two in line mechanical arms 2 are parallel to be oppositely arranged, two in line mechanical arms 2 shift to install, control two in line mechanical arms 2 by mechanical arm control mechanism 1 and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm 3 of an arc is respectively arranged with in the front end of each mechanical arm 2, each inflation valve for spreading arm 3 bends to the inside, longitudinal wind spring 3-1 is respectively arranged with in the outside of each inflation valve for spreading arm 3, the length that every root wind spring 3-1 launches is identical with the length of corresponding inflation valve for spreading arm 3, the outer surface of every root wind spring 3-1 is bonding with corresponding inflation valve for spreading arm 3, makes inflation valve for spreading arm 3 curling laterally with wind spring 3-1 before inflation.
Inflation valve for spreading arm 3 adopts flexible composite, the tube wall of inflation valve for spreading arm 3 is followed successively by air-retaining liner 3-2, bearing layer 3-3, heater mat 3-4 and skid resistant course 3-5 from inside to outside, air-retaining liner 3-2 material is butyl rubber membraneous material, ensures the stability of inflation pressure in catching hand; Bearing layer 3-3 material is aramid fiber reinforced composite, is the keystone configuration bearing catching hand inflation pressure; Heater mat 3-4 is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course 3-5 adopts anti-slip rubber material, the material layer directly contact with target, is used for the friction force in increase objective body and catching hand Contact face, can prevent target slippage, only can arrange skid resistant course 3-5 at the medial surface of inflation valve for spreading arm 3, reduction total quality.
Be provided with valve in the rear end of every root inflation valve for spreading arm 3, can be connected with inflation/deflation control system, control inflated supporting core pipe in every root respectively and carry out inflation/deflation separately.
For three mechanical arms 2, the clipping inflation catching hand of a kind of multijaw, it comprises three mechanical arms 2, wherein the quantity of an in line mechanical arm 2 is one, wherein the quantity of another in line mechanical arm 2 is two, and wherein an in line mechanical arm 2 is oppositely arranged with the middle of wherein another two in line mechanical arms 2.
Principle of work: inflation valve for spreading arm 3 adopts flexible composite manufacture, when driving without inflation pressure, can be curling folding with wind spring 3-1, be convenient to delivery; During capture target, carry out inflating expanded to inflation valve for spreading arm 3, then control two in line inflation valve for spreading arms 3 by mechanical arm 2 and clamp target, during release target, two in line inflation valve for spreading arms 3 can be controlled by mechanical arm 2 to open, also can directly be exitted by every root inflation valve for spreading arm 3, inflation valve for spreading arm 3 is curling folding with wind spring 3-1 after exitting, and target is discharged.
Claims (4)
1. the clipping inflation catching hand of multijaw, it comprises mechanical arm control mechanism (1), mechanical arm control mechanism (1) is provided with multiple mechanical arm (2), it is characterized in that multiple mechanical arm (2) is arranged as two in line, the quantity of mechanical arm (2) is odd number, the wherein number ratio another in line few of an in line mechanical arm (2), two in line mechanical arms (2) are parallel to be oppositely arranged, two in line mechanical arms (2) shift to install, control two in line mechanical arms (2) by mechanical arm control mechanism (1) and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm (3) of an arc is respectively arranged with in the front end of each mechanical arm (2), each inflation valve for spreading arm (3) bends to the inside, longitudinal wind spring (3-1) is respectively arranged with in the outside of each inflation valve for spreading arm (3), the length that every root wind spring (3-1) is launched is identical with the length of corresponding inflation valve for spreading arm (3), and the outer surface of every root wind spring (3-1) is bonding with corresponding inflation valve for spreading arm (3).
2. the clipping inflation catching hand of a kind of multijaw as claimed in claim 1, it is characterized in that inflation valve for spreading arm (3) adopts flexible composite, the tube wall of inflation valve for spreading arm (3) is followed successively by air-retaining liner (3-2), bearing layer (3-3), heater mat (3-4) and skid resistant course (3-5) from inside to outside, and air-retaining liner (3-2) material is butyl rubber membraneous material; Bearing layer (3-3) material is aramid fiber reinforced composite; Heater mat (3-4) is heating wire; Skid resistant course (3-5) adopts anti-slip rubber material.
3. the clipping inflation catching hand of a kind of multijaw as claimed in claim 1, is characterized in that being provided with valve in the rear end of every root inflation valve for spreading arm (3).
4. the clipping inflation catching hand of a kind of multijaw as claimed in claim 1, it is characterized in that it comprises three mechanical arms (2), wherein the quantity of an in line mechanical arm (2) is one, wherein the quantity of another in line mechanical arm (2) is two, and wherein an in line mechanical arm (2) is oppositely arranged with the middle of wherein another two in line mechanical arms (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139323.3A CN104691784B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand of multijaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139323.3A CN104691784B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand of multijaw |
Publications (2)
| Publication Number | Publication Date |
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| CN104691784A true CN104691784A (en) | 2015-06-10 |
| CN104691784B CN104691784B (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510139323.3A Expired - Fee Related CN104691784B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand of multijaw |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378788A (en) * | 2016-10-19 | 2017-02-08 | 上海未来伙伴机器人有限公司 | Grabbing hand device of unmanned aerial vehicle |
| CN106428632A (en) * | 2016-09-30 | 2017-02-22 | 西北工业大学 | Space debris large envelope capturing system with mechanical arms capable of being ejected out |
| CN109823604A (en) * | 2019-01-17 | 2019-05-31 | 苏州易瑞得电子科技有限公司 | Clamping jaw, efficient transfer machine and automatic packer |
| CN112970729A (en) * | 2021-02-05 | 2021-06-18 | 山东师范大学附属中学 | Planar current field deratization device, system and method |
| CN113696172A (en) * | 2021-09-08 | 2021-11-26 | 哈尔滨工业大学 | Inflatable grasper capable of rigidizing |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
| EP4110698A4 (en) * | 2020-02-24 | 2024-02-14 | Lgarde Inc | Connection assembly |
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| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
| JP2003326485A (en) * | 2002-05-08 | 2003-11-18 | Mitsubishi Heavy Ind Ltd | Manipulator with sensor for capture |
| CN1565812A (en) * | 2003-07-10 | 2005-01-19 | 战强 | Multi joint linkage poly-finger ingenious holder |
| CN1613618A (en) * | 2004-11-04 | 2005-05-11 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| US20120325972A1 (en) * | 2007-03-09 | 2012-12-27 | Macdonald Dettwiler & Associates Inc. | Robotic satellite refuelling tool |
-
2015
- 2015-03-28 CN CN201510139323.3A patent/CN104691784B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003305681A (en) * | 2002-04-15 | 2003-10-28 | Mitsubishi Heavy Ind Ltd | Robot hand |
| JP2003326485A (en) * | 2002-05-08 | 2003-11-18 | Mitsubishi Heavy Ind Ltd | Manipulator with sensor for capture |
| CN1565812A (en) * | 2003-07-10 | 2005-01-19 | 战强 | Multi joint linkage poly-finger ingenious holder |
| CN1613618A (en) * | 2004-11-04 | 2005-05-11 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| US20120325972A1 (en) * | 2007-03-09 | 2012-12-27 | Macdonald Dettwiler & Associates Inc. | Robotic satellite refuelling tool |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428632A (en) * | 2016-09-30 | 2017-02-22 | 西北工业大学 | Space debris large envelope capturing system with mechanical arms capable of being ejected out |
| CN106378788A (en) * | 2016-10-19 | 2017-02-08 | 上海未来伙伴机器人有限公司 | Grabbing hand device of unmanned aerial vehicle |
| CN109823604A (en) * | 2019-01-17 | 2019-05-31 | 苏州易瑞得电子科技有限公司 | Clamping jaw, efficient transfer machine and automatic packer |
| EP4110698A4 (en) * | 2020-02-24 | 2024-02-14 | Lgarde Inc | Connection assembly |
| CN112970729A (en) * | 2021-02-05 | 2021-06-18 | 山东师范大学附属中学 | Planar current field deratization device, system and method |
| CN112970729B (en) * | 2021-02-05 | 2022-07-15 | 山东师范大学附属中学 | Planar current field deratization device, system and method |
| CN113696172A (en) * | 2021-09-08 | 2021-11-26 | 哈尔滨工业大学 | Inflatable grasper capable of rigidizing |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
| CN117002755B (en) * | 2023-08-03 | 2024-05-03 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104691784B (en) | 2016-06-22 |
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Granted publication date: 20160622 Termination date: 20180328 |