CN104691784B - A kind of clipping inflation catching hand of multijaw - Google Patents
A kind of clipping inflation catching hand of multijaw Download PDFInfo
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- CN104691784B CN104691784B CN201510139323.3A CN201510139323A CN104691784B CN 104691784 B CN104691784 B CN 104691784B CN 201510139323 A CN201510139323 A CN 201510139323A CN 104691784 B CN104691784 B CN 104691784B
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- arm
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- mechanical arm
- inflation valve
- spreading
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Abstract
A kind of clipping inflation catching hand of multijaw, belong to space technology field, solve existing extraterrestrial target arresting agency Problems existing, it comprises mechanical arm controlling organization, mechanical arm controlling organization is provided with multiple mechanical arm, it is in line that multiple mechanical arms are arranged as two, the quantity of mechanical arm is odd number, the wherein quantity of an in line mechanical arm than another in line few one, two in line mechanical arms are oppositely arranged in parallel, two in line mechanical arms shift to install, controlled two in line mechanical arms by mechanical arm controlling organization and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm of an arc it is respectively arranged with in the front end of each mechanical arm, each inflation valve for spreading arm all bends to the inside；It is respectively arranged with longitudinal wind spring in the outside of each inflation valve for spreading arm, the length of every wind spring expansion is identical with the length of corresponding inflation valve for spreading arm, the outer surface of every wind spring is bonding with corresponding inflation valve for spreading arm, and the present invention is used for arresting space large scale noncooperative target。
Description
Technical field
The invention belongs to space technology field, be specifically related to a kind of clipping inflation catching hand of multijaw。
Background technology
Extraterrestrial target (including cooperative target and noncooperative target) carries out operation and service in-orbit need arresting agency and complete arresting in-orbit, discharge and be relatively fixed etc. and operating of target；Existing extraterrestrial target arresting agency mainly adopts mechanical type paw mechanism, can be used for realizing arresting of Spatial Cooperation target。But utilize mechanical type paw arresting agency to carry out arresting of noncooperative target, including not installing one's own side's aircraft of cooperation grasping mechanism, one's own side's device cooperation component malfunction or inert satellite, the other side's spacecraft, space large scale fragment etc., then by the size of substantial increase arresting agency and amount of articulation, increase arresting agency and control the complexity of system, total quality and operation easier, reduce the reliability of system, add manufacture and launch cost, and easily target is caused damage。
Summary of the invention
The invention aims to solve the problems referred to above that existing extraterrestrial target arresting agency exists, it is provided that a kind of clipping inflation catching hand of multijaw, its technical scheme is as follows:
A kind of clipping inflation catching hand of multijaw, it comprises mechanical arm controlling organization, mechanical arm controlling organization is provided with multiple mechanical arm, it is in line that multiple mechanical arms are arranged as two, the quantity of mechanical arm is odd number, the wherein quantity of an in line mechanical arm than another in line few one, two in line mechanical arms are oppositely arranged in parallel, two in line mechanical arms shift to install, controlled two in line mechanical arms by mechanical arm controlling organization and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm of an arc it is respectively arranged with in the front end of each mechanical arm, each inflation valve for spreading arm all bends to the inside；It is respectively arranged with longitudinal wind spring in the outside of each inflation valve for spreading arm, the length of every wind spring expansion is identical with the length of corresponding inflation valve for spreading arm, the outer surface of every 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 inner liner, bearing layer, zone of heating and skid resistant course from inside to outside, and inner liner material is butyl rubber thin-film material, it is ensured that the stability of the blowing pressure in catching hand；Bearing layer material is aramid fiber reinforced composite, is the primary structure undertaking catching hand the blowing pressure；Zone of heating is heating wire, it is ensured that the stability of catching hand inside configuration air pressure when space low temperature and material property；Skid resistant course adopts anti-slip rubber material, the material layer directly contacted with target, is used for increasing the frictional force of contact surface between objective body and catching hand, can prevent target from slipping, it is possible to only arrange skid resistant course at the medial surface of inflation valve for spreading arm, reduces total quality。
It is provided with valve, it is possible to control system with inflation/deflation and be connected, control every interior inflated supporting core pipe respectively and individually carry out inflation/deflation in the rear end of every inflation valve for spreading arm。
The invention have the benefit that inflation valve for spreading arm extends length and the manipulation scope of mechanical arm, significantly shorten the size of mechanical arm, have only to very short mechanical arm and drive inflation valve for spreading arm, volume is little, lightweight, launch the advantages such as reliable to have transmitting, larger sized noncooperative target can be arrested, and do not need to coordinate the grasping mechanism being arranged on objective body, target for having irregularly shaped and larger size range has good adaptive capacity, forming 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 formation Hard link, it is easy to operations such as target being moved, fix, target is arrested and to discharge process control methods simple and reliable, easily controllable, inflation arm adopts flexible composite, target will not be caused damage。
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the top 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, a kind of clipping inflation catching hand of multijaw, it comprises mechanical arm controlling organization 1, mechanical arm controlling organization 1 is provided with multiple mechanical arm 2, it is in line that multiple mechanical arms 2 are arranged as two, the quantity of mechanical arm 2 is odd number, the wherein quantity of an in line mechanical arm 2 than another in line few one, two in line mechanical arms 2 are oppositely arranged in parallel, two in line mechanical arms 2 shift to install, controlled two in line mechanical arms 2 by mechanical arm controlling organization 1 and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm 3 of an arc it is respectively arranged with in the front end of each mechanical arm 2, each inflation valve for spreading arm 3 bends to the inside；It is respectively arranged with longitudinal wind spring 3-1 in the outside of each inflation valve for spreading arm 3, the length of every wind spring 3-1 expansion is identical with the length of corresponding inflation valve for spreading arm 3, the outer surface of every 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 inner liner 3-2, bearing layer 3-3, zone of heating 3-4 and skid resistant course 3-5 from inside to outside, inner liner 3-2 material is butyl rubber thin-film material, it is ensured that the stability of the blowing pressure in catching hand；Bearing layer 3-3 material is aramid fiber reinforced composite, is the primary structure undertaking catching hand the blowing pressure；Zone of heating 3-4 is heating wire, it is ensured that the stability of catching hand inside configuration air pressure when space low temperature and material property；Skid resistant course 3-5 adopts anti-slip rubber material, the material layer directly contacted with target, is used for increasing the frictional force of contact surface between objective body and catching hand, can prevent target from slipping, it is possible to only arrange skid resistant course 3-5 at the medial surface of inflation valve for spreading arm 3, reduces total quality。
It is provided with valve, it is possible to control system with inflation/deflation and be connected, control every interior inflated supporting core pipe respectively and individually carry out inflation/deflation in the rear end of every inflation valve for spreading arm 3。
For three mechanical arms 2, a kind of clipping inflation catching hand 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。
Operation principle: inflation valve for spreading arm 3 adopts flexible composite manufacture, when driving without the blowing pressure, can be curling folding with wind spring 3-1, it is simple to delivery；During capture target, it is inflated inflation valve for spreading arm 3 launching, then controlled 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, directly every inflation valve for spreading arm 3 can also be exitted, curling folding with wind spring 3-1 after inflation valve for spreading arm 3 venting, target is discharged。
Claims (3)
1. the clipping inflation catching hand of multijaw, it comprises mechanical arm controlling organization (1), mechanical arm controlling organization (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 quantity of an in line mechanical arm (2) than another in line few one, two in line mechanical arms (2) are oppositely arranged in parallel, two in line mechanical arms (2) shift to install, controlled two in line mechanical arms (2) by mechanical arm controlling organization (1) and do holding action and laterally expansion action to the inside, the inflation valve for spreading arm (3) of an arc it is respectively arranged with in the front end of each mechanical arm (2), each inflation valve for spreading arm (3) bends to the inside；It is respectively arranged with longitudinal wind spring (3-1) in the outside of each inflation valve for spreading arm (3), the length that every wind spring (3-1) is launched is identical with the length of corresponding inflation valve for spreading arm (3), the outer surface of every wind spring (3-1) is bonding with corresponding inflation valve for spreading arm (3), inflation valve for spreading arm (3) adopts flexible composite, the tube wall of inflation valve for spreading arm (3) is followed successively by inner liner (3-2) from inside to outside, bearing layer (3-3), zone of heating (3-4) and skid resistant course (3-5), inner liner (3-2) material is butyl rubber thin-film material；Bearing layer (3-3) material is aramid fiber reinforced composite；Zone of heating (3-4) is heating wire；Skid resistant course (3-5) adopts anti-slip rubber material。
2. a kind of clipping inflation catching hand of multijaw as claimed in claim 1, it is characterised in that be provided with valve in the rear end of every inflation valve for spreading arm (3)。
3. a kind of clipping inflation catching hand 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 |
|---|---|
| CN104691784A CN104691784A (en) | 2015-06-10 |
| CN104691784B true CN104691784B (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428632B (en) * | 2016-09-30 | 2018-11-20 | 西北工业大学 | A kind of big envelope capturing system of the space junk that mechanical arm can pop up |
| 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 |
| CN109823604B (en) * | 2019-01-17 | 2023-06-06 | 张天山 | Clamping jaw, high-efficiency transfer machine and automatic bagging machine |
| EP4110698A4 (en) * | 2020-02-24 | 2024-02-14 | Lgarde Inc | Connection assembly |
| 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 |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (3)
| 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 |
| WO2008109993A1 (en) * | 2007-03-09 | 2008-09-18 | Macdonald Dettwiler & Associates Inc. | Satellite refuelling system and method |
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2015
- 2015-03-28 CN CN201510139323.3A patent/CN104691784B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN104691784A (en) | 2015-06-10 |
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