CN104691791A - Elastically-expansible multi-tube spiral inflatable gripper - Google Patents
Elastically-expansible multi-tube spiral inflatable gripper Download PDFInfo
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- CN104691791A CN104691791A CN201510139301.7A CN201510139301A CN104691791A CN 104691791 A CN104691791 A CN 104691791A CN 201510139301 A CN201510139301 A CN 201510139301A CN 104691791 A CN104691791 A CN 104691791A
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Abstract
The invention belongs to the technical field of aerospace, relates to an elastically-expansible multi-tube spiral inflatable gripper and solves the problems of the existing gripping mechanism for space targets. Spiral radius of the gripper in a spiral shape decreases gradually from the rear end to the front end. The gripper comprises an outer casing and a plurality of inner inflatable support core tubes; the inner inflatable support core tubes disposed within the outer casing support the outer casing; the spiral inner wall of the outer casing is made of elastic composite material; the elastic composite material comprises a woven layer and a nonslip layer sequentially from inside to outside; the woven layer is woven of rubber strips, so that the wove layer can elastically expand in all directions, or the woven layer is woven of rubber strips and aramid fiber, the rubber strips are arranged along the periphery of the outer casing, the aramid fiber is arranged axially along the outer casing, and thus the woven layer can expand along the periphery of the outer casing; the nonslip layer is made of nonslip rubber material; the spiral outside of the outer casing is provided with a coil spring. The gripper is used for gripping large-sized space targets.
Description
Technical field
The invention belongs to space technology field, be specifically related to a kind of can elastic shrinkage multitube combined helical formula inflation catching hand.
Background technology
Extraterrestrial 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, for space large scale noncooperative target, comprises the one's own side's aircraft not installing cooperation grasping mechanism; One's own side's device cooperation component malfunction or inert satellite; The other side's spacecraft; Arresting in-orbit of space large scale fragment etc., mechanical type paw mechanism need have larger size and more joint, 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 in order to solve existing extraterrestrial target arresting agency exist the problems referred to above, provide a kind of can elastic shrinkage multitube combined helical formula inflation catching hand, its technical scheme is as follows:
Can elastic shrinkage multitube combined helical formula inflation a catching hand, it is spiral-shaped, and its radius of spin is successively decreased to front end by rear end; It comprises outer tube and interior inflated supporting core pipe, in outer tube, be provided with many interior inflated supporting core pipes outer tube is supported, outer tube and interior inflated supporting core Guan Jun are spiral-shaped, the radius of spin of outer tube and interior inflated supporting core pipe is all successively decreased to front end by rear end, and the cross sectional radius of outer tube and interior inflated supporting core pipe successively decreases to front end by rear end; Adjacent interior inflated supporting core pipe is bonding in joint, and outer tube is bonding in joint with the interior inflated supporting core pipe connected; Have wind spring in the spiral-shaped arranged outside of outer tube, the length that wind spring launches is identical with the length of outer tube, and the outer surface of wind spring is bonding with outer tube, makes outer tube curling laterally with wind spring before inflation.
Interior inflated supporting core pipe adopts flexible composite, and the tube wall of interior inflated supporting core pipe is followed successively by air-retaining liner and bearing layer 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; The tube wall of outer tube is positioned at its spiral-shaped Outboard Sections and adopts flexible composite, heater mat is had in the arranged outside of the flexible composite part of outer tube, heater mat is heating wire, ensures at the stability of the lower outside inside pipe casing air pressure of space low temperature condition and material property; Tube wall part outside inside telescoping screw shape adopts elastic composite, elastic composite is followed successively by braid and skid resistant course from inside to outside, braid adopts rubber strip braiding, make braid in all directions all can elastic telescopic, or adopt rubber strip and aramid fiber to weave, rubber strip is arranged along the circumference of outer tube, and aramid fiber is arranged along the axis of outer tube, and braid only can be stretched along the circumference of outer tube; Skid resistant course adopts anti-slip rubber material, and skid resistant course directly contacts with target, is used for the friction force of increase and objective body contact surface, prevents target slippage.
In every root, the rear end of inflated supporting core pipe is provided with valve, can be connected with inflation/deflation control system, controls inflated supporting core pipe in every root respectively and carries out inflation/deflation separately.
Beneficial effect of the present invention is: inflation catching hand adopt flexible composite, damage can not be caused to target, can fold by automatic curled, can realize target release and repeatedly arrest; Increase shrinkage layer, catching hand inside tube can be made in winding process to be in contraction state, expanded by the range of sizes of capture target; Can arrest the noncooperative target of large-size; Do not need to coordinate the grasping mechanism be arranged on objective body; Arrest flexible form; Can carry out arresting of target from multiple position, capture process is reliable; Great adaptive capacity is had for the shape of target and size; After capture target, catching hand has enough rigidity under inflation pressure effect, and catching hand adopts variable section structure, increases catching hand rigidity further, thus makes catching hand and grabbed between target to form Hard link, be easy to operations such as moving target, fix; By inflating and exit control capture process, mode is simple and reliable, launches volume little, lightweight; Arrest Shi Kexian to being positioned at outside inflated supporting core pipe inflation, improve grasp, grab more firm.
accompanying drawing illustrates:
Fig. 1 is external structure schematic diagram of the present invention;
Fig. 2 is inner structure schematic diagram of the present invention;
Fig. 3 is the structural pipe wall schematic diagram of interior inflated supporting core pipe;
Fig. 4 is the structural pipe wall schematic diagram of outer tube;
Fig. 5 is only to the view be positioned at when outside inflated supporting core pipe is inflated;
Fig. 6 is the schematic diagram that braid employing rubber strip and aramid fiber weave.
detailed description of the invention:
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of can the multitube combined helical formula inflation catching hand of elastic shrinkage, it is spiral-shaped, and its radius of spin is successively decreased to front end by rear end; It comprises outer tube 1 and interior inflated supporting core pipe 2, in outer tube 1, be provided with many interior inflated supporting core pipes 2 outer tube 1 is supported, outer tube 1 and interior inflated supporting core pipe 2 are all spiral-shaped, the radius of spin of outer tube 1 and interior inflated supporting core pipe 2 is all successively decreased to front end by rear end, and the cross sectional radius of outer tube 1 and interior inflated supporting core pipe 2 successively decreases to front end by rear end; Adjacent interior inflated supporting core pipe 2 is bonding in joint, and outer tube 1 is bonding in joint with the interior inflated supporting core pipe 2 connected; Have wind spring 3 in the spiral-shaped arranged outside of outer tube 1, the length that wind spring 3 launches is identical with the length of outer tube 1, and the outer surface of wind spring 3 is bonding with outer tube 1, makes outer tube 1 curling laterally with wind spring 3 before inflation.
Interior inflated supporting core pipe 2 adopts flexible composite, and the tube wall of interior inflated supporting core pipe 2 is followed successively by air-retaining liner 2-1 and bearing layer 2-2 from inside to outside, and air-retaining liner 2-1 material is butyl rubber membraneous material, ensures the stability of inflation pressure in catching hand; Bearing layer 2-2 material is aramid fiber reinforced composite, is the keystone configuration bearing catching hand inflation pressure; The tube wall of outer tube 1 is positioned at its spiral-shaped Outboard Sections and adopts flexible composite, heater mat 1-1 is had in the arranged outside of the flexible composite part of outer tube 1, heater mat 1-1 is heating wire, ensures stability and the material property of outer tube 1 air pressure inside under space low temperature condition; Tube wall part in the spiral-shaped inner side of outer tube 1 adopts elastic composite, elastic composite is followed successively by braid 1-2 and skid resistant course 1-3 from inside to outside, braid 1-2 adopts rubber strip 1-2-1 braiding, make braid in all directions all can elastic telescopic, or adopt rubber strip 1-2-1 and aramid fiber 1-2-2 to weave, rubber strip 1-2-1 is arranged along the circumference of outer tube 1, and aramid fiber 1-2-2 is arranged along the axis of outer tube 1, and braid only can be stretched along the circumference of outer tube 1; Skid resistant course 1-3 adopts anti-slip rubber material, and skid resistant course 1-3 directly contacts with target, is used for the friction force of increase and objective body contact surface, prevents target slippage.
In every root, the rear end of inflated supporting core pipe 2 is provided with valve, can be connected with inflation/deflation control system, controls inflated supporting core pipe 2 in every root respectively and carries out inflation/deflation separately.
Using method and principle: by originally can elastic shrinkage multitube combined helical formula inflation the rear end of catching hand be connected with the mechanical-stretching arm of aircraft, valve and inflation/deflation equipment connection, heater mat 1-1 is connected with heating control circuit, without under inflation pressure state, wind spring 3 drive originally can the multitube combined helical formula inflation catching hand of elastic shrinkage curling folding; When target is arrested, inflation/deflation equipment internal inflated supporting core pipe 2 is utilized to inflate, inflation pressure drive originally can elastic shrinkage multitube combined helical formula inflation catching hand gradually spiral expansion winding carried out to target arrest, due to originally can elastic shrinkage multitube combined helical formula inflation catching hand be spiral-shaped, its radius of spin is successively decreased to front end by rear end, so the oad of capture target is originally all can firmly can being wound around in the scope between the multitube combined helical formula inflation front end radius of spin of catching hand of elastic shrinkage and the rear end radius of spin; Also can first inflate being positioned at outside inflated supporting core pipe 2, inflate being positioned at inner side inflated supporting core pipe 2 after catching target, that can grab is more firm, more firmly can firmly grasp target again; When needing release target, internal inflated supporting core pipe 2 is exitted, and under the effect of wind spring 3, driving originally can the multitube combined helical formula inflation catching hand curling retraction of elastic shrinkage, target is discharged.
Claims (1)
1. can elastic shrinkage multitube combined helical formula inflation a catching hand, it is spiral-shaped, and its radius of spin is successively decreased to front end by rear end; It comprises outer tube (1) and interior inflated supporting core pipe (2), in outer tube (1), be provided with many interior inflated supporting core pipes (2) outer tube (1) is supported, it is characterized in that the tube wall part in outer tube (1) spiral-shaped inner side adopts elastic composite, have heater mat (1-1) in the arranged outside of the flexible composite part of outer tube (1), heater mat (1-1) is heating wire; The tube wall of outer tube (1) is positioned at its spiral-shaped inboard portion and adopts elastic composite, elastic composite is followed successively by braid (1-2) and skid resistant course (1-3) from inside to outside, braid (1-2) adopts rubber strip (1-2-1) to weave, or adopt rubber strip (1-2-1) and aramid fiber (1-2-2) to weave, rubber strip (1-2-1) is arranged along the circumference of outer tube (1), and aramid fiber (1-2-2) is arranged along the axis of outer tube (1); Skid resistant course (1-3) adopts anti-slip rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139301.7A CN104691791A (en) | 2015-03-28 | 2015-03-28 | Elastically-expansible multi-tube spiral inflatable gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139301.7A CN104691791A (en) | 2015-03-28 | 2015-03-28 | Elastically-expansible multi-tube spiral inflatable gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104691791A true CN104691791A (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510139301.7A Pending CN104691791A (en) | 2015-03-28 | 2015-03-28 | Elastically-expansible multi-tube spiral inflatable gripper |
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| CN (1) | CN104691791A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173121A (en) * | 2015-09-22 | 2015-12-23 | 哈尔滨工业大学 | Double-helix inflatable deployment type spinning-stability reduction aircraft |
| CN109571517A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of omnidirectional's active friction end effector for extraterrestrial target manipulation |
| CN109732586A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of multistage growth type soft robot |
| CN114104344A (en) * | 2021-12-07 | 2022-03-01 | 哈尔滨工业大学 | Flexible pneumatic catching mechanism for space catching non-cooperative target |
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| FR2862603A1 (en) * | 2003-11-20 | 2005-05-27 | Georges Kach | Self-inflating float made of impermeable envelope containing spring which can be completely flattened and means of controlling opening of envelope to inflation and compression |
| DE202011003512U1 (en) * | 2011-03-04 | 2011-05-05 | Dobert, Bernhard, Dipl.-Ing. | Easiest carrying racks, carrying frames, carrying straps, head rests, spectator seats made of plastics, composite materials, fiber composites, metals, woods etc. |
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2015
- 2015-03-28 CN CN201510139301.7A patent/CN104691791A/en active Pending
Patent Citations (3)
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| FR2862603A1 (en) * | 2003-11-20 | 2005-05-27 | Georges Kach | Self-inflating float made of impermeable envelope containing spring which can be completely flattened and means of controlling opening of envelope to inflation and compression |
| DE202011003512U1 (en) * | 2011-03-04 | 2011-05-05 | Dobert, Bernhard, Dipl.-Ing. | Easiest carrying racks, carrying frames, carrying straps, head rests, spectator seats made of plastics, composite materials, fiber composites, metals, woods etc. |
| CN202400956U (en) * | 2012-01-07 | 2012-08-29 | 盐城市易城电光源科技有限公司 | Inflatable claw for double-spiral energy-saving lamp tube |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173121A (en) * | 2015-09-22 | 2015-12-23 | 哈尔滨工业大学 | Double-helix inflatable deployment type spinning-stability reduction aircraft |
| CN105173121B (en) * | 2015-09-22 | 2017-01-25 | 哈尔滨工业大学 | Double-helix inflatable deployment type spinning-stability reduction aircraft |
| CN109571517A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of omnidirectional's active friction end effector for extraterrestrial target manipulation |
| CN109571517B (en) * | 2018-11-30 | 2021-08-10 | 北京精密机电控制设备研究所 | Omnidirectional active friction end effector for space target control |
| CN109732586A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of multistage growth type soft robot |
| CN114104344A (en) * | 2021-12-07 | 2022-03-01 | 哈尔滨工业大学 | Flexible pneumatic catching mechanism for space catching non-cooperative target |
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Application publication date: 20150610 |