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CN-121973960-A - Passive foldable is a space grip handle

CN121973960ACN 121973960 ACN121973960 ACN 121973960ACN-121973960-A

Abstract

The invention discloses a passive foldable space grab handle which comprises a positioning assembly, a handle assembly and a folding assembly, wherein the positioning assembly is connected with the folding assembly, and the folding assembly is connected with the handle assembly. According to the invention, the installation position and the grasping direction can be adjusted according to the shape adaptability of different loads, the flexibility of on-orbit capturing is improved, and the installation space is saved.

Inventors

  • DUAN JIAQI
  • CAI HE
  • DENG SONGBO
  • LI TONGTONG
  • ZHI JIANKANG
  • ZHAO JIAN
  • ZHANG HAO
  • SHI YAN

Assignees

  • 北京精密机电控制设备研究所

Dates

Publication Date
20260505
Application Date
20251124

Claims (10)

  1. 1. A passive foldable space grab handle is characterized by comprising a positioning component, a handle component and a folding component, wherein, The positioning component is connected with the folding component; the folding assembly is connected with the handle assembly.
  2. 2. The passive collapsible space grab handle of claim 1, wherein the positioning assembly comprises a single finger (11), two fingers (12) and a V-shaped plate (13), wherein, The tail end of the single finger (11) is rotationally connected with the end effector; The tail ends of the two fingers (12) are rotationally connected with the end effector; the V-shaped plate (13) is fixed on the surface of the shell of the end effector.
  3. 3. The passive collapsible space grab handle of claim 1, wherein the handle assembly comprises a handle (27), a first bracket (29), a second bracket (292), a first hemisphere (26), a second hemisphere (28), a long screw (25), a base (23), a first snap spring (24), a second snap spring (242), a first sleeve (22), a torsion spring (21) and a second sleeve (211), wherein, The first clamp spring (24) is arranged on one side of the tail end of the base (23), and the second clamp spring (242) is arranged on the other side of the tail end of the base (23); when in a folded state, the first hemisphere (26) is clamped in the first clamp spring (24), and the second hemisphere (28) is clamped in the second clamp spring (242); one end of the long screw (25) sequentially passes through the first hemisphere (26), one end of the first bracket (29), one end of the handle (27) and one end of the second bracket (292) to be connected with the second hemisphere (28) on the other side; the other end of the first support (29) is connected with the base (23) through a first shaft sleeve (22), and the other end of the second support (292) is connected with the base (23) through a second shaft sleeve (211); the torsion spring (21) is wound on the second shaft sleeve (211), and one output end of the torsion spring (21) is connected with a support lug at the lower part of the support (29).
  4. 4. The method of claim 3, wherein the first clamp spring (24) is made of ASTM A220 stainless steel and has a nickel-plated surface.
  5. 5. The method of claim 3, wherein the second clamp spring (242) is made of ASTM A220 stainless steel and has a surface that is nickel plated.
  6. 6. The foldable space grab handle according to claim 3, wherein the torsion spring (21) is made of a piano wire and is galvanized on the surface.
  7. 7. The passive collapsible space grab handle of claim 1, wherein the folding assembly comprises a third sleeve (38), a fourth sleeve (382), a first pin seat (35), a second pin seat (352), a slide rail (32), a first slider (33), a second slider (332), a spring seat (37), a horizontal spring (36), a guide pin (311), a vertical spring (312), and a housing (313), wherein, One end of the first pin shaft seat (35) is connected with the base (23) through the third shaft sleeve (38), and the other end of the first pin shaft seat (35) is connected with the first sliding block (33); One end of the second pin shaft seat (352) is connected with the base (23) through the fourth shaft sleeve (382), and the other end of the second pin shaft seat (352) is connected with the second sliding block (332); The first sliding block (33) is arranged at one end of the sliding rail (32), the second sliding block (332) is arranged at one end of the sliding rail (32), and the first sliding block (33) and the second sliding block (332) can slide relative to the sliding rail (32); The spring seat (37) is arranged on the base (23), and the horizontal spring (36) is arranged in the spring seat (37); one end of the horizontal spring (36) is pressed with one end of the first pin shaft seat (35), and the other end of the horizontal spring (36) is pressed with one end of the second pin shaft seat (352); the shell (313) is arranged on the base (23), and the vertical spring (312) is arranged inside the shell (313); One protruding shaft of the guide pin (311) is connected with one side of the shell (313) through a pin sleeve, and the other protruding shaft of the guide pin (311) is connected with the other side of the shell (313) through a pin sleeve; The protrusion in the center of the guide pin (311) realizes vertical movement by extruding the vertical spring (312), the inclined plane on one side of the guide pin (311) is matched with the inclined plane of the first pin shaft seat (35), and the inclined plane on the other side of the guide pin (311) is matched with the inclined plane of the second pin shaft seat (352).
  8. 8. The passive collapsible space grab handle of claim 7, wherein the folding assembly further comprises a first in-place switch (34), wherein the first in-place switch (34) is mounted on the base and is triggered by movement of the first bracket to detect whether the open state of the handle is in place.
  9. 9. The passive collapsible space grab handle of claim 7, wherein the folding assembly further comprises a second in-place switch (39), wherein the second in-place switch (39) is mounted on the base and is triggered by movement of the second pin mount to detect whether the pin mount is in place.
  10. 10. The folding spatial grip according to claim 7, wherein the upward and downward movement of the guide pin (311) after the inclined surfaces contact causes the first pin shaft seat (35) and the second pin shaft seat (352) to horizontally move, and the inclined surfaces of the first pin shaft seat (35) and the second pin shaft seat (352) are pressed to slide under the guiding action of the first slider (33) and the second slider (332) and press the horizontal spring (36) during the upward and downward movement of the guide pin (311).

Description

Passive foldable is a space grip handle Technical Field The invention belongs to the technical field of space mechanisms, and particularly relates to a passive foldable space grab handle. Background In space operation scenes such as maintenance outside a spacecraft cabin, modular docking of a space station, cooperation of a space manipulator and the like, a cooperation handle is a core component, and the performance of the cooperation handle directly determines the operation efficiency and the operation success rate of an on-orbit task. The cooperative handles applied in the current space field still have various technical defects, and are difficult to meet the operation requirements of high precision, light weight, high reliability and multi-working condition adaptation. The specific problems are as follows: The contradiction between space and light weight is that the existing handles are designed in a fixed integrated mode, and the existing handles have high structural strength and can bear the mechanical load of space operation, but occupy large space, which is contrary to the design concept of light weight and miniaturization of a spacecraft and is not beneficial to space layout in a narrow cabin. The folding mechanism has the defects of efficiency and reliability, part of folding handles can realize simple folding and storage, but have obvious defects of low folding efficiency, slow switching of folding and unfolding states, poor locking reliability, easy loosening and shaking after folding, influence on the follow-up capturing precision, and increase of the complexity and weight of the system due to dependence on an active driving source (such as a motor, a cylinder and the like) and reduction of the stability of the whole mechanism due to reliability risks of active parts. The gripping adaptability is limited, the gripping angles of the existing handles are single in positive gripping angle, and the requirements of various working conditions such as side gripping, oblique gripping and the like are difficult to meet. The research on the space end effector at home and abroad is rich, but the research focused on the space grip handle still has a gap, and the research status quo of the space end effector is combed by a large-scale end effector research progress review system for a space station in literature, which covers a space plane mechanical arm (SRMS), a space station teleoperation mechanical arm (SSRMS) in Canada, a laboratory teleoperation mechanical arm (JEMRMS) in Japan and a European Robot Arm (ERA), and the grip handle of the end effector is of a fixed structure and does not have the function of on-orbit folding deformation, so that the envelope space occupied in the space layout process is larger, and the development trend of the space craft of light weight and miniaturization is difficult to match. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art, providing a passive foldable space grabbing handle, which can adjust the installation position and the grabbing direction according to the shape adaptability of different loads, improve the flexibility of on-orbit grabbing and save the installation space. The invention aims at realizing the technical scheme that the passive foldable space grabbing handle comprises a positioning component, a handle component and a folding component, wherein the positioning component is connected with the folding component, and the folding component is connected with the handle component. In the passive foldable space gripping handle, the positioning assembly comprises a single finger, two fingers and a V-shaped plate, wherein the tail end of the single finger is rotationally connected with the end effector, the tail end of the two fingers is rotationally connected with the end effector, and the V-shaped plate is fixed on the surface of the shell of the end effector. In the passive foldable space gripping handle, the handle assembly comprises a handle, a first support, a second support, a first hemisphere, a second hemisphere, a long screw, a base, a first clamp spring, a second clamp spring, a first shaft sleeve, a torsion spring and a second shaft sleeve, wherein the first clamp spring is arranged on one side of the tail end of the base, the second clamp spring is arranged on the other side of the tail end of the base, in a folded state, the first hemisphere is clamped in the first clamp spring, the second hemisphere is clamped in the second clamp spring, one end of the long screw sequentially penetrates through the first hemisphere, one end of the first support, one end of the handle and one end of the second support to be connected with the second hemisphere on the other side, the other end of the first support is connected with the base through the first shaft sleeve, the other end of the second support is connected with the base through the second shaft sleeve, the torsion spring is wound on the sec