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CN-122008278-A - Net-catching cooperative type rigidity-variable manipulator

CN122008278ACN 122008278 ACN122008278 ACN 122008278ACN-122008278-A

Abstract

The invention relates to the technical field of aerospace and discloses a net capturing collaborative type rigidity-variable manipulator which comprises a bottom plate, wherein three fingers are vertically arranged on the bottom plate, a supporting plate is arranged on the bottom plate, a fixed plate is arranged on the supporting plate, a net capturing motor, a rigidity-variable motor and a joint control motor are arranged above the fixed plate, winding columns are arranged on driving shafts of the net capturing motor and the joint control motor, the net capturing motor is connected with the winding columns of the net capturing motor through net capturing driving ropes, an inner driving tendon and an outer driving tendon are arranged on the fingers, the inner driving tendon is connected with the winding columns of the joint control motor, and the outer driving tendon is connected with a rigidity-variable mechanism arranged on the bottom plate through a tension compensation spring. According to the net capturing collaborative type rigidity-variable manipulator, through the design of the rigidity-variable mechanism with the adjustable cantilever length, the rigidity adjusting range is improved, and meanwhile, the functions of magnetic control self-locking and net capturing are combined, so that the flexibility and safety capturing of objects with different shapes and sizes are realized.

Inventors

  • LI JUNFENG
  • CHU XIAOYU
  • ZHANG DONGSHENG
  • Cao Shengchang

Assignees

  • 武汉理工大学
  • 北京控制工程研究所

Dates

Publication Date
20260512
Application Date
20260130

Claims (10)

  1. 1. The utility model provides a catch net collaborative type becomes rigidity manipulator, includes bottom plate (1), be vertical three finger (2) that are 120 distribution on the bottom plate, finger (2) are installed through bottom plate base (3) on bottom plate (1), be located three on bottom plate (1) finger (2) enclose the within range through first support column (4) fixed mounting have supporting disk (5), install fixed disk (7) through second support column (6) on supporting disk (5), wherein fixed disk (7) top is equipped with and catches net (8), install on supporting disk (5) and catch net motor (9), become rigidity motor (10) and joint control motor (11), catch net motor (9) and joint control motor (11) all install winding post (12) in the drive shaft of drive rope (42) with catch net motor (9) are connected for flexible parcel is grabbed object, catch net (2) by catch net motor (9) are equipped with the drive of a plurality of finger tendons (14) on their control tendons (13) in proper order and tendons (14) are controlled by the tendons (13), the inner driving tendon (14) and the outer driving tendon (15) are connected with the uppermost knuckle (13), the inner driving tendon (14) is connected with a winding column (12) of the joint control motor (11), the outer driving tendon (15) is connected with a rigidity changing mechanism (17) installed on the bottom plate (1) through a tension compensation spring (16), and the rigidity of the rigidity changing mechanism (17) is adjusted under the control of the rigidity changing motor (10).
  2. 2. The mesh catching collaborative type rigidity-changing manipulator according to claim 1, wherein the rigidity-changing mechanism (17) comprises a rotary table (18) arranged on the bottom plate (1) and three rigidity-changing units (19) uniformly distributed along the circumference of the rotary table (18), the rotary table (18) is connected with a driving shaft of the rigidity-changing motor (10), the rigidity-changing units (19) comprise a bracket (20) and a spring piece (21), one high-rigidity end of the spring piece (21) is fixedly connected with the bracket (20), one low-rigidity end of the spring piece (21) is connected with a connector (22), the connector (22) is connected with the tension compensation spring (16), the spring piece (21) is sleeved with a slidable slider (23), the slider (23) is connected with a guide rail (25) through a locating pin (24) below, the guide rail (25) is slidably arranged in a guide rail groove (26) on the bottom plate (1), the other end of the guide rail (25) is provided with a driving rod (27), one end of the spring piece (21) is fixedly connected with a connector (22), the guide groove (28) is arranged on the rotary table (18), and when the driving rod (28) rotates in the guide groove (10), and then the driving rod (27) is driven to move inwards or outwards through the guide groove (28).
  3. 3. The mesh catching collaborative variable stiffness manipulator according to claim 1, wherein a hinge joint between adjacent knuckle (13) of a finger (2) is a rotary joint (29), the mesh catching collaborative variable stiffness manipulator comprises a ball bearing (30) arranged on the upper portion of one knuckle (13) and a shaft shoulder (31) arranged on the lower portion of the adjacent knuckle (13), the ball bearing (30) is matched with the shaft shoulder (31) to form the rotary joint (29), a magnetic control self-locking mechanism is further arranged at the hinge joint, the magnetic control self-locking mechanism comprises a coil (32) and a bolt (33) arranged in the coil (32), a return spring (34) is sleeved on the bolt (33), one end of the return spring (34) abuts against the upper top surface of the coil (32), one end of the return spring abuts against the lower bottom surface of the bolt (33), the tail end of the lower portion of the knuckle (13) is arc-shaped, a plurality of pin holes (35) are distributed, when the coil (32) is powered on, the top end of the bolt (33) is inserted into the pin holes (35) to realize self-locking, and the return spring (34) is unlocked under the return spring (33).
  4. 4. The mesh-catching collaborative variable-stiffness manipulator as claimed in claim 1, wherein an angle sensor (36) is further arranged at the hinge position in the finger (2) to detect the relative angle of two adjacent knuckles (13).
  5. 5. The mesh-catching cooperative stiffness-changing manipulator as claimed in claim 3, wherein the shell of the knuckle (13) is divided into a left part and a right part, the left part and the right part are connected through a screw (37), and the coil (32) is clamped and fixed by the two parts of the knuckle (13).
  6. 6. A mesh-catching cooperative stiffness-changing manipulator as claimed in claim 3, characterized in that a channel is reserved between two parts of the knuckle (13) for the inner driving tendon (14) and the outer driving tendon (15) to pass through.
  7. 7. The mesh catching collaborative variable stiffness manipulator according to claim 1, wherein a transverse cylindrical pin (38) is arranged in the bottom plate base (3), the inner side driving tendon (14) bypasses the cylindrical pin (38) to be connected with a winding column (12) of the joint control motor (11), and the mesh catching driving rope (42) bypasses the cylindrical pin (38) to be connected with the winding column (12) of the mesh catching motor (9).
  8. 8. The mesh catching cooperative type rigidity-changing manipulator according to claim 1, wherein a sleeve (39) is arranged on the inward side of the finger (2), and the mesh catching driving rope (42) firstly passes through the sleeve (39) upwards and then is connected with a winding column (12) of the mesh catching motor (9) downwards.
  9. 9. The mesh-catching cooperative type rigidity-changing manipulator as claimed in claim 1, wherein a return spring (40) is arranged between the center of the mesh (8) and the fixed disc (7).
  10. 10. The mesh catching collaborative variable stiffness manipulator as claimed in claim 1, wherein an arc-shaped groove (41) for the tension compensation spring (16) to pass through is formed on the outer side of the bottom plate base (3).

Description

Net-catching cooperative type rigidity-variable manipulator Technical Field The invention relates to the technical field of aerospace, in particular to a net-catching cooperative type rigidity-changing manipulator. Background In recent years, with the rapid development of aerospace technology, space activities are increasingly frequent, the number of space fragments is continuously increased, the safety of personnel and equipment in a space environment is seriously threatened, and in order to ensure the safety of the personnel and the equipment in the space environment, development of a space manipulator capable of stably capturing non-cooperative targets (such as space fragments) under a high radiation condition is needed. At present, the rigidity changing methods of the existing manipulator are mainly divided into two types, namely a structural rigidity changing method and a material rigidity changing method: The method for changing rigidity of the structure comprises antagonism type, lever type and other types, and the basic principle is that a bionic joint is constructed through a motor or pneumatic muscle, and the deformation control or rigidity adjustment of the joint is realized by utilizing the independent or synergistic action of a driver, or the rigidity of the joint is changed by adjusting the position of a lever fulcrum through the motor. However, the antagonistic stiffness-changing method has the problems of complex structure, lower reliability, high control difficulty and the like. The rigidity-changing method of the material comprises the steps of filling particle materials in a flexible cavity, tightly attaching the particles through negative pressure to enable the materials to be changed from a soft state to a hard state to realize rigidity adjustment, or utilizing external excitation such as temperature, magnetic field, electric field and the like to enable physical or chemical characteristics of materials such as low-melting-point alloy, magnetorheological fluid, shape memory polymer, polycaprolactone and the like to change, so that the rigidity-changing function is realized. However, the elastic modulus of materials such as shape memory polymers, polycaprolactone and the like has limited amplitude along with the temperature change, so that the rigidity adjusting range is narrow. Therefore, the prior art is difficult to meet the requirements of wide rigidity adjustment range and flexible safe grabbing of objects with different shapes and sizes, and a novel rigidity-variable manipulator is needed to solve the technical defects. Disclosure of Invention The invention aims at overcoming the defects of the technology, and provides the mesh catching collaborative type rigidity-variable manipulator which is designed by a rigidity-variable mechanism with adjustable cantilever length, and realizes the flexible and safe grabbing of objects with different shapes and sizes by combining the functions of magnetic control self-locking and mesh catching while improving the rigidity adjusting range. In order to achieve the aim, the mesh catching collaborative type rigidity-changing manipulator comprises a bottom plate, three fingers which are distributed at 120 degrees are vertically arranged on the bottom plate, the three fingers are uniformly distributed at 120 degrees, objects can be uniformly wrapped from the periphery during grabbing, the stress is balanced, the damage or sliding of the objects caused by overlarge local pressure is avoided, the grabbing requirements of objects with different sizes and shapes are adapted, the fingers are arranged on the bottom plate through a bottom plate base, a supporting disc is fixedly arranged on the bottom plate in the range surrounded by the three fingers through a first supporting column, a fixed disc is arranged on the supporting disc through a second supporting column, the supporting disc and the fixed disc are arranged in a layered manner through the supporting columns, the structure layout is compact, a stable installation basis is provided for components such as a motor and ropes, a reasonable movement space is reserved at the same time, the interference of the components is avoided, the mesh catching is arranged above the fixed disc, the fishing net comprises a supporting disc, a fishing net motor, a variable stiffness motor and a joint control motor are arranged on the supporting disc, winding columns are arranged on driving shafts of the fishing net motor and the joint control motor, the fishing net is connected with the winding columns of the fishing net motor through a fishing net driving rope and is used for flexibly wrapping a gripped object, the finger is formed by hinging a plurality of knuckles in sequence, an inner driving tendon for controlling the movement of the finger and an outer driving tendon for controlling the stiffness of the finger are arranged on the finger, the inner driving tendon and the outer driving tendon are both connected wi