The invention provides a rigid-flexible coupling space folding and unfolding net system capturing manipulator which comprises a linear driving assembly and capturing folding and unfolding assemblies, the capturing folding and unfolding assemblies are evenly distributed on the periphery of the linear driving assembly along the circumference, and the linear driving assembly comprises a lead screw nut, a ball screw, a coupler, a driving motor, a fixing base, a movable disc chuck, a guide column, a supporting frame and a base. The movable disc chuck is arranged on the lead screw nut in a sleeving mode, the capturing folding and unfolding assembly comprises a top end knuckle, a connecting knuckle, a rotating shaft, a torsional spring, a bottom end knuckle and a flexible cable, the top end knuckle is rotationally connected with the connecting knuckle through the rotating shaft, the torsional spring is arranged on the rotating shaft in a sleeving mode, and the flexible cable is spirally arranged in the knuckles in a penetrating mode in sequence. The flexible cable and the capturing folding and unfolding assembly are matched to form the capturing net, folding and unfolding of the capturing net can be controlled only through the single flexible cable, the stretching radius of the capturing net can be adjusted according to needs, and the capturing net has the advantages of being large in folding and unfolding ratio, high in adaptability, large in capturing space and the like.
本发明提供一种刚柔耦合空间折展网系捕获机械手,其包括直线驱动组件和捕获收展组件,捕获收展组件沿圆周均布在直线驱动组件四周,直线驱动组件包括丝杠螺母、滚珠丝杠、联轴器、驱动电机、固定座、移动花盘、导柱、支撑架和基座,移动花盘套设在丝杠螺母上,捕获收展组件包括顶端指节、连接指节、转轴、扭簧、底端指节和柔索,顶端指节通过转轴与连接指节转动连接,扭簧套设在转轴上,柔索呈螺旋状依次穿设在各指节中,本发明通过滚珠丝杠与扭簧驱动各指节运动,柔索和捕获收展组件相配合形成捕获网,仅需单根柔索就能控制捕获网收拢与展开,且能根据需求调节捕获网的伸展半径,具有折展比大、适应性强和捕获空间大等优点。
Rigid-flexible coupling space folding and unfolding net system capturing manipulator
刚柔耦合空间折展网系捕获机械手
2023-10-31
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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