The invention provides a multi-finger self-adaptive flexible grabbing mechanism for fixing a star catalogue and a grabbing method thereof. The output end of a motor assembly of the mechanism is fixedly connected with a lead screw, a screw transmission pair is formed between a lead screw nut and the lead screw, a piston slides along the inner wall of a shell, one end of a piston recovery spring is fixedly connected with the piston, the other end is fixedly connected with the shell, a flexible contact ball is fixed to the bottom of the shell, a plurality of flexible fingers are evenly distributed on the lower portion of the shell in the circumferential direction, one end of a lower pull rope is fixedly connected with the piston, the other end is fixedly connected with the flexible fingers, one end of a compensation spring is fixedly connected to the lead screw nut, the other end is connected with an upper pull rope, the upper pull rope is connected with the flexible fingers, and each flexible finger is independently provided with a set of lower pull rope and upper pull rope. The invention solves many technical problems existing in star catalogue grabbing and attaching mechanisms in the prior art: the mechanism does not need to invade into the star catalogue during grabbing and attaching or fixing, generates fixing force through irregular contact between flexible claw thorns and the star catalogue, and has the characteristics that: the multiple fingers are independently driven, the star catalogue shape adaptability is high, and the medium characteristic adaptability is high.
本发明提出一种星表固定用多指自适应柔性抓附机构及其抓附方法,该机构的电机组件输出端与丝杠固连,丝杠螺母与丝杠之间形成螺旋传动副,活塞沿壳体内壁滑动,活塞恢复弹簧一端与活塞固连,另一端与壳体固连,柔性接触球固定于壳体底部,壳体下部周向均布有多个柔性手指,下拉绳一端与活塞固连,另一端与柔性手指固连,补偿弹簧一端固连于丝杠螺母,另一端连接有上拉绳,上拉绳连接柔性手指,每个柔性手指独立配置一组下拉绳和上拉绳。解决现有技术星表抓附机构存在的诸多技术问题,本发明抓附或固定时不需要侵入星表内部,通过柔性爪刺与星表之间的不规则接触产生固定力,其多个手指之间独立驱动,星表形状适应性强、介质特性适应性强等特点。
Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof
一种星表固定用多指自适应柔性抓附机构及其抓附方法
2021-07-02
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |