The invention discloses a multi-ring coupling foldable multi-mode space capturing mechanism based on a bionic principle, which comprises a closed-loop gripper module and a base module, and the closed-loop gripper module comprises six space closed-loop coupling grippers; each space closed-loop coupling paw comprises two swing rods, four synchronous folding connecting rods, two connecting covers, two stand columns, two bases and four single-side lugs or double-side lugs. The swing rods, the synchronous folding connecting rods and the stand columns are connected end to end to form a closed-loop structure, and every two adjacent space closed-loop coupling paws share one stand column and one base. The base module is located below the closed-loop gripper module, is composed of an upper platform, a power device and a lower platform, plays a structural supporting role in the closed-loop gripper module, and meanwhile provides power for grabbing of the capturing mechanism to guarantee synchronous folding of the closed-loop gripper module so as to lock and stably grab a captured object. The device has the characteristics of integral folding and unfolding and deformation grabbing, can perform multi-mode capturing, and can adapt to various types of captured objects.

    本发明公开了一种基于仿生原理的多环耦合可折展多模式空间捕获机构,包括闭环手爪模块和基座模块,闭环手爪模块包括六个空间闭环耦合手爪,单个空间闭环耦合手爪包括两根摆杆、四根同步折叠连杆、两个连接盖、两根立柱、两个底座、四个单边凸耳或双边凸耳;摆杆、同步折叠连杆和立柱之间首尾连接组成闭环结构,相邻两个空间闭环耦合手爪共用一根立柱和一个底座。基座模块位于闭环手爪模块的下方,由上平台、动力装置和下平台构成,对闭环手爪模块起结构支撑作用,同时为捕获机构的抓取提供动力保证闭环手爪模块的同步收拢以锁定并稳定抓取被捕获对象。本发明具有整体折展、变形抓取的特性,可进行多模式捕获,能适应多类型被捕获对象。


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    Title :

    Multi-ring coupling foldable multi-mode space capturing mechanism based on bionic principle


    Additional title:

    基于仿生原理的多环耦合可折展多模式空间捕获机构


    Contributors:
    ZHANG GUOXING (author) / XIA XINLU (author) / GUO JINWEI (author) / HE JIANLIANG (author) / WANG JIA (author) / LI CHONG (author)

    Publication date :

    2022-12-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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