The invention discloses a large-scale spatial truss type expandable capturing device. The large-scale spatial truss type expandable capturing device comprises a base and a plurality of mechanical claws, the mechanical gripper comprises a plurality of folding and unfolding units connected in sequence. Each folding and unfolding unit comprises two racks, a double-shear-fork module, a supporting mechanism and a driving mechanism. A first connecting part, a plurality of first movable components, a second connecting part and a plurality of second movable components are arranged on the rack; the first movable component can move and rotate relative to the first connecting part, and the second movable component can move relative to the second connecting part; the double-shear-fork module comprises two shear fork mechanisms which are arranged in the second direction in a spaced mode; the shear fork mechanism comprises two shear fork rods and four adapters, the middles of the two shear fork rods are hinged through a rotating pair R1, and the adapters are hinged to the ends of the shear fork rods through rotating pairs R2 and hinged to the first movable component through rotating pairs R3. The double-scissor-fork mechanism is adopted to form the parallel platform to improve the overall rigidity, and the parallel platform has the advantages of being high in structural reliability and good in stability.

    本发明公开了一种空间大尺度桁架式可展开抓捕装置,包括基座和多个机械手爪;机械手爪包括多个依次连接的折展单元,折展单元包括两个机架、双剪叉模块、支撑机构和驱动机构;机架上设有第一连接部、多个第一活动构件、第二连接部以及多个第二活动构件;第一活动构件可相对于第一连接部进行移动和旋转,第二活动构件可相对于第二连接部进行移动;双剪叉模块包括在第二方向上间隔设置的两个剪叉机构;剪叉机构包括两个剪叉杆以及四个转接件,两个剪叉杆的中部通过转动副R1相铰接,转接件通过转动副R2与剪叉杆的端部相铰接并通过转动副R3与第一活动构件相铰接。本发明采用双剪叉机构构成并联平台来提升整体刚度,具有结构可靠性高和稳定性好的优点。


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    Title :

    Spatial large-scale truss type deployable capturing device


    Additional title:

    空间大尺度桁架式可展开抓捕装置


    Contributors:
    GAO CHANGQING (author) / WANG HANLIN (author) / ZHAO YONGJIE (author) / WU JIAJUN (author) / WANG TUKUN (author)

    Publication date :

    2024-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B25J Manipulatoren , MANIPULATORS



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