阅读说明：本技术 一种充气手的收拢装置 (A kind of collecting device of inflatable hand ) 是由 刘宇飞 边琳琳 李萌 郑威 耿新宇 李媛媛 于 2019-07-31 设计创作，主要内容包括：本发明公开了一种充气手的收拢装置,包括外部套筒,电机,绳索。外部套筒为圆锥形结构或半球形结构,是充气手收拢后的容纳装置,便于绳索对充气手的拉拽,其容积由充气手尺寸与折叠冗余确定；电机包括数个在套筒内壁上直线排列的电机,电机数量由指节数量确定；电机和手掌、指节及指尖通过绳索连接,每个电机所连绳索数目由手指数量确定。当充气手需要回收时,电机按照从手掌到指节再到指尖的顺序收回绳索,充气手会收拢至外部套筒内腔中。本发明用于空间在轨维修或抓取废弃卫星等的充气手的收拢,结构简单,适用范围广,可多次重复使用。(The invention discloses a kind of collecting device of inflatable hand, including outer sleeve, motor, ropes.Outer sleeve be conical structure or hemispherical dome structure, be inflatable hand collapse after storing apparatus, the pulling convenient for rope to inflatable hand, volume by inflatable hand size and fold redundancy determine；Motor includes several motors arranged in a straight line on sleeve lining, and number of motors is determined by finger joint quantity；Motor is connected with palm, finger joint and finger tip by rope, and each connected rope number of motor is determined by fingers number.When inflatable hand needs to recycle, motor withdraws rope to the sequence of finger tip again according to from palm to finger joint, and inflatable hand can collapse in outer sleeve inner cavity.Gathering of the present invention for the inflatable hand of space-orbit maintenance or the discarded satellite of crawl etc., structure is simple, applied widely, can repeatedly use.)

1. a kind of collecting device of inflatable hand, which is characterized in that include outer sleeve (1), motor (2) and rope (3), outer cover Cylinder (1) is conical structure or hemispherical dome structure, and outer sleeve (1) miner diameter end, which is fixedly connected on, to stretch one's arm apart from end 1/4- At 1/3 position, the end that stretches one's arm protruded into outer sleeve (1) is connected with palm and finger in turn, is arranged between each finger Finger joint passes through the inflation/deflation realized to palm and finger that stretches one's arm；

Linearly arrangement mode is arranged on the inner wall of outer sleeve (1) motor (2), and is distributed in the two sides of palm, and two sides are first A motor position and, subsequent motor successively continuous arrangement concordant with the junction of palm, motor (2) and the hand palm or phalanx of stretching one's arm Section and finger tip are connected by rope (3), and motor (2) quantity is determined that each connected rope quantity of motor (2) is by hand by finger joint quantity Exponential quantity determines；

When gathering, motor (successively withdraw rope (3) according to the sequence from palm to finger tip, and the folding of palm finger is retracted to outer by (2) In portion's sleeve (1) inner cavity.

2. a kind of collecting device of inflatable hand according to claim 1, it is characterised in that: motor (2) quantity A and every hand The relationship for referring to contained finger joint quantity C is A=(C+2) * 2, motor palm institute planar, be distributed in palm two sides, every side electricity Machine number is A/2, the final rounding state of inflatable hand are as follows: palm abutting stretches one's arm, and finger is distributed in outer sleeve inner wall On.

3. a kind of collecting device of inflatable hand according to claim 2, it is characterised in that: connect each motor institute of palm Even rope quantity is 1, and the relationship of the connected rope quantity D of each motor and fingers number B that connect finger joint and finger tip is D= [B/2], [] indicate the number that rounds up.

4. a kind of collecting device of inflatable hand according to claim 2, it is characterised in that: with outer sleeve (1) miner diameter end Nearest two sides motor connects palm end by rope, and adjacent motor is connected first finger joint of finger by rope, pressed This sequence motor is successively connected with corresponding finger joint and finger tip by rope.

5. a kind of collecting device of inflatable hand according to claim 4, it is characterised in that: rope on each motor and with Finger joint on finger similar in motor is connected, and when the fingers number B of inflatable hand is even number, the motor of palm two sides is sequentially connected The correspondence finger joint of nearest B/2 root finger；When B is odd number, the motor of palm side is sequentially connected nearest [B/2] root finger Correspondence finger joint and finger tip, [] indicate to round up number, other side motor be sequentially connected (B/2) root finger correspondence finger joint and Finger tip, () indicate to be rounded downwards.

6. a kind of collecting device of inflatable hand according to claim 1, it is characterised in that: motor (2) quantity A and every hand The relationship for referring to contained finger joint quantity C is A=C+3, and motor is where palm outside plane, along the positive and negative directional spreding of plane normal, two Side motor number is respectively that [A/2] is a and (A/2) is a, and [] expression rounds up, and () indicates to be rounded downwards, and inflatable hand is finally received Hold together state are as follows: palm abutting stretches one's arm, and it is broken line type that inflatable hand, which collapses section,.

7. a kind of collecting device of inflatable hand according to claim 6, it is characterised in that: motor (2) and finger joint and finger tip It is connected by rope (3), the relationship for connecting the connected rope number D of each motor and fingers number B of finger joint and finger tip is D=B.

8. a kind of collecting device of inflatable hand according to claim 6, it is characterised in that: with outer sleeve (1) miner diameter end Nearest two sides motor connects palm by rope, and the adjacent motor of side connects first finger of all fingers by rope Section, second finger joint of the adjacent motor in other side connection all fingers, in this order two sides motor successively with corresponding finger joint and refer to Point alternately connects.

9. a kind of collecting device of inflatable hand according to claim 1, it is characterised in that: the folding after palm and finger gathering Folded redundancy δ meets: 0.05m³≤δ≤0.1m³。

10. a kind of collecting device of inflatable hand according to claim 2, it is characterised in that: when inflatable hand needs to collapse, Two sides motor successively starts according to the sequence from palm to finger tip withdraws rope, and to guarantee that last position has been collapsed after the completion The gathering at next position can be carried out, i.e. the motor of connection palm, which first rotates, withdraws rope, and after collapsing to palm, connection is different The motor of first finger joint of finger is rotated further by withdrawal rope, is successively collapsed in this order, until inflatable hand collapses to completely In outer sleeve inner cavity.

Technical field

The present invention relates to a kind of spatial flexible body collecting device, especially a kind of collecting device of flexible inflatable finger belongs to In space-orbit maintenance technique field.

Background technique

The exploration and development in outer space is increasingly paid attention in countries in the world now, in this process the event of space device Barrier is discarded equal so that need more and more space junks present in maintainable technology on-orbit or recycling outer space, therefore development exists The work that aspect is removed in rail maintenance and space junk recycling has very important significance.

Various space-orbit maintenances and recyclable device are had been developed that at this stage, such as: space manipulator, inflatable finger device Deng.Wherein the course of work of inflatable finger device is to recycle fragment close to fragment, expanding unit, crawl fragment.In the course of work The middle flexible expansion and gathering for needing to inflate arm device.There is presently no the collecting devices for being directed to inflatable hand, that is, are unable to satisfy more The demand of secondary reuse will realize that recycling, which is repeated several times, using the space junk of inflatable hand removes work, it is necessary to consider inflation The collecting device of hand.

Summary of the invention

The technical problem to be solved by the present invention is in order to overcome the deficiencies of the prior art, the present invention provides a kind of inflatable hands Collecting device, solve the problems, such as inflated spatial hand collapse.

The technical scheme adopted by the invention is that:

A kind of collecting device of inflatable hand, includes outer sleeve, motor and rope, and outer sleeve is conical structure or half Spherical structure, outer sleeve miner diameter end, which is fixedly connected on, to stretch one's arm at the position 1/4-1/3 of end, protrudes into outer sleeve The end that stretches one's arm be connected with palm and finger in turn, finger joint is set between each finger, by stretch one's arm realize to palm With the inflation/deflation of finger；

The linear arrangement mode of motor is arranged on the inner wall of outer sleeve, and is distributed in the two sides of palm, and two sides are first Motor position and, the subsequent motor successively continuous arrangement concordant with the junction of palm that stretch one's arm, motor and palm, finger joint and refer to Point is connected by rope, and number of motors is determined that each connected rope quantity of motor is determined by fingers number by finger joint quantity；

When gathering, motor (successively withdraws rope according to the sequence from palm to finger tip, the folding of palm finger is retracted to outside In barrel bore.

The relationship of number of motors A and finger joint quantity C contained by every finger is A=(C+2) * 2, motor plane where palm It is interior, palm two sides are distributed in, every side motor number is A/2, the final rounding state of inflatable hand are as follows: palm is close to stretching, extension hand Arm, finger are distributed on outer sleeve inner wall.

The connected rope quantity of each motor for connecting palm is 1, connects the connected rope of each motor of finger joint and finger tip Quantity D and the relationship of fingers number B are D=[B/2], and [] indicates the number that rounds up.

Palm end is connect by rope with outer sleeve miner diameter end nearest two sides motor, adjacent motor passes through rope First finger joint of finger is connected, motor is successively connected with corresponding finger joint and finger tip by rope in this order.

Rope on each motor and it is connected with the finger joint on finger similar in motor, when the fingers number B of inflatable hand is When even number, the motor of palm two sides is sequentially connected the correspondence finger joint of nearest B/2 root finger；When B is odd number, palm side Motor is sequentially connected the correspondence finger joint and finger tip of nearest [B/2] root finger, and [] indicates the number that rounds up, other side motor according to The correspondence finger joint and finger tip of secondary connection (B/2) root finger, () indicate to be rounded downwards.

The relationship of number of motors A and finger joint quantity C contained by every finger is A=C+3, motor where palm outside plane, Along the positive and negative directional spreding of plane normal, two sides motor number is respectively that [A/2] is a and (A/2) is a, and [] expression rounds up, () It indicates to be rounded downwards, the final rounding state of inflatable hand are as follows: palm abutting stretches one's arm, and it is broken line type that inflatable hand, which collapses section,.

Motor is connect with finger joint and finger tip by rope, connect finger joint and finger tip the connected rope number D of each motor and The relationship of fingers number B is D=B.

Palm is connect by rope with outer sleeve miner diameter end nearest two sides motor, the adjacent motor of side passes through rope First finger joint of all fingers is connected, the adjacent motor in the other side connects second finger joint of all fingers, in this order two sides Motor is successively alternately connected with corresponding finger joint and finger tip.

Folding redundancy δ after palm and finger collapse meets: 0.05m³≤δ≤0.1m³。

When inflatable hand needs to collapse, two sides motor successively starts according to the sequence from palm to finger tip withdraws rope, and Guarantee that last position can just carry out the gathering at next position after the completion of having collapsed, i.e. the motor of connection palm first rotates withdrawal rope Rope, to palm collapse after, the motor for connecting different first finger joint of finger is rotated further by withdrawal rope, in this order successively into Row collapses, until inflatable hand is collapsed to completely in outer sleeve inner cavity.

The present invention compared with prior art the utility model has the advantages that

(1) collecting device of inflatable hand of the invention, motor successively withdraw rope, hand according to the sequence from palm to finger tip Palm finger folding is retracted in outer sleeve inner cavity, realizes inflatable hand repeatedly using in space；

(2) present invention is realized by the quantity of motor, the arrangement mode of motor, rope connection type different from finger joint The different modes of inflatable hand used in space-orbit maintenance or the discarded satellite of crawl etc. collapse, applied widely.

Detailed description of the invention

Fig. 1 is that outer sleeve of the embodiment of the present invention is toroidal, and inflatable finger number is even number and inflatable finger is final Rounding state are as follows: finger is distributed in the structural schematic diagram on outer sleeve inner wall；

Fig. 2 is that outer sleeve of the embodiment of the present invention is hemispherical, and inflatable finger number is even number and inflatable finger is finally received Hold together state are as follows: finger is distributed in the structural schematic diagram on outer sleeve inner wall；

Fig. 3 is that outer sleeve of the embodiment of the present invention is hemispherical, and inflatable finger number is even number and inflatable finger is finally received Hold together state are as follows: finger collapses the structural schematic diagram that section is broken line type；

Fig. 4 is that outer sleeve of the embodiment of the present invention is toroidal, and inflatable finger number is odd number and final rounding state Are as follows: finger is distributed in the structural schematic diagram on outer sleeve inner wall；

Fig. 5 be outer sleeve of the embodiment of the present invention be toroidal, every Fingers joint number mesh of inflatable hand be 1 and finger most Whole rounding state are as follows: finger is distributed in the structural schematic diagram on outer sleeve inner wall；

Fig. 6 be outer sleeve of the embodiment of the present invention be toroidal, every Fingers joint number mesh of inflatable hand be 1 and finger most Whole rounding state are as follows: finger collapses the structural schematic diagram that section is broken line type.

Specific embodiment

The present invention is described further with reference to the accompanying drawing.

Referring to figs. 1 to 6, a kind of collecting device of inflatable hand includes outer sleeve 1, motor 2 and rope 3, outer sleeve 1 For conical structure or hemispherical dome structure, 1 miner diameter end of outer sleeve, which is fixedly connected on, to stretch one's arm apart from the end position 1/4-1/3 Place, the end that stretches one's arm protruded into outer sleeve 1 is connected with palm and finger in turn, finger joint is arranged between each finger, passes through Stretch one's arm the inflation/deflation realized to palm and finger；

The linear arrangement mode of motor 2 is arranged on the inner wall of outer sleeve 1, and is distributed in the two sides of palm, and two sides are first A motor position and, subsequent motor successively continuous arrangement concordant with the junction of palm, motor 2 and the palm, finger joint of stretching one's arm And finger tip is connected by rope 3,2 quantity of motor is determined by finger joint quantity, and the connected rope quantity of each motor 2 is true by fingers number It is fixed；

When gathering, motor 2 successively withdraws rope 3 according to the sequence from palm to finger tip, and the folding of palm finger is retracted to outer In 1 inner cavity of portion's sleeve.Folding redundancy δ after palm and finger collapse meets: 0.05m³≤δ≤0.1m³.The inside of outer sleeve Volume is not less than the volume after inflatable hand collapses completely, and inflatable hand is completely disposed in outer sleeve inner cavity after collapsing completely.

As shown in Fig. 1,2,4,5, the relationship of 2 quantity A of motor and finger joint quantity C contained by every finger is A=(C+2) * 2, Motor palm institute planar, be distributed in palm two sides, every side motor number is A/2, the final rounding state of inflatable hand Are as follows: palm abutting stretches one's arm, and finger is distributed on outer sleeve inner wall.The connected rope quantity of each motor for connecting palm is equal It is 1, the relationship of the connected rope quantity D of each motor and fingers number B that connect finger joint and finger tip is D=[B/2], and [] indicates Round up number.Palm end is connect by rope with outer sleeve (1) miner diameter end nearest two sides motor, adjacent motor is logical First finger joint of rope connection finger is crossed, motor is successively connected with corresponding finger joint and finger tip by rope in this order.Each Rope on motor and it is connected with the finger joint on finger similar in motor, when the fingers number B of inflatable hand is even number, palm two The motor of side is sequentially connected the correspondence finger joint of nearest B/2 root finger；When B is odd number, the motor of palm side is sequentially connected The correspondence finger joint and finger tip of nearest [B/2] root finger, [] indicate that the number that rounds up, other side motor are sequentially connected (B/2) root The correspondence finger joint and finger tip of finger, () indicate to be rounded downwards.

As shown in Fig. 3,6, the relationship of 2 quantity A of motor and finger joint quantity C contained by every finger is A=C+3, and motor is in hand Where the palm outside plane, along the positive and negative directional spreding of plane normal, two sides motor number is respectively that [A/2] is a, and [] expression takes upwards Whole, (A/2) is a, and () indicates to be rounded downwards, the final rounding state of inflatable hand are as follows: palm abutting stretches one's arm, and inflatable hand, which collapses, to be cut Face is broken line type.Motor 2 is connect with finger joint and finger tip by rope (3), and the connected rope of each motor of finger joint and finger tip is connected The relationship of number D and fingers number B is D=B.The two sides motor nearest with 1 miner diameter end of outer sleeve connect palm by rope, The adjacent motor of side connects first finger joint of all fingers by rope, and the of the adjacent motor in other side connection all fingers Two finger joints, two sides motor is successively alternately connected with corresponding finger joint and finger tip in this order.

When inflatable hand needs to collapse, two sides motor successively starts according to the sequence from palm to finger tip withdraws rope, and Guarantee that last position can just carry out the gathering at next position after the completion of having collapsed, i.e. the motor of connection palm first rotates withdrawal rope Rope, to palm collapse after, the motor for connecting different first finger joint of finger is rotated further by withdrawal rope, in this order successively into Row collapses, until inflatable hand is collapsed to completely in outer sleeve inner cavity.