阅读说明：本技术 可刚化充气式抓捕手 (Inflatable grasper capable of rigidizing ) 是由 苗常青 朱延楠 刘文翔 姜晨旭 于 2021-09-08 设计创作，主要内容包括：可刚化充气式抓捕手,属于航天在轨操控技术领域。本发明的可刚化充气式抓捕手,包括多节充气指节、多个充气关节和多个箍紧气囊；所述多节充气指节依次设置,每相邻两节充气指节的相邻端面的里端通过铰链连接,每相邻两节充气指节之间固定连接有充气关节,每节充气指节的外表面的内侧连接有箍紧气囊,多节充气指节为可刚化充气指节。本发明的可刚化充气式抓捕手通过充气关节内驱动气囊充放气实现抓捕手的缠绕式抓捕,并可实现抓捕力的控制、调节,控制方式简单、可靠,易于实现,对于不同形状及尺寸的目标都有很强的适应能力。本发明用于空间目标的在轨抓捕、释放及相对固定等操作。(But rigidization inflatable capture hand belongs to space flight in orbit and controls technical field. The rigidifying inflatable catching hand comprises a plurality of sections of inflatable knuckles, a plurality of inflatable joints and a plurality of hooping airbags; the multi-section inflatable knuckle is sequentially arranged, the inner ends of the adjacent end surfaces of every two adjacent sections of inflatable knuckles are connected through a hinge, an inflatable joint is fixedly connected between every two adjacent sections of inflatable knuckles, the inner side of the outer surface of each section of inflatable knuckle is connected with a hooping air bag, and the multi-section inflatable knuckles are rigidizable inflatable knuckles. The rigidifying inflatable arresting hand provided by the invention realizes the winding type arresting of the arresting hand by driving the air bag to inflate and deflate through the inflating joint, can realize the control and adjustment of the arresting force, has simple and reliable control mode, is easy to realize, and has strong adaptability to targets with different shapes and sizes. The invention is used for the operations of on-orbit capture, release, relative fixation and the like of a space target.)

1. The utility model provides a can rigidify inflatable capture hand which characterized in that: comprises a plurality of sections of inflatable knuckles (1), a plurality of inflatable joints (2) and a plurality of tightening air bags (3); the multi-section inflatable knuckle is characterized in that the multi-section inflatable knuckles (1) are sequentially arranged, the inner ends of the adjacent end surfaces of every two adjacent sections of inflatable knuckles (1) are connected through hinges (4), an inflatable joint (2) is fixedly connected between every two adjacent sections of inflatable knuckles (1), the inner side of the outer surface of each section of inflatable knuckle (1) is connected with a hooping air bag (3), and the multi-section inflatable knuckles (1) are rigid inflatable knuckles.

2. A rigidizable inflatable grasper according to claim 1, wherein: the inflatable joint (2) is in a corrugated pipe shape.

3. A rigidizable inflatable grasper according to claim 1, wherein: the lengths of the multiple sections of inflatable knuckles (1) are equal, or are decreased progressively or increased progressively from the rear end to the front end; the diameter of the outer wall of the multi-section inflatable knuckle (1) decreases progressively or has equal length or increases progressively from the rear end to the front end.

4. A rigidizable inflatable grasper according to claim 1 or 3, wherein: the multi-section inflatable knuckle (1) is a hollow inflatable cylinder, the length of the multi-section inflatable knuckle (1) is 0.01-10m, and the number of the multi-section inflatable knuckles (1) is 1-100.

5. A rigidizable inflatable grasper according to claim 1 or 2, wherein: the inflatable joints (2) comprise driving air bags (201), elastic telescopic elements (202) and two baffles (203); a driving air bag (201) is fixedly arranged between the two baffles (203), an elastic telescopic element (202) is fixed on the outer side of the driving air bag (201), and every two adjacent sections of the inflatable knuckle (1) are fixedly connected with the two baffles (203) of the inflatable joint (2).

6. A rigidizable inflatable grasper according to claim 1, wherein: the banding air bag (3) is a flexible cylindrical bag body.

7. A rigidizable inflatable grasper according to claim 1 or 3, wherein: the inflatable knuckle (1) is made of a plurality of layers of flexible composite materials, and the plurality of layers of flexible composite materials sequentially comprise an airtight layer, a bearing layer and a reflecting layer from inside to outside.

8. A rigidifiable inflatable grasper as in claim 1 or 6, wherein: the hooping air bag (3) is made of a plurality of layers of flexible composite materials, the plurality of layers of flexible composite materials are an airtight layer, a bearing layer and an anti-skid layer from inside to outside in sequence, and a sensing layer is clamped in the anti-skid layer; the airtight layer is made of TPU or PE, the bearing layer is made of fiber cloth, unidirectional cloth, high-strength oxford cloth or PVC wired mesh cloth, and the anti-skid layer is made of anti-skid rubber.

9. A rigidizable inflatable grasper according to claim 7, wherein: the inflatable knuckle (1) is provided with a rigidizing layer made of aramid prepreg cloth, and the rigidizing layer is arranged between the bearing layer and the reflecting layer.

10. A rigidizable inflatable grasper according to claim 9, wherein: the rigidization mode is electrical heating rigidization, ultraviolet rigidization, foam filling rigidization or space thermal rigidization, the electrical heating rigidization is provided with the electric heating layer, the electric heating layer sets up between rigidization layer and bearing layer, the foam is filled and is rigidized and is filled the foam in aerifing the space in knuckle (1).

Technical Field

The invention belongs to the technical field of aerospace on-orbit control, and particularly relates to a rigidizable inflatable type capturing hand.

Background

On-orbit capture, release, relative fixation and the like of a target are required to be completed by a capture mechanism when on-orbit operation and service are carried out on space targets (including cooperative targets and non-cooperative targets). The existing space target capturing mechanism mainly adopts the forms of a rigid mechanical arm or a mechanical gripper and the like, and can be used for capturing space cooperative targets. However, for non-cooperative targets, including own aircraft without a cooperative grasping mechanism, dead satellites and other large-size space debris, a large-scale capturing mechanism is required to complete the task, and for a mechanical capturing mechanism, the size of the capturing mechanism needs to be greatly increased, the number of joints needs to be increased, the volume and the mass of the capturing mechanism and a control system of the capturing mechanism are increased, the complexity and the operation difficulty of the system are obviously increased, the operation reliability of the system is reduced, and the manufacturing and transmitting cost is increased. In addition, in the capturing process of the rigid mechanical arm or the capturing hand, the capturing action area is small, and the local capturing force is easily overlarge, so that the capturing mechanism and the captured target are damaged.

Disclosure of Invention

The present invention is directed to solving the above problems of the prior art and to providing a rigidizable inflatable grasper.

The invention provides a simple and reliable solution for the requirements of on-orbit capture, release, relative fixation and the like of space targets, particularly large non-cooperative targets.

1. The rigidifying inflatable type capturer can be flexibly folded, the folding shape is flexible, the launching volume is small, and the launching cost is low.

2. After the rigidifying inflatable type capturing hand is launched into the rail, the rail can be inflated and unfolded and is formed in a rigidizing mode, and therefore the capturing hand with large size and enough rigidity is formed on the rail.

3. The catching form is flexible, and the catching device has strong adaptability to targets with different shapes and sizes.

4. The catching action area is large, the total catching force and the friction force are large, and the catching is firm and reliable.

5. The control mode of the catching hand is simple, flexible, reliable and easy to realize.

6. The catching hand can be repeatedly used after being unfolded, rigidized and formed on the rail, the catching and releasing of the target can be realized only by inflating the inflating joint during catching, and the required air quantity is small.

7. The inflatable knuckle is provided with the hooping air bag, the bionic design of a finger belly form is adopted, the hooping air bag and the caught target form large-area contact, the catching force is uniformly distributed, the caught target can be flexibly caught, and the caught target is prevented from being damaged.

8. The rigidifying inflatable type catching hand is made of flexible composite materials, the processing technology is simple, and the raw materials and the manufacturing cost are low.

9. The adjustment and control of the area and the acting force of the capture area can be realized by adjusting the inflation pressure in the hooping air bag, and the fine adjustment of the adaptability of the shape of the captured target can be realized.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a rigidifying inflatable catching hand comprises a plurality of sections of inflatable finger joints, a plurality of inflatable joints and a plurality of tightening air bags; the multi-section inflatable knuckle is sequentially arranged, the inner ends of the adjacent end surfaces of every two adjacent sections of inflatable knuckles are connected through a hinge, an inflatable joint is fixedly connected between every two adjacent sections of inflatable knuckles, the inner side of the outer surface of each section of inflatable knuckle is connected with a hooping air bag, and the multi-section inflatable knuckles are rigidizable inflatable knuckles.

Compared with the prior art, the invention has the beneficial effects that:

1. the rigidifying inflatable type capturing hand is made of flexible composite materials, can be flexibly folded, is flexible in folding form, small in launching volume, low in launching cost and low in difficulty.

2. After the rigidifying inflatable capturing hand is launched into the rail, the inflatable capturing hand is inflated, unfolded and rigidized to form the capturing hand with large size and enough rigidity.

3. The rigidifying inflatable type capturing hand drives the air bag to inflate and deflate through the inflating joint and drives the control and adjustment of the inflating pressure in the air bag to realize the winding type capturing of the captured target and the operations of tightening and releasing the captured target, the control mode is simple and reliable, the realization is easy, and the adaptability to the captured targets with different shapes and sizes is improved.

4. When the rigidifying inflatable type arresting hand is used for arresting, the target can be arrested and released only by inflating the inflatable joint driving air bag, and the air quantity required in the arresting process is small.

5. The rigidifying inflatable type catching hand adopts a structure form of multiple finger joints and multiple inflatable joints, and the finger joints are provided with the banding airbags adopting the finger belly form bionic design, so that the adaptability of the catching hand to the shape and the size of a caught target is improved, and the catching of targets with different sizes and shapes can be realized.

6. The hooping air bag increases the total catching force and friction force of the catching hand, and the catching is firm and reliable.

7. The hooping air bag is a flexible bag body, the bionic design of a finger belly form is adopted, the target can be hooped along with the shape, the tight contact between a catcher and the caught target is realized, the contact area is large, the catching force is uniformly distributed, the flexible catching of the caught target is realized, and the damage to the caught target is avoided.

8. The adjustment and control of the catching area and the catching force of the catching hand can be realized by adjusting and controlling the internal inflation pressure of the inflation joint driving air bag and the hooping air bag.

9. The rigidifying inflatable type catching hand can be repeatedly used after being unfolded and rigidized and formed on the rail.

Drawings

FIG. 1 is a schematic structural view of a rigidizable inflatable grasper of the invention;

fig. 2 is a schematic structural view of an inflatable joint.

The names and reference numbers of the components referred to in the above figures are as follows:

the device comprises an inflatable knuckle 1, an inflatable joint 2, a driving air bag 201, an elastic telescopic element 202, a baffle plate 203, a tightening air bag 3 and a hinge 4.

Detailed Description

The first embodiment is as follows: as shown in fig. 1, the present embodiment discloses a rigidizable inflatable grasper, including a plurality of segments of inflatable knuckles 1, a plurality of inflatable joints 2, and a plurality of tightening balloons 3; the multi-section inflatable knuckle 1 is sequentially arranged, the inner ends of the adjacent end surfaces of every two adjacent sections of inflatable knuckles 1 are connected through a hinge 4, an inflatable joint 2 is fixedly connected between every two adjacent sections of inflatable knuckles 1, the inner side of the outer surface of each section of inflatable knuckle 1 is connected with a tightening air bag 3, and the multi-section inflatable knuckles 1 are rigid inflatable knuckles.

Further, as shown in fig. 1, the air-filled joint 2 has a bellows shape.

Further, as shown in fig. 1, the lengths of the multiple sections of inflatable knuckles 1 are all equal, or decrease or increase progressively from the rear end to the front end; the diameter of the outer wall of the multi-section inflatable knuckle 1 decreases progressively or has equal length or increases progressively from the rear end to the front end.

Further, as shown in fig. 1, the multiple inflatable knuckles 1 are hollow inflatable cylinders, the length of the multiple inflatable knuckles 1 is 0.01-10m, and the number of the multiple inflatable knuckles 1 is 1-100.

Further, as shown in fig. 1 and 2, each of the plurality of inflation joints 2 includes a driving airbag 201, an elastic expansion element 202, and two baffles 203; a driving air bag 201 is fixedly arranged between the two baffles 203, an elastic telescopic element 202 is fixed on the outer side of the driving air bag 201, and every two adjacent sections of the inflatable knuckle 1 are fixedly connected with the two baffles 203 of the inflatable joint 2.

Further, as shown in fig. 1, the banding balloon 3 is a flexible cylindrical balloon.

Further, as shown in fig. 1, the inflatable knuckle 1 is made of a plurality of layers of flexible composite materials, and the plurality of layers of flexible composite materials sequentially comprise an airtight layer, a bearing layer and a reflecting layer from inside to outside; the airtight layer is made of TPU or PE, the bearing layer is made of fiber cloth, unidirectional cloth, high-strength oxford cloth or PVC wired mesh cloth, and the reflecting layer is made of an aluminum film.

Further, as shown in fig. 1, the banding air bag 3 is made of multiple layers of flexible composite materials, the multiple layers of flexible composite materials sequentially comprise an airtight layer, a force bearing layer and an anti-skid layer from inside to outside, and a sensing layer is clamped in the anti-skid layer; the airtight layer is made of TPU or PE, the bearing layer is made of fiber cloth, unidirectional cloth, high-strength oxford cloth or PVC wired mesh cloth, and the anti-skid layer is made of anti-skid rubber.

Further, as shown in fig. 1, the inflatable knuckle 1 is provided with a rigidizing layer made of aramid prepreg cloth, and the rigidizing layer is arranged between the bearing layer and the reflecting layer.

Further, as shown in fig. 1, the rigidization mode is electrical heating rigidization, ultraviolet rigidization, foam filling rigidization or space thermal rigidization, the electrical heating rigidization is provided with an electrical heating layer, the electrical heating layer is arranged between the rigidization layer and a bearing layer, and the foam filling rigidization is to fill foam in a space in the inflatable knuckle 1.

Example 1:

the present embodiment discloses a rigidizable inflatable grasper; comprises nine inflatable knuckles 1, eight inflatable joints 2 and ten tightening air bags 3; the knuckle 1 is aerifyd by rear end to front end size and subtracts progressively to the nine sections, and the inner end of two adjacent terminal surfaces of the knuckle 1 is aerifyd to every adjacent two sections passes through hinge 4 to be connected, and every adjacent two sections are aerifyd fixedly connected with between the knuckle 1 and are aerifyd joint 2, and the knuckle 1 is aerifyd to the nine sections by the rear end to the front end definition in proper order and is: the inner sides of the outer surfaces of the inflatable knuckles of the second section and the third section are respectively connected with two banding airbags 3, and the inner sides of the outer surfaces of the inflatable knuckles of the fourth section and the ninth section are respectively connected with one banding airbag 3.

The use method and the principle are as follows: the rear end (tail end) of the rigidifying inflatable capturer is connected with a mechanical telescopic arm of an aircraft, and air nozzles are arranged on the inflatable knuckle 1, the hooping air bag 3 and the driving air bag 201 and are connected with inflation and deflation equipment. The rigidifying inflatable type grabber is launched in a folded and packaged state, and is inflated and unfolded after being put into orbit, and the inflatable knuckle 1 is rigidized in an ultraviolet or electric heating rigidizing mode.

When the target is caught, the aircraft approaches the catching target, the mechanical extending arm is unfolded, and the catching hand is inflated and unfolded. The inflatable knuckle 1 is wound around a catching target under the driving of the inflatable joint 2, and then the tightening air bag 3 is inflated and unfolded to tighten the target. When the target needs to be released, the banding air bag 3 is deflated, the inflatable knuckle 1 is unfolded under the driving of the inflatable joint 2, and the target is released.

The small-size targets are caught by the small-size inflatable knuckles 1 at the front ends of the catching hands, and the large-size targets are caught by the large-size inflatable knuckles 1 and the small-size inflatable knuckles 1 of the catching hands together (the size of the inflatable knuckles 1 comprises the length and the diameter of the outer wall).

The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention.