Modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure

Patent metadata

Field	Value
Publication number	US-11897128-B2
Application number	US-202217988541-A
Country	US
Kind code	B2
Filing date	Nov 16, 2022
Priority date	Dec 15, 2021
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure includes a plurality of folding units and a manipulator base. The modular design idea is adopted for the manipulator, which is formed by combining multiple folding units. the driving motors installed on each folding unit drive the folding units to stretch out, draw back and fold over, so that the manipulator can stretch out and draw back flexibly and bend in any direction to complete the work tasks in a variety of complex environments. For the manipulator, the flexible materials are added to the links of the folding units, and deformation can be effectively compensated, the mechanism is simplified, and impact is relieved. The torsional spring is additionally arranged in the folding units to play a supporting role, so that the manipulator can be placed in forward or in inverted direction to match with various bases. The angle sensor is fixedly connected to the rotating pair formed by the chassis and the folding unit, and the rotating speed of the manipulator is monitored to avoid large impact or damage.

First claim

The invention claimed is:

1. A modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure comprising:
a plurality of folding units ( 1 ) and a base ( 2 ); a manipulator with a plurality of the folding units ( 1 ) being arranged on the base ( 2 ); wherein:
each of the folding units ( 1 ) includes a lower chassis and an upper chassis ( 1 - 7 ) and six groups of links disposed between the lower and upper chassis, and the six groups of links are respectively link group I ( 1 - 1 ), link group II ( 1 - 2 ), link group III ( 1 - 3 ), link group IV ( 1 - 4 ), link group V ( 1 - 5 ) and link group VI ( 1 - 6 );
connection of the six groups of links is as follows: link group I ( 1 - 1 )-and link group II ( 1 - 2 ) are connected through Hooke hinge 1 ( 1 - 8 ), link group III ( 1 - 3 ) and link group II ( 1 - 2 ) are connected through Hooke hinge 1 ( 1 - 8 ), link group IV ( 1 - 4 ) and link group III ( 1 - 3 ) are connected through Hooke hinge 1 ( 1 - 8 ), link group V ( 1 - 5 ) and link group IV ( 1 - 4 ) are connected through Hooke hinge 1 ( 1 - 8 ), link group VI ( 1 - 6 ) and link group V ( 1 - 5 ) are connected through Hooke hinge 1 ( 1 - 8 ), link group I ( 1 - 1 ) and link group VI ( 1 - 6 ) are connected through Hooke hinge 1 ( 1 - 8 ); link group I ( 1 - 1 ), link group III ( 1 - 3 ) and link group V ( 1 - 5 ) have the same structure, and link group II ( 1 - 2 ), link group IV ( 1 - 4 ) and link group VI ( 1 - 6 ) have the same structure; the structure of link group I ( 1 - 1 ) and link group II ( 1 - 2 ) and their connection relationship are as follows:
link group I ( 1 - 1 ) includes: a lower link 1 ( 1 - 1 - 2 ), a first set of angle sensors ( 1 - 1 - 1 ), a first upper link ( 1 - 1 - 5 ), a first intermediate link 1 ( 1 - 1 - 7 ), a first intermediate link 2 ( 1 - 1 - 4 ), a torsion spring ( 1 - 1 - 8 ); the connection relationship of link group I ( 1 - 1 ) is: the lower link 1 ( 1 - 1 - 2 ) is connected with the lower chassis ( 1 - 7 ) to form a rotating pair, and a first lower angle sensor of the first set of angle sensors ( 1 - 1 - 1 ) is fixedly connected with a shaft of the lower link 1 ( 1 - 1 - 2 ) to monitor a rotation speed of the lower link 1 ( 1 - 1 - 2 ); the first upper link ( 1 - 1 - 5 ) and the upper chassis ( 1 - 7 ) form a rotating pair, a first upper angle sensor of the first set of angle sensors ( 1 - 1 - 1 ) is fixedly connected with an upper shaft of the first upper link ( 1 - 1 - 5 ) to monitor a rotation speed of the first upper link ( 1 - 1 - 5 ); the lower link 1 ( 1 - 1 - 2 ) and the first upper link ( 1 - 1 - 5 ) form a rotating pair, and the torsion spring ( 1 - 1 - 8 ) is fixed on a lower shaft of the first upper link ( 1 - 1 - 5 ) to support the folding unit; the first intermediate link 1 ( 1 - 1 - 7 ) connects with the first upper link ( 1 - 1 - 5 ) through Hooke hinge 2 ( 1 - 1 - 6 ); the lower link 1 ( 1 - 1 - 2 ) connects with the first intermediate link 2 ( 1 - 1 - 4 ) through Hooke hinge 3 ( 1 - 1 - 3 );
link group II ( 1 - 2 ) includes a lower link 2 ( 1 - 2 - 2 ), a second intermediate link 2 ( 1 - 1 - 4 ), a second upper link ( 1 - 1 - 5 ), a second intermediate link 1 ( 1 - 1 - 7 ), a driving gear ( 1 - 2 - 6 ), a driven gear ( 1 - 2 - 5 ), a motor ( 1 - 2 - 1 ) and a second upper angle sensor ( 1 - 1 - 1 );
connection relationship of link group II ( 1 - 2 ) is as follows: the lower link 2 ( 1 - 2 - 2 ) and the lower chassis ( 1 - 7 ) form a rotating pair; the motor ( 1 - 2 - 1 ) is fixed on the lower chassis ( 1 - 7 ), a rotating shaft of the motor is fixedly connected with the driving gear ( 1 - 2 - 6 ), and the driven gear ( 1 - 2 - 5 ) is fixedly connected with a rotating shaft of the lower link 2 ( 1 - 2 - 2 ), motion and power is transmitted through two meshing gears; the second upper link ( 1 - 1 - 5 ) and the upper chassis ( 1 - 7 ) form a rotating pair; the second upper angle sensor ( 1 - 1 - 1 ) is fixedly connected to a rotating shaft of the second upper link ( 1 - 1 - 5 ) to monitor a rotation speed of the second upper link ( 1 - 1 - 5 ); the lower link 2 ( 1 - 2 - 2 ) and the second upper link ( 1 - 1 - 5 ) form a rotating pair; the second intermediate link 1 ( 1 - 1 - 7 ) is connected with the second upper link ( 1 - 1 - 5 ) through Hooke hinge 5 ( 1 - 2 - 4 ); the second intermediate link 2 ( 1 - 1 - 4 ) is connected with the lower link 2 ( 1 - 2 - 2 ) through Hooke hinge 4 ( 1 - 2 - 3 );
lower link 2 ( 1 - 2 - 2 ) includes a rigid part ( 1 - 2 - 2 - 2 ) and a flexible material part ( 1 - 2 - 2 - 1 ) near a lower end of lower link 2 ( 1 - 2 - 2 ); the second upper link ( 1 - 1 - 5 ) includes a rigid part ( 1 - 1 - 5 - 2 ) and a flexible material part ( 1 - 1 - 5 - 1 ) near an upper end of the second upper link ( 1 - 1 - 5 ).

2. The modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure according to claim 1 , wherein the manipulator can be folded in multiple directions.

3. The modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure according to claim 1 , wherein the first upper link ( 1 - 1 - 5 ) includes a rigid part ( 1 - 1 - 5 - 2 ) and a flexible material part ( 1 - 1 - 5 - 1 ) near an upper end of the first upper link ( 1 - 1 - 5 ).

4. The modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure according to claim 1 , wherein the manipulator has multi-degree-of-freedom, and its movements are controlled by three motors of the lower chassis of each folding unit.

5. The modular multi-hinge retractable rigid-flexible coupling space manipulator based on origami structure according to claim 1 , wherein the manipulator can be placed forward and inverted to match with a variety of bases; each folding unit of the manipulator is connected by bolts ( 3 - 2 ) and nuts ( 3 - 2 ); the manipulator can fit a variety of bases including forward base ( 2 - 1 ) and inverted base ( 2 - 2 ); manipulator and base are connected by screws ( 3 - 1 ).

Assignees

• Univ Beijing Technology

Inventors

• Zhang Ziqiang
• Wang Zhi
• Zhang Yuchen
• Zhao Jing
• Ning Meng

Classifications

• B25J9/06 Primary

  characterised by multi-articulated arms · CPC title

• B25J18/06 Primary

  flexible · CPC title

• B25J9/0075 Primary

  Truss · CPC title

• B25J18/025

  telescopic · CPC title

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title