Beijing University of Technology

Ziqiang Zhang

Jing Zhao

Hao Zhang

Zhi Hu Wang

Tong Wu

Meng Ning

Yuchen Zhang

Zichen Song

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.

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

The invention discloses a multifunctional rigid-flexible operation engineering rescue accessory. The accessory comprises a frame, two working hydraulic cylinders, eight gripping device connecting rods, two gripping claws, a flexible cleaning device base, a movable guide sleeve, a guide slider, a guide slider rail, a rotary guide sleeve, eight sweepers brush, a functional hydraulic cylinder, and a working hydraulic motor. A gravel clearing function and a stone grabbing function are achieved by using one accessory, and different from a traditional engineering accessory integrating rigid movement, the accessory has the advantage of integrating rigid operation and flexible operation. A rigid grabbing system and a flexible sweeping system are arranged outside the frame and in the cavity of the frame respectively, so as to realize function conversion; through pushing out and retracting of a piston of the functional hydraulic cylinder, the sweeping brushes can be pushed out of the cavity to work and retract to be hidden so that the grabbing function and the sweeping function can be rapidly converted; and moreover, working requirements in various working states are met, and motion interference is avoided.

Rigid-flexible operation integrated multi-function engineering rescue equipment

The invention discloses a clamping-cutting-grasping multi-functional engineering attachment applying single-degree-of-freedom shape-shifting mechanism, with a symmetrical structure, including a clamping and cutting device, a grasping device, and a separating and deforming device, and further includes two hydraulic cylinders, one base, two separation bases, a driving hydraulic cylinder, hydraulic scissors, a grasping connecting rod, a grasping claw, a separating connecting rod, a base guide rod, a base slider, a separating slider, first connecting rod, second connecting rod and separation slider track groove. The invention uses a double slider mechanism to achieve the relative movement between the grasping device versus the clamping and shearing device, and also realizes a fast conversion from clamping and cutting device to the grasping device, all the work requirements being satisfied under each working state without motion interference.

Multi-functional engineering attachment for clamping, cutting, and grasping with a single degree of freedom variable topology mechanism

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Beijing, China

Ziqiang Zhang