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Anchoring device for asteroid surface attachment based on multi-manipulator landing and fork ultrasonic drilling

An anchoring device and a technology of a robotic arm, applied in the field of asteroid surface attachment and anchoring, can solve problems such as the failure to achieve detector attachment and anchoring, and achieve the effects of increased attachment reliability, simple structure, and strong adhesion

Active Publication Date: 2021-04-02
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method does not realize the long-term attachment and anchoring of the probe on the surface of the asteroid, and has certain limitations in the detection of asteroids and the sampling of star soil.

Method used

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  • Anchoring device for asteroid surface attachment based on multi-manipulator landing and fork ultrasonic drilling
  • Anchoring device for asteroid surface attachment based on multi-manipulator landing and fork ultrasonic drilling
  • Anchoring device for asteroid surface attachment based on multi-manipulator landing and fork ultrasonic drilling

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specific Embodiment

[0040] Such as figure 1 As shown, the asteroid probe in this embodiment includes a probe main body 1, a plurality of mechanical arms 2, an end effector 3 and a thrust engine 4; multiple thrust engines 4 are arranged on the probe main body 1, and the thrust engines 4 provide the probe with Attachment pressure. A plurality of mechanical arms 2 protrude from the side of the detector main body 1 , and each mechanical arm 2 has a pair of end effectors 3 . The two end effectors 3 are connected to the mechanical arm 2 at a certain angle to form a fork.

[0041] Such as figure 2 As shown, the end effector 3 structure of the present embodiment:

[0042] The screw nut 3-2 is fixed on the end effector housing 3-6, and the lead screw 3-1 is in a cantilever structure, which can be connected with the servo motor 3-3 through couplings and other components. When the servo motor 3-3 was working, the leading screw 3-1 made rotary linear motion. A disc spring 3-4 is connected between the s...

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Abstract

The invention provides an asteroid surface attachment anchoring device based on multi-arm robot landing and fork-shaped ultrasonic drilling, which is low in drilling pressure, simple in structure, large in adhesion force, and can be attached for a long time, and belongs to the technical field of asteroid surface attachment anchoring. The device includes mechanical arms and end actuators; the top ends of the mechanical arms are connected with the side face of an asteroid detector, the end actuators are connected with the tail ends of the mechanical arms, ultrasonic drills are arranged on the end actuators, and the end actuators drill into the asteroid surface through the ultrasonic drills to realize anchoring; each mechanical arm corresponds to two end actuators, and the two end actuators are fork-shaped and connected with the tail end of the mechanical arm. According to the invention, the ultrasonic drills are used for drilling and anchoring, and the drilling pressure is low; the two ultrasonic drills are arranged in a fork shape, so that the force between the attachment anchoring device and the asteroid surface is closed, and the structure is simple and the attachment force is large.

Description

technical field [0001] The invention relates to an anchoring device, in particular to an asteroid surface attachment anchoring device based on multi-manipulator landing and fork-shaped ultrasonic drilling, and belongs to the technical field of asteroid surface attachment and anchoring. Background technique [0002] The detection of asteroids is of great significance to the exploration of the origin of the solar system and the development of available space resources for human exploration. Since there is almost no gravitational force on the surface of the asteroid, attachment and anchoring is an important technical means for the asteroid probe to reside on the surface of the asteroid for a long time. In addition, the rugged terrain conditions on the surface of the asteroid require the probe to have certain terrain adaptability. Most of the existing asteroid probes adopt the "touch and leave" attachment scheme, that is, the probe touches the surface of the asteroid for a shor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E21B7/00B64G1/62
CPCB64G1/62E21B7/00
Inventor 全齐全唐德威邓宗全胡炯锋姜生元侯绪研
Owner HARBIN INST OF TECH
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