A bionic robot for small celestial body detection

Abstract

The present invention relates to deep space exploration robots, and more particularly, to a bionic robot for small celestial body exploration. The robot comprises a bionic attacher, a robotic arm, a camera assembly, and a main body. Multiple robotic arms are circumferentially positioned around the outer side of the main body, each equipped with a bionic attacher at its distal end. The camera assembly is located atop the main body and is used for identifying and modeling the terrain of small celestial bodies. Using an attacher inspired by the microspikes of cockroaches and spiders, the robot can adhere to the regolith of a small celestial body, significantly overcoming the effects of the microgravity environment and uncertain surface conditions of the small celestial body.

Description

Technical Field

[0001] The present invention relates to a deep space exploration robot, in particular to a bionic robot for small celestial body exploration. Background Art

[0002] Small celestial bodies are numerous, widely distributed, and possess diverse compositions and environmental characteristics. They primarily include asteroids, comets, meteoroids, and other interstellar matter. In recent years, small body exploration missions have garnered widespread attention. Sample return and in-situ resource exploration have become a hot topic and a key focus of small body exploration missions, driven by objectives such as space resource development, Earth defense, understanding the formation and evolution of the solar system, and exploring the origins of life. Technologies for patrol exploration and resource development and utilization of small bodies currently face numerous challenges. Unlike the Moon and Mars, small bodies have irregular shapes, uneven densities, complex rotational states, and weak gravitational fields, placing high demands on space robots for long-term patrol exploration of their surfaces. Furthermore, the complex topography of small bodies, coupled with limited research and uncertainty regarding the mechanical mechanisms and physical properties of their surface regolith and rocks, complicates the development and utilization of small body resources. Due to the unique microgravity environments and uncertain surface conditions of small bodies, current exploration missions primarily focus on sample return and in-situ analysis. However, long-term patrol exploration and resource extraction will be the key focus of the next phase of research. Space robots designed and controlled using biomimetic technology can provide a variety of effective solutions for future small celestial body exploration. Attachment mechanisms and powered climbing mechanisms inspired by cockroaches and geckos have been incorporated into the design and control of several ground-based wall-climbing robots, including Spinybot and Stickybot, as well as space robots, including LEMUR II b and LEMUR III. Space robots designed and controlled using biomimetic technology have promising application prospects in small celestial body exploration missions and should be considered. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide a small celestial body detection bionic robot to solve the problems of small celestial body patrol detection and resource development and utilization.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A bionic robot for small celestial body detection includes a bionic attachment, a robotic arm, a camera assembly and a main body. A plurality of robotic arms are circumferentially arranged on the outer side of the main body, and the execution end of each robotic arm is provided with a bionic attachment. The camera assembly is arranged on the top of the main body, and the camera assembly is used for identifying and modeling small celestial body terrain scenes.

[0006] The robotic arm includes a robotic arm base, joint I, connecting rod I, joint II, an adapter, joint III, connecting rod II and joint IV, wherein the robotic arm base is connected to the fuselage main body, one end of connecting rod I is connected to the robotic arm base through joint I, and the other end of connecting rod I is connected to one end of the adapter through joint II; one end of connecting rod II is connected to the other end of the adapter through joint III, and the other end of connecting rod II is connected to joint IV; joint IV is connected to the bionic attachment.

[0007] The camera assembly includes a swivel bracket, a pitch support, a camera, a sensor I and a sensor II, wherein one end of the swivel bracket is rotatably connected to the fuselage body, and the other end of the swivel bracket is connected to the pitch support and the sensor II on both sides respectively, and the camera and sensor I are arranged on the pitch support.

[0008] The body main body includes a body shell, a polymer lithium battery pack, a main control board, a motor, a limit support, a rotary connector, a solar panel and a frame, wherein the polymer lithium battery pack is installed at the bottom of the frame; the limit support is a ring structure, the limit support is arranged at the center position of the frame, the motor is arranged in the limit support, and the output end of the motor is connected to the camera assembly through a rotary connector; the main control board is arranged at the top of the limit support, and the main control board is connected to the motor and the polymer lithium battery pack; the body shell is arranged on the outside of the frame; the solar panel is arranged on the top of the body shell, and the solar panel is connected to the polymer lithium battery pack and the motor.

[0009] The bionic attachment includes a claw mechanism, a connecting rod mechanism, a driving mechanism, a tensioning mechanism, a releasing mechanism, an attachment base and an adapter flange, wherein the attachment base is connected to the execution end of the robotic arm through the adapter flange; a plurality of connecting rod mechanisms are provided on the attachment base along the circumference, and the end of each connecting rod mechanism is connected to a claw mechanism; the transmission mechanism, the tensioning mechanism and the releasing mechanism are arranged inside the attachment base, the transmission mechanism is connected to the tensioning mechanism, and the tensioning mechanism and the releasing mechanism are both connected to a plurality of connecting rod mechanisms; the transmission mechanism is used to drive the tensioning mechanism, and the tensioning mechanism drives the connecting rod mechanism to make the claw mechanism attached to the surface of the weathering layer of the small celestial body; the releasing mechanism drives the connecting rod mechanism to make the claw mechanism detached from the surface of the weathering layer of the small celestial body.

[0010] The connecting rod mechanism includes connecting rod IV, connecting rod V, connecting rod III, a coil spring seat, a coil spring, a rolling seat, a torsion spring seat, a torsion spring and a support seat, wherein connecting rod IV is connected to the claw mechanism and the tensioning mechanism, connecting rod V is a parallel four-bar mechanism, and the two ends of connecting rod V are respectively rotatably connected to connecting rod IV and connecting rod III; the coil spring seat is installed at one end of connecting rod III close to connecting rod V, the coil spring is installed on the coil spring seat, and one end of the coil spring is connected to connecting rod V; the rolling seat is installed at the other end of connecting rod III, and the rolling seat is rotatably connected to the releasing mechanism; the support seat is rotatably connected to the other end of connecting rod III, and the support seat is connected to the attachment base; the torsion spring seat is installed at the other end of connecting rod III, the torsion spring is installed on the torsion spring seat, and the end of the torsion spring is in contact with the support seat.

[0011] The claw mechanism includes a bionic flexible claw blade, a sliding lubrication pad, a sliding pin, a side plate and a suspension holder, wherein there are multiple bionic flexible claw blades, which are stacked in sequence to form a bionic flexible claw blade array, and a sliding lubrication pad is provided between two adjacent bionic flexible claw blades; the bionic flexible claw blade array is arranged in the suspension holder, and the front end is connected to the suspension holder through a sliding pin, and side plates are provided on the left and right sides of the suspension holder, and the rear end of the bionic flexible claw blade array is connected to the side plates; the rear end of the suspension holder is connected to the connecting rod mechanism.

[0012] The bionic compliant claw thorn includes a spring movable seat, a wave spring, a wave spring fixing seat, a linear spring, a hook and a hook fixing seat, wherein the front end of the spring movable seat is provided with a horizontal slide groove, and the sliding pin is accommodated in the horizontal slide groove; the spring movable seat is connected to the wave spring fixing seat through a wave spring, and the wave spring fixing seat is connected to the side plate through a fixing pin; the spring movable seat is connected to the hook fixing seat through a linear spring, the hook is installed at the lower end of the hook fixing seat, and the upper end of the hook fixing seat can be movably accommodated in a limiting groove provided on the spring movable seat.

[0013] The driving mechanism includes a DC motor I, a reducer I, an encoder I, an adapter plate I, an adapter sleeve, a deep groove ball bearing and a pinion, wherein the encoder I is mounted on the lower part of the DC motor I, the reducer I is mounted on the upper part of the DC motor I, the reducer I is connected to the attachment base via the adapter plate I, the adapter sleeve is mounted on the end of the output shaft of the reducer I, the adapter sleeve is connected to the attachment base via the deep groove ball bearing, and the pinion is connected to the adapter sleeve and the end of the output shaft of the reducer I via screws;

[0014] The tensioning mechanism includes a large gear, an angular contact ball bearing I, a center lead screw, a center nut, a tightening disk, a tightening spring and a steel wire rope, wherein the center lead screw is rotatably connected to the attachment base through the angular contact ball bearing I; a large gear is provided on the upper end of the center lead screw, and the large gear is meshed with the small gear; the center nut and the center lead screw cooperate with each other, the tightening disk is connected to the center nut, and is slidably connected to the attachment base in a vertical direction, and a plurality of steel wire ropes are connected to the tightening disk along the circumference, and the front end of each steel wire rope is respectively connected to one of the connecting rod mechanisms;

[0015] A tightening spring is connected between the end of each steel wire rope and the tightening disc.

[0016] The release mechanism includes a DC motor II, a reducer II, an encoder II, an adapter plate II, an angular contact ball bearing II, a small lead screw, a release nut, a lead screw fixing cover, a connecting rod bracket, a release adapter ring and a release connecting rod, wherein the encoder II is installed at the lower part of the DC motor II, the reducer II is installed at the upper part of the DC motor II, the reducer II is connected to the attachment base through the adapter plate II, the output end of the reducer II is connected to the small lead screw, the small lead screw is connected to the attachment base through the angular contact ball bearing II, and the lead screw fixing cover is arranged on the outside of the small lead screw; the release nut is threadedly matched with the small lead screw, one end of the connecting rod bracket is connected to the release nut, and the other end is connected to the release adapter ring, the release adapter ring is arranged on the outside of the attachment base, and the release adapter ring and the attachment base can be slidably connected in the vertical direction; a plurality of release connecting rods are provided on the release adapter ring along the circumference, and each release connecting rod is respectively connected to one of the connecting rod mechanisms;

[0017] The outer side of the attachment base is connected to a plurality of guide rail assemblies through a support, and each guide rail assembly is arranged in a vertical direction; the outer side of the release adapter ring is provided with a plurality of slider assemblies along the circumferential direction, and each slider assembly is respectively slidably matched with the guide rail assembly.

[0018] The advantages and benefits of the present invention compared with the prior art are:

[0019] The present invention can adhere to the surface of the weathering layer of a small celestial body by using an attachment device inspired by the micro-thorns of cockroaches, spiders, etc., greatly overcoming the influence of the microgravity environment and uncertain surface of the small celestial body.

[0020] The robot in the present invention has two modes for patrol and detection, namely climbing mode and walking mode, and can be controlled through corresponding gait planning, and can realize the collaborative movement of four groups of four-degree-of-freedom robotic arms to complete the conversion between the two movement modes, so that the robot has higher flexibility and maneuverability.

[0021] The robot body of the present invention adopts a symmetrical structural design. The robot completes the turning movement by directly controlling the camera assembly to rotate to the corresponding orientation without the need to replan the gait of the robotic arm.

[0022] The camera in the present invention is driven by a motor through a rotating bracket and a pitch base, and can realize circular rotation around the center of the fuselage body and up and down pitch movement. It can complete the three-dimensional modeling and navigation of the terrain around small celestial bodies, and can use auxiliary sensors I and II to complete resource exploration.

[0023] The robot of the present invention adopts a combined power supply mode of solar panels and polymer lithium battery packs. At the same time, when there is sufficient electric energy, the solar panels can also supply power to the polymer lithium battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an axonometric diagram of a small celestial body detection bionic robot according to the present invention;

[0025] Figure 2 This is a front view of a small celestial body detection bionic robot according to the present invention;

[0026] Figure 3 is an axonometric view of the four-degree-of-freedom robotic arm of the present invention;

[0027] Figure 4 One of the axonometric views of the camera assembly of the present invention;

[0028] Figure 5 This is the second axonometric drawing of the camera assembly of the present invention;

[0029] Figure 6 is a cross-sectional view of the fuselage body of the present invention;

[0030] Figure 7 is an axonometric view of the bionic attachment device of the present invention;

[0031] Figure 8 This is a front view of the bionic attachment device of the present invention;

[0032] Figure 9 This is one of the cross-sectional views of the bionic attachment device of the present invention;

[0033] Figure 10 This is the second cross-sectional view of the bionic attachment device of the present invention;

[0034] Figure 11 This is an axonometric diagram of the claw piercing mechanism of the present invention;

[0035] Figure 12 This is an axonometric view of the claw spur of the present invention;

[0036] Figure 13 is a cross-sectional view of the connecting rod mechanism in the present invention;

[0037] Figure 14 is a cross-sectional view of the driving mechanism of the present invention;

[0038] Figure 15 is a cross-sectional view of the tensioning mechanism of the present invention;

[0039] Figure 16 is a cross-sectional view of the release mechanism of the present invention;

[0040] Figure 17 is a cross-sectional view of the base of the attachment device of the present invention;

[0041] Figure 18 (a)-(f) are schematic diagrams of a climbing gait planning sequence of a small celestial body detection bionic robot according to the present invention;

[0042] Figure 19 (a)-(f) are schematic diagrams of a walking gait planning sequence of a small celestial body detection bionic robot according to the present invention;

[0043] In the figure: 1 is a claw thorn mechanism, 101 is a bionic soft claw thorn piece, 1011 is a spring movable seat, 1012 is a wave spring, 1013 is a wave spring fixed seat, 1014 is a linear spring, 1015 is a hook, 1016 is a hook fixed seat, 102 is a sliding lubricating pad, 103 is a sliding pin, 104 is a side plate, 105 is a suspension holder, 2 is a connecting rod mechanism, 201 is a connecting rod IV, 202 is a connecting rod V, 203 is a connecting rod III, 204 is a coil spring seat, 205 is a coil spring, 206 is a rolling seat, 207 is a torsion spring seat, 208 is a torsion spring, and 209 is a support seat , 3 is the driving mechanism, 301 is the DC motor Ⅰ, 302 is the reducer Ⅰ, 303 is the encoder Ⅰ, 304 is the adapter plate Ⅰ, 305 is the adapter sleeve, 306 is the deep groove ball bearing, 307 is the small gear, 4 is the tensioning mechanism, 401 is the large gear, 402 is the upper end cover of the inner ring of the bearing, 403 is the angular contact ball bearing Ⅰ, 404 is the upper end cover of the outer ring of the bearing, 405 is the center screw, 406 is the center nut, 407 is the tightening disk, 408 is the tightening spring, 409 is the wire rope, 5 is the release mechanism, 501 is the DC motor Ⅱ, 502 is the reducer Ⅱ, 503 is the encoder Encoder II, 504 is adapter plate II, 505 is angular contact ball bearing II, 506 is small screw, 507 is release nut, 508 is screw fixing cover, 509 is retaining ring, 510 is connecting rod bracket, 511 is release adapter ring, 512 is slider assembly, 513 is support, 6 is attachment base, 601 is center base, 602 is top end cover, 603 is bottom end cover, 604 is guide shaft, 605 is linear bearing seat, 606 is anti-collision pad, 607 is flange frame, 7 is adapter flange, 11 is bionic attachment, 12 is robot arm, 121 is robot arm base, 122 is joint I, 123 is connecting rod I, 124 is joint II, 125 is adapter, 126 is joint III, 127 is connecting rod II, 128 is joint IV, 13 is camera assembly, 131 is swivel bracket, 132 is pitch support, 133 is camera, 134 is sensor I, 135 is sensor II, 136 is pitch motor, 14 is fuselage main body, 141 is fuselage shell, 142 is polymer lithium battery pack, 143 is main control board, 144 is motor, 145 is limit support, 146 is swivel connector, 147 is solar cell panel, 148 is frame. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] like Figure 1-2As shown, the present invention provides a bionic robot for small celestial body detection, comprising a bionic attachment 11, a robotic arm 12, a camera assembly 13, and a main body 14. Multiple robotic arms 12 are circumferentially disposed on the outer side of the main body 14, each with a bionic attachment 11 at its distal end. The camera assembly 13 is mounted on top of the main body 14 and is used for identifying and modeling the terrain of small celestial bodies. By using multiple sets of robotic arms 12 to drive the bionic attachment 11 and cooperating with the camera assembly 13 for modeling, the present invention enables the robot to patrol and detect various terrain and topographical scenarios on the surface of a small celestial body.

[0046] like Figure 6 As shown, in an embodiment of the present invention, the body 14 includes a body shell 141, a polymer lithium battery pack 142, a main control board 143, a motor 144, a limit support 145, a rotary connector 146, a solar panel 147 and a frame 148, wherein the polymer lithium battery pack 142 is installed at the bottom of the frame 148; the limit support 145 is a ring structure, and the limit support 145 is arranged at the center position of the frame 148. The motor 144 is arranged in the limit support 145, and the output end of the motor 144 is connected to the camera assembly 13 through the rotary connector 146; the main control board 143 is arranged on the top of the limit support 145, and the main control board 143 is connected to the motor 144 and the polymer lithium battery pack 142; the body shell 141 is arranged on the outside of the frame 148; the solar panel 147 is arranged on the top of the body shell 141, and the solar panel 147 is connected to the polymer lithium battery pack 142 and the motor 144. The main body 14 serves as the core of the robot and provides an assembly interface for the remaining components.

[0047] like Figure 4 As shown, in the embodiment of the present invention, the camera assembly 13 includes a swivel bracket 131, a tilt support 132, a camera 133, a sensor I 134, and a sensor II 135. One end of the swivel bracket 131 is connected to a swivel connector 146 in the body 14, and the other end of the swivel bracket 131 is connected to the tilt support 132 and the sensor II 135 on both sides. The camera 133 and the sensor I 134 are mounted on the tilt support 132. Specifically, the sensor I 134 is mounted on the front panel of the camera 133.

[0048] like Figure 5 As shown, in the embodiment of the present invention, the pitch support 132 is rotatably connected to the swivel bracket 131 via a rotating shaft, and the pitch support 132 is driven to pitch by a pitch motor 136. Specifically, the pitch motor 136 is provided on the swivel bracket 131, and the output shaft of the pitch motor 136 is connected to the rotating shaft.

[0049] The camera assembly 13 can realize circular rotation motion through the drive of the motor 144, complete the recognition and modeling of small celestial body terrain scenes around the robot, and assist the robot's mobile attachment and path planning control.

[0050] like Figure 3 As shown, in the embodiment of the present invention, the robotic arm 12 includes a robotic arm base 121, joint I 122, connecting rod I 123, joint II 124, adapter 125, joint III 126, connecting rod II 127, and joint IV 128. The robotic arm base 121 is connected to the main body 14. One end of connecting rod I 123 is connected to the robotic arm base 121 via joint I 122, and the other end of connecting rod I 123 is connected to one end of adapter 125 via joint II 124. One end of connecting rod II 127 is connected to the other end of adapter 125 via joint III 126, and the other end of connecting rod II 127 is connected to joint IV 128. Joint IV 128 is connected to the bionic attachment 11. The robotic arm 12 drives the bionic attachment 11 to move through four degrees of freedom, and each joint can complete rotational motion. By evenly installing the four-degree-of-freedom robotic arms on the body shell 141 of the body main body 14, the ends of the four-degree-of-freedom robotic arms are connected to the bionic attachment 11, and the set gait planning control algorithm can realize the robot's mobile attachment detection activities on the surface of small celestial bodies.

[0051] like Figure 7-10 As shown, the bionic attachment 11 includes a claw mechanism 1, a connecting rod mechanism 2, a driving mechanism 3, a tensioning mechanism 4, a releasing mechanism 5 and an attachment base 6, wherein the attachment base 6 is connected to the execution end of the robotic arm 12, and a plurality of connecting rod mechanisms 2 are provided on the attachment base 6 along the circumference, and the end of each connecting rod mechanism 2 is connected to the claw mechanism 1; the transmission mechanism 3, the tensioning mechanism 4 and the releasing mechanism 5 are arranged inside the attachment base 6, the transmission mechanism 3 is connected to the tensioning mechanism 4, and the tensioning mechanism 4 and the releasing mechanism 5 are both connected to a plurality of connecting rod mechanisms 2; the transmission mechanism 3 is used to drive the tensioning mechanism 4, and the tensioning mechanism 4 drives the connecting rod mechanism 2 to make the claw mechanism 1 attached to the surface of the weathering layer of the small celestial body; the releasing mechanism 5 drives the connecting rod mechanism 2 to make the claw mechanism 1 detached from the surface of the weathering layer of the small celestial body.

[0052] like Figure 17 As shown, in an embodiment of the present invention, the attachment base 6 includes a central attachment base 601, a top end cover 602, a bottom end cover 603, a guide shaft 604, a linear bearing seat 605, an anti-collision pad 606 and a flange frame 607, wherein the top end cover 602 and the bottom end cover 603 are respectively connected to the top and bottom of the central attachment base 601, the guide shaft 604 is arranged between the top end cover 602 and the bottom end cover 603, the linear bearing seat 605 is installed on the guide shaft 604, and is connected to the tensioning mechanism 4; the anti-collision pad 606 is installed at the lower part of the bottom end cover 603, and the flange frame 607 is installed at the upper part of the top end cover 602.

[0053] like Figure 11 As shown, in an embodiment of the present invention, the claw mechanism 1 includes a bionic flexible claw thorn 101, a sliding lubrication pad 102, a sliding pin 103, a side plate 104 and a suspension holder 105, wherein one end of the suspension holder 105 is connected to the connecting rod mechanism 2, and the other end is provided with a horizontal slide groove; there are multiple bionic flexible claw thorns 101, and they are stacked in sequence to form a bionic flexible claw thorn array, and a sliding lubrication pad 102 is provided between two adjacent bionic flexible claw thorns 101, which are lubricated by the sliding lubrication pad 102; the bionic flexible claw thorn array is arranged in the suspension holder 105, and the front end is connected to the suspension holder 105 through a sliding pin 103, and side plates 104 are provided on the left and right sides of the suspension holder 105, and the rear end of the bionic flexible claw thorn array is connected to the side plate 104; the rear end of the suspension holder 105 is connected to the connecting rod mechanism 2.

[0054] like Figure 12 As shown, in an embodiment of the present invention, the bionic flexible claw thorn 101 includes a spring movable seat 1011, a wave spring 1012, a wave spring fixed seat 1013, a linear spring 1014, a hook 1015 and a hook fixed seat 1016, wherein the front end of the spring movable seat 1011 is provided with a horizontal slide groove, and the sliding pin 103 is accommodated in the horizontal slide groove, so that the spring movable seat 1011 can move horizontally; the spring movable seat 1011 is connected to the wave spring fixed seat 1013 through the wave spring 1012, and the wave spring fixed seat 1013 is connected to the side plate 104 through a fixing pin; the spring movable seat 1011 is connected to the hook fixed seat 1016 through the linear spring 1014, and the hook thorn 1015 is installed at the lower end of the hook fixed seat 1016. Specifically, the hook barb fixing seat 1016 is located at the front end of the spring movable seat 1011, and the upper end of the hook barb fixing seat 1016 can be movably accommodated in a limiting groove provided on the spring movable seat 1011; when the hook barb 1015 is attached to the surface of the weathering layer of the small celestial body, the spring movable seat 1011 can rotate around the hook barb 1015, thereby realizing rotational freedom.

[0055] like Figure 13As shown, in the embodiment of the present invention, the connecting rod mechanism 2 includes a connecting rod IV 201, a connecting rod V 202, a connecting rod III 203, a coil spring seat 204, a coil spring 205, a rolling seat 206, a torsion spring seat 207, a torsion spring 208 and a support seat 209, wherein the connecting rod IV 201 is connected to the claw mechanism 1 and the tensioning mechanism 4, the connecting rod V 202 is a parallel four-bar mechanism, and the two ends of the connecting rod V 202 are respectively rotatably connected to the connecting rod IV 201 and the connecting rod III 203 through a pin and a matching sleeve; the coil spring seat 204 is installed on the connecting rod III 203 near the connecting rod 1. At one end of rod V202, a coil spring 205 is installed on a coil spring seat 204, and one end of the coil spring 205 is connected to the connecting rod V202; a rolling seat 206 is installed at the other end of the connecting rod III203, and the rolling seat 206 is rotatably connected to the release mechanism 5; a support seat 209 is rotatably connected to the other end of the connecting rod III203, and the support seat 209 is connected to the attachment base 6; a torsion spring seat 207 is installed at the other end of the connecting rod III203, and a torsion spring 208 is installed on the torsion spring seat 207, and the end of the torsion spring 208 is in contact with the support seat 209.

[0056] like Figure 14 As shown, in an embodiment of the present invention, the driving mechanism 3 includes a DC motor I301, a reducer I302, an encoder I303, an adapter plate I304, an adapter sleeve 305, a deep groove ball bearing 306 and a pinion 307, wherein the encoder I303 is installed at the lower part of the DC motor I301, the reducer I302 is installed at the upper part of the DC motor I301, the reducer I302 is connected to the base top end cover 602 of the attachment base 6 through the adapter plate I304, the adapter sleeve 305 is installed at the end of the output shaft of the reducer I302 and is fixed by a set screw; the adapter sleeve 305 is connected to the base top end cover 602 of the attachment base 6 through the deep groove ball bearing 306, and the pinion 307 is connected to the adapter sleeve 305 and the output shaft end of the reducer I302 by screws.

[0057] like Figure 15 As shown, in an embodiment of the present invention, the tensioning mechanism 4 includes a large gear 401, an angular contact ball bearing I 403, a center screw 405, a center nut 406, a tightening disk 407, a tightening spring 408 and a wire rope 409, wherein the center screw 405 is rotatably connected to the attachment base 6 through the angular contact ball bearing I 403; the upper end of the center screw 405 is provided with a large gear 401, and the large gear 401 is engaged with the small gear 307; the center nut 406 cooperates with the center screw 405, the tightening disk 407 is connected to the center nut 406, and is slidably connected to the attachment base 6 in the vertical direction, and a plurality of wire ropes 409 are circumferentially connected to the tightening disk 407, and the front end of each wire rope 409 is respectively connected to the connecting rod I 201 of a connecting rod mechanism 2.

[0058] Furthermore, a tightening spring 408 is connected between the end of each wire rope 409 and the tightening disk 407. The linear bearing seat 605 is mounted on the tightening disk 407 by screws, and is used to cooperate with the guide shaft 604 to limit the tightening disk 407 to move up and down.

[0059] Specifically, the large gear 401 is mounted on the upper part of the bearing inner ring upper end cover 402 by screws and meshes with the small gear 307. The bearing inner ring upper end cover 402 is mounted on the upper part of the center screw 405 by screws and abuts against the inner ring of the angular contact ball bearing 403. The bearing outer ring upper end cover 404 is mounted on the upper part of the base top end cover 602 by screws and abuts against the outer ring of the angular contact ball bearing I 403. The center screw 405 is limited to the center of the base top end cover 602 and the base bottom end cover 603 by cooperating with the angular contact ball bearing I 403, and is driven by the large gear 401 to perform rotational motion.

[0060] like Figure 16 As shown, in the embodiment of the present invention, the release mechanism 5 includes a DC motor II 501, a reducer II 502, an encoder II 503, an adapter plate II 504, an angular contact ball bearing II 505, a small screw 506, a release nut 507, a screw fixing cover 508, a connecting rod bracket 510, a release adapter ring 511 and a release connecting rod 515, wherein the encoder II 503 is installed at the lower part of the DC motor II 501, the reducer II 502 is installed at the upper part of the DC motor II 501, the reducer II 502 is connected to the attachment base 6 through the adapter plate II 504, and the output end of the reducer II 502 is connected to the small screw 506. The small lead screw 506 is connected to the attachment base 6 through the angular contact ball bearing II 505, and the lead screw fixing cover 508 is arranged on the outside of the small lead screw 506; the release nut 507 is threadedly matched with the small lead screw 506, one end of the connecting rod bracket 510 is connected to the release nut 507, and the other end is connected to the release adapter ring 511, and the release adapter ring 511 is arranged on the outside of the attachment base 6, and the release adapter ring 511 and the attachment base 6 can be slidably connected in the vertical direction; a plurality of release connecting rods 515 are arranged on the circumference of the release adapter ring 511, and each release connecting rod 515 is respectively connected to the rolling seat 206 of a connecting rod mechanism 2.

[0061] Furthermore, the outer side of the attachment base 6 is connected to a plurality of guide rail assemblies 513 through a support 514, and each guide rail assembly 513 is arranged in a vertical direction; the outer side of the release adapter ring 511 is provided with a plurality of slider assemblies 512 along the circumferential direction, and each slider assembly 512 is respectively slidably matched with the guide rail assembly 513.

[0062] Specifically, the reducer II 502 is connected to the top end cover 602 of the base through the adapter plate II 504, and the two angular contact ball bearings II 505 are respectively installed on the top end cover 602 of the base and the top of the screw fixing cover 508, and cooperate with the small screw 506. At the same time, the lower part of the small screw 506 is connected to the output shaft of the reducer II 502 through a set screw, and its upper part is fastened with a screw-fastened retaining ring 509 to resist the inner ring of the angular contact ball bearing II 505, and the release nut 507 cooperates with the small screw 506. The screw fixing cover 508 is installed on the upper part of the top end cover 602 of the base by screws.

[0063] In the embodiment of the present invention, the bionic attachment device 11 adopts a bionic design to achieve adaptive attachment and detachment to the surface of the regolith of a small celestial body. The specific working principle is as follows:

[0064] (1) Tensioning and attaching process: The driving mechanism 3 drives the small gear 307 to rotate through the DC motor I 301 and the reducer I 302. The small gear 307 transmits the power to the large gear 401 of the tensioning mechanism 4, and then drives the central lead screw 405 to rotate. At this time, the tightening disk 407 moves upward under the cooperation of the central nut 406 and the central lead screw 405, and then tightens the tightening spring 408 and the wire rope 409 installed around the tightening disk 407. Driven by the wire rope 409, the connecting rod I 201 retracts inward, thereby causing the claw mechanism 1 to move inward. At this time, the bionic flexible claw piece 101 can achieve compliant hook attachment on the surface of the weathering layer of the small celestial body.

[0065] (2) Release and desorption process: The release mechanism 5 drives the small screw 506 to rotate through the DC motor II 501 and the reducer II 502, thereby lifting the release nut 507 upward. At this time, the connecting rod bracket 510 connected to the release nut 507 drives the release adapter ring 511 to move upward, and then drives the release connecting rod 515. Under the drive of the release connecting rod 515, the connecting rod III 203 rotates inward around the support seat 209. At the same time, the connecting rod II 202 is lifted upward under the action of the connecting rod III 203 and the coil spring 205, and then the connecting rod I 201 and the claw mechanism 1 are lifted upward to achieve desorption.

[0066] The present invention provides a small celestial body detection bionic robot, which realizes two motion modes in the patrol detection process, namely climbing mode and walking mode. It can be controlled by corresponding gait planning, and can realize the collaborative movement of four groups of four-degree-of-freedom robotic arms, completing the conversion between the two motion modes, so that the robot has higher flexibility and maneuverability.

[0067] In an embodiment of the present invention, taking four groups of four-degree-of-freedom robotic arms as an example, the conversion between the climbing mode and the walking mode is completed through the collaborative movement of the four groups of four-degree-of-freedom robotic arms.

[0068] like Figure 18As shown in (a)-(f), the robot crawls in a gait sequence mode in which the front and rear legs are attached alternately. This gait sequence imitates the four-legged crawling mechanism of geckos and lizards to achieve movement. Figure 18 (a) is the original state of the robot at the beginning of crawling. At this time, the four groups of front and rear robotic arms 12 are all in the inward retracted state, and the bionic attachments 11 at the ends of the four groups of robotic arms 12 are all in the attached state. Afterwards, the two groups of robotic arms 12 in the hind legs and the bionic attachments 11 at their ends remain in the original state, and the bionic attachment 11 at the end of the single group of robotic arms 12 on the left side of the foreleg is controlled to be in the detached state, and then the left robotic arm 12 on the foreleg is controlled to be extended to be in the attached state. Figure 18 (b) position, and finally control the bionic attachment 11 at the end of the left side mechanical arm 12 of the forefoot to be in the attached state; similarly, keep the single set of mechanical arms 12 on the left side of the forefoot and the two sets of mechanical arms 12 on the hind foot in the attached state. Figure 18 (b) The state remains unchanged, and the bionic attachment 11 at the end of the forefoot right robotic arm 12 is kept in the attached state, and the bionic attachment 11 at the end of the forefoot right robotic arm 12 is controlled to be in the detached state, and then the forefoot right robotic arm 12 is controlled to extend and be in the Figure 18 (c) position, and finally control the bionic attachment 11 at the end of the right robotic arm 12 of the forefoot to be in the attached state; then, the bionic attachment 11 at the end of the front and rear four sets of robotic arms 12 all keep the attached state unchanged, coordinate and control the four sets of robotic arms 12, the two sets of robotic arms 12 of the front foot are retracted, and the two sets of robotic arms 12 of the hind foot are extended, so that they are in Figure 18 (d) position, at this time the fuselage body 14 moves forward; then, the two sets of mechanical arms 12 of the front foot and the single set of mechanical arms 12 on the right side of the rear foot are kept Figure 18 (d) The state remains unchanged, and the bionic attachments 11 at the end are kept in the attached state, and the bionic attachments 11 at the end of the single set of mechanical arms 12 on the left side of the hind foot are controlled to be in the detached state, and then the single set of mechanical arms 12 on the left side of the hind foot are controlled to contract, and the bionic attachments 11 at the end of the single set of mechanical arms 12 on the left side of the hind foot are controlled to be in the detached state. Figure 18 (e) position, and finally control the bionic attachment 11 at the end of the left side mechanical arm 12 of the hind foot to be in the attached state; the last step is to keep the two sets of mechanical arms 12 of the front foot and the single set of mechanical arms 12 of the left side of the hind foot in the attached state. Figure 18 (e) The state remains unchanged, and the bionic attachments 11 at the ends of the two robotic arms 12 on the right side of the hind foot are kept in the attached state, and the bionic attachments 11 at the ends of the two robotic arms 12 on the right side of the hind foot are controlled to be in the detached state, and then the two robotic arms 12 on the right side of the hind foot are controlled to be contracted, and the bionic attachments 11 at the ends of the two robotic arms 12 on the right side of the hind foot are controlled to be in the detached state. Figure 18 (f) position, and finally control the bionic attachment 11 at the end of the right robotic arm 12 of the hind foot to be in the attached state. At this point, the robot completes the gait sequence of the crawling process. By continuously executing the above gait sequence, the robot can complete the climbing and attachment movement on the surface of the small celestial body.

[0069] like Figure 19As shown in (a)-(f), in an embodiment of the present invention, the robot's upright walking process is carried out in a gait sequence mode in which the hind legs are alternately attached. This gait sequence achieves movement by imitating the dynamic mechanism of humans climbing rocks. 19(a) is the original state of the robot at the beginning of crawling. At this time, the four groups of mechanical arms 12 of the front and rear legs are in an inward-folded state, and the bionic attachments 11 at their ends are in an attached state. Afterwards, the two groups of mechanical arms 12 of the front legs and the bionic attachments 11 at their ends remain in their original states, and the bionic attachments 11 at the ends of the two groups of mechanical arms 12 of the hind legs are controlled to be in a detached state. Then, the two groups of mechanical arms 12 of the hind legs are controlled to extend backward, and the bionic attachments 11 are rotated 90 degrees to be in an attached state. Figure 19 (b) position, and finally control the bionic attachments 11 at the ends of the two sets of mechanical arms 12 of the hind foot to be in an attached state; the two sets of mechanical arms 12 of the front foot remain in their original state, and the bionic attachments 11 at their ends remain in a detached state, the state of the single set of mechanical arms 12 on the left side of the hind foot remains unchanged, and the bionic attachments 11 at their ends remain in an attached state, and the bionic attachments 11 at the ends of the single set of mechanical arms 12 on the right side of the hind foot are controlled to be in a detached state, and then the single set of mechanical arms 12 on the right side of the hind foot are controlled to extend to the right side, in Figure 19 (c) position; the two sets of robotic arms 12 on the forefoot remain in their original state, the bionic attachment 11 at the end remains detached, and the single set of robotic arms 12 on the right side of the hindfoot remains Figure 19 (c) The position remains unchanged, the bionic attachment 11 at the end remains in the detached state, the bionic attachment 11 at the end of the single set of mechanical arms 12 on the left side of the hind foot remains in the attached state, and the single set of mechanical arms 12 on the left side of the hind foot is controlled to extend to the right, in Figure 19 (d) position, at this time the fuselage body 14 moves to the right; the two sets of mechanical arms 12 of the front foot remain in their original state, the bionic attachment 11 at the end remains in the detached state, and the single set of mechanical arms 12 on the left side of the hind foot remains Figure 19 (d) The position remains unchanged, and the bionic attachment 11 at the end of the single set of mechanical arms 12 on the right side of the hind foot is controlled to be in a detached state. The bionic attachment 11 at the end of the single set of mechanical arms 12 on the right side of the hind foot remains in an attached state, and the single set of mechanical arms 12 on the right side of the hind foot is controlled to contract so that the bionic attachment 11 at the end of the hind foot moves to the right. Figure 19 (e) position; the two sets of robotic arms 12 for the forefoot remain in their original state, the bionic attachment 11 at the end remains detached, and the single set of robotic arms 12 on the right side of the hindfoot remains Figure 19 (e) The position remains unchanged, the bionic attachment 11 at the end remains attached, and the left single group of mechanical arms 12 is controlled to contract so that the bionic attachment 11 at the end moves to the right. Figure 19 (f) position, and then control the bionic attachment 11 at its end to be in the attachment state. At this point, the robot completes the gait sequence of the walking process. By continuously executing the above gait sequence, the robot can complete the walking attachment movement on the surface of the small celestial body.

[0070] The present invention provides a bionic robot for small celestial body exploration. It can be released onto the surface of a small celestial body via a main probe to conduct patrol and exploration of the regolith and rock surface of the small celestial body, as well as resource exploration. The robot can achieve maneuverable attachment in microgravity. If the bionic attachment at the end of the four-degree-of-freedom robotic arm is combined with an auger, it can be used to mine and utilize resources on small celestial bodies. Modifications to the robot could also allow its application in the design of patrol and exploration robots for celestial surfaces such as the Moon and Mars. Furthermore, the robot could be used for tasks such as spacecraft inspection and maintenance.

[0071] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A bionic robot for small celestial body detection, characterized in that: The invention comprises a bionic attachment (11), a mechanical arm (12), a camera assembly (13) and a body (14), wherein a plurality of mechanical arms (12) are provided on the outer side of the body (14) along the circumferential direction, and the execution end of each mechanical arm (12) is provided with a bionic attachment (11); the camera assembly (13) is arranged on the top of the body (14), and the camera assembly (13) is used for identifying and modeling small celestial body terrain scenes; The bionic attachment device (11) comprises a claw mechanism (1), a connecting rod mechanism (2), a driving mechanism (3), a tensioning mechanism (4), a releasing mechanism (5), an attachment base (6) and an adapter flange (7), wherein the attachment base (6) is connected to the execution end of the robotic arm (12) via the adapter flange (7); a plurality of connecting rod mechanisms (2) are provided on the attachment base (6) along the circumference, and the end of each connecting rod mechanism (2) is connected to the claw mechanism (1); the transmission mechanism (3), the tensioning mechanism (4) and a release mechanism (5) are arranged inside the attachment base (6), the transmission mechanism (3) is connected to the tensioning mechanism (4), and the tensioning mechanism (4) and the release mechanism (5) are both connected to a plurality of connecting rod mechanisms (2); the transmission mechanism (3) is used to drive the tensioning mechanism (4), and the tensioning mechanism (4) drives the connecting rod mechanism (2) to make the claw thorn mechanism (1) attached to the surface of the weathered layer of the small celestial body; the release mechanism (5) drives the connecting rod mechanism (2) to make the claw thorn mechanism (1) detached from the surface of the weathered layer of the small celestial body; The claw thorn mechanism (1) comprises a bionic flexible claw thorn piece (101), a sliding lubricating pad (102), a sliding pin (103), a side plate (104) and a suspension holder (105), wherein the bionic flexible claw thorn piece (101) is multiple and stacked in sequence to form a bionic flexible claw thorn piece array, and a sliding lubricating pad (102) is provided between two adjacent bionic flexible claw thorn pieces (101); the bionic flexible claw thorn piece array is arranged in the suspension holder (105), and the front end is connected to the suspension holder (105) through the sliding pin (103); the left and right sides of the suspension holder (105) are provided with side plates (104); the rear end of the bionic flexible claw thorn piece array is connected to the side plates (104); the rear end of the suspension holder (105) is connected to the connecting rod mechanism (2); The bionic compliant claw thorn piece (101) comprises a spring movable seat (1011), a wave spring (1012), a wave spring fixing seat (1013), a linear spring (1014), a hook (1015) and a hook-thorn fixing seat (1016), wherein the front end of the spring movable seat (1011) is provided with a horizontal slide groove, and the sliding pin (103) is accommodated in the horizontal slide groove; the spring movable seat (1011) is connected to the wave spring fixing seat (1013) through the wave spring (1012), and the wave spring fixing seat (1013) is connected to the side plate (104) through a fixing pin; the spring movable seat (1011) is connected to the hook-thorn fixing seat (1016) through the linear spring (1014), the hook (1015) is installed at the lower end of the hook-thorn fixing seat (1016), and the upper end of the hook-thorn fixing seat (1016) can be movably accommodated in a limiting groove provided on the spring movable seat (1011).

2. The small celestial body detection bionic robot according to claim 1, characterized in that: The robotic arm (12) includes a robotic arm base (121), a joint I (122), a connecting rod I (123), a joint II (124), an adapter (125), a joint III (126), a connecting rod II (127) and a joint IV (128), wherein the robotic arm base (121) is connected to the fuselage body (14), one end of the connecting rod I (123) is connected to the robotic arm base (121) through the joint I (122), and the other end of the connecting rod I (123) is connected to one end of the adapter (125) through the joint II (124); one end of the connecting rod II (127) is connected to the other end of the adapter (125) through the joint III (126), and the other end of the connecting rod II (127) is connected to the joint IV (128); and the joint IV (128) is connected to the bionic attachment (11).

3. The small celestial body detection bionic robot according to claim 1, characterized in that: The camera assembly (13) comprises a swivel bracket (131), a pitch support (132), a camera (133), a sensor I (134) and a sensor II (135), wherein one end of the swivel bracket (131) is rotatably connected to the fuselage body (14), and the other end of the swivel bracket (131) is connected to the pitch support (132) and the sensor II (135) on both sides respectively, and the camera (133) and the sensor I (134) are arranged on the pitch support (132).

4. The small celestial body detection bionic robot according to claim 1, characterized in that: The body (14) comprises a body shell (141), a polymer lithium battery pack (142), a main control board (143), a motor (144), a limit support (145), a rotary connector (146), a solar panel (147) and a frame (148), wherein the polymer lithium battery pack (142) is installed at the bottom of the frame (148); the limit support (145) is a ring-shaped structure, the limit support (145) is arranged at the center of the frame (148), and the motor (144) is arranged inside the limit support (145). , and the output end of the motor (144) is connected to the camera assembly (13) through a rotary connector (146); the main control board (143) is arranged on the top of the limit support (145), and the main control board (143) is connected to the motor (144) and the polymer lithium battery pack (142); the body shell (141) is arranged on the outside of the frame (148); the solar cell panel (147) is arranged on the top of the body shell (141), and the solar cell panel (147) is connected to the polymer lithium battery pack (142) and the motor (144).

5. The small celestial body detection bionic robot according to claim 1, characterized in that: The connecting rod mechanism (2) comprises a connecting rod IV (201), a connecting rod V (202), a connecting rod III (203), a coil spring seat (204), a coil spring (205), a rolling seat (206), a torsion spring seat (207), a torsion spring (208) and a support seat (209), wherein the connecting rod IV (201) is connected to the claw mechanism (1) and the tensioning mechanism (4), the connecting rod V (202) is a parallel four-bar mechanism, and the two ends of the connecting rod V (202) are respectively connected to the connecting rod IV (201) and the connecting rod III (203) for rotation; the coil spring seat (204) is installed on one side of the connecting rod III (203) close to the connecting rod V (202). The invention relates to a method for manufacturing a torsion spring device for a vehicle body comprising: a first connecting rod and a second connecting rod; a second connecting rod; a first connecting rod; ...

6. The small celestial body detection bionic robot according to claim 1, characterized in that: The driving mechanism (3) includes a DC motor I (301), a reducer I (302), an encoder I (303), an adapter plate I (304), an adapter sleeve (305), a deep groove ball bearing (306) and a pinion (307), wherein the encoder I (303) is mounted on the lower part of the DC motor I (301), the reducer I (302) is mounted on the upper part of the DC motor I (301), the reducer I (302) is connected to the attachment base (6) via the adapter plate I (304), the adapter sleeve (305) is mounted on the end of the output shaft of the reducer I (302), the adapter sleeve (305) is connected to the attachment base (6) via the deep groove ball bearing (306), and the pinion (307) is connected to the adapter sleeve (305) and the end of the output shaft of the reducer I (302) via a screw; The tensioning mechanism (4) includes a large gear (401), an angular contact ball bearing I (403), a central lead screw (405), a central nut (406), a tightening disc (407), a tightening spring (408) and a wire rope (409), wherein the central lead screw (405) is rotatably connected to the attachment base (6) through the angular contact ball bearing I (403); a large gear (401) is provided at the upper end of the central lead screw (405), and the large gear (401) is engaged with the small gear (307); the central nut (406) and the central lead screw (405) cooperate with each other, the tightening disc (407) is connected to the central nut (406), and is connected to the attachment base (6) in a slidable manner in the vertical direction, and a plurality of wire ropes (409) are connected to the tightening disc (407) along the circumferential direction, and the front end of each wire rope (409) is respectively connected to one of the connecting rod mechanisms (2); A tightening spring (408) is connected between the end of each steel wire rope (409) and the tightening disc (407).

7. The small celestial body detection bionic robot according to claim 1, characterized in that: The release mechanism (5) comprises a DC motor II (501), a reducer II (502), an encoder II (503), an adapter plate II (504), an angular contact ball bearing II (505), a small lead screw (506), a release nut (507), a lead screw fixing cover (508), a connecting rod bracket (510), a release adapter ring (511) and a release connecting rod (515), wherein the encoder II (503) is mounted on the lower part of the DC motor II (501), the reducer II (502) is mounted on the upper part of the DC motor II (501), the reducer II (502) is connected to the attachment base (6) through the adapter plate II (504), the output end of the reducer II (502) is connected to the small lead screw (506), and the small lead screw (511) is connected to the attachment base (6). The rod (506) is connected to the attachment base (6) through an angular contact ball bearing II (505), and the screw fixing cover (508) is arranged on the outside of the small screw (506); the release nut (507) is threadedly matched with the small screw (506), one end of the connecting rod bracket (510) is connected to the release nut (507), and the other end is connected to the release adapter ring (511), and the release adapter ring (511) is arranged on the outside of the attachment base (6), and the release adapter ring (511) and the attachment base (6) can be slidably connected in the vertical direction; a plurality of release connecting rods (515) are arranged on the release adapter ring (511) along the circumference, and each release connecting rod (515) is respectively connected to one of the connecting rod mechanisms (2); The outer side of the attachment base (6) is connected to a plurality of guide rail assemblies (513) via a support (514), and each guide rail assembly (513) is arranged in a vertical direction; the outer side of the release adapter ring (511) is provided with a plurality of slider assemblies (512) along the circumferential direction, and each slider assembly (512) is respectively slidably matched with the guide rail assembly (513).

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