A bionic claw-thorn attachment device for small celestial body detection

Abstract

The present invention relates to a bionic attachment for deep space exploration, and in particular to a bionic claw and thorn attachment for small celestial body exploration. The device comprises a claw and thorn mechanism, a connecting rod mechanism, a driving mechanism, a tensioning mechanism, a releasing mechanism and a base, wherein a plurality of connecting rod mechanisms are arranged circumferentially on the base, and the ends of each connecting rod mechanism are connected to a claw and thorn mechanism; a transmission mechanism, a tensioning mechanism and a releasing mechanism are arranged inside the 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 and thorn 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 and thorn mechanism detached from the surface of the weathering layer of the small celestial body. The invention drives the connecting rod mechanism and the claw and thorn mechanism by using the tensioning mechanism and the releasing mechanism, thereby realizing the adaptive attachment and detachment of the attachment device as a whole on the surface of the weathering layer of the celestial body.

Description

Technical Field

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

[0002] In recent years, small celestial body exploration missions have received widespread attention, and sample return has become a hot topic in current small celestial body exploration missions. However, the current landing and attachment technology for small celestial bodies still remains at the level of anchor attachment and touch-and-go instantaneous attachment. Long-term landing and attachment technology can be said to be a combination of the two, which is more maneuverable and flexible, but it still needs further research and application. The long-term landing and mobile attachment of space robots on the surface of small celestial bodies can not only maximize the scientific value of the exploration mission, but also provide technical reserves and support for the future development and utilization of small celestial body resources and manned exploration missions.

[0003] The current technology for the attachment of small celestial bodies faces many challenges. On the one hand, compared with other celestial bodies, small celestial bodies have the characteristics of irregular shape, uneven density, complex rotation state, weak gravitational field, etc., which put forward higher requirements for the safe landing and stable attachment of the probe; on the other hand, the surface terrain conditions of small celestial bodies are complex, and they may contain weathering layers and gravel particles covering the rocks. The mechanical mechanism and physical properties are difficult to determine, making it extremely difficult for the probe to attach for a long time in the places of interest to researchers. Due to the special microgravity environment of small celestial bodies and the difficult to determine surface conditions, the current detection missions are mostly based on anchoring and instantaneous touch attachment mechanisms, and long-term attachment detection will be a technical difficulty that needs to be solved in the next stage. Bionic technology can provide a variety of effective solutions for the long-term attachment mission of small celestial body detection. Among them, the claw-thorn mechanism observed in cockroaches, spiders and birds has been applied to the design of attachment mechanisms of many ground-climbing robots including Spinybot, Ri SE series and Digbot, in order to reduce the number of joints and actuators while providing stronger obstacle surmounting capability. The bionic claw-thorn attachment mechanism has good application prospects in small celestial body exploration missions and can be considered. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a bionic claw attachment for small celestial body detection, so as to solve the problem of long-term maneuverable attachment in small celestial body detection missions.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A bionic claw and thorn attachment device for detecting small celestial bodies comprises a claw and thorn mechanism, a connecting rod mechanism, a driving mechanism, a tensioning mechanism, a releasing mechanism and a base, wherein a plurality of connecting rod mechanisms are arranged circumferentially on the base, and the end of each connecting rod mechanism is connected with a claw and thorn mechanism; a transmission mechanism, a tensioning mechanism and a releasing mechanism are arranged inside the base, the transmission mechanism is connected with the tensioning mechanism, and the tensioning mechanism and the releasing mechanism are both connected with 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 and thorn mechanism attach to the surface of the weathering layer of the small celestial body; the releasing mechanism drives the connecting rod mechanism to make the claw and thorn mechanism detach from the surface of the weathering layer of the small celestial body.

[0007] The connecting rod mechanism includes connecting rod I, connecting rod II, 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 I is connected to the claw mechanism and the tensioning mechanism, connecting rod II is a parallel four-bar mechanism, and the two ends of connecting rod II are rotatably connected to connecting rod I and connecting rod III respectively; the coil spring seat is installed at one end of connecting rod III close to connecting rod II, the coil spring is installed on the coil spring seat, and one end of the coil spring is connected to connecting rod II; 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 base; the torsion spring seat is installed at the other end of connecting rod III, and the torsion spring is installed on the torsion spring seat, and the end of the torsion spring is abutted against the support seat.

[0008] The claw mechanism includes a bionic flexible claw thorn piece, a sliding lubrication pad, a sliding pin, a side plate and a suspension holder, wherein one end of the suspension holder is connected to the connecting rod mechanism, and horizontal sliding grooves are provided on both sides of the other end; there are multiple bionic flexible claw thorn pieces, which are stacked in sequence to form a bionic flexible claw thorn piece array, and a sliding lubrication pad is provided between two adjacent bionic flexible claw thorn pieces; the bionic flexible claw thorn piece 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 thorn piece array is connected to the side plates; the rear end of the suspension holder is connected to the connecting rod mechanism.

[0009] The bionic compliant claw thorn piece includes a spring movable seat, a wave spring, a wave spring fixing seat, a linear spring, a hook and a hook thorn fixing seat, wherein 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 thorn fixing seat through a linear spring, the hook thorn is installed at the lower end of the hook thorn fixing seat, and the upper end of the hook thorn fixing seat can be movably accommodated in a limiting groove provided on the spring movable seat.

[0010] 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 installed at the lower part of the DC motor I, the reducer I is installed at the upper part of the DC motor I, the reducer I is connected to the base through the adapter plate I, the adapter sleeve is installed at the end of the output shaft of the reducer I, the adapter sleeve is connected to the base through 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 through screws.

[0011] 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 base via an angular contact ball bearing I; a large gear is provided at 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 base in a vertical direction, a plurality of steel wire ropes are circumferentially connected to the tightening disk, and the front ends of each steel wire rope are respectively connected to one of the connecting rod mechanisms.

[0012] A tightening spring is connected between the end of each steel wire rope and the tightening disk.

[0013] 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 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 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 base, and the release adapter ring and the base can be slidably connected in the vertical direction; a plurality of release connecting rods are circumferentially arranged on the release adapter ring, and each release connecting rod is respectively connected to one of the connecting rod mechanisms.

[0014] The outer side of the 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.

[0015] The base includes a central base, a top end cover, a bottom end cover, a guide shaft, a linear bearing seat, an anti-collision pad and a flange frame, wherein the top end cover and the bottom end cover are respectively connected to the top and bottom of the central base, the guide shaft is arranged between the top end cover and the bottom end cover, the linear bearing seat is installed on the guide shaft and is connected to the tensioning mechanism; the anti-collision pad is installed at the lower part of the bottom end cover, and the flange frame is installed at the upper part of the top end cover.

[0016] The advantages and beneficial effects of the present invention are:

[0017] The present invention uses a claw mechanism composed of a claw bar array based on the micro-thorns of cockroaches, spiders, etc. The claw bar has two degrees of freedom, translation and rotation, and can be compliantly hooked on the surface of the weathering layer of a small celestial body, greatly overcoming the influence of the microgravity environment and uncertain surface of the small celestial body.

[0018] The connecting rod mechanism in the present invention is used to connect the claw mechanism and the base, so as to avoid adhesion failure caused by unnecessary collision and contact between the claw mechanism and the weathering layer.

[0019] In the present invention, the tensioning mechanism drives the tensioning wheel through the gear and the central lead screw to lift the tensioning wheel and then the tensioning wire rope drives the connecting rod mechanism so that the claw thorn mechanism is retracted to produce an adhesion effect.

[0020] In the present invention, the release mechanism drives the connecting rod mechanism through the small lead screw, the release connecting ring and the release connecting rod, so that the claw piercing mechanism is lifted upward to produce a desorption effect.

[0021] In the present invention, a crash pad is installed on the bottom end cover of the base to cushion the collision between the base and the surface of the weathered layer of the small celestial body during the attachment process, and a flange frame is installed on the top of the base to expand the function of the attachment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is an axonometric diagram of a bionic claw-thorn attachment device for small celestial body detection according to the present invention;

[0023] Figure 2 This is a front view of a bionic claw attachment for small celestial body detection according to the present invention;

[0024] Figure 3 This is one of the cross-sectional views of a bionic claw attachment device for small celestial body detection according to the present invention;

[0025] Figure 4 This is the second cross-sectional view of a bionic claw attachment device for detecting small celestial bodies according to the present invention;

[0026] Figure 5 It is an axonometric diagram of the claw piercing mechanism of the present invention;

[0027] Figure 6 It is an axonometric view of the claw thorn piece in the present invention;

[0028] Figure 7 is a cross-sectional view of the connecting rod mechanism in the present invention;

[0029] Figure 8 is a cross-sectional view of the driving mechanism of the present invention;

[0030] Fig. 9 is a cross-sectional view of the tensioning mechanism of the present invention;

[0031] Fig.10 is a cross-sectional view of the release mechanism of the present invention;

[0032] Fig.11 is a cross-sectional view of the base in the present invention;

[0033] 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 I, 202 203 is connecting rod II, 204 is coil spring seat, 205 is coil spring, 206 is rolling seat, 207 is torsion spring seat, 208 is torsion spring, 209 is support seat, 3 is driving mechanism, 301 is DC motor I, 302 is reducer I, 303 is encoder I, 304 is adapter plate I, 305 is adapter sleeve, 306 is deep groove ball bearing, 307 is pinion, 4 is tensioning mechanism, 40 1 is a large gear, 402 is an upper end cover of the inner ring of the bearing, 403 is an angular contact ball bearing Ⅰ, 404 is an upper end cover of the outer ring of the bearing, 405 is a center screw, 406 is a center nut, 407 is a tightening disk, 408 is a tightening spring, 409 is a wire rope, 5 is a release mechanism, 501 is a DC motor Ⅱ, 502 is a reducer Ⅱ, 503 is an encoder Ⅱ, 504 is an adapter plate Ⅱ, 505 is an angular contact ball bearing Ⅱ, 506 is a small screw, 507 is a release nut, 508 is a screw fixing cover, 509 is a retaining ring, 510 is a connecting rod bracket, 511 is a release adapter ring, 512 is a slider assembly, 513 is a support, 6 is a base, 601 is a center base, 602 is a top end cover, 603 is a bottom end cover, 604 is a guide shaft, 605 is a linear bearing seat, 606 is an anti-collision pad, and 607 is a flange frame. DETAILED DESCRIPTION

[0034] In order to make the purpose, 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.

[0035] like Figure 1-4As shown, a bionic claw and thorn attachment device for small celestial body detection provided by the present invention includes a claw and thorn mechanism 1, a connecting rod mechanism 2, a driving mechanism 3, a tensioning mechanism 4, a releasing mechanism 5 and a base 6, wherein a plurality of connecting rod mechanisms 2 are circumferentially arranged on the base 6, and the end of each connecting rod mechanism 2 is connected with the claw and thorn mechanism 1; the transmission mechanism 3, the tensioning mechanism 4 and the releasing mechanism 5 are arranged inside the base 6, the transmission mechanism 3 is connected with the tensioning mechanism 4, and the tensioning mechanism 4 and the releasing mechanism 5 are both connected with 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 and thorn 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 and thorn mechanism 1 detached from the surface of the weathering layer of the small celestial body.

[0036] like Fig.11 As shown, in an embodiment of the present invention, the base 6 includes a central 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 the bottom of the central 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.

[0037] like Figure 5 As shown, in an embodiment of the present invention, the claw mechanism 1 includes a bionic flexible claw thorn piece 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 thorn pieces 101, and they are stacked in sequence to form a bionic flexible claw thorn piece array, and a sliding lubrication pad 102 is provided between two adjacent bionic flexible claw thorn pieces 101, which are lubricated by the sliding lubrication pad 102; 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, and the left and right sides of the suspension holder 105 are provided with side plates 104, and the rear end of the bionic flexible claw thorn piece array is connected to the side plate 104; the rear end of the suspension holder 105 is connected to the connecting rod mechanism 2.

[0038] like Figure 6As shown, in an embodiment of the present invention, the bionic compliant 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 thorn 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 thorn fixed seat 1016 through the linear spring 1014, and the hook thorn 1015 is installed at the lower end of the hook thorn 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.

[0039] like Figure 7 As shown, in the embodiment of the present invention, the connecting rod mechanism 2 includes a connecting rod I 201, a connecting rod II 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 I 201 is connected to the claw mechanism 1 and the tensioning mechanism 4, the connecting rod II 202 is a parallel four-bar mechanism, and the two ends of the connecting rod II 202 are respectively rotatably connected to the connecting rod I 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 close to the connecting rod 1201 and the tensioning mechanism 4. Near one end of the connecting rod II 202, 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 II 202; a rolling seat 206 is installed on the other end of the connecting rod III 203, and the rolling seat 206 is rotatably connected to the release mechanism 3; a support seat 209 is rotatably connected to the other end of the connecting rod III 203, and the support seat 209 is connected to the base 6; a torsion spring seat 207 is installed on the other end of the connecting rod III 203, and a torsion spring 208 is installed on the torsion spring seat 207, and the end of the torsion spring 208 is abutted against the support seat 209.

[0040] like Figure 8As shown, in the 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 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 base 6 through 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 Ⅰ302 by screws.

[0041] like Fig. 9 As shown, in the embodiment of the present invention, the tensioning mechanism 4 includes a large gear 401, an angular contact ball bearing Ⅰ403, a central lead screw 405, a central nut 406, a tightening disk 407, a tightening spring 408 and a steel wire rope 409, wherein the central lead screw 405 is rotatably connected to the base 6 through the angular contact ball bearing Ⅰ403; a large gear 401 is provided at the upper end of the central lead screw 405, and the large gear 401 is meshed with the small gear 307; the central nut 406 cooperates with the central lead screw 405, the tightening disk 407 is connected to the central nut 406, and is slidably connected to the base 6 in the vertical direction, and a plurality of steel wire ropes 409 are circumferentially connected to the tightening disk 407, and the front ends of each steel wire rope 409 are respectively connected to the connecting rod Ⅰ201 of a connecting rod mechanism 2.

[0042] Furthermore, a tightening spring 408 is connected between the end of each steel wire 409 and the tightening disk 407. The linear bearing seat 605 is installed 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.

[0043] Specifically, the large gear 401 is installed on the upper part of the upper end cover 402 of the inner ring of the bearing by screws and meshes with the small gear 307. The upper end cover 402 of the inner ring of the bearing is installed 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 upper end cover 404 of the outer ring of the bearing is installed on the upper part of the top end cover 602 of the base by screws and abuts against the outer ring of the angular contact ball bearing I403; the center screw 405 is limited to the center of the top end cover 602 of the base and the bottom end cover 603 of the base by cooperating with the angular contact ball bearing I403, and is driven by the large gear 401 to make a rotational motion.

[0044] like Fig.10As 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 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 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 base 6 through the adapter plate II 504, and the output end of the reducer II 502 is connected to the small lead screw 506 The small lead screw 506 is connected to the 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 base 6, and the release adapter ring 511 and the base 6 can be slidably connected in the vertical direction; a plurality of release connecting rods 515 are arranged on the circumferential direction 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.

[0045] Furthermore, the outer side of the 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 circumferentially provided with a plurality of slider assemblies 512, and each slider assembly 512 is slidably matched with the guide rail assembly 513 respectively.

[0046] 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, and the screw fixing cover 508 is installed on the upper part of the top end cover 602 of the base through screws.

[0047] The present invention provides a small celestial body detection bionic claw attachment, the working principle of which is:

[0048] (1) Tensioning and attaching process: The driving mechanism 3 drives the small gear 307 to rotate through the DC motor I301 and the reducer I302. 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 I201 retracts inward, so that the claw mechanism 1 moves inward. At this time, the bionic flexible claw blade 101 can achieve compliant hook attachment on the surface of the weathering layer of the small celestial body.

[0049] (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.

[0050] The present invention provides a bionic claw-thorn attachment for small celestial body detection, which can be released to the surface of a small celestial body through a main detector to complete the two processes of attachment and detachment on the surface of the weathering layer of the small celestial body. If the attachment is applied to the execution end of a small celestial body patrol detector, the attachment mobility under microgravity can be achieved. If the attachment is modified, it can be applied to the design of sampling attachment devices on the moon, Mars, etc. Therefore, the bionic claw-thorn attachment for small celestial body detection provided by the present invention has broad application prospects in deep space exploration.

[0051] The above description is only an embodiment of the present invention and is not intended to limit the protection scope 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 protection scope of the present invention.

Claims

1. A bionic claw attachment for detecting small celestial bodies, characterized in that: The invention comprises a clawing mechanism (1), a connecting rod mechanism (2), a driving mechanism (3), a tensioning mechanism (4), a releasing mechanism (5) and a base (6), wherein a plurality of connecting rod mechanisms (2) are arranged on the base (6) along the circumferential direction, and the ends of the connecting rod mechanisms (2) are connected to the clawing mechanism (1); the transmission mechanism (3), the tensioning mechanism (4) and the releasing mechanism (5) are arranged inside the 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 the 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 clawing 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 clawing mechanism (1) detach from the surface of the weathering layer of the small celestial body; The claw thorn mechanism (1) comprises a bionic compliant claw thorn piece (101), a sliding lubricating pad (102), a sliding pin (103), a side plate (104) and a suspension holder (105), wherein there are a plurality of bionic compliant claw thorn pieces (101) which are stacked in sequence to form a bionic compliant claw thorn piece array, and a sliding lubricating pad (102) is provided between two adjacent bionic compliant claw thorn pieces (101); the bionic compliant 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 side plates (104) are provided on the left and right sides of the suspension holder (105), and the rear end of the bionic compliant claw thorn piece array is connected to the side plate (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) and the wave spring fixing seat (1013) are connected 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) and the hook-thorn fixing seat (1016) are connected 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 claw attachment according to claim 1, characterized in that: The connecting rod mechanism (2) comprises a connecting rod I (201), a connecting rod II (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 I (201) is connected to the claw mechanism (1) and the tensioning mechanism (4), the connecting rod II (202) is a parallel four-bar mechanism, and the two ends of the connecting rod II (202) are respectively rotatably connected to the connecting rod I (201) and the connecting rod III (203); the coil spring seat (204) is installed on the connecting rod III (203) near the connecting rod II (202) At one end, 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 II (202); a rolling seat (206) is installed on the other end of the connecting rod III (203), 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 III (203), and the support seat (209) is connected to the base (6); a torsion spring seat (207) is installed on the other end of the connecting rod III (203), 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).

3. The small celestial body detection bionic claw attachment according to claim 1, characterized in that: The driving mechanism (3) comprises 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 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 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 screws.

4. The small celestial body detection bionic claw attachment according to claim 3 is characterized in that: The tensioning mechanism (4) comprises a large gear (401), an angular contact ball bearing I (403), a central lead screw (405), a central nut (406), a tightening disk (407), a tightening spring (408) and a steel wire rope (409), wherein the central lead screw (405) is rotatably connected to the base (6) via 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 meshed with the small gear (307); the central nut (406) and the central lead screw (405) cooperate with each other, the tightening disk (407) is connected to the central nut (406), and is slidably connected to the base (6) in a vertical direction, and a plurality of steel wire ropes (409) are circumferentially connected to the tightening disk (407), and the front end of each steel wire rope (409) is respectively connected to one of the connecting rod mechanisms (2).

5. The small celestial body detection bionic claw attachment according to claim 4, characterized in that: A tightening spring (408) is connected between the end of each steel wire rope (409) and the tightening disk (407).

6. The small celestial body detection bionic claw attachment 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 base (6) via the adapter plate II (504), and the output end of the reducer II (502) is connected to the small lead screw (506). The small lead screw (506) is connected to the base (6) through an 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), the release adapter ring (511) is arranged on the outside of the base (6), and the release adapter ring (511) and the 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).

7. The small celestial body detection bionic claw attachment device according to claim 6 is characterized in that: The outer side of the 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 slidably matched with the guide rail assembly (513).

8. The small celestial body detection bionic claw attachment according to claim 1, characterized in that: The base (6) comprises a central 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 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).

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