Multi-legged redundant detection robot for unstructured surface of extraterrestrial celestial body

Abstract

The invention relates to the technical field of deep space exploration robots, in particular to an extraterrestrial celestial body unstructured surface multi-legged redundant exploration robot. Comprising active attachment modules, a moving and operating module, an environment sensing module, a machine body module and a sampling and working module, the moving and operating module comprises a plurality of mechanical arms arranged on the outer side of the machine body module in the circumferential direction, the tail end of each mechanical arm is provided with the active attachment module, and the active attachment modules are used for being adsorbed and anchored to the surface of an extraterrestrial celestial body; the sampling and operation module is arranged on the active attachment module and is used for sampling operation; the environment sensing module is arranged on the machine body module and used for obtaining environment information. According to the invention, four functions of moving, sensing, attaching and sampling are organically integrated into a single platform, and full-process capability coverage from patrol inspection to in-situ high-intensity operation is realized so as to cope with diversified deep space exploration task challenges.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration robotics, specifically to a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies. Background Technology

[0002] Existing deep space surface exploration equipment mainly falls into two categories: wheeled rovers, such as those used on Mars, have limited mobility and stability in extremely rugged, soft, or steep terrain; fixed landers or robotic arms have severely limited operational range. As exploration targets shift towards more complex terrains like asteroids and lunar polar regions, existing systems struggle to simultaneously meet the demands for wide-range mobility, stable stationary positions at arbitrary locations, and high-intensity in-situ operations (such as deep drilling and rock fracturing). Particularly for surface anchoring and sampling in asteroid microgravity environments or planetary defense missions, robots need the ability to actively adhere and withstand high reaction forces. Therefore, an integrated robotic system with dexterous movement, strong adhesion, and multi-functional operational capabilities is urgently needed. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies, achieving modularity, high integration, and multifunctionality to meet the diverse challenges of deep space exploration missions.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial objects, comprising an active attachment module, a movement and manipulation module, an environmental perception module, a body module, and a sampling and operation module. The movement and manipulation module includes multiple robotic arms arranged circumferentially on the outside of the body module, each robotic arm having an active attachment module at its end for adsorption and anchoring to the surface of the extraterrestrial object. The sampling and operation module is disposed on the active attachment module and is used for sampling operations. The environmental perception module is disposed on the body module and is used to acquire environmental information.

[0006] The robotic arm includes multiple motor modules connected in series via linkages, enabling multi-degree-of-freedom motion.

[0007] The fuselage module includes a layered frame and a main controller, a sub-controller, and a drive power supply arranged sequentially from top to bottom within the layered frame.

[0008] The main controller and the sub-controller constitute a collaborative control system, which controls the operation of the robotic arm, the active attachment module and the sampling and operation module, and processes the data from the environmental perception module.

[0009] The environmental perception module includes a lidar and a binocular depth camera. The lidar is installed at the top center of the body module to achieve 360° horizontal scanning. The binocular depth camera is installed at the front end of the body module or the wrist of the robotic arm for close-range fine perception.

[0010] The active attachment module includes attachment claws, a connecting ring, and an attachment base. The connecting ring is located on the upper part of the attachment base and is used to connect with the robotic arm. Multiple attachment claws are circumferentially hinged on the lower part of the attachment base. The attachment claws are used to adsorb onto the surface of extraterrestrial objects. The attachment base provides power for the attachment claws to adsorb and detach from the rock surface.

[0011] The attachment claw includes attachment spikes, spike end caps, a support rod, a torsion spring, and a connecting pin. One end of the support rod is floatingly connected to the spike end cap, and the other end is hinged to the attachment base via the connecting pin. The torsion spring is sleeved on the connecting pin, and its two ends abut against the attachment base and the support rod, respectively. The torsion spring provides a torque that causes the attachment claw to tend to retract upwards. The bottom of the spike end cap is slidably engaged with a plurality of parallel-arranged attachment spikes.

[0012] The bottom of the barb end cap is provided with multiple parallel sliding grooves. The multiple attached barbs slide in cooperation with the corresponding sliding grooves through barb slide rails and are prevented from falling off by barb baffles connected to the barb end cap. Each sliding groove is provided with a slide rail spring, and the two ends of the slide rail spring abut against the barb slide rail and the barb end cap, respectively.

[0013] The attachment barb includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring and an anchor pin;

[0014] The bottom of the attached barb body is provided with multiple inclined grooves in the height direction. Each inclined groove is provided with a slide spring and an anchor in sequence from the inside to the outside. The anchor protrudes from the inclined groove to the outside of the bottom of the attached barb body.

[0015] The attacher base includes an upper cover, a base shell, a lower base, tension lines, retracting lines, and a drive device. The upper and lower ends of the base shell are connected to the upper cover and the lower base, respectively, forming a sealed cavity. The drive device is installed inside the sealed cavity. The drive device is connected to the upper part of each attaching claw via multiple tension lines, which are used to pull each attaching claw upward to rotate and achieve detachment. The drive device is also connected to the lower part of each attaching claw via multiple retracting lines, which are used to pull each attaching claw downward to rotate and achieve adsorption.

[0016] The driving device includes a drive motor, an upper pulley, a drive shaft, and a lower pulley. The drive motor is mounted on the upper end cover, and its output end is fixedly connected to the upper end of the drive shaft. The lower end of the drive shaft is rotatably connected to the lower base. The upper pulley and the lower pulley are mounted on the drive shaft from top to bottom and rotate with the drive shaft. One end of each of the tensioning wires is wound around the upper pulley, and the other end passes through the upper wire hole of the base housing and is connected to the upper part of the corresponding attachment claw. One end of each of the take-up wires is wound in the opposite direction around the lower pulley, and the other end passes through the lower wire hole of the base housing and is connected to the lower part of the corresponding attachment claw.

[0017] The sampling and operation module includes a rotary impact slide mechanism and a drilling mechanism mounted on the rotary impact slide mechanism. The rotary impact slide mechanism is located on the top of the active attachment module and is used to provide rotary power, impact power and axial feed motion for drilling.

[0018] The drilling mechanism includes an outer drill sleeve, a buffer spring, a buffer damper, a drill bit, and an eccentric core tube assembly. The eccentric core tube assembly is rotatably mounted inside the outer drill sleeve. The drill bit has a hollow structure and is mounted on the front end of the outer drill sleeve via the buffer damper. The eccentric core tube assembly includes a core tube and a drive shaft that drives the core tube to rotate. There is an eccentricity between the geometric axis of the core tube and the rotation axis of the drive shaft. The drive shaft can be controlled to rotate synchronously and in the same direction as the outer drill sleeve, or controlled to rotate independently in the opposite direction relative to the stationary outer drill sleeve. The buffer spring is sleeved on the outside of the drive shaft, with its two ends abutting against the inner step of the outer drill sleeve and the shoulder of the core tube, respectively. The buffer spring provides axial elastic support for the eccentric core tube assembly.

[0019] The rotary impact slide mechanism includes a base frame, a rotary impact driver, a slide, a sliding guide rail, a lead screw, a guide shaft, a slide feed motor, and a buffer assembly. The sliding guide rail, lead screw, and guide shaft are all vertically mounted on the base frame. The slide feed motor is located at the bottom of the base frame, and its output end is connected to the lead screw, driving the lead screw to rotate. The slide is connected to the lead screw via a nut, forming a threaded pair, and the slide slides in contact with the sliding guide rail and guide shaft. The rotary impact driver is mounted on the slide, and its output end is connected to the drilling mechanism, providing rotational and impact power to the drilling mechanism. The buffer assembly is fitted onto the guide shaft and located above the slide, absorbing and suppressing multidimensional vibrations during the drilling process.

[0020] The advantages and beneficial effects of this invention are:

[0021] 1. Highly integrated functions: This invention organically integrates four major functions—mobility, sensing, attachment, and sampling—into a single platform, achieving full-process capability coverage from inspection and observation to in-situ high-intensity operations.

[0022] 2. Strong terrain adaptability: The invention adopts a quadruped 7-DOF design, which enables the robot to adapt to extreme unstructured terrain and to stay and work in locations such as steep slopes and rock walls where traditional mobile platforms cannot be stable through active attachment mechanisms.

[0023] 3. Outstanding operational capabilities: The rotary impact sampling mechanism of this invention, combined with the rigid support provided by active attachment, enables it to perform drilling and sampling of deep, hard media, far exceeding the capabilities of existing surface sampling equipment.

[0024] 4. Wide range of applications: This system can be used not only for routine scientific exploration and sampling, but its powerful attachment and fragmentation capabilities can also be directly extended to in-situ mining of mineral resources in small celestial bodies, surface anchoring in planetary defense missions, material removal or dynamic intervention and other fields.

[0025] 5. High system reliability: This invention adopts a master-slave controller distributed architecture, which separates high computing power tasks from high real-time tasks, thereby improving system response speed and overall reliability.

[0026] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is an isometric view of a large-sized multi-legged redundant probe robot for unstructured surfaces of extraterrestrial bodies, according to one embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the internal layout of the fuselage module in one embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the configuration of the moving and operating module in one embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the active attachment module and the sampling and operation module in one embodiment of the present invention;

[0033] Figure 5This is a schematic diagram of the drilling mechanism in one embodiment of the present invention;

[0034] Figure 6 for Figure 5 AA section view;

[0035] Figure 7 This is an isometric view of the attachment claw in one embodiment of the present invention;

[0036] Figure 8 This is an isometric view of the end cap of the spike in one embodiment of the present invention;

[0037] Figure 9 This is a cross-sectional view of the end cap of the spike in one embodiment of the present invention;

[0038] Figure 10 This is an isometric view of the attached barbs in one embodiment of the present invention;

[0039] Figure 11 This is a cross-sectional view of the attached barbs in one embodiment of the present invention;

[0040] Figure 12 This is an isometric view of the attachment base in one embodiment of the present invention;

[0041] Figure 13 This is a schematic diagram of the internal structure of the attachment base in one embodiment of the present invention;

[0042] Figure 14 This is an isometric view of a small-sized, multi-legged redundant probe robot for detecting unstructured surfaces of extraterrestrial objects, according to another embodiment of the present invention.

[0043] In the diagram: 1. Active attachment module; 10. Attachment claw; 101. Attachment barb; 1011. Slide rail spring; 1012. Slide rail spring; 1013. Anchor pin; 102. Barb slide rail; 103. Barb end cap; 104. Barb baffle; 105. Support rod baffle; 106. Support rod; 107. Torsion spring; 108. Connecting pin; 109. Spring; 20. Connecting ring; 30. Attacher base; 301. Upper end cap; 302. Base shell; 303. Lower base; 304. Drive motor; 305. Upper pulley; 306. Tensioning wire; 307. Drive shaft; 308. Lower pulley; 309. Retracting wire; 2. Movement and Operation module; 201, Motor module; 202, Linkage rod; 3, Environmental perception module; 4, Body module; 401, Layered frame; 402, Main controller; 403, Sub-controller; 404, Drive power supply; 5, Sampling and operation module; 501, Rotary impact driver; 502, Slide table; 503, Sliding guide rail; 504, Double-layer buffer; 505, Lead screw; 506, Guide shaft; 507, Slide table feed motor; 508, Drilling mechanism; 5081, Outer drill sleeve; 5082, Buffer spring; 5083, Drive shaft; 5084, Buffer damper; 5085, Sampling core; 5086, Core tube; 5087, Drill bit. Detailed Implementation

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0046] See Figure 1 As shown, this invention provides a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies, including an active attachment module 1, a movement and operation module 2, an environmental perception module 3, a body module 4, and a sampling and operation module 5. The movement and operation module 2 includes multiple robotic arms arranged circumferentially on the outside of the body module 4, and each robotic arm has an active attachment module 1 at its end. The active attachment module 1 is used to adhere and anchor to the surface of the extraterrestrial body. The sampling and operation module 5 is disposed on the active attachment module 1 and is used for sampling operations. The environmental perception module 3 is disposed on the body module 4 and is used to acquire environmental information.

[0047] See Figure 2 As shown, in this embodiment of the invention, the body module 4 includes a layered frame 401 and a main controller 402, a sub-controller 403, and a drive power supply 404 arranged sequentially from top to bottom within the layered frame 401. The main controller 402 and the sub-controller 403 constitute a collaborative control system, controlling the operation of the robotic arm, the active attachment module 1, and the sampling and operation module 5, and processing data from the environmental perception module 3. The main controller 402 and the sub-controller 403 work collaboratively through a layered architecture. The sub-controller 403 directly drives all robotic arm joints, attachment mechanisms, and sampling mechanisms, and collects data from force sensors, inertial units, and cameras. The main controller 402 performs advanced calculations and decisions based on the information uploaded by the sub-controller 403 (responsible for running the ROS system and advanced algorithms), and issues task commands to achieve linkage between the modules.

[0048] Furthermore, the sub-controller 403 includes two independent units: the first sub-controller drives all joint motors through a multi-channel serial port / PWM interface, that is, the first sub-controller is dedicated to centrally driving the motor drivers of all mechanical motion units (robotic arm joints, sampling drills, end effectors); the second sub-controller is dedicated to aggregating sensor data through a dedicated interface (such as SiLan-G4), that is, synchronously acquiring data from lidar, binocular cameras, six-dimensional force / torque sensors and inertial measurement units.

[0049] The chassis module 4 serves as the system platform. The main controller 402 is a high-performance embedded AI computing module (such as the NVIDIA Jetson Orin Nano), responsible for visual processing, path planning, and task decision-making. The sub-controllers are real-time microcontrollers (such as the STM32H7 series), responsible for underlying motion servoing and sensor data acquisition. The drive power supply 404 provides energy to the system, including a 24V lithium-ion battery pack and a multi-channel voltage regulation module, providing stable power to each subsystem. A mounting platform is located on top of the chassis module 4 for mounting equipment such as LiDAR.

[0050] See Figure 3 As shown, in an embodiment of the present invention, the robotic arm includes multiple motor modules 201 connected in series via a link 202, which can realize multi-degree-of-freedom motion functions and has the characteristics of high torque, high precision, and low temperature resistance, meeting the requirements for use in extraterrestrial environments.

[0051] Preferably, the movement and manipulation module 2 consists of four seven-degree-of-freedom robotic arms symmetrically connected to the body module 4. Each robotic arm, serving as a limb with both walking and manipulation functions, is driven by a high-performance joint module, enabling the robot to have omnidirectional movement, complex terrain traversal, and precision manipulation capabilities.

[0052] In an embodiment of the present invention, the environmental perception module 3 includes a lidar for large-scale terrain mapping and a binocular depth camera for near-range target recognition, positioning and visual servoing. The lidar is installed at the top center of the body module 4 to achieve 360° horizontal scanning; the binocular depth camera is installed at the front end of the body module 4 or the wrist of the robotic arm for close-range fine perception.

[0053] In this embodiment of the invention, the sampling and operation module 5 is a rotary impact composite drilling rig with independent degrees of freedom for precise attachment and positioning. This module integrates rotary cutting and axial high-frequency impact, and can adaptively drill through various media ranging from loose weathered layers to hard rocks.

[0054] See Figure 4 As shown, the sampling and operation module 5 includes a rotary impact slide mechanism and a drilling mechanism 508 mounted on the rotary impact slide mechanism. The rotary impact slide mechanism is located on top of the active attachment module 1 and provides the drilling mechanism 508 with rotary power, impact power, and axial feed motion for drilling. The rotary impact slide mechanism includes a base frame, a rotary impact driver 501, a slide 502, a sliding guide rail 503, a lead screw 505, a guide shaft 506, a slide feed motor 507, and a buffer assembly. The sliding guide rail 503, lead screw 505, and guide shaft 506 are all vertically mounted on the base frame. The slide feed motor 502... 7 is located at the bottom of the base frame, and its output end is connected to the lead screw 505. The slide table feed motor 507 is used to drive the lead screw 505 to rotate. The slide table 502 is connected to the lead screw 505 through the lead nut to form a threaded pair. The slide table 502 is in sliding cooperation with the sliding guide rail 503 and the guide shaft 506. The rotary impact driver 501 is located on the slide table 502, and its output end is connected to the drilling mechanism 508. The rotary impact driver 501 is used to provide rotation and impact power to the drilling mechanism 508. The buffer assembly is fitted on the guide shaft 506 and is located above the slide table 502. The buffer assembly is used to absorb and suppress multidimensional vibrations during the drilling process.

[0055] In embodiments of the present invention, the rotary impact driver 501 can be implemented using a hollow shaft motor integrated with an impact hammer, providing spindle rotation and axial high-frequency micro-impact. The buffer assembly is a double-layer buffer 504, which is used to suppress high-frequency vibration and low-frequency swaying generated during drilling. The double-layer buffer 504 uses two layers of metal-rubber composite vibration dampers with different stiffnesses to absorb high-frequency impact vibration and low-frequency swaying respectively, ensuring the smooth operation of the slide table 502. The buffer damper 504 contains viscous fluid, which can dissipate torsional and longitudinal vibrations at the drill bit 5087. The core sample 5085 is formed in the central hole of the drill bit 5087 and is encased in the core tube 506.

[0056] See Figure 5 and Figure 6As shown, in an embodiment of the present invention, the drilling mechanism 508 includes an outer drill sleeve 5081, a buffer spring 5082, a buffer damper 5084, a drill bit 5087, and an eccentric core tube assembly. The eccentric core tube assembly is rotatably mounted inside the outer drill sleeve 5081. The drill bit 5087 has a hollow structure and is mounted at the front end of the outer drill sleeve 5081 via the buffer damper 5084. The eccentric core tube assembly includes a core tube 5086 and a drive shaft 508 for driving the core tube 5086 to rotate. 3. There is an eccentricity between the geometric axis of the core tube 5086 and the rotation axis of the drive shaft 5083; the drive shaft 5083 can be controlled to rotate synchronously and in the same direction with the outer drill sleeve 5081, or can be controlled to rotate independently in the opposite direction relative to the stationary outer drill sleeve 5081; the buffer spring 5082 is sleeved on the outside of the drive shaft 5083, and its two ends are respectively abutted on the inner step of the outer drill sleeve 5081 and the shoulder of the core tube 5086; the buffer spring 5082 provides axial elastic support for the eccentric core tube assembly.

[0057] Specifically, the core tube 5086 is a thin-walled cylinder, but its axis has a preset slight eccentricity with the axis of the drive shaft 5083. The drive shaft 5083 drives the core tube 5086 to rotate synchronously via a key connection or other means, and can be independently controlled to rotate in both directions. In this embodiment, the drive shaft 5083 is driven to rotate by a motor. A buffer spring 5082 is placed inside the outer drill sleeve 5081 to provide axial elastic support for the core tube assembly, allowing it to float slightly relative to the drill bit 5087 during drilling to adapt to changes in lithology and protect the core. The drill bit 5087 is fixed to the front end of the outer drill sleeve 5087, and its inner diameter is slightly larger than the outer diameter of the core tube, with a central opening allowing the core tube 5086 to extend out. The drill bit 5087 is responsible for cutting the rock to form an annular gap.

[0058] In an embodiment of the present invention, the workflow of the sampling and operation module 5 is as follows:

[0059] 1. Initial contact:

[0060] The active attachment module 1 has been anchored, and the slide 502 drives the drill bit (rotary impact driver 501 and drilling mechanism 508) to be lowered until the drill bit 5087 contacts the rock.

[0061] The rotary impact actuator 501 is activated (rotation + impact), and the slide feed motor 507 begins to advance in a constant pressure or speed mode. At this time, the control system synchronizes the drive shaft 5083 with the actuator spindle (i.e., the outer drill sleeve 5081) and rotates in the same direction. The drill bit 5087 begins to cut the annular hole, and the core begins to form and enter the coring tube 5086.

[0062] 2. Continuous drilling and coring:

[0063] Maintaining the aforementioned motion, the coring tube 5086 rotates synchronously with the drill bit 5087. Its eccentric motion continuously "brushes" the outer wall of the core, which helps to remove cuttings and reduce friction. The buffer spring 5082 enables the coring tube assembly to follow the feed of the drill bit 5087 while avoiding excessive axial pressure on the core. This process continues until the preset depth.

[0064] 3. Depth of reach:

[0065] When the drilling depth reaches the set value (e.g., 100mm), the slide table feed motor 507 and the rotary impact driver 501 stop simultaneously, and the drill bit 5087 and the core tube 5086 are both stationary at the bottom of the hole, and the sampled rock core 5085 is completely enclosed in the core tube.

[0066] 4. Perform core breakage:

[0067] The control system issues a command to keep the rotary impact actuator 501 (i.e., the outer drill sleeve 5081 and the drill bit 5087) absolutely stationary, and independently controls the drive shaft 5083 to rotate 180° in the reverse direction (or rotate a specific angle according to the design). Because the core tube 5086 is eccentric, when it rotates in the reverse direction, one side of its wall will generate a concentrated and increased lateral force F on the root of the core. This force forms a strong bending stress concentration at the root of the core, thus "breaking" the core off the parent rock. This process is static and localized, with no disturbance to the upper part of the core. After core breaking is completed, the drive shaft 5083 returns to its initial angular position to facilitate drill lifting.

[0068] 5. Drilling and sample preservation:

[0069] The slide table feed motor 507 reverses, lifting the entire drill string out of the borehole.

[0070] When the active attachment module 1 is released, the core sample inside the core tube 5086 is safely preserved due to the enclosure of the tube wall, the possible slight concave design, and the adsorption between the sample and the tube wall under microgravity, and can be transferred to a sealed container later.

[0071] This invention significantly improves the sample integrity, success rate, and automation of extraterrestrial hard rock coring through its unique mechanisms of "synchronous rotation coring" and "eccentric reverse static shearing coring," combined with active anchoring and multiple buffers. It is suitable for extraterrestrial environments with low gravity and extreme temperatures, such as the Moon and Mars.

[0072] In embodiments of the present invention, the active attachment module 1 is a biomimetic multi-degree-of-freedom attachment mechanism integrated at the end of each robotic arm. This mechanism mimics the micro-sting mechanism of a beetle's foot, actively adjusting the joints to allow the microstructure array at the end to mechanically interlock with the surface at the optimal angle, achieving multi-point, redundant, and powerful gripping, providing stable support for the robot on inclined and uneven surfaces.

[0073] See Figure 4 As shown, the active attachment module 1 includes attachment claws 10, connecting rings 20, and an attachment base 30. The connecting rings 20 are located on the upper part of the attachment base 30 and are used to connect with the robotic arm. Multiple attachment claws 10 are circumferentially hinged to the lower part of the attachment base 30. The attachment claws 10 are used to adhere to the surface of extraterrestrial objects. The attachment base 30 provides power for the attachment claws 10 to adhere to and detach from the rock surface.

[0074] See Figures 7 to 11 As shown in the embodiment of the present invention, the attachment claw 10 includes an attachment barb 101, a barb end cap 103, a support rod 106, a torsion spring 107, and a connecting pin 108. One end of the support rod 106 is floatingly connected to the barb end cap 103, and the other end is hinged to the attachment base 30 via the connecting pin 108. The torsion spring 107 is sleeved on the connecting pin 108, and both ends abut against the attachment base 30 and the support rod 106, respectively. The torsion spring 107 provides a force that causes the attachment claw 10 to tend towards... The torque in the upward retracted state; the bottom of the barb end cap 103 is in sliding engagement with multiple parallel attached barbs 101; multiple sliding grooves are provided parallel to the bottom of the barb end cap 103, and the multiple attached barbs 101 are in sliding engagement with the corresponding sliding grooves through the barb slide rail 102, and are prevented from falling off by the barb baffle 104 connected to the barb end cap 103; each sliding groove is provided with a slide rail spring 1011, and the two ends of the slide rail spring 1011 abut against the barb slide rail 102 and the barb end cap 103 respectively.

[0075] The attachment barb 101 includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring 1012 and an anchor 1013; the bottom of the attachment barb body is provided with multiple inclined grooves in the height direction, and each inclined groove is provided with a slide spring 1012 and an anchor 1013 in sequence from the inside to the outside, and the anchor 1013 protrudes from the inclined groove to the outside of the bottom of the attachment barb body.

[0076] See Figure 12 and Figure 13As shown, in an embodiment of the present invention, the attacher base 30 includes an upper end cover 301, a base shell 302, a lower base 303, tension wires 306, take-up wires 309, and a driving device. The upper and lower ends of the base shell 302 are respectively connected to the upper end cover 301 and the lower base 303 to form a sealed cavity. The driving device is disposed within the sealed cavity. The driving device is connected to the upper part of each attaching claw 10 via multiple tension wires 306, which are used to pull each attaching claw 10 upwards to achieve desorption. The driving device is connected to the lower part of each attaching claw 10 via multiple take-up wires 309, which are used to pull each attaching claw 10 downwards to achieve adsorption. The driving device includes a drive motor 304. The system includes an upper pulley 305, a drive shaft 307, and a lower pulley 308. The drive motor 304 is mounted on the upper end cover 301, and its output end is fixedly connected to the upper end of the drive shaft 307. The lower end of the drive shaft 307 is rotatably connected to the lower base 303. The upper pulley 305 and the lower pulley 308 are mounted on the drive shaft 307 from top to bottom and rotate with the drive shaft 307. One end of a plurality of tensioning wires 306 is wound around the upper pulley 305, and the other end passes through the upper wire hole of the base housing 302 and is connected to the upper part of the corresponding attachment claw 10. One end of a plurality of take-up wires 309 is wound in the opposite direction around the lower pulley 308, and the other end passes through the lower wire hole of the base housing 302 and is connected to the lower part of the corresponding attachment claw 10.

[0077] Furthermore, the winding start phase (i.e., the tangent point at which winding begins) of the take-up line 309 on the lower pulley 308 has a preset circumferential offset angle relative to the winding start phase of the tension line 306 on the upper pulley 305. This creates a timing difference in the pulling action of the tension line 306 and the take-up line 309 on the attachment claw 10 when the drive shaft 307 rotates, thereby driving the attachment claw 10 to perform ordered attachment and detachment actions. Specifically, the tension line 306 and the take-up line 309 are made of high-strength fiber or ultra-fine steel wire rope. The preset circumferential offset angle is 90 degrees to 150 degrees, preferably 120 degrees. This crucial phase difference design is the core of generating an ordered action sequence.

[0078] In an embodiment of the present invention, the working process of the active attachment module 1 is as follows: it is assumed that the forward rotation of the drive motor 304 is the attachment driving direction.

[0079] Initial state: The system is powered on and ready to go, and the attachment claw 10 is in the retracted position under the action of the torsion spring 107.

[0080] Pre-contact and claw lifting: The robot-controlled robotic arm brings the lower base 303 of the attacher base 30 close to the target rock surface. The drive motor 304 is started in reverse. Due to the 120-degree phase difference, the tension line 306 immediately begins to be wound and tightened by the upper pulley 305, while the take-up line 309 is not yet effectively tightened. The tension line 306 pulls upwards on the upper part of the support connecting rod 106, causing the attachment claw 10 to rotate counterclockwise (lift) around the connecting pin 108. Simultaneously, the robot body slightly presses down to ensure stable contact between the lower base 303 and the rock surface.

[0081] Downward Pressure and Adaptive Attachment: Drive motor 304 rotates forward. After drive shaft 307 rotates approximately 120 degrees, take-up line 309 begins to be effectively wound and tightened by pulley 308. At this time, tension line 306 may be nearing the winding end or beginning to slightly release. Take-up line 309 pulls down the lower part of support connecting rod 106, overcoming the torque of torsion spring 107, driving attachment claw 10 to rotate clockwise (downward pressure). Attachment spike 101 is forcefully pressed against the rock, and the "spring nails" on its surface adaptively deform according to the specific contact point. Anchor nail 1013 embeds into the pit or locks the protrusion, achieving strong mechanical interlocking anchoring.

[0082] Fully anchored state: Drive motor 304 stops or enters torque holding mode. The attachment claw 10 remains pressed down under the tension of the retracting cable 309, and the attachment spikes 101 reach maximum contact depth and engagement force with the rock surface, achieving peak anchoring force. The robot can obtain stable support through this point.

[0083] Disengagement preparation: When movement is required, the drive motor 304 reverses. In the initial stage of reversal, the tension line 306 is tightened again (reverse winding), pulling the upper part of the support connecting rod 106 upward, causing the attachment claw 10 to rotate counterclockwise (lifting), and the engagement between the attachment barb 101 and the rock surface is released.

[0084] Reset: The drive motor 304 continues to reverse, or with the assistance of the torsion spring 107, the attachment claw 10 is fully retracted to its initial position, detaching from the rock surface, completing one full attachment-detachment cycle. The attacher returns to the standby state, ready for the next attachment.

[0085] Through the above steps, the present invention achieves rapid, reliable, and actively controllable attachment and detachment from rock surfaces, greatly enhancing the mobility and operational stability of the exploration robot in complex underground environments.

[0086] Furthermore, the active attachment module 1 and the sampling and operation module 5 work together: during operation, the active attachment module 1 actively anchors the robot to the surface of the celestial body, providing a stable reaction force foundation; the sampling and operation module 5 performs drilling, impact or crushing operations under the support of the reaction force.

[0087] Furthermore, the active attachment module 1 includes two specifications, both based on the principle of biomimetic micro-thorns and rope drive.

[0088] See Figure 1 As shown, the large-size active attachment module 1 is mainly used in sampling and other operations requiring extremely high stability. It includes two attachment claws 10 connected in series. The drive motor (built-in) drives the rope in both forward and reverse directions to control the lifting and lowering of the attachment claws 10, achieving engagement and release with the surface.

[0089] See Figure 14 As shown, the small-sized active attachment module 1 is mainly used for temporary stabilization during rapid movement. It includes an attachment claw 10, which has a similar structure and principle but is smaller, lighter, and has a faster response, making it suitable for lightweight robot prototypes.

[0090] This invention provides a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies, which has at least two working modes: in mobile patrol mode, the robotic arm is used for walking, and a small-sized attachment mechanism can be selected to assist in stabilization; in attachment operation mode, the active attachment module 1 anchors the robot to the surface, and the robotic arm is used to operate the sampling and operation module 5 or other tools to perform operations, in which case the large-sized active attachment module 1 is preferred. The specific workflow is as follows:

[0091] Taking "drilling rock samples from the surface of an asteroid" as an example, the collaborative working process is illustrated with accompanying diagrams:

[0092] 1. Inspection and Localization: The robot traverses the target area using quadrupedal locomotion. A lidar system establishes a global terrain point cloud map. A binocular camera performs detailed imaging of the region of interest, identifying and locating specific rock formations as sampling targets.

[0093] 2. Movement and Approach: The main controller 402 plans a safe path, and the first sub-controller drives each robotic arm joint to control the robot to cross obstacles with a static and stable gait and reach the vicinity of the target rock mass.

[0094] 3. Active Attachment and Stabilization: The robot adjusts its posture and controls at least three large active attachment modules 1 at its feet to actively press against the rock surface. Based on feedback from force sensors, the drive motors of each mechanism tighten the ropes and pull down the attachment claws 10, causing the micro-spiky array on the attachment claws 10 to embed into the surface microstructure, forming multiple mechanical interlocks and firmly anchoring the robot to the steep or irregular surface.

[0095] 4. Collaborative Sampling Operation: The robotic arm transports the sampling and operation module 5 to above the target point. First, it controls the active attachment module 1 below this module to complete local secondary anchoring. Then, it starts the rotary impact driver 501, driving the drilling mechanism 508 to work. For hard rock, a "low speed + high frequency impact (e.g., 50Hz)" mode is used for breaking; the force and depth data during drilling are fed back to the controller in real time to achieve adaptive drilling and anti-sticking protection.

[0096] 5. Sample processing and transfer: After sampling, the drilling mechanism 508 retracts with the sample, and the robotic arm can operate other end tools to encapsulate, temporarily store or transfer the sample.

[0097] Application extension:

[0098] 1. Space Mining: By replacing the drilling mechanism 508 with a crushing head or a small bucket, this robot can be used for the exploration, crushing and collection of minerals on the surface of small celestial bodies.

[0099] 2. Planetary Defense: Utilizing its strong adhesion capabilities, the robot can serve as a reliable surface anchor point. Its sampling / fragmentation capabilities allow for drilling holes in asteroid surfaces to house explosive devices or mass ejection devices, providing direct technical support for dynamically deflecting asteroid orbits.

[0100] This invention provides a multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies. It integrates a master-slave control body and incorporates the following core modules in its mechanical design: four symmetrically distributed seven-DOF robotic arms, each composed of an integrated joint module and linkages, providing both highly flexible movement and manipulation capabilities; an active attachment mechanism based on a biomimetic micro-needle mechanism, available in large and small sizes, with the large-size mechanism able to collaborate with a sampling module integrating a rotating impact slide and a drilling mechanism to achieve integrated drilling-anchoring operations; and a multimodal perception system composed of a lidar and a binocular depth camera. In terms of control, the coordinated operation of the above mechanical modules is achieved through a master-slave distributed controller. Through innovative mechanical design and system integration, this invention enables the robot to achieve stable movement, adaptive attachment, and efficient in-situ sampling / operations on the extremely unstructured surfaces of celestial bodies such as the Moon, Mars, and asteroids, making it suitable for diverse missions including scientific exploration, resource utilization, and planetary defense support.

[0101] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A multi-legged redundant exploration robot for unstructured surfaces of extraterrestrial bodies, characterized in that, It includes an active attachment module (1), a movement and operation module (2), an environmental perception module (3), a fuselage module (4), and a sampling and operation module (5). The movement and operation module (2) includes multiple robotic arms arranged circumferentially on the outside of the fuselage module (4). Each robotic arm is equipped with an active attachment module (1) at its end. The active attachment module (1) is used to adhere and anchor to the surface of extraterrestrial celestial bodies. The sampling and operation module (5) is set on the active attachment module (1) and is used for sampling operations. The environmental perception module (3) is set on the fuselage module (4) and is used to acquire environmental information.

2. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 1, characterized in that, The robotic arm includes multiple motor modules (201) connected in series via a link (202), enabling multi-degree-of-freedom motion functions.

3. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 1, characterized in that, The fuselage module (4) includes a layered frame (401) and a main controller (402), a sub-controller (403) and a drive power supply (404) arranged sequentially from top to bottom within the layered frame (401). The main controller (402) and the sub-controller (403) constitute a collaborative control system, which controls the operation of the robotic arm, the active attachment module (1) and the sampling and operation module (5), and processes the data of the environmental perception module (3).

4. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 1, characterized in that, The environmental perception module (3) includes a lidar and a binocular depth camera. The lidar is installed at the top center of the body module (4) to achieve 360° horizontal scanning. The binocular depth camera is installed at the front end of the body module (4) or the wrist of the robotic arm for close-range fine perception.

5. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 1, characterized in that, The active attachment module (1) includes attachment claws (10), connecting rings (20) and attachment base (30), wherein the connecting rings (20) are located on the upper part of the attachment base (30) and are used to connect with the robotic arm; multiple attachment claws (10) are circumferentially hinged on the lower part of the attachment base (30), the attachment claws (10) are used to adsorb onto the surface of extraterrestrial celestial bodies, and the attachment base (30) provides power for the attachment claws (10) to adsorb and detach from the rock surface.

6. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 5, characterized in that, The attachment claw (10) includes attachment spikes (101), spike end caps (103), support rods (106), torsion springs (107), and connecting pins (108). One end of the support rods (106) is floatingly connected to the spike end caps (103), and the other end is hinged to the attachment base (30) via the connecting pins (108). The torsion springs (107) are sleeved on the connecting pins (108), and both ends abut against the attachment base (30) and the support rods (106) respectively. The torsion springs (107) provide a torque that causes the attachment claw (10) to tend to retract upwards. The bottom of the spike end caps (103) is slidably engaged with a plurality of parallel-arranged attachment spikes (101). The bottom of the barb end cap (103) is provided with multiple sliding grooves in parallel. Multiple attached barbs (101) slide and engage with the corresponding sliding grooves through barb slide rails (102), and are prevented from detaching by barb baffles (104) connected to the barb end cap (103). Each sliding groove is provided with a slide rail spring (1011), and the two ends of the slide rail spring (1011) abut against the barb slide rail (102) and the barb end cap (103) respectively.

7. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 6, characterized in that, The attachment barb (101) includes an attachment barb body and an anchoring unit disposed at the bottom of the attachment barb body; the anchoring unit includes a slide spring (1012) and an anchor (1013). The bottom of the attached barb body is provided with multiple inclined grooves in the height direction. Each inclined groove is provided with a slide spring (1012) and an anchor (1013) from the inside to the outside. The anchor (1013) protrudes from the inclined groove to the outside of the bottom of the attached barb body.

8. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 5, characterized in that, The attacher base (30) includes an upper end cap (301), a base shell (302), a lower base (303), tension wires (306), retracting wires (309), and a driving device. The upper and lower ends of the base shell (302) are connected to the upper end cap (301) and the lower base (303) respectively to form a sealed cavity. The driving device is installed inside the sealed cavity. The driving device is connected to the upper part of each attaching claw (10) through multiple tension wires (306). The multiple tension wires (306) are used to pull each attaching claw (10) to rotate upward to achieve desorption. The driving device is connected to the lower part of each attaching claw (10) through multiple retracting wires (309). The multiple retracting wires (309) are used to pull each attaching claw (10) to rotate downward to achieve adsorption. The driving device includes a drive motor (304), an upper pulley (305), a drive shaft (307), and a lower pulley (308). The drive motor (304) is mounted on the upper end cover (301), and its output end is fixedly connected to the upper end of the drive shaft (307). The lower end of the drive shaft (307) is rotatably connected to the lower base (303). The upper pulley (305) and the lower pulley (308) are mounted on the drive shaft (307) from top to bottom and move with the drive shaft. 307) Rotate; one end of each of the tensioning wires (306) is wound around the upper pulley (305), and the other end passes through the upper wire hole of the base housing (302) and is connected to the upper part of the corresponding attachment claw (10); one end of each of the take-up wires (309) is wound in the opposite direction around the lower pulley (308), and the other end passes through the lower wire hole of the base housing (302) and is connected to the lower part of the corresponding attachment claw (10).

9. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 1, characterized in that, The sampling and operation module (5) includes a rotary impact slide mechanism and a drilling mechanism (508) disposed on the rotary impact slide mechanism. The rotary impact slide mechanism is disposed on the top of the active attachment module (1) and is used to provide rotary power, impact power and axial feed motion for drilling. The drilling mechanism (508) includes an outer drill sleeve (5081), a buffer spring (5082), a buffer damper (5084), a drill bit (5087), and an eccentric core tube assembly. The eccentric core tube assembly is rotatably mounted inside the outer drill sleeve (5081). The drill bit (5087) has a hollow structure and is mounted at the front end of the outer drill sleeve (5081) via the buffer damper (5084). The eccentric core tube assembly includes a core tube (5086) and a drive shaft (5083) for driving the core tube (5086) to rotate. There is an eccentricity between the geometric axis of the drive shaft (5083) and the rotation axis of the drive shaft (5083); the drive shaft (5083) can be controlled to rotate synchronously and in the same direction with the outer drill sleeve (5081), or can be controlled to rotate independently in the opposite direction relative to the stationary outer drill sleeve (5081); the buffer spring (5082) is sleeved on the outside of the drive shaft (5083), and its two ends are respectively abutted on the inner step of the outer drill sleeve (5081) and the shoulder of the core tube (5086); the buffer spring (5082) provides axial elastic support for the eccentric core tube assembly.

10. The multi-legged redundant detection robot for unstructured surfaces of extraterrestrial bodies according to claim 9, characterized in that, The rotary impact slide mechanism includes a base frame, a rotary impact driver (501), a slide (502), a sliding guide rail (503), a lead screw (505), a guide shaft (506), a slide feed motor (507), and a buffer assembly. The sliding guide rail (503), lead screw (505), and guide shaft (506) are all vertically mounted on the base frame. The slide feed motor (507) is located at the bottom of the base frame, and its output end is connected to the lead screw (505). The slide feed motor (507) drives the lead screw (505) to rotate. The slide (502)... The screw is connected to the nut and the lead screw (505) to form a threaded pair, and the slide (502) slides in cooperation with the sliding guide rail (503) and the guide shaft (506); the rotary impact driver (501) is set on the slide (502) and its output end is connected to the drilling mechanism (508). The rotary impact driver (501) is used to provide rotation and impact power to the drilling mechanism (508); the buffer assembly is fitted on the guide shaft (506) and located above the slide (502). The buffer assembly is used to absorb and suppress multidimensional vibrations during the drilling process.

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