Microgravity robotic laser-drilling memory alloy anchoring method

Abstract

The present application relates to memory alloy piercing type repeatable anchoring technical field, specifically a microgravity robot laser drilling memory alloy anchoring method, including using laser emitter to prefabricate hole on anchoring medium, inserting memory alloy piercing type anchoring device into the prefabricated hole and heating, making memory alloy piercing type anchoring device deformation, tightening the deformed memory alloy piercing type anchoring device to realize anchoring, recovering the cooled closed memory alloy piercing type anchoring device after cooling and fixing on robot body.The present application combines laser drilling technology with memory alloy repeatable anchoring, laser drilling contactless operation makes low reaction force, avoids attitude instability and positioning drift of operation platform in microgravity environment;Memory alloy anchoring device can realize reversible anchoring and release through heating expansion and cooling closure, and can be completely recycled and reused, and both heavy load operation bearing and multi-station frequent transfer requirements are considered.

Description

Technical Field

[0001] This invention relates to the field of shape memory alloy piercing and repeatable anchoring technology, specifically a microgravity robot laser drilling method for anchoring shape memory alloys. Background Technology

[0002] Anchoring operations in microgravity environments are a prerequisite for missions such as satellite surface fixation and resource extraction. Currently, mainstream microgravity anchoring technologies include mechanical, adhesive, sintering, and adsorption methods. However, these technologies have several shortcomings in application: First, the operational impact and disturbance are significant, easily leading to platform instability and positioning drift in the lack of stable reaction forces in microgravity environments; second, stable reversible unlocking and repeated anchoring are impossible, making it difficult to adapt to the cyclical operational requirements of deep space exploration involving multiple stations and various working conditions; finally, the mechanisms are redundant, bulky, and heavy, failing to meet the stringent lightweight design and carrying capacity constraints of deep space exploration equipment.

[0003] Shape memory alloys (SMAs) possess the core advantage of adaptive anchoring through thermally driven shape memory effects. Their anchoring force stability and service reliability under microgravity, high vacuum, and extreme alternating temperature environments in space have been systematically verified through multiple ground-based microgravity simulation tests. Currently, this material is being explored for engineering applications in microgravity anchoring scenarios such as attachment to deep space probe surfaces and locking connections for on-orbit equipment.

[0004] Meanwhile, laser drilling technology, with its core advantages of non-contact operation, low reaction force, high-precision controllable hole diameter, and no tool wear, is perfectly suited to the operational constraints of microgravity environments where there is no self-weight pressure. Currently, this technology has been applied to targeted parameter optimization and engineering in microgravity scenarios such as in-situ sampling in deep space exploration and anchoring pretreatment, and is the mainstream technical solution for pre-fabricated holes in the medium under microgravity conditions.

[0005] However, there is currently no complete technical solution that effectively combines laser drilling technology with shape memory alloy piercing and reusable anchoring technology to address the needs of heavy-duty operations and frequent relocation in microgravity environments. Summary of the Invention

[0006] The purpose of this invention is to provide a method for anchoring shape memory alloys in laser drilling using a microgravity robot, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A method for anchoring shape memory alloys using laser drilling in a microgravity robot includes the following steps:

[0009] Step 1: Use a laser emitter to pre-drill holes in the anchoring medium;

[0010] Step 2: Insert the shape memory alloy piercing anchor into the pre-made hole and heat the shape memory alloy piercing anchor to deform it.

[0011] Step 3: Tighten the deformed shape memory alloy insert anchoring device to achieve anchoring;

[0012] Step 4: After the temperature has cooled down, retrieve the cooled and closed shape memory alloy insert anchor device and fix the retrieved shape memory alloy insert anchor device onto the robot body.

[0013] As a further aspect of the present invention: in step four, the shape memory alloy piercing anchoring device is fixed to the fixed manipulator of the robot body.

[0014] As a further aspect of the present invention: in step one, the drilling location is determined, the composition of the anchoring medium is judged, and the drilling depth is detected by an AI vision 3D sensor.

[0015] As a further aspect of the present invention: in step one, there is an angle between the incident direction of the laser emitter and the normal direction of the anchoring medium surface, and the angle is 30°.

[0016] As a further aspect of the present invention: in step two, the heating temperature is monitored by a temperature sensor, and heating is stopped once the specified temperature is reached.

[0017] As a further aspect of the present invention: in step three, the shape memory alloy piercing anchor device undergoes a phase change recovery upon heating and generates a pre-tightening force, causing the wing plate of the shape memory alloy piercing anchor device to expand radially and embed into the hole wall medium of the pre-made hole.

[0018] As a further aspect of the present invention: the anchoring force of the shape memory alloy piercing anchoring device is provided by the shape recovery preload, normal compaction stress, interfacial friction, contact locking, mechanical embedment, shear energy dissipation and inverted conical medium shearing action.

[0019] As a further aspect of the present invention: the ultimate pull-out resistance provided by the shape memory alloy insertion anchoring device meets the following safety verification conditions:

[0020] ;

[0021] in, The ultimate pull-out resistance that the anchoring system can provide. For safety reasons, For the impact load dynamic amplification factor, This represents the maximum axial pull-out load that the anchoring device withstands during operation.

[0022] The present invention also proposes a microgravity robot, which is anchored using the microgravity robot laser drilling shape memory alloy anchoring method described above.

[0023] As a further aspect of the present invention: the microgravity robot includes:

[0024] The robot itself;

[0025] An eight-axis robotic arm is mounted on the robot body;

[0026] A robotic arm is located at the end of the eight-axis robotic arm;

[0027] An AI vision 3D sensor is installed at the end of the eight-axis robotic arm to assist in positioning and detection;

[0028] A fixed robotic arm is mounted on the robot body;

[0029] A laser emitter is releasably mounted on the fixed manipulator for use with the eight-axis robotic arm to pre-drill holes;

[0030] A shape memory alloy insert anchoring device is releasably mounted on the fixing manipulator for insertion into the pre-drilled hole for anchoring.

[0031] A heating module is located inside the shape memory alloy insert anchor device and is used to heat the shape memory alloy insert anchor device.

[0032] A temperature sensor, located inside the shape memory alloy insert anchor, is used to monitor the temperature of the shape memory alloy insert anchor; and

[0033] An electric tensioner, fixedly connected to the robot body, is used to axially tighten the central force transmission rod of the shape memory alloy insert anchoring device.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. Balancing heavy load bearing and frequent relocation: By combining laser drilling technology with shape memory alloy piercing and repeatable anchoring, the robot can withstand the recoil load of heavy mining operations and achieve frequent relocation between multiple stations, meeting the diverse operational needs of in-situ resource utilization in deep space exploration.

[0036] 2. Adaptable to microgravity environment: Laser drilling adopts a non-contact operation method with low reaction force, which effectively avoids the instability of the working platform and positioning drift in microgravity environment; shape memory alloy anchoring greatly simplifies the anchoring operation process and reduces the platform disturbance risk caused by multi-process operation.

[0037] 3. Stable and reliable anchoring force: The shape memory alloy anchoring device undergoes a phase change recovery when heated and generates a pre-tightening force, causing the flange to expand radially and embed into the medium in the borehole wall. The anchoring force is provided by the shape recovery pre-tightening force, normal compaction stress, interface friction, contact locking, mechanical embedding, shear energy dissipation, and the shearing action of the inverted conical medium, forming a composite anchoring system with strong pull-out bearing capacity.

[0038] 4. Reusable: The shape memory alloy returns to its closed state after cooling, and the anchoring device can be completely recovered from the pre-made holes and fixed to the robot body, realizing the reuse of the anchoring device. This eliminates the need to carry a large number of disposable anchors and reduces the payload cost of deep space exploration missions.

[0039] 5. Lightweight and miniaturized: Shape memory alloy anchoring devices have a simple structure, small size and light weight, and do not require complex mechanical transmission mechanisms, which meets the stringent lightweight design and carrying capacity constraints of deep space exploration equipment. Attached Figure Description

[0040] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the robot of the present invention.

[0041] Figure 2 This is a three-dimensional schematic diagram of the overall structure of the robot during anchoring according to the present invention.

[0042] Figure 3 This is a simplified flowchart of the anchoring method of the present invention.

[0043] Figure 4 This is a schematic diagram of the dynamics of the laser drilling process of the present invention.

[0044] Figure 5 This is a schematic diagram of the laser drilling plane ablation process of the present invention.

[0045] Figure 6 This is a cross-sectional view of the shape memory alloy anchoring device of the present invention in the cooled closed state.

[0046] Figure 7 This is a cross-sectional view of the shape memory alloy anchoring device of the present invention under thermal deformation.

[0047] Figure 8 This is a schematic diagram of the dynamics of the anchoring process of the shape memory alloy anchoring device of the present invention.

[0048] In the image: 1. AI vision 3D sensor; 2. Robotic arm; 3. Electric tensioner; 4. Fixing robotic arm; 5. Shape memory alloy piercing anchoring device; 6. Laser emitter; 7. Antenna; 8. Eight-axis robotic arm; 9. Heating module; 10. Temperature sensor. Detailed Implementation

[0049] The technical solution of this application will be further described in detail below with reference to specific embodiments.

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0051] Example 1

[0052] Please see Figures 1 to 3 In one embodiment of the present invention, a method for anchoring shape memory alloys by laser drilling for microgravity robots and a microgravity robot using the method are provided.

[0053] First, combined Figure 1 and Figure 2 The overall structure of the microgravity robot of the present invention will be described.

[0054] like Figure 1 As shown, the microgravity robot includes a robot body, an eight-axis robotic arm 8, a robotic hand 2, an AI vision 3D sensor 1, a fixed robotic hand 4, a laser emitter 6, a shape memory alloy piercing anchoring device 5, a heating module 9, a temperature sensor 10, and an electric tensioner 3.

[0055] The robot comprises an eight-axis robotic arm 8 mounted on the robot body; a robotic hand 2 located at the end of the eight-axis robotic arm 8 for gripping and manipulating tools; an AI vision 3D sensor 1 located at the end of the eight-axis robotic arm 8 for assisting in positioning and detection, specifically including determining the drilling location, judging the composition of the anchoring medium, and detecting the drilling depth; a fixed robotic hand 4 mounted on the robot body for providing storage and fixed support for the laser emitter 6 and the shape memory alloy insertion anchoring device 5; the laser emitter 6 is releasably mounted in the fixed robotic hand 4 for use with... The eight-axis robotic arm 8 has pre-drilled holes; the shape memory alloy insert anchoring device 5 is releasably installed in the fixed robotic arm 4 for insertion into the pre-drilled holes for anchoring; the heating module 9 is located inside the shape memory alloy insert anchoring device 5 for heating the shape memory alloy insert anchoring device 5; the temperature sensor 10 is located inside the shape memory alloy insert anchoring device 5 for monitoring the temperature of the shape memory alloy insert anchoring device 5; and the electric tensioner 3 is fixedly connected to the robot body for axially tightening the central force transmission rod of the shape memory alloy insert anchoring device 5.

[0056] Figure 2 The figure shown is a three-dimensional schematic diagram of the overall structure of the robot during anchoring. At this time, the shape memory alloy piercing anchoring device 5 has been gripped by the robot arm 2 and inserted into the pre-made hole, and is in the anchoring state.

[0057] Based on the above structure, such as Figure 3 As shown, the microgravity robot laser drilling shape memory alloy anchoring method of this embodiment includes the following steps:

[0058] Step 1: Use laser emitter 6 to pre-drill holes in the anchoring medium.

[0059] Step 2: Insert the shape memory alloy insert anchor 5 into the pre-made hole and heat the shape memory alloy insert anchor 5 to cause it to deform.

[0060] Step 3: Tighten the deformed shape memory alloy insert anchoring device 5 to achieve anchoring.

[0061] Step 4: After the temperature has cooled down, retrieve the cooled and closed shape memory alloy insert anchor device 5 and fix the retrieved shape memory alloy insert anchor device 5 onto the robot body.

[0062] Specifically, in combination Figures 1 to 3 As shown, in this embodiment, the above steps are implemented in the following manner:

[0063] In step one, the robotic arm 8 uses its end-capped robotic hand 2 to grip the laser emitter 6, which is fixed to the robot body via the fixed robotic hand 4. The AI ​​vision 3D sensor 1 locates the drilling position. After the robotic arm is positioned, the AI ​​vision 3D sensor 1 determines the distance and the composition of the anchoring medium. The laser emitter 6 is then used to drill the hole, and the AI ​​vision 3D sensor 1 determines the depth. The incident direction of the laser emitter 6 forms an angle of 30° with the normal direction of the anchoring medium surface. This 30° angle is the angle between the normal plane of the anchoring medium surface and the tension rope of the shape memory alloy insert anchoring device, facilitating tightening and providing better anchoring.

[0064] In step two, the robotic arm 2 at the end of the eight-axis robotic arm 8 grasps the shape memory alloy insert anchoring device 5, which is fixed to the robot body by the fixed robotic arm 4, and inserts it into the laser-pre-drilled hole. The heating module 9 is then energized to cause the shape memory alloy insert anchoring device 5 to deform due to heat. At the same time, the temperature is monitored by the temperature sensor 10, and the power is stopped once the specified temperature is reached.

[0065] In step three, the heat-deformed shape memory alloy insert anchoring device 5 is tightened by the electric tightener 3. The shape memory alloy insert anchoring device 5 undergoes a phase change recovery upon heating and generates a pre-tightening force, causing the wing plate of the shape memory alloy insert anchoring device 5 to expand radially and embed into the medium of the pre-made hole wall to achieve anchoring.

[0066] In step four, after the temperature cools down, the wing plate of the shape memory alloy embedded anchor device 5 returns from the unfolded state to the closed state, and the embedding force between the shape memory alloy embedded anchor device 5 and the medium of the hole wall disappears. The shape memory alloy embedded anchor device 5 is pulled out of the pre-made hole by the manipulator 2 at the end of the eight-axis robotic arm 8 and returned to the storage position in the fixed manipulator 4 fixed on the robot body. The fixed manipulator 4 provides clamping and fixation for reuse in the next station operation.

[0067] Figure 3 The processes S1 to S4 in the above process correspond completely to the execution methods of steps one to four above.

[0068] This microgravity robot laser drilling and shape memory alloy anchoring method combines laser drilling technology with shape memory alloy insertion for repeatable anchoring, enabling the robot to meet the needs of heavy-duty operations and frequent relocation across multiple stations. Addressing the constraints of operating without self-weight pressure in a microgravity environment, laser drilling technology, with its non-contact operation, results in low reaction forces, preventing platform instability and positioning drift, and allowing for high-precision control of the pre-drilled hole diameter. Simultaneously, the use of shape memory alloy in the anchoring device significantly simplifies the anchoring process in microgravity environments, reduces the size and weight of the anchoring mechanism, and lowers the risk of platform disturbance caused by multi-step operations.

[0069] Example 2

[0070] This embodiment provides a detailed description of the laser drilling process in step one.

[0071] like Figures 4 to 5 As shown, the laser emitter 6, located in the fixed manipulator 4 on the robot body, is gripped by the manipulator 2 at the end of the eight-axis robotic arm 8. The location to be drilled is found using the AI ​​vision 3D sensor 1. After the robotic arm is positioned, the distance and the composition of the anchoring medium (such as lunar soil) are determined by the AI ​​vision 3D sensor 1. The robot is tilted at a 30° angle, and the laser emitter 6 is used to drill the hole. The depth is determined by the AI ​​vision 3D sensor 1. The 30° angle is the angle between the normal plane of the lunar surface and the tension rope of the anchoring device, facilitating tension and providing better anchoring.

[0072] The aperture radius r created by laser ablation is determined by the absorption peak energy density Φ0 at the center of the flat workpiece surface and the absorption ablation threshold Φ. th control:

[0073] (1);

[0074] (2);

[0075] (3);

[0076] in This indicates the absorptivity of the material when incident normally. Indicates single pulse energy. Indicates the laser beam radius. This indicates the effective penetration depth of the laser in the material. It represents the enthalpy per unit volume required for a material to completely vaporize from a solid state.

[0077] The following formula is used to calculate the overall absorption rate under the current pore shape. , Participated in the The calculation of the hole depth after the first pulse is also affected by the second pulse. The effect of a pulse on the hole depth, formula (4) is used to calculate the ratio between the opening area of ​​the conical hole and the complete surface area of ​​the hole. Formula (5) solid angle formula is used to calculate the solid angle corresponding to the observation of the opening from the bottom of the conical hole:

[0078] (4);

[0079] (5);

[0080] (6);

[0081] Formula (8) is the recursive formula for hole depth, used to describe the first hole depth. The relationship between the increase in aperture depth after each laser pulse and the previous pulse is as follows: each pulse increases the aperture depth by one ablation depth. The absorbed energy density at the bottom of the hole for each pulse Calculated using formula (7):

[0082] (7);

[0083] (8);

[0084] in Indicates the first Hole depth after each pulse action Indicates the first Hole depth after each pulse action For the first The solid angle corresponding to the observation of the orifice opening from the bottom of the conical hole after each pulse action.

[0085] Example 3

[0086] This embodiment provides a detailed description of the heating and deformation process in step two.

[0087] like Figures 6 to 7As shown, the shape memory alloy insert anchoring device 5, which is fixed to the robot body by the robotic arm 2 at the end of the eight-axis robotic arm 8, is inserted into the laser-pre-drilled hole by gripping the fixed robotic arm 4. The heating module 9 is then energized to cause the shape memory alloy insert anchoring device 5 to deform due to heat. At the same time, the temperature is monitored by the temperature sensor 10, and the power is stopped when the specified temperature is reached.

[0088] Figure 6 The diagram shows a cross-sectional view of the shape memory alloy insert anchor device 5 in the cooled and closed state. At this time, the wing plate of the shape memory alloy insert anchor device 5 is in the closed state and can be freely inserted into or removed from the prefabricated hole. Figure 7 The diagram shows a cross-sectional view of the shape memory alloy piercing anchoring device 5 under thermal deformation. At this time, the wing plate expands radially under thermal excitation and embeds itself into the medium of the hole wall to achieve anchoring.

[0089] Example 4

[0090] This embodiment provides a detailed explanation of the anchoring principle and mechanical process in step three.

[0091] like Figure 8 As shown, the shape memory alloy piercing anchoring device 5, which has undergone thermal deformation, is tightened by the electric tightener 3. During the mining operation on the asteroid surface, the mining actuator interacts with the target medium and generates a working recoil load F along the axial direction of the anchor hole towards the free space side. This load is transmitted through the robot's main structure and connecting components to the central force transmission rod of the shape memory alloy piercing anchoring device 5, and further axial load input and stress transmission are achieved from the central force transmission rod to the shape memory alloy anchoring wing plates on both sides. Under thermal excitation, the shape memory alloy anchoring wing plates recover their shape and generate a recovery preload, the first-order approximation of which can be expressed as:

[0092] (9);

[0093] in, This refers to the preload force generated after the phase transformation recovery of the shape memory alloy airfoil. The elastic modulus of the austenitic phase. The effective cross-sectional area of ​​the shape memory alloy wing plate. This is for recoverable phase transition strain.

[0094] Under this preload, the anchoring flange expands radially and embeds itself into the anchoring medium surrounding the borehole wall, causing normal contact stress, radial compaction effect, lateral restraint effect, and local contact squeezing effect at the interface between the flange and the medium. If the angle between the expanded anchoring flange and the axial direction is... The effective contact area between the wing plate and the anchoring medium is Then the interface normal compressive stress can be expressed as:

[0095] (10);

[0096] in, This refers to the normal compaction stress generated by the flange on the anchoring medium. This is due to the operational recoil load. With continuous input, the flange exhibits a potential pull-out displacement tendency relative to the anchoring medium, and the total normal support force gradually builds up in the interface area. Tangential shear stress and interfacial frictional resistance Under localized interface stress, the anchoring flange satisfies the three-force equilibrium relationship:

[0097] (11);

[0098] in, The reconstructed contact pressure field originates from the expansion of the airfoil and the restoring reaction force after the medium is constrained and deformed. This is composed of interfacial shear friction and anti-slip effect induced by the normal compression state. According to the Coulomb friction relation, the pull-out component generated by interfacial friction can be expressed as:

[0099] (12);

[0100] in, This refers to the pull-out component generated by interfacial friction. The coefficient of friction between the flange and the anchoring medium.

[0101] Under the above-mentioned stress conditions, and Vector decomposition can be performed separately in the axial and radial directions. The radial component is used to maintain the embedded constraint, lateral stability, and contact locking state between the wing plate and the medium; the axial component together forms a reverse constraint effect against the pull-out tendency. Since the shape memory alloy anchor wing plates on both sides are mirror-symmetrically deployed, their lateral component achieves self-balancing at the structural level, while the axial component produces a superposition effect, forming an overall reverse constraint system through the central force transmission rod, thereby suppressing the pull-out displacement, overturning torque, and attitude drift tendency caused by the robot's recoil.

[0102] Furthermore, as the external load continues to act, the anchoring flange exerts continuous interlocking, compression, and shear disturbance on the surrounding anchoring medium, causing the interface area to gradually evolve from a state of local contact stress to a state of continuous medium-wide coordinated stress. During this process, the anchoring flange drives the surrounding medium to form an approximately inverted cone-shaped shear influence zone, the effective shear failure annular area of ​​which can be expressed as:

[0103] (13);

[0104] in, The effective area of ​​the inverted conical shear failure toroidal surface, To achieve the equivalent radius at the upper end of the shear failure ring, To achieve the equivalent radius of the lower end of the shear failure toroidal surface, This is the oblique length of the shear failure toroidal surface.

[0105] For loose or weakly cemented media on the surface of asteroids, their shear failure state can be described using the Mohr-Coulomb strength criterion:

[0106] (14);

[0107] in, The ultimate shear strength of the anchoring medium on the shear failure ring surface. For anchoring medium cohesion, Let be the internal friction angle of the anchoring medium. Therefore, the shear pull-out component provided by the inverted conical shear influence zone can be expressed as:

[0108] (15);

[0109] in, The shear pull-out component provided by the anchoring medium along the inverted conical shear failure annular surface. Therefore, the stability mechanism of this shape memory alloy embedded anchoring device 5 under microgravity mining conditions is not simply due to the mechanical jamming between the wing plate and the medium, but is jointly constituted by shape recovery preload, normal compaction stress, interface friction, contact locking, mechanical embedding, shear energy dissipation, compaction strengthening, constraint stiffening, and the shearing action of the inverted conical medium. Ultimately, the recoil load generated during the robot mining process undergoes load diffusion, stress release, and energy transfer step by step through the central force transmission rod, shape memory alloy anchoring wing plate, interface stress field, and anchoring medium, and is finally dissipated to the asteroid body. To ensure dynamic load stability during operation, the anchoring system should meet the safety check conditions:

[0110] (16);

[0111] in, The ultimate pull-out resistance that the anchoring system can provide. For safety reasons, For the impact load dynamic amplification factor, This is the maximum axial pull-out load that the shape memory alloy insert anchoring device 5 can withstand during operation. This condition is used to ensure that the anchoring system still has sufficient displacement restraint and attitude maintenance capabilities under the combined effects of recoil disturbance, impact vibration, and attitude disturbance.

[0112] Example 5

[0113] This embodiment provides a detailed description of the cooling recovery process in step four.

[0114] After cooling, the wing plates of the shape memory alloy embedded anchoring device 5 return to the closed state from the deployed state, and the embedding force between the shape memory alloy embedded anchoring device 5 and the medium of the hole wall disappears. The shape memory alloy embedded anchoring device 5 is pulled out of the pre-made hole by the manipulator 2 at the end of the eight-axis robotic arm 8 and returned to the storage position in the fixed manipulator 4 fixed to the robot body. The fixed manipulator 4 provides clamping and fixation for reuse in the next station operation. At this time, a complete anchoring-release-retrieval-standby cycle is completed, realizing the reusability of the shape memory alloy embedded anchoring device 5.

[0115] This microgravity robot laser drilling and shape memory alloy anchoring method combines laser drilling technology with shape memory alloy insertion for repeatable anchoring, enabling the robot to meet the needs of heavy-duty operations and frequent relocation across multiple locations. Addressing the constraints of operating without self-weight pressure in a microgravity environment, laser drilling technology, with its non-contact operation, results in low reaction forces, preventing platform instability and positioning drift, and allowing for high-precision control of the pre-drilled hole diameter. Simultaneously, the use of shape memory alloy in the anchoring device significantly simplifies the anchoring process in microgravity environments, reduces the size and weight of the anchoring mechanism, and lowers the risk of platform drift caused by multi-step operations.

[0116] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these should also be considered within the scope of protection of the present invention. These will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A method for anchoring shape memory alloys in laser drilling for microgravity robots, characterized in that, Includes the following steps: Step 1: Use a laser emitter to pre-drill holes in the anchoring medium; Step 2: Insert the shape memory alloy insert anchor into the pre-made hole and heat the shape memory alloy insert anchor to deform it. Step 3: Tighten the deformed shape memory alloy insert anchoring device to achieve anchoring; Step 4: After the temperature has cooled down, retrieve the cooled and closed shape memory alloy insert anchor device and fix the retrieved shape memory alloy insert anchor device onto the robot body.

2. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 1, characterized in that, In step four, the shape memory alloy piercing anchoring device is fixed to the fixed manipulator of the robot body.

3. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 1, characterized in that, In step one, the drilling location is determined, the composition of the anchoring medium is judged, and the drilling depth is detected by an AI vision 3D sensor.

4. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 1, characterized in that, In step one, the incident direction of the laser emitter has an angle of 30° with the normal direction of the anchoring medium surface.

5. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 1, characterized in that, In step two, the heating temperature is monitored by a temperature sensor, and heating is stopped once the specified temperature is reached.

6. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 1, characterized in that, In step three, the shape memory alloy insert anchor device undergoes a phase change recovery upon heating and generates a pre-tightening force, causing the wing plate of the shape memory alloy insert anchor device to expand radially and embed into the hole wall medium of the pre-made hole.

7. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 6, characterized in that, The anchoring force of the shape memory alloy piercing anchoring device is provided by the shape recovery preload, normal compaction stress, interfacial friction, contact locking, mechanical embedment, shear energy dissipation, and inverted conical medium shearing action.

8. The microgravity robot laser drilling shape memory alloy anchoring method according to claim 7, characterized in that, The ultimate pull-out resistance provided by the shape memory alloy insertion anchoring device meets the following safety verification conditions: ； in, The ultimate pull-out resistance that the anchoring system can provide. For safety reasons, For the impact load dynamic amplification factor, This represents the maximum axial pull-out load that the anchoring device withstands during operation.

9. A microgravity robot, characterized in that, Anchoring is performed using the microgravity robot laser drilling shape memory alloy anchoring method as described in any one of claims 1-8.

10. The microgravity robot according to claim 9, characterized in that, include: The robot itself; An eight-axis robotic arm is mounted on the robot body; A robotic arm is located at the end of the eight-axis robotic arm; An AI vision 3D sensor is installed at the end of the eight-axis robotic arm to assist in positioning and detection; A fixed robotic arm is mounted on the robot body; A laser emitter is releasably mounted on the fixed manipulator for use with the eight-axis robotic arm to pre-drill holes; A shape memory alloy insert anchoring device is releasably mounted on the fixing manipulator for insertion into the pre-drilled hole for anchoring. A heating module is located inside the shape memory alloy insert anchor device and is used to heat the shape memory alloy insert anchor device. A temperature sensor is located inside the shape memory alloy insert anchor device to monitor the temperature of the shape memory alloy insert anchor device. And an electric tensioner, fixedly connected to the robot body, for axially tightening the central force transmission rod of the shape memory alloy piercing anchoring device.

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