CN108708673A - It is landed based on more mechanical arms and anchoring device is adhered on the asteroid surface of fork-shaped ultrasonic drilling - Google Patents
It is landed based on more mechanical arms and anchoring device is adhered on the asteroid surface of fork-shaped ultrasonic drilling Download PDFInfo
- Publication number
- CN108708673A CN108708673A CN201810299366.1A CN201810299366A CN108708673A CN 108708673 A CN108708673 A CN 108708673A CN 201810299366 A CN201810299366 A CN 201810299366A CN 108708673 A CN108708673 A CN 108708673A
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- mechanical arm
- end effector
- fork
- ultrasonic
- asteroid
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- 238000004873 anchoring Methods 0.000 title claims abstract description 27
- 238000005553 drilling Methods 0.000 title claims abstract description 22
- 239000012636 effector Substances 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 9
- 239000000853 adhesive Substances 0.000 abstract description 5
- 230000001070 adhesive effect Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides the asteroid surface based on the landing of more mechanical arms and fork-shaped ultrasonic drilling that a kind of drilling pressure is low, simple in structure, adhesive force is big, can adhere to for a long time and adheres to anchoring device, belongs to asteroid surface attachment anchoring techniques field.The present invention includes mechanical arm and end effector；The top of mechanical arm is connect with the side of asteroid detection device, the tail end connection of end effector and mechanical arm, is provided with ultrasonic drill on end effector, end effector creeps into asteroid surface by ultrasonic drill, realizes anchoring；Each mechanical arm corresponds to two end effectors, and two end effectors are connected in the tail end of fork-shaped and mechanical arm.The present invention carries out drilling anchoring using ultrasonic drill, and bit pressure power is low；It is arranged using two ultrasonic drill fork-shapeds, force-closed between realization attachment anchoring device and asteroid surface, this is simple in structure, adhesive force is big.
Description
Technical field
It is the present invention relates to a kind of anchoring device, more particularly to a kind of to be landed based on more mechanical arms and fork-shaped ultrasonic drilling
Anchoring device is adhered on asteroid surface, belongs to asteroid surface attachment anchoring techniques field.
Background technology
Asteroid is detected, develops to exploring the origin of solar system and being explored for the mankind and can utilize space resources that there is important meaning
Justice.Since asteroid surface is almost without gravitation, attachment anchoring is the weight that asteroid detection device is resident in asteroid surface long term
Want technological means.In addition, the orographic condition that asteroid surface is rugged, needs detector to have certain terrain adaptability.It is existing
Asteroid detection device is largely using the attachment scheme of " contact i.e. from " formula, i.e., detector is by stretching out the mechanisms such as mechanical arm in short-term
Touch asteroid surface.There is no realization detectors to adhere to anchoring for a long time on asteroid surface for this mode, to asteroid
Detection and the sampling of star earth have certain limitation.
Invention content
Against the above deficiency, a kind of drilling pressure of present invention offer is low, simple in structure, adhesive force is big, can be attached for a long time
Anchoring device is adhered on the asteroid surface based on the landing of more mechanical arms and fork-shaped ultrasonic drilling.
Anchoring device is adhered on the asteroid surface based on the landing of more mechanical arms and fork-shaped ultrasonic drilling of the present invention, described
Device includes mechanical arm 2 and end effector 3；
The top of mechanical arm 2 is connect with the side of asteroid detection device, and end effector 3 is connect with the tail end of mechanical arm 2,
Ultrasonic drill 3-5 is provided on end effector 3, end effector 3 creeps into asteroid surface by ultrasonic drill 3-5, realizes
Anchoring；
Each mechanical arm 2 corresponds to two end effectors 3, and two end effectors 3 connect in the tail end of fork-shaped and mechanical arm 2
It connects.
Preferably, the end effector 3 includes servo motor 3-3, disk spring 3-4, ultrasonic drill 3-5, end
Actuator shell 3-6, sliding block 3-7 and guide rail 3-8；
Servo motor 3-3, disk spring 3-4, ultrasonic drill 3-5, sliding block 3-7 and guide rail 3-8 are arranged in end effector
In shell 3-6；The cage connection of mechanical arm 2 and servo motor 3-3, between the output shaft and ultrasonic drill 3-5 of servo motor 3-3
Equipped with disk spring 3-4, servo motor 3-3 transmits bit pressure power by disk spring 3-4 to ultrasonic drill 3-5；
Guide rail 3-8 is arranged on the madial wall of end effector shell 3-6, and the side of sliding block 3-7 is with ultrasonic drill 3-5's
Side is fixedly connected, and the other side and the guide rail 3-8 of sliding block 3-7 are slidably connected, and ultrasonic drill 3-5 is guide rail 3-8's and sliding block 3-7
Under constraint, straight-line feed movement is carried out, inclination pierces asteroid surface.
Preferably, the end effector 3 further includes leading screw 3-1 and screw 3-2；
Screw 3-2 is fixed on the top of end effector shell 3-6, and leading screw 3-1 is at cantilever structure, and the one of leading screw 3-1
End is connect with mechanical arm, and the other end of leading screw 3-1 passes through the cage connection of screw 3-2 and servo motor 3-3.
Preferably, described device includes a plurality of mechanical arm 2 and end effector 3, and a plurality of mechanical arm and end are held
Row device 3 is distributed in the side of asteroid detection device.
Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The present invention proposes a kind of asteroid surface attachment anchoring based on the landing of more mechanical arms and fork-shaped ultrasonic drilling
Device.Advantageous effect is：
The first, the present invention carries out drilling anchoring using ultrasonic drill, and bit pressure power is low；
The second, it is arranged using two ultrasonic drill fork-shapeds, it is force-closed between realization attachment anchoring device and asteroid surface,
This is simple in structure, adhesive force is big.
Third, only a pair of of ultrasonic drill stable anchorage on one mechanical arm of need, you can realize that detector is whole in small row
The attachment in star catalogue face is anchored；
4th, landing buffer is carried out using a plurality of mechanical arm, adaptation to the ground ability is strong, can increase attachment reliability, can grow
Time adheres to.
Description of the drawings
Fig. 1 is the structural schematic diagram of the specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of end effector；
Fig. 3 is ultrasonic drill internal structure schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
The asteroid surface based on the landing of more mechanical arms and fork-shaped ultrasonic drilling of the present invention described in present embodiment
Adhere to anchoring device, described device includes mechanical arm 2 and end effector 3；
The top of mechanical arm 2 is connect with the side of asteroid detection device main body 1, the tail end of end effector 3 and mechanical arm 2
It connecting, ultrasonic drill 3-5 is provided on end effector 3, end effector 3 creeps into asteroid surface by ultrasonic drill 3-5,
Realize anchoring.
The ultrasonic drill of present embodiment has the technical advantages such as small, compact-sized, low bit pressure power, it is only necessary to lower
The efficient drilling to solid rock can be completed in bit pressure power, therefore suitable for the attachment anchoring under the conditions of weak gravitation.
Under the action of propulsive thrust, detector is compressed against asteroid surface, bit pressure power is provided for ultrasonic drill, in small row
The attachment in star catalogue face is anchored.
In preferred embodiment, each mechanical arm 2 corresponds to two end effectors 3, and two end effectors 3 are in fork-shaped and machine
The tail end of tool arm 2 connects.
Present embodiment only needs a pair of of ultrasonic drill stable anchorage on a mechanical arm, you can realizes that detector entirety exists
The attachment on asteroid surface is anchored, a pair of of ultrasonic drill fork-shaped arrangement, force-closed between realization attachment device and asteroid surface,
This is simple in structure, adhesive force is big.
In preferred embodiment, the end effector 3 of present embodiment includes servo motor 3-3, disk spring 3-4, ultrasound
Wave bores 3-5, end effector shell 3-6, sliding block 3-7 and guide rail 3-8；
Servo motor 3-3, disk spring 3-4, ultrasonic drill 3-5, sliding block 3-7 and guide rail 3-8 are arranged in end effector
In shell 3-6；The cage connection of mechanical arm 2 and servo motor 3-3, between the output shaft and ultrasonic drill 3-5 of servo motor 3-3
Equipped with disk spring 3-4, servo motor 3-3 transmits bit pressure power by disk spring 3-4 to ultrasonic drill 3-5；
Guide rail 3-8 is arranged on the madial wall of end effector shell 3-6, and the side of sliding block 3-7 is with ultrasonic drill 3-5's
Side is fixedly connected, and the other side and the guide rail 3-8 of sliding block 3-7 are slidably connected, and ultrasonic drill 3-5 is guide rail 3-8's and sliding block 3-7
Under constraint, straight-line feed movement, the axis of the bottom and ultrasonic drill 3-5, servo motor 3-3 of end effector shell 3-6 are carried out
Line makes ultrasonic drill 3-5 inclinations pierce asteroid surface at certain inclination angle.
In preferred embodiment, end effector 3 further includes leading screw 3-1 and screw 3-2；
Screw 3-2 is fixed on the top of end effector shell 3-6, and leading screw 3-1 is at cantilever structure, and the one of leading screw 3-1
End is connect with mechanical arm, and the other end of leading screw 3-1 passes through the cage connection of screw 3-2 and servo motor 3-3.
Servo motor 3-3 drives leading screw 3-1 rotations and for linear motion, the feeding cutting of realization ultrasonic drill 3-5, and is
Ultrasonic drill 3-5 provides certain bit pressure power.
In preferred embodiment, present embodiment includes a plurality of mechanical arm 2 and end effector 3, a plurality of mechanical arm and
End effector 3 is distributed in the side of detector body 1.
A plurality of mechanical arm is arranged in the side of detector, for realizing leg formula landing buffer, in the front end of every mechanical arm
Two sets of ultrasonic drills are arranged according to fork-shaped.Under the action of propulsive thrust, detector is compressed against asteroid surface, is fork-shaped ultrasound
Wave bores 3-5 and provides bit pressure power, carries out landing buffer using a plurality of mechanical arm, adaptation to the ground ability is strong, can increase attachment reliability.
Specific embodiment：
As shown in Figure 1, present embodiment asteroid detection device includes detector body 1, a plurality of mechanical arm 2, end execution
Device 3 and trust engine 4；Arrange that multiple trust engines 4, trust engine 4 provide attachment for detector on detector body 1
Pressure.Multiple mechanical arms 2 are stretched out in 1 side of detector body, have a pair of of end effector 3 on each mechanical arm 2.Two ends
It is angled between actuator 3 to be connected on mechanical arm 2, form fork-shaped.
As shown in Fig. 2, 3 structure of end effector of the present embodiment：
Screw 3-2 is fixed on end effector shell 3-6, and leading screw 3-1 can pass through the members such as shaft coupling at cantilever structure
Part is connected with servo motor 3-3.When servo motor 3-3 work, leading screw 3-1 makees rotational motion to linear motion.Servo motor 3-3 and ultrasound
Wave is connected to disk spring 3-4 between boring 3-5, transmits downward bit pressure power by disk spring 3-4 between the two.Ultrasonic drill 3-5
It is attached by screw between sliding block 3-7, guide rail 3-8 is fixed on end effector shell 3-6.Ultrasonic drill 3-5 exists
Under the constraint of guide rail 3-8 and sliding block 3-7, straight-line feed movement is carried out.The bottom of end effector shell 3-6 and ultrasonic drill 3-
5, the axis of servo motor 3-3 enables drilling rod 3-5-1 to tilt and pierces asteroid surface at certain inclination angle.
As shown in figure 3, the ultrasonic drill 3-5 of the present embodiment is by drilling rod 3-5-1, ultrasonic drill shell 3-5-2, ultrasonic drill
Frame 3-5-3 and ultrasonic drill driving unit 3-5-4.Ultrasonic drill frame 3-5-3 is fixed with ultrasonic drill shell 3-5-2 to be connected
It connects.Ultrasonic drill driving unit 3-5-4 transmits these vibrations to drilling rod 3-5-1, drilling rod 3-5-1 by ultrasonic drill frame 3-5-3
Asteroid surface rock is cut in vibration.
The operation principle of the present embodiment：
When detector is close to asteroid surface, mechanical arm 2 is opened with certain posture to adapt to asteroid topographical surface, and
Realize leg formula landing buffer.Trust engine 4 works, and provides propulsive thrust for detector, detector is compressed against asteroid surface.
Servo motor 3-3 drives leading screw 3-1 to make rotational motion to linear motion, and by disk spring 3-4 by pressure transmission to ultrasonic drill 3-
5.Under the constraint of guide rail 3-8 and sliding block 3-7, ultrasonic drill 3-5 is moved along shell as straight-line feed.Due on mechanical arm
Two sets of ultrasonic drill fork-shaped arrangements, after drilling rod 3-5-1 pierces asteroid surface, formation is force-closed, realizes detector in small row
The attachment anchoring of star catalogue face.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from the spirit of the present invention as defined in the appended claims
And range.It should be understood that can be by combining different appurtenances different from mode described in original claim
Profit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can use
In other described embodiments.
Claims (4)
1. anchoring device is adhered on a kind of asteroid surface based on the landing of more mechanical arms and fork-shaped ultrasonic drilling, feature exists
In described device includes mechanical arm (2) and end effector (3)；
The top of mechanical arm (2) is connect with the side of asteroid detection device, and end effector (3) and the tail end of mechanical arm (2) connect
It connects, ultrasonic drill (3-5) is provided on end effector (3), end effector (3) creeps into small row by ultrasonic drill (3-5)
Anchoring is realized in star catalogue face；Each mechanical arm (2) corresponds to two end effectors (3), two end effectors (3) in fork-shaped with
The tail end of mechanical arm (2) connects.
2. anchoring is adhered on the asteroid surface according to claim 1 based on the landing of more mechanical arms and fork-shaped ultrasonic drilling
Device, which is characterized in that the end effector (3) includes servo motor (3-3), disk spring (3-4), ultrasonic drill (3-
5), end effector shell (3-6), sliding block (3-7) and guide rail (3-8)；
Servo motor (3-3), disk spring (3-4), ultrasonic drill (3-5), sliding block (3-7) and guide rail (3-8) are arranged in end
In actuator shell (3-6)；The cage connection of mechanical arm (2) and servo motor (3-3), the output shaft of servo motor (3-3) with
Disk spring (3-4) is equipped between ultrasonic drill (3-5), servo motor (3-3) is by disk spring (3-4) to ultrasonic drill
(3-5) transmits bit pressure power；
Guide rail (3-8) is arranged on the madial wall of end effector shell (3-6), side and the ultrasonic drill (3- of sliding block (3-7)
5) side is fixedly connected, and the other side and the guide rail (3-8) of sliding block (3-7) are slidably connected, and ultrasonic drill (3-5) is in guide rail (3-
8) and under the constraint of sliding block (3-7), straight-line feed movement is carried out, inclination pierces asteroid surface.
3. anchoring is adhered on the asteroid surface according to claim 2 based on the landing of more mechanical arms and fork-shaped ultrasonic drilling
Device, which is characterized in that the end effector (3) further includes leading screw (3-1) and screw (3-2)；
Screw (3-2) is fixed on the top of end effector shell (3-6), and leading screw (3-1) is at cantilever structure, leading screw (3-1)
One end connect with mechanical arm, the other end of leading screw (3-1) passes through the cage connection of screw (3-2) and servo motor (3-3).
4. anchoring is adhered on the asteroid surface according to claim 3 based on the landing of more mechanical arms and fork-shaped ultrasonic drilling
Device, which is characterized in that described device includes a plurality of mechanical arm (2) and end effector (3), a plurality of mechanical arm and end
Actuator (3) is distributed in the side of asteroid detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299366.1A CN108708673B (en) | 2018-04-04 | 2018-04-04 | Asteroid surface attachment anchoring device based on multi-mechanical-arm landing and fork-shaped ultrasonic drilling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299366.1A CN108708673B (en) | 2018-04-04 | 2018-04-04 | Asteroid surface attachment anchoring device based on multi-mechanical-arm landing and fork-shaped ultrasonic drilling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108708673A true CN108708673A (en) | 2018-10-26 |
| CN108708673B CN108708673B (en) | 2021-04-02 |
Family
ID=63867030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810299366.1A Expired - Fee Related CN108708673B (en) | 2018-04-04 | 2018-04-04 | Asteroid surface attachment anchoring device based on multi-mechanical-arm landing and fork-shaped ultrasonic drilling |
Country Status (1)
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| CN (1) | CN108708673B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111120787A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface three-leg anchoring device based on rotary impact type ultrasonic drill |
| CN112255008A (en) * | 2020-09-16 | 2021-01-22 | 北京空间飞行器总体设计部 | Leg-arm multiplexing type small celestial body attachment sampling integrated detector |
| CN113820168A (en) * | 2021-09-24 | 2021-12-21 | 复旦大学 | Anchoring device of asteroid mining sampling machine |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111120787A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface three-leg anchoring device based on rotary impact type ultrasonic drill |
| CN111114841B (en) * | 2018-10-30 | 2022-07-26 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111114851B (en) * | 2018-10-30 | 2022-09-20 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN112255008A (en) * | 2020-09-16 | 2021-01-22 | 北京空间飞行器总体设计部 | Leg-arm multiplexing type small celestial body attachment sampling integrated detector |
| CN112255008B (en) * | 2020-09-16 | 2024-03-29 | 北京空间飞行器总体设计部 | Leg-arm multiplexing type small celestial body attaching and sampling integrated detector |
| CN113820168A (en) * | 2021-09-24 | 2021-12-21 | 复旦大学 | Anchoring device of asteroid mining sampling machine |
| CN113820168B (en) * | 2021-09-24 | 2022-11-15 | 复旦大学 | Anchoring device of asteroid mining and sampling machine |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
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| Publication number | Publication date |
|---|---|
| CN108708673B (en) | 2021-04-02 |
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