CN108708673B - Asteroid surface attachment anchoring device based on multi-mechanical-arm landing and fork-shaped ultrasonic drilling - Google Patents
Asteroid surface attachment anchoring device based on multi-mechanical-arm landing and fork-shaped ultrasonic drilling Download PDFInfo
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- CN108708673B CN108708673B CN201810299366.1A CN201810299366A CN108708673B CN 108708673 B CN108708673 B CN 108708673B CN 201810299366 A CN201810299366 A CN 201810299366A CN 108708673 B CN108708673 B CN 108708673B
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- asteroid
- mechanical arm
- end effector
- ultrasonic
- drill
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- 238000005553 drilling Methods 0.000 title claims abstract description 28
- 238000004873 anchoring Methods 0.000 title claims abstract description 27
- 239000012636 effector Substances 0.000 claims abstract description 56
- 239000000523 sample Substances 0.000 claims description 11
- 239000000853 adhesive Substances 0.000 abstract description 4
- 230000001070 adhesive effect Effects 0.000 abstract description 4
- 238000007789 sealing Methods 0.000 abstract description 4
- 230000003139 buffering effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 241000282414 Homo sapiens Species 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
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005484 gravity Effects 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
- 238000005070 sampling Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
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
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- 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 invention provides a asteroid surface adhesion anchoring device which is low in drilling pressure, simple in structure, large in adhesion force and capable of being adhered for a long time and based on multi-mechanical-arm landing and forked ultrasonic drilling, and belongs to the technical field of asteroid surface adhesion anchoring. The invention comprises a mechanical arm and an end effector; the top end of the mechanical arm is connected with the side face of the asteroid detector, the end effector is connected with the tail end of the mechanical arm, an ultrasonic drill is arranged on the end effector, and the end effector drills the surface of the asteroid through the ultrasonic drill to realize anchoring; each mechanical arm corresponds to two end effectors, and the two end effectors are in a fork shape and are connected with the tail end of the mechanical arm. The invention adopts ultrasonic drilling for drilling anchoring, and the drilling pressure is low; two ultrasonic drill fork-shaped arrangements are adopted to realize force sealing between the attachment anchoring device and the surface of the asteroid, and the structure is simple and the adhesive force is large.
Description
Technical Field
The invention relates to an anchoring device, in particular to a asteroid surface adhesion anchoring device based on multi-mechanical-arm landing and forked ultrasonic drilling, and belongs to the technical field of asteroid surface adhesion anchoring.
Background
The detection of asteroid has important significance for exploring the origin of solar system and exploring and developing available space resources for human beings. Since the surface of the asteroid has almost no attraction, the attachment anchoring is an important technical means for the long-term residence of the asteroid probe on the surface of the asteroid. In addition, the terrain condition of the planets with rugged surfaces requires a certain terrain adaptability of the detector. Most of the existing asteroid detectors adopt a contact-and-separation attachment scheme, namely, the detectors touch the surfaces of the asteroids for a short time by extending out of a mechanical arm and other mechanisms. The mode does not realize the long-time adhesion and anchoring of the detector on the surface of the asteroid, and has certain limitation on the detection of the asteroid and the sampling of the star soil.
Disclosure of Invention
Aiming at the defects, the invention provides the asteroid surface attachment anchoring device which is low in drilling pressure, simple in structure, large in adhesive force and capable of being attached for a long time and is based on multi-mechanical-arm landing and forked ultrasonic drilling.
The invention relates to a asteroid surface attachment anchoring device based on multi-mechanical arm landing and forked ultrasonic drilling, which comprises a mechanical arm 2 and an end effector 3;
the top end of the mechanical arm 2 is connected with the side face of the asteroid detector, the end effector 3 is connected with the tail end of the mechanical arm 2, the ultrasonic drill 3-5 is arranged on the end effector 3, and the end effector 3 drills into the surface of the asteroid through the ultrasonic drill 3-5 to realize anchoring;
each mechanical arm 2 corresponds to two end effectors 3, and the two end effectors 3 are forked and connected to the tail end of the mechanical arm 2.
Preferably, the end effector 3 comprises a servo motor 3-3, a disc spring 3-4, an ultrasonic drill 3-5, an end effector shell 3-6, a sliding block 3-7 and a guide rail 3-8;
3-3 parts of a servo motor, 3-4 parts of a disc spring, 3-5 parts of an ultrasonic drill, 3-7 parts of a sliding block and 3-8 parts of a guide rail are arranged in a shell 3-6 of the end effector; the mechanical arm 2 is connected with a shell of a servo motor 3-3, a disc spring 3-4 is arranged between an output shaft of the servo motor 3-3 and the ultrasonic drill 3-5, and the servo motor 3-3 transmits the drilling pressure to the ultrasonic drill 3-5 through the disc spring 3-4;
the guide rail 3-8 is arranged on the inner side wall of the end effector shell 3-6, one side of the sliding block 3-7 is fixedly connected with the side face of the ultrasonic drill 3-5, the other side of the sliding block 3-7 is connected with the guide rail 3-8 in a sliding mode, and the ultrasonic drill 3-5 performs linear feeding motion and drills obliquely into the surface of the asteroid under the constraint of the guide rail 3-8 and the sliding block 3-7.
Preferably, the end effector 3 further comprises a lead screw 3-1 and a nut 3-2;
the nut 3-2 is fixed at the top end of the end effector shell 3-6, the screw rod 3-1 is in a cantilever type structure, one end of the screw rod 3-1 is connected with the mechanical arm, and the other end of the screw rod 3-1 penetrates through the nut 3-2 to be connected with the shell of the servo motor 3-3.
Preferably, the device comprises a plurality of mechanical arms 2 and end effectors 3, and the mechanical arms and end effectors 3 are distributed on the side of the asteroid probe.
The features mentioned above can be combined in various suitable ways or replaced by equivalent features as long as the object of the invention is achieved.
The invention provides a asteroid surface attachment anchoring device based on multi-mechanical arm landing and forked ultrasonic drilling. Has the advantages that:
firstly, the invention adopts ultrasonic drilling to carry out drilling anchoring, and the drilling pressure is low;
and secondly, two ultrasonic drill fork-shaped arrangements are adopted to realize force sealing between the attachment anchoring device and the surface of the asteroid, and the structure is simple and the adhesive force is large.
Thirdly, the attachment anchoring of the whole detector on the surface of the asteroid can be realized only by stably anchoring a pair of ultrasonic drills on one mechanical arm;
and fourthly, a plurality of mechanical arms are used for landing buffering, the terrain adaptability is strong, the adhesion reliability can be increased, and the adhesion can be carried out for a long time.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of an end effector;
fig. 3 is a schematic diagram of the internal structure of the ultrasonic drill.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The asteroid surface attachment anchoring device based on multi-mechanical arm landing and forked ultrasonic drilling comprises a mechanical arm 2 and an end effector 3;
the top end of the mechanical arm 2 is connected with the side face of the asteroid detector main body 1, the end effector 3 is connected with the tail end of the mechanical arm 2, the ultrasonic drill 3-5 is arranged on the end effector 3, and the end effector 3 drills into the surface of the asteroid through the ultrasonic drill 3-5 to realize anchoring.
The ultrasonic drill of the embodiment has the technical advantages of small volume, compact structure, low drilling pressure and the like, and can complete high-efficiency drilling on hard rocks only by using lower drilling pressure, so that the ultrasonic drill is suitable for attachment anchoring under the condition of weak gravity.
Under the action of reverse thrust, the probe is pressed against the surface of the asteroid to provide drilling pressure for the ultrasonic drill, and the attachment on the surface of the asteroid is anchored.
In the preferred embodiment, there are two end effectors 3 for each robot arm 2, and the two end effectors 3 are forked and connected to the rear end of the robot arm 2.
The ultrasonic drill is in Y-shaped arrangement, force sealing between the attachment device and the surface of the asteroid is realized, and the ultrasonic drill is simple in structure and large in adhesive force.
In a preferred embodiment, the end effector 3 of the present embodiment comprises a servo motor 3-3, a disc spring 3-4, an ultrasonic drill 3-5, an end effector housing 3-6, a slider 3-7 and a guide rail 3-8;
3-3 parts of a servo motor, 3-4 parts of a disc spring, 3-5 parts of an ultrasonic drill, 3-7 parts of a sliding block and 3-8 parts of a guide rail are arranged in a shell 3-6 of the end effector; the mechanical arm 2 is connected with a shell of a servo motor 3-3, a disc spring 3-4 is arranged between an output shaft of the servo motor 3-3 and the ultrasonic drill 3-5, and the servo motor 3-3 transmits the drilling pressure to the ultrasonic drill 3-5 through the disc spring 3-4;
the guide rail 3-8 is arranged on the inner side wall of the end effector shell 3-6, one side of the sliding block 3-7 is fixedly connected with the side face of the ultrasonic drill 3-5, the other side of the sliding block 3-7 is connected with the guide rail 3-8 in a sliding mode, the ultrasonic drill 3-5 performs linear feeding motion under the constraint of the guide rail 3-8 and the sliding block 3-7, and the bottom of the end effector shell 3-6 and the axes of the ultrasonic drill 3-5 and the servo motor 3-3 form a certain inclination angle, so that the ultrasonic drill 3-5 obliquely drills into the surface of a asteroid.
In a preferred embodiment, the end effector 3 further comprises a lead screw 3-1 and a nut 3-2;
the nut 3-2 is fixed at the top end of the end effector shell 3-6, the screw rod 3-1 is in a cantilever type structure, one end of the screw rod 3-1 is connected with the mechanical arm, and the other end of the screw rod 3-1 penetrates through the nut 3-2 to be connected with the shell of the servo motor 3-3.
The servo motor 3-3 drives the screw rod 3-1 to rotate and do linear motion, so that the feeding cutting of the ultrasonic drill 3-5 is realized, and a certain drill pressure is provided for the ultrasonic drill 3-5.
In a preferred embodiment, the present embodiment includes a plurality of robot arms 2 and end effectors 3, and the robot arms and end effectors 3 are distributed on the side surface of the probe body 1.
A plurality of mechanical arms are arranged on the side edge of the detector and used for realizing leg type landing buffering, and two sets of ultrasonic drills are arranged at the front end of each mechanical arm according to a fork shape. Under the action of reverse thrust, the detector is pressed on the surface of the asteroid to provide drilling pressure for the fork-shaped ultrasonic drills 3-5, and a plurality of mechanical arms are used for landing and buffering, so that the landform adaptability is high, and the adhesion reliability can be increased.
The specific embodiment is as follows:
as shown in fig. 1, the asteroid probe of the present embodiment includes a probe main body 1, a plurality of robot arms 2, an end effector 3, and a thrust motor 4; a plurality of thrust motors 4 are arranged on the probe body 1, and the thrust motors 4 provide adhesion pressure for the probe. A plurality of mechanical arms 2 extend out of the side face of the detector main body 1, and each mechanical arm 2 is provided with a pair of end effectors 3. The two end effectors 3 are connected to the robot arm 2 at an angle therebetween to form a fork shape.
As shown in fig. 2, the end effector 3 of the present embodiment has a structure:
the screw nut 3-2 is fixed on the end effector shell 3-6, and the screw nut 3-1 is in a cantilever type structure and can be connected with the servo motor 3-3 through a shaft coupling and other elements. When the servo motor 3-3 works, the screw rod 3-1 rotates and moves linearly. A disk spring 3-4 is connected between the servo motor 3-3 and the ultrasonic drill 3-5, and downward drilling pressure is transmitted between the servo motor 3-3 and the ultrasonic drill 3-5 through the disk spring 3-4. The ultrasonic drill 3-5 is connected with the sliding block 3-7 through a screw, and the guide rail 3-8 is fixed on the end effector shell 3-6. The ultrasonic drill 3-5 performs linear feeding motion under the constraint of the guide rail 3-8 and the slide block 3-7. The bottom of the end effector shell 3-6 forms a certain inclination angle with the axes of the ultrasonic drill 3-5 and the servo motor 3-3, so that the drill rod 3-5-1 can obliquely drill into the surface of the asteroid.
As shown in FIG. 3, the ultrasonic drill 3-5 of the present embodiment is composed of a drill rod 3-5-1, an ultrasonic drill housing 3-5-2, an ultrasonic drill frame 3-5-3 and an ultrasonic drill driving unit 3-5-4. The ultrasonic drill frame 3-5-3 is fixedly connected with the ultrasonic drill shell 3-5-2. The ultrasonic drill driving unit 3-5-4 transmits vibration to the drill rod 3-5-1 through the ultrasonic drill frame 3-5-3, and the drill rod 3-5-1 vibrates to cut the asteroid surface rock.
The working principle of the embodiment is as follows:
when the probe is close to the surface of the asteroid, the mechanical arm 2 is opened in a certain posture to adapt to the topography of the surface of the asteroid and realize leg type landing buffering. The thrust motor 4 works to provide a counter thrust for the probe, which is pressed against the surface of the asteroid. The servo motor 3-3 drives the screw rod 3-1 to do rotation linear motion, and pressure is transmitted to the ultrasonic drill 3-5 through the disc spring 3-4. The ultrasonic drill 3-5 performs linear feeding motion along the shell under the constraint of the guide rail 3-8 and the slide block 3-7. Because the two sets of ultrasonic drill forks on the mechanical arm are arranged, force sealing is formed after the drill rod 3-5-1 is drilled into the surface of the asteroid, and the detector is attached and anchored on the surface of the asteroid.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (3)
1. The asteroid surface attachment anchoring device based on multi-mechanical arm landing and forked ultrasonic drilling is characterized by comprising a mechanical arm (2) and an end effector (3);
the top end of the mechanical arm (2) is connected with the side face of the asteroid detector, the end effector (3) is connected with the tail end of the mechanical arm (2), an ultrasonic drill (3-5) is arranged on the end effector (3), and the end effector (3) drills into the surface of the asteroid through the ultrasonic drill (3-5) to realize anchoring; each mechanical arm (2) corresponds to two end effectors (3), and the two end effectors (3) are in a fork shape and are connected with the tail end of the mechanical arm (2);
the end effector (3) comprises a servo motor (3-3), a disc spring (3-4), an ultrasonic drill (3-5), an end effector shell (3-6), a sliding block (3-7) and a guide rail (3-8);
the servo motor (3-3), the disc spring (3-4), the ultrasonic drill (3-5), the sliding block (3-7) and the guide rail (3-8) are arranged in the end effector shell (3-6); the mechanical arm (2) is connected with a shell of the servo motor (3-3), a disc spring (3-4) is arranged between an output shaft of the servo motor (3-3) and the ultrasonic drill (3-5), and the servo motor (3-3) transmits the drilling pressure to the ultrasonic drill (3-5) through the disc spring (3-4);
the guide rail (3-8) is arranged on the inner side wall of the end effector shell (3-6), one side of the sliding block (3-7) is fixedly connected with the side face of the ultrasonic drill (3-5), the other side of the sliding block (3-7) is in sliding connection with the guide rail (3-8), and the ultrasonic drill (3-5) performs linear feeding motion and obliquely drills into the surface of the asteroid under the constraint of the guide rail (3-8) and the sliding block (3-7).
2. The asteroid surface attachment anchoring device based on multi-mechanical arm landing and fork ultrasonic drilling according to claim 1, characterized in that the end effector (3) further comprises a lead screw (3-1) and a nut (3-2);
the nut (3-2) is fixed at the top end of the end effector shell (3-6), the screw (3-1) is of a cantilever type structure, one end of the screw (3-1) is connected with the mechanical arm, and the other end of the screw (3-1) penetrates through the nut (3-2) to be connected with the shell of the servo motor (3-3).
3. The asteroid surface attachment anchoring device based on multi-arm landing and fork ultrasonic drilling according to claim 2, characterized in that the device comprises a plurality of arms (2) and end effectors (3), which are distributed at the side of the asteroid probe.
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 |
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| Publication Number | Publication Date |
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| CN108708673A CN108708673A (en) | 2018-10-26 |
| CN108708673B true CN108708673B (en) | 2021-04-02 |
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| 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 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111120787B (en) * | 2018-10-30 | 2021-03-30 | 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 |
| 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 |
| 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 |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE823336C (en) * | 1950-07-14 | 1952-11-17 | Wilhelm Francois | Ground anchor for horizontal and vertical tensile stress |
| US5243795A (en) * | 1991-09-20 | 1993-09-14 | Bruce Roberts | Tie down stake |
| ITPD20090091A1 (en) * | 2009-04-16 | 2010-10-17 | Agostino Bauletti | RAPID ANCHORAGE DEVICE WITH OBLIQUE INSERTS |
| CN101786504B (en) * | 2010-02-25 | 2013-06-05 | 哈尔滨工业大学 | Anchor positioning system for detecting planetoid lander |
| CN101780841B (en) * | 2010-03-10 | 2013-07-03 | 南京航空航天大学 | Landing leg pressing, unfolding and locking device of lander |
| CN102012324A (en) * | 2010-11-24 | 2011-04-13 | 南京航空航天大学 | Ultrasonic drilling device |
| CN102060106A (en) * | 2010-12-21 | 2011-05-18 | 南京航空航天大学 | Buffer landing leg for planet detector |
| CN102167166B (en) * | 2011-03-31 | 2013-01-02 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN102866036B (en) * | 2012-09-14 | 2014-07-16 | 东南大学 | Self-embedded anchorage device for minor planet sampler |
| CN105158016B (en) * | 2015-09-10 | 2018-02-02 | 哈尔滨工业大学 | A kind of revolution impact ultrasonic drill of single piezoelectric stack start |
| CN106742061B (en) * | 2016-11-25 | 2019-04-09 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
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