CN112577772A - Controllable thorn claw attachment grabbing mechanism for small celestial body detection and working method - Google Patents
Controllable thorn claw attachment grabbing mechanism for small celestial body detection and working method Download PDFInfo
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Abstract
本发明公开了用于小天体探测的可控刺爪附着抓取机构及工作方法，具体由八面体框架、多骨趾手指、绳驱动系统以及接触顶杆机构组成。多骨趾手指均匀分布在八面体框架底部外周呈“十字型”，每个手指的骨趾关节之间通过扭簧连接；绳驱动机构由两组舵机‑滑轮组件，导线装置以及钢丝绳组成：滑轮与舵机相连，通过导线装置钢丝绳一段与滑轮相连，另一端与手指相连，由舵机驱动滑轮拉动钢丝绳实现手指的抓附与脱附运动。接触顶杆机构含有锁紧‑释放装置，实现机构的触地即锚。本发明解决在小天体表面尺寸小，缺乏大面积的平坦区域，引力十分微弱，逃逸速度小等不利条件下实现小天体探测器的稳定附着，且具备抓取可控，可靠等优点。
The invention discloses a controllable barbed claw attachment and grabbing mechanism and a working method for detecting small celestial bodies, which are specifically composed of an octahedral frame, a multi-bone toe finger, a rope drive system and a contact ejector mechanism. The multi-bone toe fingers are evenly distributed on the outer periphery of the bottom of the octahedral frame in a "cross shape", and the bone toe joints of each finger are connected by torsion springs; the rope drive mechanism consists of two sets of steering gear-pulley assemblies, wire devices and wire ropes: The pulley is connected to the steering gear, and one part of the wire rope is connected to the pulley through the wire device, and the other end is connected to the finger. The contact ejector mechanism contains a locking-release device to achieve the ground contact of the mechanism as an anchor. The invention solves the problem of realizing stable attachment of the small celestial body detector under unfavorable conditions such as small surface size, lack of large flat area, very weak gravitational force and low escape velocity, and has the advantages of controllable and reliable grasping.
Description
Technical Field
The invention belongs to the technical field of landing attachment of small celestial body detectors in the technical field of deep space exploration, and particularly relates to a controllable thorn claw attachment grabbing mechanism for small celestial body exploration and a working method.
Background
With the rapid development of aerospace technology and space science, the interest of human beings in outer space exploration is continuously improved, and the range is wider and wider. Nowadays, exploration targets of various countries are not limited to large stars such as moon, mars and the like, but small stars such as asteroids, comets, meteors and the like also become important points for deep space exploration of various spatial countries. Research shows that the small celestial bodies retain important information in the early solar system origin, formation and evolution, are 'activating stones' for researching the solar system origin and have important scientific value; small celestial bodies may contain a large amount of rare minerals and metals, and these resources can provide great economic value for part of space agencies and companies; meanwhile, the small celestial body near the earth also has a certain risk of striking the earth. Therefore, the detection of small celestial bodies has very important significance.
The small celestial body detection lander is the most direct and effective tool for detecting small celestial bodies. The detector landing attachment technology is a key technology in a small celestial body detection task and is related to success or failure of the task. Different from moon and mars, the small celestial body surface is small in size, a large-area flat area is lacked on the surface, the attractive force is very weak, the escape speed is low, and the factors make stable attachment on the small celestial body surface very challenging.
At present, countries such as the United states, Europe, Japan and the like have successfully launched a plurality of small celestial body detectors, wherein the Japanese falcon number adopts an instantaneous contact method to realize the sampling detection of the surface of the small celestial body, but does not land; only the Rosetta Filey lander of the European Bureau realizes real landing and positioning detection. From the view of the development and utilization requirements of celestial body resources, long-term attachment plays an important role in subsequent tasks, and surface multipoint sampling detection can enlarge the detection range of the tasks and improve the return of the tasks. However, most of the emitted small celestial body detectors adopt an anchoring attachment mode, can only collect samples at anchoring positions, cannot sample multiple points, can only realize single attachment, cannot meet the requirement of diversity of small celestial body detection tasks, and limits further expansion of small celestial body detection.
The research on the attachment technology of the wall-climbing robot at home and abroad can provide a new solution for the attachment problem of the small celestial body. The wall-climbing robots RISE, spine-bot series and the like developed by Stanford university and JPL adopt the bionic flexible micro-barb technology to provide enough adhesive force for the robots to climb rocks. Because the bionic claw-thorn surface inspection device can be used in microgravity and vacuum environments of small celestial bodies, a claw-thorn grabbing and attaching technology based on a bionic concept is increasingly applied to small celestial body detectors, a new concept landing and attaching system for surveying the surfaces of the small planets is provided by the Beijing space electromechanical research institute in China, a claw-thorn attaching device in a small planet microgravity surface inspection mechanism disclosed in patent 106742016 adopts a bionic beetle-like micro-thorn and bristle dry adhering and grabbing technology, a single micro-thorn has strong attaching force, however, the whole micro-thorn is made of a rigid material, and due to the unevenness of the surfaces of the small celestial bodies, the insufficient attaching flexibility is easily caused by the fact that part of the claw-thorn cannot be attached; the grabbing joint has only one degree of freedom and the attachment range is limited.
The specific form of the small celestial body detector attached in the microgravity environment by adopting the bionic claw-thorn grabbing and attaching technology is still explored, and the existing technology still has defects, so that the existing technology needs to be improved.
Disclosure of Invention
The invention provides a controllable stabbing, grabbing, adhering and grabbing mechanism for small celestial body detection and an adhering process design thereof, overcomes the defect of single-point single adhesion of the anchoring and adhering mode of the traditional small celestial body detector, and realizes the controllability of adhesion; the defects that the single-joint bone and toe attachment mobility of the existing claw thorn attachment device in China is insufficient and the grasping range is limited are overcome.
The invention adopts the following technical scheme: a controllable pricking, grabbing and attaching grabbing mechanism for detecting small celestial bodies mainly comprises an octahedral frame, a multi-bone-toe finger, a rope driving system and a contact ejector rod mechanism. The multi-toe fingers are connected through pins and torsion springs and are uniformly distributed on the periphery of the bottom of the octahedral frame and can rotate around the frame; the rope driving mechanism is fixed in the center of the inner part of the octahedral frame, and a steel wire rope penetrates through the octahedral frame to be connected with fingers to realize the grabbing controllability; the contact ejector rod mechanism is positioned below the inner part of the octahedral frame, and the ground contact of the mechanism, namely the anchor, is realized through the contact of the disc and the ground.
The multi-toe finger comprises a near toe part, a far toe part, a claw thorn box and a bracket round cover, wherein the near toe part is connected with the octahedral frame through a torsion spring and a pin, and the far toe part is connected with the near toe part through the torsion spring and the pin; the claw thorn box is respectively matched with the near toe part and the far toe part through a special sliding groove design, and the two parts can slide linearly relative to each other; the bracket round covers are respectively fixed at the tail ends of the near bone toe part and the far bone toe part to prevent the claw thorn box from sliding out.
The rope driving system comprises steering engine-pulley-steel wire rope assemblies, a fixing frame and a wire device, wherein the steering engine-pulley-steel wire rope assemblies are divided into two groups, and each group of steering engine-pulley-steel wire rope assemblies comprises a first steering engine, a steering engine arm, a first wire winding pulley, a first steel wire rope, a second steering engine, a second wire winding pulley and a second steel wire rope, wherein the first steering engine is connected with the first wire winding pulley through the steering engine arm, and the four first steel wire ropes are respectively fixed at the quarter circumference of the first wire winding pulley and connected with the top ends of the far bone toe and the near bone toe through the wire device; the second steering engine is directly connected with the second wire-wound pulley, and the second steel wire rope is respectively fixed at the one-fourth circumference of the second wire-wound pulley and connected with the lower end of the near bone toe through a wire device.
Contact ejector pin mechanism include disc, ejector pin, unblock spring and spring drum, shown spring drum is fixed inside the octahedral frame, and the unblock spring is placed in the spring drum, the ejector pin is fixed in the disc top, the disc through the cooperation with unblock spring contact, restrict its rotational degree of freedom with the octahedral frame cooperation simultaneously, realize its reciprocating in the spring drum under the effect of spring force.
Further, the near bone toe component comprises a telescopic rod, a baffle plate, a near bone toe, a first compression spring and a second compression spring. The first compression spring and the second compression spring are both arranged inside the near bone toe sliding groove, the near bone toe and the telescopic rod are matched through a special sliding groove design, and the near bone toe and the telescopic rod can linearly slide relatively under the action force of the first compression spring; the proximal toe and the claw thorn box are matched through a special sliding groove design, and can linearly slide relatively under the action of a second compression spring; the baffle is fixed at nearly bone toe front end, prevents that the telescopic link from popping out.
Further, the distal toe component comprises a joint ear, a distal toe and a third compression spring. The joint ear and the far bone toe are matched and can rotate relatively, the third compression spring is placed in the far bone toe sliding groove, the far bone toe and the claw thorn box are matched through a special sliding groove design, and the far bone toe and the claw thorn box can slide linearly relatively under the acting force of the third compression spring.
Furthermore, the claw thorn box comprises a bracket and claw thorns, the claw thorns are fixed on the bracket through pin shafts, and the claw thorns are in rigid-flexible integrated design and comprise rigid frameworks, flexible frameworks and steel hooks. The rigid framework is fixed with the flexible framework through laser sintering, and the steel structure is pre-buried in the front lower portion of the rigid framework.
Further, the wire guiding device comprises a first wire guiding device, a second wire guiding device, a third wire guiding device and a fourth wire guiding device. The first wire device is fixed on the octahedral frame, the second wire device and the third wire device are fixed on the near bone toe, and the fourth wire device is fixed on the far bone toe. The inner grooves of the wire guiding devices are designed into horn-shaped holes, so that the contact friction between the steel wire rope and the steel wire guiding devices is reduced.
The invention also adopts the following technical scheme: an attachment process design of a controllable stabbing, grabbing, attaching, anchoring and grabbing mechanism for detecting small celestial bodies comprises the following steps:
step one, an initial state stage: a first steering engine corotation drives a first wire winding pulley, a first steel wire rope is wound along with the pulley and pulls up a multi-bone-toe finger to be in a certain angle, an unlocking spring in a contact ejector rod mechanism is in a free straightening state, an ejector rod is inserted into a waist-shaped groove of the first wire winding pulley and is clamped with the waist-shaped groove in a contact mode to achieve self-locking, and the multi-bone-toe finger keeps a loosening state.
Step two, a finger grabbing stage: along with the slow descending of little celestial body detector, when the mechanism contacts ground, contact the disc among the ejector pin mechanism promptly to touch to the ground, its compression unblock spring rises a distance back and makes the ejector pin of fixing on the disc stretch out the waist type groove of first wire winding pulley and separate rather than, realizes the unblock function, and the finger draws first wire rope rapidly under the effect of torsional spring force, drives the reversal of first wire winding pulley, and the finger closes fast and contacts with ground, realizes snatching.
Step three, a claw thorn attaching stage: when fingers climb on the ground, the claw spines are in contact with the ground, but part of the claw spines are not attached due to unevenness of the ground, the second steering engine positively rotates to drive the second winding pulley, the second steel wire rope connected to the lower end of the near bone toe pulls the near bone toe to compress the second compression spring to linearly move along the direction of the bracket under the action of force, the contact quantity of the claw spines and the ground is increased, and the adhesive force is improved.
Step four, claw thorn loosening stage: and a signal for changing a landing point is transmitted to the small celestial body detector, the second steering engine is reversed, the near bone toe returns to the initial position under the restoring acting force of the second steel wire rope and the second compression spring, and the contact between the claw thorn and the ground is restored to the state of finger grabbing.
Step five, a finger loosening stage: after the second steering engine is reversely rotated, the first steering engine is positively rotated to drive the first winding pulley, the first steel wire rope is wound along with the first winding pulley and pulls the multi-bone-toe finger to form a certain angle, and after the mechanism is separated from the ground, the disc moves downwards under the restoring force action of the unlocking spring to enable the ejector rod to be inserted into the waist-shaped groove of the first winding pulley again and to be clamped with the waist-shaped groove to realize self locking, and the multi-bone-toe finger keeps a loose state.
Furthermore, the small celestial body detector departs from the ground and flies to the position before being attached to the next target landing point, and the moving process repeats the first step, the second step and the third step, so that multi-point and multi-time attachment is realized.
The invention has the following beneficial effects:
(1) the whole machine frame adopts an octahedral configuration, and has good strength and shock resistance; the four fingers are distributed at the bottom of the frame in an array mode, and the design of a cross-shaped foot grabbing mechanism is adopted, so that the whole machine is stressed uniformly when grabbing the ground.
(2) Claw thorn adopts rigidity, and flexible integrated design (rigid skeleton + flexible skeleton + pre-buried steel hook) for the removal of X, Y, Z three directions can be realized to single claw thorn, thereby can independent motion between making a plurality of claw thorn, realizes gentle and agreeable snatching, improves power of grabbing and stability.
(3) The mobility is not enough and snatchs the scope in the single joint finger adhesion, and every finger of this mechanism design all has two bone toe structures (nearly bone toe + bone toe far away), and many bone toe structures can improve the attached area of detector well, have broken through the limitation that can only adhere to at flat surface, and every bone toe all has the bracket case of a fixed number claw thorn, effectively increases and grabs the power.
(4) Two groups of steering engine-pulley assemblies are adopted in a driving mode, the first steering engine-pulley assembly controls grabbing, attaching and desorbing of far and near bone toes to achieve preliminary attaching of the mechanism, the second steering engine-pulley assembly controls grabbing, attaching and desorbing of claw spines to further enhance the attaching effect of the mechanism, and controllability of attaching and grabbing of the mechanism is fully displayed.
(5) The locking-releasing is realized by designing a contact ejector rod mechanism: the disc touches the ground, the ejector rod is pressed for a certain distance, and unlocking is realized to enable fingers to quickly close and grasp the ground; the disc is off the ground, and the ejector rod is restored to the original state to realize self-locking. The realization of the bottom contact of the mechanism, namely the anchor function, is ensured.
Drawings
FIG. 1 is an isometric view of a controllable barbed claw attachment gripping mechanism for celestial body detection in accordance with the present invention;
FIG. 2 is a schematic structural view of a multi-toed finger of the controllable barbed claw attached gripping mechanism for celestial body detection according to the present invention;
FIG. 3 is a cross-sectional view of the structure of the multi-toed finger of the controllable barbed claw attached gripping mechanism for celestial body detection according to the present invention;
FIG. 4 is a schematic diagram of a bionic flexible claw thorn structure in the controllable thorn claw attached grabbing mechanism for small celestial body detection of the present invention;
FIG. 5 is a front view of the controllable barbed claw attachment gripping mechanism for celestial body detection of the present invention;
FIG. 6 is a schematic view of the driving system and the contact pin mechanism of the present invention;
FIG. 7 is a schematic view of the controllable barbed claw attachment gripping mechanism for celestial body detection in an unclamped state during the operation of the present invention;
FIG. 8 is a schematic view of the controllable barbed claw attached gripping mechanism for detecting a small celestial body in a gripping state in the working method of the controllable barbed claw attached gripping mechanism for detecting a small celestial body according to the present invention;
wherein, 1-octahedron frame, 2-multi-toe finger, 21-near toe part, 22-far toe part, 23-claw thorn box, 24-round cover, 211-telescopic rod, 212-baffle, 213-near toe, 214-first compression spring, 215-second compression spring, 221-joint ear, 222-far toe, 223-third compression spring, 231-claw thorn, 232-bracket, 2311-rigid framework, 2312-flexible framework, 2313-embedded steel structure, 3-rope driving system, 31-steering engine-pulley component, 32-first steel wire rope, 33-second steel wire rope, 34-wire device, 311-first steering engine, 312-first mounting bracket, 313-steering engine arm, 314-first winding pulley, 315-a second steering engine, 316-a second mounting bracket, 317-a second winding pulley, 341-a first wire device, 342-a second wire device, 343-a third wire device, 344-a fourth wire device, 4-a contact ejector rod mechanism, 41-a disc, 42-an ejector rod, 43-an unlocking spring and 44-a spring cylinder.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention more clear, the present invention is further described in detail by the following examples. It should be noted that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 8, the controllable stabbing, grabbing and attaching mechanism for detecting celestial bodies mainly comprises an octahedral frame 1, a multi-bone-toe finger 2, a rope driving system 3 and a contact mandril mechanism 4. The multi-toe finger 2 is linked to the periphery of the bottom of the octahedral frame 1 through a torsion spring and a pin and can rotate along with the octahedral frame, the rope driving system 3 is fixed at the center shaft inside the octahedral frame 1, and the contact ejector rod mechanism 4 is fixed below the rope driving system 3 and can move up and down.
The multi-toe finger 2 comprises a near toe part 21, a far toe part 22, a claw thorn box 23 and a bracket round cover 24, wherein the near toe part 21 is connected with the octahedral frame 1 through a torsion spring and a pin, and the far toe part 22 is connected with the near toe part 21 through a torsion spring and a pin; the claw thorn box 23 is matched with the near toe part 21 and the far toe part 22 through a sliding groove design and can slide linearly relative to each other; the bracket domes 24 are secured to the distal ends of the proximal and distal toe members 21, 22, respectively, to prevent the claw-stab box 23 from slipping out.
The proximal toe part 21 includes a telescoping rod 211, a stop plate 212, a proximal toe 213, a first compression spring 214 and a second compression spring 215. The first compression spring 214 and the second compression spring 215 are both arranged inside a near bone toe 213 sliding groove, the near bone toe 213 and the telescopic rod 211 are matched through a special sliding groove design, and the first compression spring 214 and the second compression spring can slide linearly relatively under the action of the first compression spring 214; the proximal toe 213 and the claw thorn box 23 are matched through a special sliding groove design, and can linearly slide relatively under the action of a second compression spring; the baffle 212 is fixed at the front end of the near bone toe 213 to prevent the expansion link 211 from popping out.
The distal toe member includes an articulation ear 221, a distal toe 222, and a third compression spring 223. The joint ear 221 is matched with the distal bone toe 222 and can rotate relatively, the third compression spring 223 is placed inside the sliding groove of the distal bone toe 222, the distal bone toe 222 is matched with the pawl box 23 through a special sliding groove design, and the third compression spring 223 can slide linearly relatively under the acting force of the third compression spring 223.
The claw thorn box 23 comprises claw thorn 231 and a bracket 232, the claw thorn 231 is fixed on the bracket 232 through a pin shaft, and the claw thorn 231 adopts a rigid-flexible integrated design and comprises a rigid framework 2311, a flexible framework 2312 and a steel hook 2313. The rigid framework 2311 is fixed with the flexible framework 2312 through laser sintering, and the steel structure 2313 is pre-buried below the front of the rigid framework 2311. X, Y, Z can be moved in three directions by a single claw, so that a plurality of claws can move independently to realize flexible grabbing.
The lead assembly 34 includes a first lead assembly 341, a second lead assembly 342, a third lead assembly 343, and a fourth lead assembly 344. The first wire arrangement 341 is fixed to the octahedral frame 1, the second wire arrangement 342 and the third wire arrangement 343 are fixed to the proximal bone toe 213, and the fourth wire arrangement 344 is fixed to the distal bone toe 222. The inner grooves of the wire guiding device 34 are designed into horn-shaped holes, so that the contact friction between the steel wire rope and the steel wire rope is reduced.
The contact ejector rod mechanism 4 comprises a disc 41, an ejector rod 42, an unlocking spring 43 and a spring cylinder 44, the spring cylinder 44 is fixed inside the octahedral frame 1, the unlocking spring 43 is placed in the spring cylinder 44, the ejector rod 42 is fixed above the disc 41, the disc 41 is in contact with the unlocking spring 43 through matching, meanwhile, the disc is matched with the octahedral frame 1 to limit the rotation freedom degree of the octahedral frame, and the octahedral frame 44 can move up and down under the action of the spring force.
The invention also adopts the following technical scheme: an attachment process design of a controllable stabbing, grabbing and attaching grabbing mechanism for detecting small celestial bodies comprises the following steps:
step one, an initial state stage: the first steering engine 311 rotates positively to drive the first winding pulley 314, the first steel wire rope 32 is wound along with the pulley and pulls the multi-bone-toe finger 2 to form a certain angle, the unlocking spring 43 in the contact ejector rod mechanism 4 is in a free straightening state, the ejector rod 42 is inserted into the waist-shaped groove of the first winding pulley 314 and is clamped in contact with the waist-shaped groove to realize self locking, and the multi-bone-toe finger 2 is kept in a loosening state.
Step two, a finger grabbing stage: with the slow falling of the small celestial body detector, when the mechanism contacts the ground, namely the disc 41 in the contact ejector rod mechanism 4 contacts the ground instantly, the compression unlocking spring 43 of the mechanism rises for a certain distance to enable the ejector rod 42 fixed on the disc 41 to extend out of the waist-shaped groove of the first winding pulley 314 and be separated from the waist-shaped groove, so that the unlocking function is realized, the multi-bone-toe finger 2 rapidly pulls the first steel wire rope 32 under the action of the torsional spring force to drive the first winding pulley 314 to rotate reversely, and the multi-bone-toe finger 2 is rapidly closed and contacts the ground to realize the grabbing.
Step three, a claw thorn attaching stage: when the fingers climb on the ground, the claw spines 232 are in contact with the ground, but part of the claw spines are not attached due to unevenness of the ground, at the moment, the second steering engine 315 rotates positively to drive the second winding pulley 317, the second steel wire rope 33 connected to the lower end of the near bone toe 212 pulls the near bone toe 212 to compress the second compression spring 215 to move linearly along the direction of the bracket, the contact quantity of the claw spines and the ground is increased, and the adhesive force is improved.
Step four, claw thorn loosening stage: the signal for changing the landing point is transmitted to the small celestial body detector, the second steering engine 315 is reversed, the near bone toe 212 returns to the initial position under the restoring acting force of the second steel wire rope 33 and the second compression spring 215, and the contact between the claw thorn and the ground is restored to the state of finger grabbing.
Step five, a finger loosening stage: after the second steering engine 315 works reversely, the first steering engine 311 rotates positively to drive the first winding pulley 314, the first steel wire 32 rope is wound along with the first winding pulley 314 and pulls the multi-bone-toe finger 2 to form a certain angle, after the mechanism is separated from the ground, the disc 41 moves downwards under the restoring force of the unlocking spring 43 to enable the ejector rod 42 to be inserted into the waist-shaped groove of the first winding pulley 314 again and to be clamped in contact with the same to realize self-locking, and the multi-bone-toe finger 2 keeps in a loose state.
And the small celestial body detector departs from the ground and flies to the next target landing point, and the moving process repeats the second step, the fifth step and the subsequent steps to realize multi-point and multi-time attachment.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
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| CN113418862A (en) * | 2021-08-04 | 2021-09-21 | 南京航空航天大学 | Adhesion performance experiment method for rope-driven pawl adhesion mechanism |
| CN113973551A (en) * | 2021-10-29 | 2022-01-28 | 浙江理工大学 | Garlic clove steering vertical grabbing device |
| CN115112359A (en) * | 2022-06-20 | 2022-09-27 | 南京航空航天大学 | Claw-thorn anchoring device test bed and test method thereof |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
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