CN112249367A - Minor planet probe maneuvering inspection device - Google Patents
Minor planet probe maneuvering inspection device Download PDFInfo
- Publication number
- CN112249367A CN112249367A CN202011090129.8A CN202011090129A CN112249367A CN 112249367 A CN112249367 A CN 112249367A CN 202011090129 A CN202011090129 A CN 202011090129A CN 112249367 A CN112249367 A CN 112249367A
- Authority
- CN
- China
- Prior art keywords
- foot
- detector body
- feet
- wrist
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- 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
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
- B64G1/443—Photovoltaic cell arrays
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention relates to a minor planet detection maneuvering inspection device. The invention relates to the technical field of asteroid detection, in particular to a asteroid detection maneuvering inspection device, which comprises: the device comprises a detector body, a solar sailboard and three wrists and feet; the solar sailboards are symmetrically arranged on two sides of the detector body, the three wrist feet are arranged on the lower portion of the detector body, the solar sailboards convert solar energy into electric energy and supply power to the detector body and the three wrist feet, and the three wrist feet are in contact with the ground and are used for supporting the detector body and realizing crawling in a microgravity environment; the invention can adjust the interaction force between the mechanism and the ground, thereby adjusting the ground friction force in a large range. Ensuring that the mechanism provides enough power under the microgravity environment.
Description
Technical Field
The invention relates to the technical field of asteroid detection, in particular to a mobile inspection device for asteroid detection.
Background
The asteroid is a star body with the diameter of more than 3m-300Km, and a large number of asteroids and a large number of golden field asteroids exist in a solar system on the surface of research. A large amount of available resources such as fresh water, metal and the like exist in the asteroid, can provide intermediate supply for human space exploration, and has great research value. The small stars indicate smaller gravitational acceleration, the gravitational acceleration on the star surface can be ignored for the microminiature asteroid, and the surface gravitational acceleration is still less than 0.01g for the microminiature asteroid, such as the God star, so the microgravity environment is a big obstacle for the surface detection of the asteroid. The planet can not travel by using a wheel type device due to the surface roughness and irregularity, and can not travel by using a jumping mode due to the microgravity environment on the surface of the minor planet, so that the planet can only travel by using a foot type mechanism. The foot mechanism travels using static friction with the ground, but the asteroid surface is less attractive, resulting in less friction of the sole of the foot with the ground. The rope-driven snake-shaped mechanical arm is used as a wrist foot of the detector, has the characteristics of an arm and a leg, and can realize the fixation and movement of the detector on the surface of a asteroid.
Disclosure of Invention
The invention provides a minor planet detection maneuvering inspection device for ensuring that a mechanism provides enough power under a microgravity environment and realizing the fixation and movement of a detector on the surface of a minor planet, and the invention provides the following technical scheme:
an asteroid probe motorized patrol device, the device comprising: the device comprises a detector body, a solar sailboard and three wrists and feet;
the solar sailboards are symmetrically arranged on two sides of the detector body, the three wrist feet are arranged on the lower portion of the detector body, the solar sailboards convert solar energy into electric energy and supply power to the detector body and the three wrist feet, and the three wrist feet are in contact with the ground and are used for supporting the detector body and realizing crawling in a microgravity environment;
the wrist foot is provided with a rope driving super-redundancy freedom degree mechanism and comprises ropes, a locking device, foot section lower plates, connecting columns, foot section upper plates and a plurality of foot sections, the foot sections are connected through the connecting columns, each foot section is driven by three ropes, the ropes for driving the foot sections are fixed on the foot section lower plates through the locking device, the foot section upper plates and the foot section lower plates are connected through universal joint shafts, rope holes are formed in the foot section upper plates and the foot section lower plates, the ropes are guided through the rope holes to drive the rope to drive the detector body, and the rope driving device is installed on the detector body and used for controlling the tension and the length of the ropes.
Preferably, the detector body adopts a soil analyzer, a magnetic field meter or a visual imaging device.
Preferably, the three carpometacarpae are composed of two peristaltic states, including forward and reverse peristalsis.
Preferably, during the positive peristalsis process, three foot sections at the tail end of the wrist foot are lifted firstly, then the foot section at the tail end touches the ground, then the fourth foot section close to the tail end is lifted, and the foot sections are lifted one by one and touch the ground in sequence until a plurality of foot sections which are close to the tail end and are continuous touch the ground are realized; friction force is generated between the wrist and the ground to push the asteroid detection maneuvering inspection device to creep for a period of distance in the positive direction.
Preferably, when reverse peristalsis occurs, the motion process within the peristalsis cycle is reversed from the forward peristalsis process.
The invention has the following beneficial effects:
the rope-driven snakelike mechanical arm is used as a wrist foot of the moving mechanism, has multiple degrees of freedom and flexible movement, and can adapt to complex terrains; the mechanism is in multipoint contact with the ground all the time, so that the mechanism is guaranteed to have higher stability; the invention uses redundant rope drive, and can adjust the interaction force between the mechanism and the ground by adjusting and optimally configuring the rope tension, thereby adjusting the ground friction force in a large range. Ensuring that the mechanism provides enough power under the microgravity environment.
Drawings
FIG. 1 is a schematic diagram of a motor tour of the earth's surface of a minor planet;
FIG. 2 is a schematic diagram of a asteroid probe;
FIG. 3 is a wrist-foot joint mechanism;
fig. 4 is a schematic diagram of the peristaltic movement of the wrist and the foot.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
according to the embodiment shown in fig. 1 and 4, the invention provides a minor planet detection maneuvering inspection device, which specifically comprises:
an asteroid probe motorized patrol device, the device comprising: the device comprises a detector body 1, a solar sailboard 2 and three wrists and feet 3;
the solar sailboards 2 are symmetrically arranged on two sides of the detector body 1, the three wrist feet 3 are arranged on the lower portion of the detector body 1, the solar sailboards 2 convert solar energy into electric energy and supply power to the detector body 1 and the three wrist feet 3, and the three wrist feet 3 are in contact with the ground and are used for supporting the detector body 1 and realizing crawling in a microgravity environment;
the wrist foot 3 adopts a rope-driven super-redundancy freedom degree mechanism, the wrist foot comprises ropes 3-1, locking devices 3-2, foot section lower plates 3-3, connecting columns 3-4, universal joint shafts 3-5, foot section upper plates 3-6 and a plurality of foot sections 4, the foot sections 4 are connected through the connecting columns 3-4, each foot section 4 is driven by three ropes 3-1, the ropes for driving the foot sections are fixed on the foot section lower plates 3-3 through the locking devices 3-2, the foot section upper plates 3-6 are connected with the foot section lower plates 3-3 through the universal joint shafts 3-5, the foot section upper plates 3-6 and the foot section lower plates 3-3 are provided with rope holes, the detector body 1 is driven by guiding the rope through the rope hole, and the rope driving device is installed on the detector body 1 and used for controlling the tension and the length of the rope.
The detector body adopts a soil analyzer, a magnetic field meter or a visual imaging device.
The probe's movement on the surface of the asteroid is mainly based on the peristaltic movement of the wrist and foot. The three wrists and feet are composed of two peristalsis states, namely positive peristalsis and reverse peristalsis. The positive peristalsis process is that the wrist and the foot push the detector body to advance, and the reverse peristalsis process is that the wrist and the foot pull the detector body to advance. When the mechanism moves, the two wrists and the feet crawl forwards, one wrists and the feet crawl backwards, or one wristand the feet crawl backwards, and the two wrists and the feet crawl forwards. In the creeping process, each wrist and foot makes periodic motion, and each wrist and foot is provided with a plurality of foot sections which are contacted with the ground, so that the detector body is ensured to have higher stability.
During the positive peristalsis process, firstly, three foot sections at the tail ends of the wrists and the feet are lifted, then the foot section at the tail end touches the ground, then the fourth foot section close to the tail end is lifted, the foot sections are sequentially lifted one by one and fall to the ground, and the steps are sequentially carried out until a plurality of foot sections which are close to the tail end and are continuous touch the ground; friction force is generated between the wrist and the ground to push the asteroid detection maneuvering inspection device to creep for a period of distance in the positive direction.
When the peristalsis is reversed, the motion process in the peristalsis cycle is opposite to that of the positive peristalsis process. The invention only improves the connection structure, adopts the existing algorithm to realize intelligent control, and can see the following method in detail: during the positive peristalsis, firstly, three foot sections at the tail ends of the wrists and the feet are lifted, and the state 1 is changed into the state 2. Then, the foot section at the tail end touches the ground, and then the fourth foot section close to the tail end is lifted, so that the foot sections sequentially lift and land, and the states 3, 4, 5 and 6 are sequentially switched until a plurality of foot sections which are close to the tail end and are continuous can touch the ground. Then, friction force is generated between the wrist and the foot and the ground to push the detector to creep for a period distance in the positive direction, and finally the detector is converted into a state 7, and the state is consistent with the initial state, and the whole mechanism moves for a creep period distance in the positive direction.
When the wrist and foot pulling mechanism wriggles reversely, the movement process in one wriggling period is opposite to the positive wriggling process, and the states in fig. 4 are the state 7-the state 1 in sequence. In the process, the wrist and the foot reversely move for a creeping period distance by the friction pulling mechanism between the wrist and the ground.
As shown in FIG. 1, the present invention can be adapted to complex ground environments, including multiple degrees of freedom and flexibility of movement. The asteroid earth surface detector mainly comprises three parts: the detector comprises a detector body, a solar sailboard and three wrists and feet. The detector body carries various scientific detection devices, such as a soil analyzer, a magnetic field meter, a visual imaging device and the like. The solar sailboard is used for converting solar energy into electric energy and providing power supply for the system. The three wrist feet are in contact with the ground and are used for supporting the detector body and realizing crawling in a microgravity environment.
The above description is only a preferred embodiment of the asteroid exploration maneuvering patrol device, the protection range of the asteroid exploration maneuvering patrol device is not limited to the above embodiment, and all technical solutions belonging to the idea belong to the protection range of the invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (5)
1. The utility model provides a minor planet surveys motor-driven inspection device which characterized by: the device comprises: the device comprises a detector body, a solar sailboard and three wrists and feet;
the solar sailboards are symmetrically arranged on two sides of the detector body, the three wrist feet are arranged on the lower portion of the detector body, the solar sailboards convert solar energy into electric energy and supply power to the detector body and the three wrist feet, and the three wrist feet are in contact with the ground and are used for supporting the detector body and realizing crawling in a microgravity environment;
the wrist foot is provided with a rope driving super-redundancy freedom degree mechanism and comprises ropes, a locking device, foot section lower plates, connecting columns, foot section upper plates and a plurality of foot sections, the foot sections are connected through the connecting columns, each foot section is driven by three ropes, the ropes for driving the foot sections are fixed on the foot section lower plates through the locking device, the foot section upper plates and the foot section lower plates are connected through universal joint shafts, rope holes are formed in the foot section upper plates and the foot section lower plates, the ropes are guided through the rope holes to drive the rope to drive the detector body, and the rope driving device is installed on the detector body and used for controlling the tension and the length of the ropes.
2. The asteroid probe maneuvering patrol device according to claim 1, characterized in that: the detector body adopts a soil analyzer, a magnetic field meter or a visual imaging device.
3. The asteroid probe maneuvering patrol device according to claim 1, characterized in that: the three wrists and feet are formed by two peristalsis states, including positive peristalsis and reverse peristalsis.
4. The asteroid probe maneuvering patrol device according to claim 1, characterized in that: during the positive peristalsis process, firstly, three foot sections at the tail ends of the wrists and the feet are lifted, then the foot section at the tail end touches the ground, then the fourth foot section close to the tail end is lifted, the foot sections are sequentially lifted one by one and fall to the ground, and the steps are sequentially carried out until a plurality of foot sections which are close to the tail end and are continuous touch the ground; friction force is generated between the wrist and the ground to push the asteroid detection maneuvering inspection device to creep for a period of distance in the positive direction.
5. The asteroid probe maneuvering patrol device according to claim 1, characterized in that: when the peristalsis is reversed, the motion process in the peristalsis cycle is opposite to that of the positive peristalsis process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090129.8A CN112249367B (en) | 2020-10-13 | 2020-10-13 | Minor planet probe maneuvering inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090129.8A CN112249367B (en) | 2020-10-13 | 2020-10-13 | Minor planet probe maneuvering inspection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112249367A true CN112249367A (en) | 2021-01-22 |
| CN112249367B CN112249367B (en) | 2022-04-05 |
Family
ID=74243075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011090129.8A Active CN112249367B (en) | 2020-10-13 | 2020-10-13 | Minor planet probe maneuvering inspection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112249367B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742061A (en) * | 2016-11-25 | 2017-05-31 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| WO2018029840A1 (en) * | 2016-08-10 | 2018-02-15 | 株式会社ｉｓｐａｃｅ | Probe |
| CN109760051A (en) * | 2019-01-16 | 2019-05-17 | 哈尔滨工业大学 | A kind of rope drives the determining method of rope lengths variation of ultra-redundant degree of freedom robot |
| CN110154010A (en) * | 2019-07-04 | 2019-08-23 | 哈尔滨迅动科技有限责任公司 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
| CN111516910A (en) * | 2019-02-02 | 2020-08-11 | 中国科学院宁波材料技术与工程研究所 | Flight method on moon and moon flight device |
| CN111532454A (en) * | 2020-06-04 | 2020-08-14 | 中山市博林树投资管理有限公司 | Device and system for detecting new planet |
-
2020
- 2020-10-13 CN CN202011090129.8A patent/CN112249367B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018029840A1 (en) * | 2016-08-10 | 2018-02-15 | 株式会社ｉｓｐａｃｅ | Probe |
| CN106742061A (en) * | 2016-11-25 | 2017-05-31 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| CN109760051A (en) * | 2019-01-16 | 2019-05-17 | 哈尔滨工业大学 | A kind of rope drives the determining method of rope lengths variation of ultra-redundant degree of freedom robot |
| CN111516910A (en) * | 2019-02-02 | 2020-08-11 | 中国科学院宁波材料技术与工程研究所 | Flight method on moon and moon flight device |
| CN110154010A (en) * | 2019-07-04 | 2019-08-23 | 哈尔滨迅动科技有限责任公司 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
| CN111532454A (en) * | 2020-06-04 | 2020-08-14 | 中山市博林树投资管理有限公司 | Device and system for detecting new planet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112249367B (en) | 2022-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | AmphiHex-I: locomotory performance in amphibious environments with specially designed transformable flipper legs | |
| Armour et al. | Jumping robots: a biomimetic solution to locomotion across rough terrain | |
| Hatazaki et al. | Active scope camera for urban search and rescue | |
| CN105856217A (en) | Four-rod tensegrity robot | |
| CN102795069B (en) | Moving method for hybrid-driven jellyfish-simulating amphibious robot | |
| US8237390B2 (en) | Drive unit for legged robots and control method thereof | |
| CN103847826B (en) | Bionical crawler type adheres to walking mechanism and movement technique thereof | |
| CN106218748A (en) | The soft robot driven based on shape memory alloy | |
| Wang et al. | Crawling gait realization of the mini-modular climbing caterpillar robot | |
| CN110919628B (en) | Dry adhesion and claw combined machine foot and leg, robot and motion method | |
| CN112249367B (en) | Minor planet probe maneuvering inspection device | |
| CN104709375A (en) | Energy-storage type leapfrog-simulation robot | |
| CN103847823A (en) | Sole structure of crawler-type bionic wall-climbing robot and motion method thereof | |
| CN1142048C (en) | Miniaturized bionic 6-leg robot | |
| CN113894819B (en) | Magnetic control inchworm-imitating bidirectional movement soft robot | |
| Zhu et al. | A quadruped soft robot for climbing parallel rods | |
| CN114643574A (en) | Bionic snake-shaped robot | |
| CN102795068A (en) | Compound driven jellyfish-like amphibious robot | |
| Zhang et al. | Developments of two novel types of underwater crawling microrobots | |
| CN103381861B (en) | A kind of leg portion attaching structure for bionic insect robot | |
| CN201815109U (en) | Jumping robot imitating the locust movable joint lever ejection mechanism | |
| CN114211510B (en) | Bionic rigid impact type tumbler jumping robot and jumping method thereof | |
| CN215245183U (en) | Caterpillar chassis posture adjusting device | |
| CN109253344A (en) | A kind of driving mechanism on pipeline climbing robot | |
| CN112076445B (en) | Symmetrical upper limb autonomous rehabilitation exoskeleton for hemiplegic patients |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |