Controllable thorn claw attachment grabbing mechanism for small celestial body detection and working method

Abstract

The invention discloses a controllable thorn claw attachment grabbing mechanism for small celestial body detection and a working method. The controllable thorn claw attachment grabbing mechanism is specifically composed of an octahedral frame, multi-bone-toe fingers, a rope driving system and a contact ejector rod mechanism. The multi-bone-toe fingers are evenly distributed on the periphery of thebottom of the octahedron frame to form a cross shape, and bone-toe joints of each finger are connected through torsional springs; the rope driving system is composed of two sets of steering engine-pulley assemblies, wire guide devices and steel wire ropes; pulleys are connected with steering engines; one end of each steel wire rope is connected with the corresponding pulley through the corresponding wire guide device, the other end of the steel wire rope is connected with the corresponding finger; each steering engine drives the corresponding pulley to pull the corresponding steel wire rope to achieve grabbing and desorption movement of the finger; and the contact ejector rod mechanism comprises a locking-releasing device, and enables the grabbing mechanism to be instantly anchored aftertouching the ground. Stable attachment of a small celestial body detector is achieved under the adverse conditions that the surface size of a small celestial body is small, a large-area flat area is unavailable, attraction is very weak, and the escape speed is small; and the grabbing mechanism has the advantage of controllable and reliable grabbing.

Description

technical field [0001] The invention belongs to the technical field of landing attachment of small celestial body detectors in the technical field of deep space exploration, and specifically relates to a controllable claw attachment grabbing mechanism and working method for small celestial body detection. Background technique [0002] With the rapid development of aerospace technology and space science, human interest in outer space exploration continues to increase, and the scope is becoming wider and wider. Today, the detection targets of various countries are not limited to large celestial bodies such as the moon and Mars. Small celestial bodies such as asteroids, comets, and meteors have also become the focus of deep space exploration by various space powers. Studies have shown that small celestial bodies retain important information about the origin, formation and evolution of the early solar system, and are "living fossils" for studying the origin of the solar system, ...

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Problems solved by technology

[0007] The present invention proposes a controllable stabbing attachment grasping mechanism and its attachment process design for the detection of small astronomical bodies, which overcomes the shortcomings of the single-point single attachment of the traditional small astronomical detector anchor attachment method, and realizes the possibility of attachment. Controllability; to solve the shortcomings of the existing claw attachment devices in China, such as insufficient mobility and limited grasping range of single-joint bone toe attachment

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