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

Abstract

The invention discloses a controllable claw attachment and grasping mechanism and a working method for detecting small celestial bodies, which are specifically composed of an octahedron frame, bony fingers, a rope drive system and a contact ejector mechanism. The bony fingers are evenly distributed on the outer periphery of the bottom of the octahedral frame in a "cross shape", and the bony 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 section of the steel wire rope is connected to the pulley through the wire device, and the other end is connected to the finger. The pulley is driven by the steering gear to pull the wire rope to realize the grasping and detachment movement of the finger. The contact ejector mechanism contains a lock-release device, which realizes that the mechanism is anchored when it touches the ground. The invention solves the problem of stable attachment of small celestial body detectors under unfavorable conditions such as small celestial body surface size, lack of a large flat area, very weak gravitational force, and small escape velocity, and has the advantages of controllable and reliable grasping.

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 detection, in particular to a controllable thorn claw attachment and grasping mechanism and a working method for small celestial body detection. Background technique [0002] With the rapid development of space technology and space science, human beings are increasingly interested in outer space exploration, and the scope is getting wider and wider. Nowadays, the exploration 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 of various space powers. Studies have shown that small celestial bodies retain important information on the origin, formation and evolution of the early solar system, are "living fossils" for studying the origin of the solar system, and ...

AI Technical Summary

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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