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Climbing robot for planet surface detection and using method thereof

A technology of robots and star catalogues, which is applied in the field of climbing robots for star catalogue detection, and can solve the problems of escape, slow movement speed, and difficulty in movement control.

Pending Publication Date: 2021-07-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The asteroid surface mobile robots MINERVA and MASCOT of Japan’s Hayabusa probe realize small jumping movements through the internal flywheels, swing arms and other mechanisms of the robots. If the jumping range of this robot is not properly controlled when moving, it is very easy to escape from the star surface, so its The movement speed is slow and the movement control is difficult, and there is no sampling ability

Method used

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  • Climbing robot for planet surface detection and using method thereof
  • Climbing robot for planet surface detection and using method thereof
  • Climbing robot for planet surface detection and using method thereof

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specific Embodiment approach 1

[0030] Specific implementation mode one: see Figure 1-4 This embodiment will be described. The climbing robot for star exploration described in this embodiment includes two identical grasping mechanisms 1, two identical double-ended output joints 2, a section of hollow shape memory alloy 3 and an instrument platform 4, the instrument platform 4 The instrument platform 4 is fixedly connected to the middle part of the shape memory alloy 3, and the two ends of the shape memory alloy 3 are respectively fixedly connected to the second output ends 2-2 of the two double-ended output joints 2, and the first output of the double-ended output joint 2 The end 2-1 is fixedly connected with the grasping mechanism 1;

[0031]The grasping mechanism 1 includes a housing 1-1, a motor assembly 1-2, a lead screw 1-3, a lead screw nut 1-4, a lead screw nut top 1-4-1, a piston 1-5, and a piston recovery spring 1-6, a flexible contact ball 1-7, a plurality of flexible fingers 1-8, a pull-down ro...

specific Embodiment approach 2

[0034] Specific implementation mode two: see Figure 1-4 This embodiment will be described. The use method of the climbing robot for star catalog detection: when the climbing robot moves, it is realized through the cooperation between two grasping mechanisms 1, two double-ended output joints 2, and a shape memory alloy 3, one of which grasps The attachment mechanism 1 forms the grasping mechanism, and the other grasping mechanism 1 grasps and releases the grasping mechanism. The output end 2-2 of the double-ended output joint 2 adjusts the posture, and then the shape memory alloy 3 is powered on and deformed. The mechanism performs grasping; after the grasping is completed, the other grasping mechanism 1 releases the grasping and repeats the above action; through the coordination and cooperation between the two grasping mechanisms 1 and the shape memory alloy 3, the movement of the climbing robot is realized.

specific Embodiment approach 3

[0035] Specific implementation mode three: see Figure 1-4 This embodiment will be described. The method of using the climbing robot for star catalog detection: when the climbing robot takes samples, when using flexible fingers 1-8 to grab and sample, one of the grasping mechanisms 1 is fixedly connected to the star chart, and the other grasping mechanism 1 The sampling target is grasped, and the sample is enveloped by multiple flexible fingers 1-8 to realize grasping and sampling.

[0036] In addition to the mobile function, the climbing robot for star chart detection also has two sampling methods, one is to use the flexible fingers 1-8 of the gripping mechanism 1 to grab and sample; the other is to use the gripping mechanism 1 Grinding samples were performed on grinding wheels 1-12. When using flexible fingers 1-8 to grasp and sample, the working process is similar to the process of grasping the star chart. One of the grasping mechanisms 1 is fixedly connected to the star ...

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Abstract

The invention provides a climbing robot for planet surface detection and a using method thereof. The robot comprises two identical grabbing and attaching mechanisms, two identical double-end output joints, a section of hollow shape memory alloy and an instrument platform, and the instrument platform is fixedly connected to the middle of the shape memory alloy; the two ends of the shape memory alloy are fixedly connected with the second output ends of the two double-end output joints correspondingly, and the first output ends of the double-end output joints are fixedly connected with the grabbing and attaching mechanism. In order to solve many technical problems existing in a planet surface robot in the prior art, the invention provides a mobile robot capable of carrying out self-adaptive flexible grabbing and climbing on a planet surface, and the mobile robot is used for realizing mobile detection on the planet surface, realizing grabbing on the planet surface through claw thorns and flexible fingers, and realizing bending, climbing and the like of a robot body through shape memory alloy. The robot can realize grabbing movement in a microgravity planet surface, a cliff, an abrupt slope pit and the like, and can carry out sampling such as grabbing and grinding after moving to a target position.

Description

technical field [0001] The invention relates to a climbing robot for star catalog exploration, which belongs to the technical field of deep space exploration and space robots, and can be used in the design of space robots that require mobile detection of star catalogs. Background technique [0002] With the development of space exploration technology, it has become a new demand to use robots to detect areas that cannot be reached by detectors. There are differences between these areas and the explored areas in terms of the composition of the planetary soil. It will be of great importance to detect these areas. scientific significance. When the robot is on the surface of weak gravity celestial bodies, it needs to solve the problems of easy bouncing and landing caused by weak gravity. When the robot is on the surface of large stars such as the moon and Mars, it needs to solve the problems of difficulty in moving and falling on cliffs, pits and steep slopes. Therefore, there i...

Claims

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Application Information

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IPC IPC(8): G01V9/00G01D21/02B64G4/00
CPCG01V9/00G01D21/02B64G4/00B64G2004/005
Inventor 赵志军全齐全王爽唐德威
Owner HARBIN INST OF TECH
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