The invention discloses an asteroid exploration robot oriented to a microgravity environment. The asteroid exploration robot comprises a robot base body, a six-foot moving mechanism, an anchoring mechanism and a hub mechanism. The device has the beneficial effects that the anchoring mechanism adopts a spatial six-connecting-rod mechanism, a grabbing and attaching mechanism of insect claw thorns and a climbing and attaching mechanism of woodpeckers are combined, a brand new method is provided for microgravity surface exploration of asteroids, the technical limitation in the field at home and abroad at present is broken through, and the anchoring mechanism is different from a traditional rope-driven anchoring technology; each crawling unit has three degrees of freedom, and an anchoring mechanism and a hub mechanism are integrated at the tail end of the moving device; by means of the design, the robot can alternately work in a three-foot attaching mode or a three-foot crawling mode, meanwhile, a three-wheel rapid moving mode is supported, horizontal moving and flexible steering of the robot are achieved, and the technology can support the robot to complete multi-site and multi-target moving surveying tasks.
本发明公开了一种面向微重力环境下的小行星探测机器人,包括机器人基体、六足移动机构、锚固机构和轮毂机构。本发明的有益效果是:锚固机构采用空间六连杆机构,结合了昆虫爪刺的抓附机制与啄木鸟的攀附机制,为小行星的微重力表面探索提供一种全新的方法,突破了当前国内外在该领域的技术局限,不同于传统的绳驱动锚固技术;每个爬行单元具备三个自由度,并在移动装置的末端集成了锚固机构和轮毂机构;这一设计使得机器人能够以三足附着或三足爬行的方式交替工作,同时也支持三轮快速移动模式,从而实现了机器人的水平移动和灵活转向,该技术能够支撑机器人完成多地点、多目标的移动勘测任务。
Asteroid exploration robot for microgravity environment
一种面向微重力环境下的小行星探测机器人
2025-04-04
Patent
Electronic Resource
Chinese
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