CN119160419A - A spacecraft on-orbit inspection robot platform and control method thereof - Google Patents
A spacecraft on-orbit inspection robot platform and control method thereof Download PDFInfo
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- CN119160419A CN119160419A CN202411456603.2A CN202411456603A CN119160419A CN 119160419 A CN119160419 A CN 119160419A CN 202411456603 A CN202411456603 A CN 202411456603A CN 119160419 A CN119160419 A CN 119160419A
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- 238000007689 inspection Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims description 9
- 238000003795 desorption Methods 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000004804 winding Methods 0.000 claims description 57
- 230000005540 biological transmission Effects 0.000 claims description 37
- 238000001179 sorption measurement Methods 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 239000011664 nicotinic acid Substances 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 5
- 230000001070 adhesive effect Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 9
- 230000005021 gait Effects 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 241000238631 Hexapoda Species 0.000 description 6
- 238000002336 sorption--desorption measurement Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003071 parasitic effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention discloses an on-orbit inspection robot platform for a spacecraft, which belongs to the technical field of space robots and special operation robots and comprises a moving platform, wherein two sides of the moving platform are respectively provided with a rope-driven flexible deformable foot contact module, one end of the foot contact module is a connecting end connected with the moving platform, the other end is a free foot end, the sole is provided with a controllable adhesion and desorption module, a control module is arranged in the moving platform, the foot contact module controls the deformation of the foot contact module based on rope driving, and the displacement or posture adjustment of the on-orbit inspection robot platform for the spacecraft in space can be realized through the coordination of a plurality of groups of foot contact modules. The on-orbit inspection robot platform for the spacecraft can assist the spacecraft to realize on-orbit maintenance, the flexible foot contact modules of the on-orbit inspection robot platform are matched with each other to reconstruct different configurations, the on-orbit inspection robot platform for the spacecraft has multiple gait modes, and the on-orbit inspection robot platform for the spacecraft has strong environmental adaptability and important application value in the field of on-orbit service and maintenance of the spacecraft.
Description
Technical Field
The invention relates to a robot platform and a control method thereof, in particular to an on-orbit inspection robot platform for a spacecraft and a control method thereof, belonging to the technical field of space robots and special operation robots.
Background
Spacecraft is an important means for human to realize space exploration, as the number of transmitted spacecraft is increased, the space has become crowded, the event of collision between the spacecraft and the spacecraft or between the spacecraft and space debris is frequent, and the threat of on-orbit operation of the spacecraft is increased. Aiming at the requirements of on-orbit service and maintenance of a spacecraft, the invention provides an on-orbit inspection robot platform for executing on-orbit inspection maintenance tasks of the spacecraft, which can effectively prolong the on-orbit service life of the spacecraft.
Disclosure of Invention
The invention aims to provide an on-orbit inspection robot platform for a spacecraft and a control method thereof, which aim at the difficulty in on-orbit detection and maintenance tasks of the spacecraft, prolong the on-orbit service life of the spacecraft and reduce the launching operation cost of the spacecraft.
The invention provides the following scheme:
The utility model provides a spacecraft on-orbit inspection robot platform, which comprises a mobile platform, mobile platform's both sides are provided with the flexible of rope drive respectively and touch sufficient module, touch sufficient module's one end for connecting in mobile platform's link, the other end is the free foot end, the plantar controllable desorption module that is provided with in mobile platform, be provided with control module in mobile platform, touch sufficient module and control self deformation based on rope drive, through the cooperation of multiunit touch sufficient module, realize the spacecraft on-orbit inspection robot platform's displacement or gesture adjustment in space.
The utility model provides a spacecraft on-orbit inspection robot platform, includes a moving platform, moving platform's both sides are provided with the flexible foot module that touches respectively, touch sufficient module symmetric distribution in moving platform both sides, touch sufficient module's one end for connecting in moving platform's link, the other end is the free foot end of controllable absorption/desorption, is provided with control module in moving platform, control module is used for sending the control command of action, touch sufficient module through self swing or deformation, combine the free foot end of controllable absorption/desorption, realize the spacecraft on-orbit inspection robot platform's displacement or gesture adjustment in space.
Further, the number of the touch foot modules is six, wherein three touch foot modules are arranged on one side of the mobile platform, and the other three touch foot modules are symmetrically arranged on the other side of the mobile platform.
Further, the flexible shell is arranged outside the foot touching module, an elastic mandrel is arranged in the flexible shell, a rope is arranged between the flexible shell and the elastic mandrel, rope positioning rings are arranged at intervals in the axial direction of the elastic mandrel, the elastic mandrel can deform towards a specified direction under the action of the pulling force of the rope, an adsorption module is arranged on the free foot end of the foot touching module, and the adsorption module is used for providing adhesive force and is used for electrostatic adsorption or bionic material adsorption.
Further, still include drive module and transmission module in the mobile platform, touch sufficient module with transmission module links to each other, is provided with interior spool, outer spool, thrust bearing and assembly pulley in transmission module, touches the rope in sufficient module and winds and locate on the interior, outer spool under the guide of assembly pulley, interior, outer spool pass through thrust bearing and spool fixed block and spool fixed plate link to each other, drive motor's in the drive module output shaft and interior, outer spool fixed connection, in the drive motor's drive, outer spool rotatable drive rope motion, the drive touches sufficient module and warp.
Further, the number of the transmission modules is three, two ends of each transmission module are respectively connected with one foot contact module, and the control module and the energy supply module are arranged between the adjacent transmission modules.
Further, the driving module comprises a plurality of driving motors, an output shaft of each driving motor is a D-shaped shaft, and the D-shaped shafts are connected with hollow input shafts at one ends of an inner winding shaft and an outer winding shaft in the transmission module to provide motive power for the winding shafts.
Further, a camera module for acquiring image/video information is mounted at one end of the mobile platform.
Further, the mobile platform comprises an upper top plate and a lower bottom plate, and the control module, the driving module and the transmission module are arranged between the upper top plate and the lower bottom plate.
The method is used for controlling the on-orbit inspection robot platform of the spacecraft, and executing one or more of the following motion modes according to different control instructions:
The initial state mode is that the orientation of the foot contact modules of the on-orbit inspection robot platform of the spacecraft is consistent and is in a first angle bending state;
the control module controls the driving module and the transmission module, so that the elastic core shaft of the foot contact module is driven by the rope to bend at an angle along the direction perpendicular to the longitudinal section of the mobile platform, the foot contact module is in a second angle bending state, and the chassis height of the on-orbit inspection robot platform of the spacecraft is changed;
The traveling mode is that foot contact modules at two sides of the mobile platform are controlled to swing alternately in grouping sequence, so that the forward motion or the backward motion of the on-orbit inspection robot platform of the spacecraft is realized;
and in the steering mode, foot contact modules at two sides of the mobile platform are controlled to swing alternately in a grouping sequence, so that the steering movement of the on-orbit inspection robot platform of the spacecraft is realized.
Compared with the prior art, the invention has the following advantages:
The on-orbit inspection robot platform for the spacecraft can assist the spacecraft to realize on-orbit maintenance, the foot contact modules of the robot platform are matched with each other to reconstruct different configurations, the robot platform has multiple gait modes, has strong terrain adaptability, and has important application value in the field of on-orbit service and maintenance of the spacecraft.
The invention utilizes the rope to drive to provide power, can continuously adjust the state of the foot contact module, realizes the change of various gait modes through the cooperative cooperation of a plurality of groups of foot contact modules, realizes the adjustment of self height, configuration, movement direction and speed, can stably parasitic on the surface of the spacecraft through the adsorption module, has strong environmental adaptability and high flexibility of executing tasks, and has important application value in the field of on-orbit service and maintenance of the spacecraft.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is an isometric view of an on-orbit inspection robot platform for a spacecraft.
Fig. 2 is an isometric view of a spacecraft on-orbit inspection robot platform with the upper top plate removed.
Fig. 3 is an external structural schematic diagram of a foot-contact module of an on-orbit inspection robot platform for a spacecraft.
Fig. 4 is a schematic diagram of the internal structure of the foot contact module of the on-orbit inspection robot platform for a spacecraft without an outer shell.
Fig. 5 is an exploded view of a drive module of the spacecraft on-orbit inspection robot platform.
Fig. 5A is an exploded view of the transmission module after assembly with a rope.
Fig. 5B is a block diagram of the pulley block.
Fig. 6 is an isometric view of a drive module of the spacecraft on-orbit inspection robot platform.
Fig. 7 is an isometric view of an initial state of the spacecraft on-orbit inspection robot platform.
Fig. 8 is a top view of an initial state of the spacecraft on-orbit inspection robot platform.
Fig. 9 is an isometric view of a height adjustment state of a spacecraft on-orbit inspection robot platform.
Fig. 10 is a top view of the front half-beat travel state of the spacecraft on-orbit inspection robot platform.
Fig. 11 is a top view of a rear half-beat travel state of the spacecraft on-orbit inspection robot platform.
Fig. 12 is a top view of the turning ready state of the spacecraft on-orbit inspection robot platform.
Fig. 13 is a plan view showing a steering adjustment state of the on-orbit inspection robot platform of the spacecraft.
Fig. 14 is a top view of the turning completion state of the spacecraft on-orbit inspection robot platform.
Fig. 15 is an isometric view of the working state of the spacecraft on-orbit inspection robot platform.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Reference numerals illustrate:
The camera module 1, the lower bottom plate 2, the adsorption module 3, the upper top plate 4, the foot contact module 5, the transmission module 6, the driving module 7, the control module 8, the energy supply module 9, the adsorption module mounting flange 501, the flexible shell 502, the elastic core shaft 503, the rope positioning ring 504, the rope 505, the winding shaft fixing block 601, the inner winding shaft 602, the winding shaft fixing block baffle 603, the thrust bearing 604, the outer winding shaft 605, the pulley block 606, the motor fixing plate 701, the driving motor 702, the left foot contact module L1, the left foot contact module L2, the left foot contact module L3, the right foot contact module R1, the right foot contact module R2 and the right foot contact module R3.
As shown in fig. 1 and fig. 2, the on-orbit inspection robot platform for a spacecraft of the invention comprises a moving platform, deformable foot contact modules 5 are respectively arranged on two sides of the moving platform, the foot contact modules 5 are symmetrically distributed on two sides of the moving platform, one end of the foot contact module 5 is a connecting end connected with the moving platform, the other end is a free foot end capable of controlling adsorption/desorption, and the adsorption mode of the foot contact module 5 can be electrostatic adsorption or bionic material adsorption. The contact foot module 5 and the mobile platform can be movably connected or fixedly connected, and different settings are correspondingly made according to the requirements of different application scenes. The control module 8 is arranged in the mobile platform, the control module 8 is used for sending a control instruction of action, and the foot touching module 5 realizes the displacement or posture adjustment of the moving mechanism in space by combining the free foot end of controllable adsorption/desorption through the swing or deformation of the foot touching module.
The embodiment of the application can also have other description modes that the on-orbit inspection robot platform of the spacecraft comprises a moving platform, wherein two sides of the moving platform are respectively provided with a flexible deformable foot contact module 5 driven by ropes, one end of the foot contact module 5 is a connecting end connected with the moving platform, the other end is a free foot end, the sole is provided with a controllable adhesion and desorption module (a controllable adsorption/desorption free foot end), a control module is arranged in the moving platform, the foot contact module controls the deformation of the foot contact module based on the rope drive, and the displacement or posture adjustment of the on-orbit inspection robot platform of the spacecraft in space is realized through the coordination of a plurality of groups of foot contact modules.
In the embodiment of the present application, the foot contact module 5 has a connection end connected to the mobile platform and a free foot end capable of controlling adsorption/desorption, wherein the free foot end can provide an adhesive force for the foot contact module 5 through adsorption or release the adhesive force for the foot contact module 5 through desorption, the manner of realizing the controllable adsorption/desorption can be that an adsorption module is installed on the free foot end of the foot contact module, the adsorption module provides the adhesive force, the adsorption mode is electrostatic adsorption or bionic material adsorption, the plurality of foot contact modules swing or deform under the action of a control module, and the adsorption module at the free foot end is utilized to adsorb or desorb the contact surface of the foot contact module, so that the mobile platform can be driven to perform corresponding spatial position change, and further, the spatial displacement or posture adjustment of the mobile mechanism is realized, and the movement of a plurality of gait modes is executed, for example, the control module sends a control instruction to control the driving module and the transmission module, and one or more of the following movement modes are executed:
the initial state mode is that the orientation of the foot contact modules of the on-orbit inspection robot platform of the spacecraft is consistent, and the foot contact modules are in a first angle bending state. In the initial state mode, the foot contact module is in a small-angle bending state, and the height of the mobile platform (chassis) is low.
The control module controls the driving module and the transmission module, so that the elastic core shaft of the foot-contact module bends by an angle along the direction perpendicular to the longitudinal section of the mobile platform under the drive of the rope, the foot-contact module is in a second angle bending state, the chassis height of the on-orbit inspection robot platform of the spacecraft is changed, the foot-contact module in the second angle bending state is used for assisting the robot to perform obstacle crossing movement, and the on-orbit inspection robot platform can be controlled to cross an obstacle in the displacement movement by adjusting the height of the mobile platform (chassis), so that the on-orbit inspection work is better executed.
The traveling mode is that foot contact modules at two sides of the mobile platform are controlled to swing alternately in grouping sequence, so that the forward motion or the backward motion of the on-orbit inspection robot platform of the spacecraft is realized;
and in the steering mode, foot contact modules at two sides of the mobile platform are controlled to swing alternately in a grouping sequence, so that the steering movement of the on-orbit inspection robot platform of the spacecraft is realized.
As shown in fig. 3 to 6, as a further optimized modification of the embodiment of the present application, there are six foot contact modules, wherein three foot contact modules are disposed on one side of the mobile platform, and the other three foot contact modules are symmetrically disposed on the other side of the mobile platform. The outer part of the foot touching module 5 is a flexible shell, an elastic mandrel 503 is arranged in the flexible shell, ropes are arranged between the flexible shell and the elastic mandrel 503, rope positioning rings 504 are arranged at intervals in the axial direction of the elastic mandrel 503, and the elastic mandrel 503 can swing, bend or deform towards a specified direction under the action of the pull force of the ropes 505, so that different actions such as swing, deformation and the like are realized by driving each foot touching module 5. It is to be understood that although the embodiment of the present application discloses a hexapod foot module, the protection scope of the present application is not limited to the hexapod foot module, and those skilled in the art can design a larger or smaller number of pod foot modules according to the central idea of the present application without changing the substantial technical content, no matter how many pod foot modules are, as long as the self-deformation control and the cooperative cooperation between different pod foot modules can be realized, all the pod foot modules fall within the protection scope of the present application.
The movable platform is internally provided with a transmission module 6 and a driving module 7, the foot contact module 5 is connected with the transmission module 6, an inner winding shaft 602, an outer winding shaft 605, a thrust bearing 604 and a pulley block 606 are arranged in the transmission module 6, the ropes 505 in the foot contact module 5 are wound on the inner winding shaft and the outer winding shaft under the guidance of the pulley block 606, the inner winding shaft and the outer winding shaft are connected with a winding shaft fixing block 601 and a winding shaft fixing block baffle 603 through the thrust bearing 604, and an output shaft of a driving motor 702 in the driving module 7 is fixedly connected with the inner winding shaft and the outer winding shaft.
Illustratively, in this embodiment, three transmission modules 6 are provided, two ends of each transmission module 6 are respectively connected with one foot contact module 5, a control module 8 or an energy supply module 9 is installed between adjacent transmission modules 6, a plurality of driving motors 702 are included in the driving modules 7, the output shafts of the driving motors 702 are D-shaped shafts, the D-shaped shafts are connected with hollow input shafts at one ends of inner and outer winding shafts 602 and 605 in the transmission modules 6, a camera module 1 for acquiring image/video information is installed at one end of a mobile platform, the mobile platform comprises an upper top plate 4 and a lower bottom plate 2, and the control module 8, the driving modules 7 and the transmission modules 6 are installed between the upper top plate 4 and the lower bottom plate 2.
The driving module 7 comprises a motor fixing plate 701 and a driving motor 702, the motor fixing plate 701 is fixedly arranged between the lower bottom plate 2 and the upper top plate 4, the driving motor 702 is arranged on the motor fixing plate 701, output shafts of the driving motors 702 are respectively connected with an inner winding shaft 602 and an outer winding shaft 605 of the transmission module 6, the transmission module 6 is connected with the foot touching module 5, and the winding shafts drive the ropes 505 of the foot touching module 5 to move under the driving of the driving motor 702, so that the foot touching module 5 swings or deforms in a designated direction.
The transmission module 6 comprises a winding shaft fixing block 601, an inner winding shaft 602, a winding shaft fixing block baffle 603, an outer winding shaft 605 and pulley blocks 606, each group of transmission module 6 comprises 4 winding shafts, namely the inner winding shaft 602 and the outer winding shaft 605, the ropes 505 are wound on the inner winding shaft 602 and the outer winding shaft 605 after reaching the appointed position of the appointed winding shaft under the guidance of a plurality of pulley blocks, one end of each winding shaft is connected with the winding shaft fixing block 601 through a thrust bearing 604, and the other end of each winding shaft is connected with the winding shaft fixing block baffle 603 through the thrust bearing 604. The structure of the foot touching module 5 comprises a flexible shell 502, an elastic mandrel 503, rope positioning rings 504, ropes 505 and the like, one end of the elastic mandrel 503 is fixed on the transmission module 6, the rope positioning rings 504 are arranged on the elastic mandrel 503 at intervals along the axial direction of the elastic mandrel 503, and 4 groups of ropes 505 are uniformly distributed around the elastic mandrel in the circumferential direction through the rope positioning rings 504.
The rope 505 is slidably arranged in the spool fixed block 601 through the pulley block 606, the pulley block 606 comprises a pulley and a base, the pulley is rotatably connected to the base through a sliding shaft, a fixed hole is formed in the base, the pulley block is fixedly connected to the inner wall of the spool fixed block 601 through the fixed hole, and the pulley in the pulley block 606 can rotate around the axis of the pulley block. Elastic mandrel 503 may bend in a given direction under the tension of cord 505, and flexible housing 502 is wrapped around the outer race of cord retainer 504.
Preferably, a plurality of bobbins are arranged in parallel in the bobbin fixing block 601 and the bobbin fixing baffle 603, outer bobbins 605 are arranged on two sides, an inner bobbin 602 is arranged in the middle of the outer bobbins 605, grooves are formed in different positions of the inner bobbins and the outer bobbins in the axial direction, the deviation distance between the grooves of the inner bobbins 602 is larger than that between the grooves of the outer bobbins 605, 2 inner bobbins and 2 outer bobbins are correspondingly arranged in each group of transmission modules, and eight grooves are correspondingly arranged in the 4 inner bobbins and the 4 outer bobbins. The inner winding shafts and the outer winding shafts are arranged in parallel, the ropes are wound in the grooves of the inner winding shafts and the outer winding shafts under the guidance of the pulley blocks, the arrangement of the pulley blocks corresponds to the staggered grooves, and the structure can guide the ropes to the appointed positions of the appointed winding shafts from the appointed direction, stagger the positions of different ropes and avoid the mutual interference among the ropes.
In the embodiment of the present application, the flexible housing 502 is in the form of a bellows, and of course, other flexible forms besides the bellows form may be adopted, and the flexible housing 502 may bend and deform along with the elastic mandrel 503 to protect the internal structure of the foot contact module 5. According to the embodiment of the application, the contact foot module 5 with the flexible shell 502 bends or deforms the elastic mandrel 503 towards a specified direction under the action of the tension of the rope, so that the movable platform and the spacecraft on-orbit inspection robot platform are driven to carry out displacement and posture adjustment, and the four groups of contact feet at the front end and the rear end of the movable platform can be matched with tools to carry out specific work, can also be matched with each other to realize climbing and other movements, and realize multifunctional operation of on-orbit inspection work.
The driving module 7 comprises 4 driving motors 702, the output shafts of the driving motors 702 are D-shaped shafts, and the D-shaped shafts are respectively connected with hollow output shafts at one ends of the inner winding shaft 602 and the outer winding shaft 605 of the transmission module 6 to provide motive power for the winding shafts.
The adsorption module 3 in the spacecraft on-orbit inspection robot platform is arranged at the tail end (free foot end) of the foot contact module 5, provides adhesion, is in an electrostatic adsorption or bionic material adsorption mode, and can realize adsorption and desorption functions.
The on-orbit inspection robot platform comprises a lower bottom plate 2, a camera module 1, a control module 8 and an energy supply module 9, wherein the camera module 1 is used for providing environment image information for the on-orbit inspection robot platform of a spacecraft, the control module 8 is used for issuing control instructions for the on-orbit inspection robot platform of the spacecraft, and the energy supply module 9 is used for providing energy for the on-orbit inspection robot platform of the spacecraft.
As shown in fig. 7 to 15, fig. 7 to 15 show four state modes of the on-orbit inspection robot platform of the spacecraft, including a start state mode, a height adjustment mode, a traveling mode, a steering mode, and an operation mode, as in the above-described embodiments.
In the embodiment of the application, the center of a spacecraft on-orbit inspection robot platform in the attached drawings is taken as an origin, one end of a camera module 1 is in an X-axis forward direction of the robot, the left side of the advancing direction is in a Y-axis forward direction, the height direction is in a Z-axis forward direction, and the characteristics of a right-hand Cartesian coordinate system are met, and fine actions related to attitude adjustment and the like are further described by combining the attached drawings in the embodiment of the part, taking fig. 9 as an example:
under the height adjustment mode of the on-orbit inspection robot platform of the spacecraft, the bending angle of the elastic mandrel 503 of the foot contact module 5 is increased under the drive of the lower rope in the Z-axis direction, so that the chassis height of the robot is increased, obstacle surmounting movement of the robot is assisted, and the like.
In the traveling mode of the on-orbit inspection robot platform of the spacecraft, the X-axis forward direction is the traveling direction of the on-orbit inspection robot platform of the spacecraft (the robot travels upwards in fig. 10), and the Y-axis forward direction is the left side of the on-orbit inspection robot platform of the spacecraft.
As shown in fig. 10 and 11 in combination with fig. 8, a first left foot module L1, a third left foot module L3 and a second right foot module R2 on the left side of the on-orbit inspection robot platform of the spacecraft are combined to form a first group of foot modules, a second group of foot modules are combined to form a third right foot module R3 and a second left foot module L2 of the on-orbit inspection robot platform of the spacecraft, and the first group of foot modules and the second group of foot modules swing in sequence alternately, so that the robot can travel, i.e. advance or retreat. For example, the first set of foot contact modules and the second set of foot contact modules simulate the hexapod walking state of the insect in a bionic manner, and simulate the hexapod walking state of the insect to move.
Taking the forward movement of the robot as an example for analysis, the initial state of the on-orbit inspection robot platform of the spacecraft is shown in fig. 8, the foot touching modules are in the same state, then the first group of foot touching modules of the on-orbit inspection robot platform of the spacecraft are in a desorption suspension state and swing forwards, meanwhile, the second group of foot touching modules are in an adsorption state and swing backwards, the robot structural body is driven to complete a group of half-beat movements forwards, then the first group of foot touching modules are in a ground contact adsorption state and swing backwards, the second group of foot touching modules are in a desorption suspension state and swing forwards, the structural body of the on-orbit inspection robot platform of the spacecraft is driven to complete another group of half-beat movements forwards, and the forward movement of the robot can be realized through circulation.
In the steering mode, the advancing mode of the on-orbit inspection robot platform of the spacecraft is shown in fig. 12, 13 and 14, the initial state of the on-orbit inspection robot platform of the spacecraft is shown in fig. 8, the foot contact modules are in the same state in the initial state, then the left foot contact module L1 and the left foot contact module L3 of the robot are desorbed and swing backwards to be adsorbed by touching the ground, the right foot contact module R1 and the right foot contact module R3 swing forwards to be adsorbed by touching the ground, the first preparation work is completed as shown in fig. 12, then the left foot contact module L2 is desorbed and swings backwards to be adsorbed by touching the ground, the right foot contact module R2 is desorbed and swings forwards to be adsorbed by touching the ground to complete the second preparation work as shown in fig. 13, and finally the left foot contact module L1, the left foot contact module L2 and the left foot contact module L3 swing forwards in the adsorption state, and the right foot contact module R1, the right foot contact module R2 and the right foot contact module R3 swing backwards in the adsorption state, and the steering operation is completed as shown in fig. 14.
In the working mode, four groups of contact feet at the front end and the rear end of the on-orbit inspection robot platform of the spacecraft can be matched with tools to carry out specific work, for example, a left contact foot module L1 and a right contact foot module R1 are matched with tools to carry out specific work, or a left three contact foot module L3 and a right three contact foot module R3 are matched with tools to carry out specific work, and movements such as climbing and the like can be realized through mutual matching.
In summary, the invention can continuously adjust the state of the foot contact module by using the rope drive to provide power, realize the change of various gait modes by the cooperative cooperation of a plurality of groups of foot contact modules, realize the adjustment of self height, configuration, movement direction and speed, and stably parasitic on the surface of the spacecraft by the adsorption module, thereby having strong environmental adaptability, high flexibility of executing tasks and important application value in the field of on-orbit service and maintenance of the spacecraft.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps. Any feature disclosed in this specification may be replaced by alternative features serving the same or equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise. Like reference numerals refer to like elements throughout the specification.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, and the words may be interpreted as names.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intervening medium, or may be in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "fixed," and the like are to be construed broadly, and for example, "fixed" may be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
Claims (10)
1. The utility model provides a spacecraft on-orbit inspection robot platform, which comprises a mobile platform, and is characterized in that, mobile platform's both sides are provided with the flexible of rope drive respectively and touch sufficient module, touch sufficient module's one end for connecting in mobile platform's link, the other end is the free foot end, the plantar controllable desorption module that is provided with in mobile platform, be provided with control module in mobile platform, touch sufficient module and control self deformation based on rope drive, coordinate the cooperation through the multiunit and touch sufficient module, realize the spacecraft on-orbit inspection robot platform and in the displacement or the gesture adjustment in space.
2. The utility model provides a spacecraft on-orbit inspection robot platform, includes a moving platform, its characterized in that, moving platform's both sides are provided with the flexible foot module of touching respectively, touch sufficient module symmetric distribution in moving platform both sides, touch sufficient module's one end for connecting in moving platform's link, the other end is the free foot end of controllable absorption/desorption, is provided with control module in moving platform, control module is used for sending the control command of action, touch sufficient module through self swing or deformation, combine the free foot end of controllable absorption/desorption, realize the spacecraft on-orbit inspection robot platform's displacement or gesture adjustment in space.
3. The spacecraft in-orbit inspection robot platform of claim 2, wherein the number of foot contact modules is six, three of which are arranged on one side of the mobile platform and the other three are symmetrically arranged on the other side of the mobile platform.
4. The on-orbit inspection robot platform for the spacecraft of claim 2, wherein the outer part of the foot touching module is a flexible shell, an elastic mandrel is arranged in the flexible shell, a rope is arranged between the flexible shell and the elastic mandrel, rope positioning rings are arranged at intervals in the axial direction of the elastic mandrel, the elastic mandrel can deform in a specified direction under the action of the pulling force of the rope, and an adsorption module is arranged on the free foot end of the foot touching module and used for providing adhesive force in an electrostatic adsorption or bionic material adsorption mode.
5. The on-orbit inspection robot platform for the spacecraft of claim 4, wherein the moving platform further comprises a driving module and a transmission module, the foot contact module is connected with the transmission module, an inner winding shaft, an outer winding shaft, a thrust bearing and a pulley block are arranged in the transmission module, ropes in the foot contact module are wound on the inner winding shaft and the outer winding shaft under the guidance of the pulley block, the inner winding shaft and the outer winding shaft are connected with a winding shaft fixing block and a winding shaft fixing plate through the thrust bearing, an output shaft of a driving motor in the driving module is fixedly connected with the inner winding shaft and the outer winding shaft, the inner winding shaft and the outer winding shaft can be driven to move by rotation of the driving motor, and the foot contact module is driven to deform.
6. The on-orbit inspection robot platform for a spacecraft of claim 5, wherein the number of the transmission modules is three, two ends of each transmission module are respectively connected with one foot contact module, and the control module and the energy supply module are arranged between the adjacent transmission modules.
7. The on-orbit inspection robot platform for a spacecraft of claim 5, wherein the driving module comprises a plurality of driving motors, the output shafts of the driving motors are D-shaped shafts, and the D-shaped shafts are connected with hollow input shafts at one ends of inner and outer winding shafts in the transmission module to provide motive power for the winding shafts.
8. The spacecraft on-orbit inspection robot platform of claim 2, wherein a camera module for acquiring image/video information is mounted at one end of the mobile platform.
9. The spacecraft in-orbit inspection robot platform of claim 2, wherein the mobile platform comprises an upper top plate and a lower bottom plate, and the control module, drive module, and transmission module are mounted between the upper top plate and the lower bottom plate.
10. An on-orbit inspection robot platform control method for controlling an on-orbit inspection robot platform for a spacecraft according to any one of claims 1 to 9, characterized in that one or more of the following motion modes are executed according to different control instructions:
The initial state mode is that the orientation of the foot contact modules of the on-orbit inspection robot platform of the spacecraft is consistent and is in a first angle bending state;
the control module controls the driving module and the transmission module, so that the elastic core shaft of the foot contact module is driven by the rope to bend at an angle along the direction perpendicular to the longitudinal section of the mobile platform, the foot contact module is in a second angle bending state, and the chassis height of the on-orbit inspection robot platform of the spacecraft is changed;
The traveling mode is that foot contact modules at two sides of the mobile platform are controlled to swing alternately in grouping sequence, so that the forward motion or the backward motion of the on-orbit inspection robot platform of the spacecraft is realized;
and in the steering mode, foot contact modules at two sides of the mobile platform are controlled to swing alternately in a grouping sequence, so that the steering movement of the on-orbit inspection robot platform of the spacecraft is realized.
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| CN202411456603.2A CN119160419B (en) | 2024-10-18 | 2024-10-18 | On-orbit inspection robot platform for spacecraft and control method thereof |
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| CN119160419B CN119160419B (en) | 2025-04-01 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2014108966A (en) * | 2014-03-11 | 2015-09-20 | Открытое акционерное общество "Российская корпорация ракетно-космического приборостроения и информационных систем" (ОАО "Российские космические системы") | MICROSYSTEM SPACE ROBOT INSPECTOR (OPTIONS) |
| CN111003211A (en) * | 2019-11-28 | 2020-04-14 | 北京空间飞行器总体设计部 | Spacecraft configuration capable of being assembled and expanded in orbit |
| WO2020082723A1 (en) * | 2018-10-24 | 2020-04-30 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN114148552A (en) * | 2021-12-14 | 2022-03-08 | 浙江大学湖州研究院 | Spacecraft surface adsorption crawling and operating robot |
-
2024
- 2024-10-18 CN CN202411456603.2A patent/CN119160419B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2014108966A (en) * | 2014-03-11 | 2015-09-20 | Открытое акционерное общество "Российская корпорация ракетно-космического приборостроения и информационных систем" (ОАО "Российские космические системы") | MICROSYSTEM SPACE ROBOT INSPECTOR (OPTIONS) |
| WO2020082723A1 (en) * | 2018-10-24 | 2020-04-30 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN111003211A (en) * | 2019-11-28 | 2020-04-14 | 北京空间飞行器总体设计部 | Spacecraft configuration capable of being assembled and expanded in orbit |
| CN114148552A (en) * | 2021-12-14 | 2022-03-08 | 浙江大学湖州研究院 | Spacecraft surface adsorption crawling and operating robot |
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| CN119160419B (en) | 2025-04-01 |
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