Bionic wall-climbing robot suitable for complicated narrow and small space in space station microgravity environment

Abstract

The invention discloses a bionic wall-climbing robot suitable for a complicated narrow and small space in a space station microgravity environment. Technical problems to be solved are that the gait and trajectory planning of a traditional robot are restricted and it is hard for the traditional robot to pass through multiple complicated narrow and small spaces because the multiple complicated narrow and small spaces are available in the space station microgravity environment and the working space of the traditional robot is limited due to a mechanical structure in the background technology. According to the technical scheme, the bionic wall-climbing robot suitable for the complicated narrow and small space in the space station microgravity environment comprises a robot body, four multi-posefast conversion bionic single leg modules and four active adhesion and desorption paw mechanisms; and bionic toe adhesion units are arranged at the tail ends of the four active adhesion and desorption paw mechanisms. The bionic wall-climbing robot suitable for the complicated narrow and small space in the space station microgravity environment has the advantages that a multi-pose and gait conversion mechanism is realized by using a differential gear transmission mechanism; by combining a thigh rotation joint and a leg lifting joint, the flexibility of the leg motion of the robot is improved;by using the active adhesion and desorption paw mechanisms, rapid desorption and gait conversion are realized so that the bionic wall-climbing robot adapts to multiple special poses and motion gaits;and a passing and moving ability in the complicated narrow and small space is realized.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic wall-climbing robot adapted to the narrow space in the microgravity environment of a space station. Background technique [0002] As an important application of bionics in the direction of robotics, bionic wall-climbing robots have always been a research hotspot at home and abroad. The upsurge of human space development and the completion of the construction of my country's manned space engineering space station have made the demand for on-orbit services related to the safe and reliable operation of the space station increasingly urgent, and the content of on-orbit tasks has become increasingly clear, diverse and complex. The detection of small spaces, the provision of auxiliary support for astronauts' operations, etc., based on the consideration of saving spacecraft costs, reducing the risk of astronauts' work, and enhancing the ability of space operations, these m...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a bionic wall-climbing robot adapted to the complex and narrow space in the microgravity environment of the space station, to solve the above-mentioned existing problems of the wall-climbing robot and to deal with the special task requirements of the space-flight environment for the wall-climbing robot

Images