Clamping jaw device, robot arm, space robot and control method of space robot

Abstract

The present disclosure relates to a gripper device, a mechanical arm, a space robot and a control method of the space robot. The gripper device comprises a base, a flexible bag and a magnetorheological material; the base comprises an outer shell and an electromagnet arranged in the outer shell; the flexible bag is connected with the outer shell and is provided with a containing cavity; the magnetorheological material is arranged in the containing cavity and switches between solid state and liquid state with the change of the magnetic field of the electromagnet; the gripper device comprises a first working state and a second working state; in the first working state, the electromagnet generates a first magnetic field or disappears after being powered off, and the magnetorheological material is in liquid state; in the second working state, the electromagnet generates a second magnetic field, and the magnetorheological material is in solid state. The application of the magnetorheological material to the gripper device can achieve better on-orbit capture effect and higher reliability of the device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of space robots, and in particular to a gripper device, a mechanical arm, a space robot and a control method of the space robot. BACKGROUND

[0002] On-Orbit-Capture technology refers to a technology of capturing a space target with or without human or unmanned participation. At present, the number of on-orbit satellites of countries in the world is increasing day by day, and accordingly, the damage, scrap and the like of satellites are also increasing, and the market of on-orbit capture, on-orbit maintenance, on-orbit recovery and the like is also increasing.

[0003] There are two common on-orbit capture technical means: one is to directly realize capture by using a space mechanical arm or the like rigid mechanism, which is called rigid capture. The other is to realize capture by using a flexible net, a net cable or the like to wrap a target, which is called flexible capture. The rigid capture needs to be strictly calculated and controlled for capturing a non-cooperative target (a failed satellite, a debris or the like), and the difficulty is relatively large. The flexible capture causes the net cable or the like to be wrapped with the target, resulting in secondary damage, and the captured target no longer has the ability to run in orbit. SUMMARY

[0004] The purpose of the present disclosure is to provide a gripper device, a mechanical arm, a space robot and a control method of the space robot, which can achieve better on-orbit capture effect and have higher reliability.

[0005] One aspect of an embodiment of the present disclosure provides a gripper device, comprising a base, a flexible bag and a magnetorheological material; the base comprises an outer shell and an electromagnet arranged in the outer shell; the flexible bag is connected with the outer shell, and the flexible bag is provided with a containing cavity; the magnetorheological material is arranged in the containing cavity, and the magnetorheological material switches between solid and liquid states with the change of a magnetic field of the electromagnet; the gripper device comprises a first working state and a second working state; in the first working state, the electromagnet generates a first magnetic field or disappears after being powered off, and the magnetorheological material is in a liquid state; in the second working state, the electromagnet generates a second magnetic field, and the magnetorheological material is in a solid state.

[0006] In one of the embodiments, the flexible bag has an opening in communication with the containing cavity, and a portion of a periphery of the opening has a bottom edge portion, the bottom edge portion is sealingly connected with the outer shell, and the flexible bag and the outer shell jointly form the closed containing cavity.

[0007] In one of the embodiments, the gripper device further comprises a pressing member, the pressing member is connected with the outer shell, and the bottom edge portion is clamped between the pressing member and the outer shell.

[0008] In one of the embodiments, the outer shell comprises a main body and a connecting piece connected to the main body, the connecting piece is arranged around the circumferential side of the main body;

[0009] The connecting piece and the pressing piece are connected along the axial direction of the main body, and the bottom edge part is clamped between the pressing piece and the connecting piece.

[0010] In one of the embodiments, the pressing piece is provided with a plurality of first holes, the outer shell is correspondingly provided with a plurality of second holes, and the bottom edge part is correspondingly provided with a plurality of third holes. The clamping jaw device further comprises a plurality of fasteners, the fasteners are arranged in the corresponding first holes, second holes and third holes, so that the pressing piece and the outer shell clamp the bottom edge part.

[0011] In one of the embodiments, the first hole is a blind hole, the second hole is a through hole, and the third hole is a through hole.

[0012] In one of the embodiments, the connecting piece comprises a boss, the cross section of the boss along the axial direction of the main body is in a stepped shape, the pressing piece abuts against the boss in the axial direction of the main body, and the bottom edge part is clamped between the boss and the pressing piece.

[0013] In one of the embodiments, the connecting piece comprises a first connecting part and a second connecting part, the first connecting part and the second connecting part are connected to form the boss; the inner wall of the first connecting part abuts against the circumferential surface of the main body, and the inner wall of the second connecting part abuts against the outer wall of the pressing piece.

[0014] The clamping jaw device provided by the embodiments of the present disclosure can have the following beneficial effects:

[0015] The clamping jaw device can be applied to the aerospace field for on-orbit capture. Compared with a steel simulation clamping jaw device, the clamping jaw device does not need to be driven by a motor, and has high reliability. When the steel simulation clamping jaw device captures a target object, accurate positioning is required to accurately clamp the target object. The clamping jaw device of the present disclosure realizes enveloping capture of the target object, tolerates a certain error in the position of the clamping jaw device, has low control difficulty, and can achieve good on-orbit capture effect. In addition, the plurality of knuckles of the steel simulation clamping jaw device need to be controlled to achieve a specific posture for capture operation. The clamping jaw device of the present disclosure only needs to control the on-off of the electromagnet, greatly reduces the control link, shortens the feedback time, and thus improves the control accuracy.

[0016] Compared with the flexible net, the flexible bag does not entangle the target object, causing secondary damage, and after capturing, the claw device is adjusted to the first working state, releasing the target object, without causing damage to the target object, the target object still has the ability to operate in orbit, saving project cost.

[0017] Another aspect of the embodiments of the present disclosure provides a mechanical arm, comprising a plurality of mechanical arm assemblies, a motor and the claw device of any one of the above embodiments, the plurality of mechanical arm assemblies are connected through the motor, and the claw device is arranged at one end of one of the mechanical arm assemblies.

[0018] In one of the embodiments, the mechanical arm comprises an assembly connected between the mechanical arm assembly and the claw device.

[0019] The technical scheme of the mechanical arm provided by the embodiments of the present disclosure can have the following beneficial effects:

[0020] The adjacent two mechanical arm assemblies are connected through at least one motor, so that one mechanical arm assembly is displaced relative to the other mechanical arm assembly, the position is changed, and then the claw device arranged at one end of the mechanical arm assembly can reach the specified position.

[0021] Another aspect of the embodiments of the present disclosure provides a space robot, comprising the mechanical arm of any one of the above embodiments, a robot body, a power supply, a camera module, a sensing assembly and a control assembly, the mechanical arm and the robot body are connected; at least one of the mechanical arm and the robot body is used to arrange the power supply, the camera module, the sensing assembly and the control assembly; the motor and the electromagnet are respectively electrically connected with the power supply; the motor, the power supply, the camera module and the sensing assembly are respectively electrically connected with the control assembly.

[0022] In one of the embodiments, the sensing assembly comprises a displacement sensor arranged on the mechanical arm and / or the robot body, for detecting the displacement amount of the mechanical arm; and / or

[0023] The sensing assembly comprises a force sensor arranged on the mechanical arm and / or the robot body, for detecting the force condition of the claw device.

[0024] The technical scheme of the space robot provided by the embodiments of the present disclosure can have the following beneficial effects:

[0025] The camera module is used to process the captured information and feed back to the control component, the sensor component transmits the sensed information to the control component, the control component calculates and judges these information, and then the control component controls the operation of the motor to make the mechanical arm move, and / or the control component controls the power supply to control the on-off of the electromagnet and the size of the supply voltage, changes the magnetic field generated by the electromagnet, so as to change the physical state of the magnetorheological material. In this way, the control of the clamping jaw device is realized, so that the target object is captured.

[0026] Another aspect of the present disclosure provides a control method of a space robot, which is used to control the space robot to capture a target object according to any one of the above embodiments. The method comprises:

[0027] maintaining the clamping jaw device in a first working state;

[0028] acquiring an area of the target object, and controlling the mechanical arm to move close to the target object when the area of the target object is less than or equal to a maximum capture area of the space robot;

[0029] controlling the flexible bag to wrap the target object with a set variable pressure area, and switching the clamping jaw device to a second working state to make the flexible bag clamp the target object.

[0030] In one embodiment, the space robot is provided with the maximum capture area, and when the camera module identifies that the area of the target object is less than or equal to the maximum capture area, the control component controls the mechanical arm to move to drive the clamping jaw device to move close to and capture the target object.

[0031] In one embodiment, the space robot is provided with a target object identification feature, and when the feature on the target object identified by the camera module matches the target object identification feature, the control component controls the clamping jaw device to capture the target object identification feature.

[0032] In one embodiment, when the area of the target object captured is less than the set variable pressure area, the power supply is controlled to apply a first voltage value to the electromagnet to generate the first magnetic field, so that the clamping jaw device is maintained in the first working state;

[0033] When the area of the target object captured is greater than or equal to the set variable pressure area, the electrical connection between the power supply and the electromagnet is cut off, the power supply is controlled to apply a second voltage value to the electromagnet to generate the second magnetic field, so that the clamping jaw device is switched from the first working state to the second working state.

[0034] In one of the embodiments, when the space robot finishes capturing the target object, the electrical connection between the power supply and the electromagnet is cut off or the power supply is controlled to apply the second voltage value to the electromagnet to generate the second magnetic field, so that the gripper device is kept in the second working state.

[0035] In one of the embodiments, the controlling the mechanical arm to move close to the target object comprises:

[0036] identifying the displacement direction of the target object, and controlling the mechanical arm to move in the direction opposite to the displacement direction of the target object, so as to drive the gripper device and the target object to move towards each other.

[0037] In one of the embodiments, the space robot comprises two mechanical arms, and the controlling the mechanical arm to move close to the target object comprises:

[0038] controlling the two mechanical arms to move towards each other from two sides of the target object, so that the two gripper devices jointly clamp the target object from two sides of the target object.

[0039] The space robot control method provided by the embodiments of the present disclosure can have the following beneficial effects:

[0040] The space robot control method provided by the embodiments of the present disclosure can have the following beneficial effects:

[0041] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not intended to limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are part of the present disclosure, are used to provide a further understanding of the present disclosure, and the illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Figure 1 The structure of the gripper device in one of the embodiments is shown.

[0045] Figure 2 For Figure 1 The cross-sectional view of the gripper device is shown.

[0046] Figure 3 Fig. 1 shows a structural schematic diagram of a connecting piece in an embodiment.

[0047] Figure 4 Fig. 2 shows a structural schematic diagram of another view of the connecting piece. Figure 3

[0048] Figure 5 Fig. 3 shows a structural schematic diagram of a mechanical arm in an embodiment.

[0049] Figure 6 Fig. 4 shows a schematic diagram of the internal hardware structure of a space robot in an embodiment.

[0050] Figure 7 Fig. 5 shows a process change state diagram of a gripper device capturing a target object in an embodiment.

[0051] Wherein: 10-gripper device; 110-base; 120-flexible bag; 130-magnetorheological material; 111-outer shell; 112-electromagnet; 121-receiving cavity; 131-opening; 132-bottom edge part; 140-pressing part; 141-first hole; 1111-second hole; 1112-main body; 1113-connecting piece; 11131-fourth hole; 11132-tub; 11133-first inner wall; 11134-second inner wall; 11135-third inner wall; 11136-first connecting part; 11137-second connecting part; 20-mechanical arm; 21-mechanical arm assembly; 22-fitting part; 30-space robot; 31-power supply; 32-camera module; 33-sensing assembly; 34-control assembly; 331-displacement sensor; 332-force sensor. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and do not limit the protection scope of the present disclosure.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description of the present disclosure herein is only for the purpose of describing the specific embodiments and is not intended to limit the present disclosure.

[0054] ​Magnetorheological materials are composed of a mixture of magnetic dispersed phase particles, a matrix, and additives. When an external magnetic field is applied, the rheological or viscoelastic properties of the material undergo significant and reversible changes. Magnetorheological materials mainly include magnetorheological fluids, magnetorheological elastomers, magnetorheological adhesives, and magnetorheological foams, with magnetorheological fluids being the most widely used in practical applications.

[0055] Magnetorheological materials (MRAs) are generally composed of magnetic particles, a carrier liquid, and a stabilizer. The viscosity of a MRA changes continuously with the magnetic field; the stronger the magnetic field, the tighter the bond between the magnetic particles, resulting in greater shear resistance and a solid state. When the magnetic field is removed, the magnetic particles immediately return to a free-flowing liquid state. Simultaneously, when the applied shear force is below its shear transmission capacity, the viscous MRA acts like a ductile solid; when the external force exceeds its shear resistance, the ductile material breaks down and yields.

[0056] Based on this, this disclosure provides a gripper device, a robotic arm, a space robot, and a control method for the space robot. By applying magnetorheological materials to the gripper device, better on-orbit capture effect can be achieved, and the device has higher reliability.

[0057] The gripper device of this disclosure will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0058] In one embodiment of this disclosure, reference is made to Figure 1 and Figure 2 As shown, a gripper device 10 is provided, including a base 110, a flexible pouch 120, and a magnetorheological material 130. The base 110 includes a housing 111 and an electromagnet 112 disposed within the housing 111. The flexible pouch 120 is connected to the housing 111 and has a receiving cavity 121. The magnetorheological material 130 is disposed within the receiving cavity 121, and the magnetorheological material 130 switches between solid and liquid states depending on the magnetic field of the electromagnet 112. The gripper device 10 includes a first operating state and a second operating state. In the first operating state, the electromagnet 112 is energized to generate a first magnetic field or de-energized to eliminate the magnetic field, and the magnetorheological material 130 is in a liquid state. In the second operating state, the electromagnet 112 is energized to generate a second magnetic field, and the magnetorheological material 130 is in a solid state.

[0059] In the first working state, the magnetorheological material 130 in the flexible bag 120 is in a liquid state, and the magnetorheological material 130 can flow, and the flexible bag 120 wrapping the magnetorheological material 130 changes shape with the flow of the magnetorheological material 130. In the second working state, the magnetorheological material 130 in the flexible bag 120 is in a solid state, and the shape of the magnetorheological material 130 is fixed, and the flexible bag 120 wrapping the magnetorheological material 130 is also fixed. Thus, in the first working state, if a target object collides with the flexible bag 120, the liquid magnetorheological material 130 is pushed to both sides by the target object, the flexible bag 120 is concave, the target object is sunk into the flexible bag 120, and the magnetorheological material 130 around the target object exerts pressure on the target object. In the second working state, if the target object is sunk in the flexible bag 120, the magnetorheological material 130 around the target object is in a solid state and clamps the target object. The magnetorheological material 130 exerts stable pressure on the target object, and the surface of the flexible bag 120 has roughness, which generates friction with the target object, thereby capturing the target object.

[0060] The clamping jaw device 10 can be applied to the aerospace field for on-orbit capture. Compared with a steel simulation clamping jaw device, the clamping jaw device 10 does not need to be driven by a motor and has high reliability. The steel simulation clamping jaw device needs to be accurately positioned to accurately clamp the target object. The clamping jaw device 10 of the present disclosure achieves envelope capture of the target object, allows a certain error in the position of the clamping jaw device 10, has low control difficulty, and can achieve good on-orbit capture effect. In addition, the multiple knuckles of the steel simulation clamping jaw device need to be controlled to achieve a specific posture for capture operation. The clamping jaw device 10 of the present disclosure only needs to control the on-off electricity of the electromagnet 112, greatly reduces the control link, shortens the feedback time, and thus improves the control accuracy.

[0061] Compared with a flexible net, the flexible bag 120 will not entangle with the target object, causing secondary damage. After capture, the clamping jaw device 10 is adjusted to the first working state to release the target object, which will not cause damage to the target object. The target object still has the ability to run on-orbit, saving project cost.

[0062] In some embodiments, the electromagnet 112 includes a core and a conductive winding, the core and the conductive winding are arranged in the outer shell 111, and the conductive winding is arranged around the core. The conductive winding generates a magnetic field when powered on, and different voltages applied to both ends of the conductive winding generate different electromagnetic fields. The magnetic field disappears when the conductive winding is powered off. In other embodiments, the electromagnet 112 can also use other physical structures capable of generating a magnetic field, and the present disclosure does not limit the specific implementation form of the electromagnet 112.

[0063] The magnetic field generated by the electromagnet 112 will be distributed in the circumferential space of the base 110, and the flexible bag 120 needs to be ensured to be always in the effective range of the magnetic field.

[0064] In some embodiments, the outer shell 111 can be made of cold-rolled steel sheet, which has excellent magnetic conductivity and does not affect the conduction of the magnetic field. The outer shell 111 can also be made of other materials, such as soft iron, aluminum alloy, etc., and the present disclosure does not limit the material of the outer shell 111.

[0065] In the present embodiment, the outer shell 111 is designed as a cylinder, and in other embodiments, the outer shell 111 can be designed as other shapes according to actual needs, such as a cuboid, a circular truncated cone, etc.

[0066] The flexible bag 120 is made of flexible material to ensure that the flexible bag 120 can change shape with the flow of the liquid magnetorheological material 130. The flexible bag 120 can be made of materials such as silicone, nitrile rubber, polyurethane, etc., which also need to have sufficient toughness and strength so that the error between the surface area of the flexible bag 120 after capturing the target object multiple times and the original designed surface area is small, ensuring the accuracy of the clamping operation, and also avoiding the flexible bag 120 from breaking after "swallowing" the target object. Furthermore, the material also needs to have sufficient roughness to obtain the required friction coefficient. Specifically, in some embodiments, the surface area and thickness of the flexible bag 120 can be designed according to the size, mass, and displacement speed of the actual captured target object, etc.

[0067] In the present embodiment, continuing to refer to Figure 1 and Figure 2 , the shape of the flexible bag 120 is approximately ellipsoidal, and the long axis extension direction of the flexible bag 120 is the same as the axial extension direction of the outer shell 111. The design of this shape facilitates the storage of the magnetorheological material 130, has good wrapping of the magnetorheological material 130, the flexible bag 120 is easy to change shape with the flow of the liquid magnetorheological material 130, and when capturing the target object along the long axis extension direction, a larger volume of target object can be captured. In other embodiments, the flexible bag 120 can have other shapes, which are not limited by the present disclosure.

[0068] In the present embodiment, the magnetorheological material 130 is a magnetorheological fluid, which is uniformly dispersed by micron-sized magnetic particles in a suitable carrier liquid to form a suspension system. The magnetic particles are the main dispersed phase particles, which can be Fe, Co, Ni and their alloys, Fe3O4, CoFe2O4, Fe3N, etc., and the carrier liquid can be silicone oil, mineral oil, ethylene glycol, water, etc. During the preparation of the magnetorheological fluid, an appropriate amount of additives such as surfactants, thixotropic agents, lubricants, etc. can also be added.

[0069] The magnetorheological effect of the magnetorheological fluid has good reversibility, that is, after the magnetic field is applied, the magnetorheological fluid changes from a fluid state to a solid-like state, and the yield stress and viscosity change greatly, but when the magnetic field is removed, the magnetorheological fluid can return to the original state. Therefore, the clamping jaw device 10 switches between the first working state and the second working state through the magnetorheological effect of the magnetorheological fluid, and the magnetorheological fluid can still maintain accurate solid-liquid state change after experiencing multiple working state switching, thereby ensuring the reliability of the clamping jaw device 10.

[0070] In other embodiments, the magnetorheological material 130 can be a magnetorheological elastomer, a magnetorheological glue, a magnetorheological foam, or the like.

[0071] In the present embodiment, the flexible bag 120 is filled with the magnetorheological material 130. In other embodiments, the flexible bag 120 can be mixed with other materials.

[0072] In some embodiments, the flexible bag 120 is provided as a closed bag, thereby forming a closed containing cavity 121. The outer surface of the flexible bag 120 is connected to the outer shell 111, and a strong adhesive can be used for bonding. The structure is simple and the cost is low.

[0073] In the present embodiment, referring to Figure 2 , the flexible bag 120 has an opening 131 communicating with the containing cavity 121. The portion of the flexible bag 120 around the opening 131 has a bottom edge portion 132, and the bottom edge portion 132 is sealingly connected to the outer shell 111. The flexible bag 120 and the outer shell 111 jointly form a closed containing cavity 121. The opening 131 is provided on the flexible bag 120, which facilitates the placement of the magnetorheological material 130 in the flexible bag 120. The portion of the flexible bag 120 around the opening 131 is folded outward to form the bottom edge portion 132, which facilitates connection to the outer shell 111. The bottom edge portion 132 and the outer shell 111 are sealingly connected, which can be achieved by using a strong adhesive. The flexible bag 120 and the outer shell 111 jointly form a closed containing cavity 121, so that the magnetorheological material 130 can be stored in the containing cavity 121, thereby preventing leakage.

[0074] Specifically, in the embodiment shown in Figure 2 , the portion of the flexible bag 120 around the opening 131 is folded outward to form the bottom edge portion 132, and the bottom edge portion 132 is annular. The bottom edge portion 132 and the end surface of the outer shell 111 are connected.

[0075] Further, referring to Figure 1 and Figure 2As shown, in some embodiments, the clamping jaw device 10 further comprises a pressing member 140, the pressing member 140 is connected with the outer shell 111, and the bottom edge portion 132 is clamped between the pressing member 140 and the outer shell 111. By arranging the pressing member 140, the bottom edge portion 132 is further fixed, and the structural strength is ensured. The pressing member 140 can abut with the outer shell 111 in the axial direction of the outer shell 111.

[0076] In some embodiments, the pressing member 140 can be arranged in correspondence with the shape of the bottom edge portion 132. Specifically, the pressing member 140 is arranged in a circular ring shape, and the inner diameter and the outer diameter of the pressing member 140 can be the same as the inner diameter and the outer diameter of the bottom edge portion 132. Alternatively, the inner diameter of the pressing member 140 is the same as the inner diameter of the bottom edge portion 132, and the outer diameter of the pressing member 140 is smaller than the outer diameter of the bottom edge portion 132, which facilitates the observation of the clamping condition of the bottom edge portion 132 and the judgment of whether the pressing member 140 is installed in place. The outer diameter of the pressing member 140 can be the same as the diameter of the outer shell 111.

[0077] In some embodiments, referring to Figure 2 and Figure 3 As shown, the pressing member 140 is provided with a plurality of first holes 141, the outer shell 111 is correspondingly provided with a plurality of second holes 1111, and the bottom edge portion 132 is correspondingly provided with a plurality of third holes (not shown). The clamping jaw device 10 further comprises a plurality of fasteners (not shown), which are arranged in the corresponding first holes 141, second holes 1111 and third holes, so that the pressing member 140 and the outer shell 111 clamp the bottom edge portion 132. In this way, the fixed connection between the pressing member 140 and the outer shell 111 is achieved, and the pressing member 140 presses the bottom edge portion 132, so that the bottom edge portion 132 is clamped between the pressing member 140 and the outer shell 111, and the sealing between the bottom edge portion 132 and the outer shell 111 is enhanced.

[0078] Specifically, the plurality of first holes 141 are arranged in an array around the end face of the pressing member 140, the plurality of second holes 1111 are arranged in an array around the end face of the outer shell 111, and the plurality of third holes are arranged in an array around the bottom edge portion 132. The number of the first holes 141, the second holes 1111 and the third holes is equal, and they are arranged in correspondence with each other, and the hole diameters are matched with each other.

[0079] In some embodiments, the first holes 141 are blind holes, the second holes 1111 are through holes, and the third holes are through holes. When assembling the fasteners, the fasteners are arranged to pass through the second holes 1111, the third holes, and then connected with the first holes 141. In this way, the fasteners will not pass out of the pressing member 140, and thus will not come into contact with the flexible bag 120, avoiding interference with the normal operation of the flexible bag 120. Moreover, the surface area of the fasteners exposed to the outside is reduced, and the risk of rust is reduced.

[0080] In some embodiments, before assembling with the fastener, a sealing material can be applied between the bottom edge portion 132 and the outer shell 111 to ensure the sealing of the flexible bag 120.

[0081] Further, in some embodiments, continuing to refer to Figure 2 and Figure 3 , the outer shell 111 includes a main body 1112 and a connecting piece 1113 connected to the main body 1112, and the connecting piece 1113 is arranged around the circumferential side of the main body 1112. The connecting piece 1113 and the compression piece 140 are connected in the axial direction of the main body 1112, and the bottom edge portion 132 is clamped between the compression piece 140 and the connecting piece 1113. By arranging the connecting piece 1113, the second hole 1111 can be arranged on the connecting piece 1113, and the axial length of the connecting piece 1113 can be designed according to actual needs, without affecting the axial length of the main body 1112, and the size of the main body 1112 only needs to consider the size of the electromagnet 112 arranged inside. In the case of fully considering the strength of the fastener, the axial length of the connecting piece 1113 can be appropriately reduced to reduce the weight of the connecting piece 1113, thereby reducing the overall weight of the clamping jaw device 10.

[0082] In some embodiments, the connecting piece 1113 can be arranged as a ring, and the second hole 1111 is arranged in an array around the end face of the connecting piece 1113, and the inner diameter of the connecting piece is the same as the diameter of the main body 1112. The first hole 141, the second hole 1111 and the third hole are connected by the fastener, so that the connecting piece 1113 and the compression piece 140 are fixedly connected in the axial direction.

[0083] In some embodiments, the connecting piece 1113 and the main body 1112 are integrally formed.

[0084] In other embodiments, the connecting piece 1113 and the main body 1112 are separately arranged, and the connecting piece 1113 is sleeved around the circumferential side of the main body 1112. Further, referring to Figure 2 and Figure 3 , the connecting piece 1113 is provided with a plurality of fourth holes 11131 in the radial direction of the main body 1112, the fourth holes 11131 are through holes, and a fifth hole is arranged on the side wall of the main body 1112. By connecting the fourth hole 11131 and the fifth hole with the fastener, the fixed connection of the connecting piece 1113 and the main body 1112 can be realized.

[0085] The inner walls of the first hole 141, the second hole 1111, the third hole, the fourth hole 11131 and the fifth hole are provided with threads, and the fastener is a bolt, which is convenient for connection.

[0086] In some embodiments, referring to Figure 2 and Figure 3As shown, the connecting piece 1113 includes a boss 11132, the boss 11132 is stepped in the axial direction of the main body 1112, the pressing piece 140 abuts against the boss 11132 in the axial direction of the main body 1112, and the bottom edge portion 132 is clamped between the boss 11132 and the pressing piece 140. By arranging the boss 11132, the connecting gap between the pressing piece 140 and the connecting piece 1113 can be located in the inner wall of the connecting piece 1113, reducing the influence of external impurities and other factors on the fixed connection of the pressing piece 140 and the connecting piece 1113. Moreover, compared with the part of the bottom edge portion 132 exposed outside the outer wall of the pressing piece 140 and the connecting piece 1113, the bottom edge portion 132 arranged in the inner wall of the connecting piece 1113 is safer.

[0087] Specifically, the connecting piece 1113 includes a first inner wall 11133 and a second inner wall 11134 extending in the axial direction, and further includes a third inner wall 11135 extending in the radial direction, the third inner wall 11135 is connected between the first inner wall 11133 and the second inner wall 11134. The diameter of the first inner wall 11133 is greater than the diameter of the second inner wall 11134. The second inner wall 11134 and the third inner wall 11135 form the boss 11132.

[0088] In some embodiments, the connecting piece 1113 includes a plurality of bosses 11132, forming a multi-stage step, further ensuring the sealing of the flexible bag 120.

[0089] In some embodiments, referring to Figure 2 to Figure 4 As shown, the connecting piece 1113 includes a first connecting portion 11136 and a second connecting portion 11137, the first connecting portion 11136 and the second connecting portion 11137 are connected to form the boss 11132. The inner wall of the first connecting portion 11136 abuts against the peripheral surface of the main body 1112, and the inner wall of the second connecting portion 11137 abuts against the outer wall of the pressing piece 140. In this way, the pressing piece 140 is limited by the second connecting portion 11137 in the radial direction of the main body 1112, facilitating the hole.

[0090] Specifically, the end face of the first connecting portion 11136 and the end face of the second connecting portion 11137 are connected in the axial direction of the main body 1112, and the inner diameter of the first connecting portion 11136 is smaller than the inner diameter of the second connecting portion 11137. The second hole 1111 extends in the axial direction of the main body 1112 and penetrates through the first connecting portion 11136, and the fourth hole 11131 extends in the radial direction of the main body 1112 and penetrates through the first connecting portion 11136.

[0091] Referring to Figure 5As shown, the present disclosure also provides a mechanical arm 20, comprising a plurality of mechanical arm assemblies 21, a motor (not shown) and the gripper device 10 in any of the above embodiments, the plurality of mechanical arm assemblies 21 are connected by the motor, and the gripper device 10 is arranged at one end of one of the mechanical arm assemblies 21. The adjacent two mechanical arm assemblies 21 are connected by at least one motor, so that one mechanical arm assembly 21 is displaced relative to the other mechanical arm assembly 21, the position is changed, and the gripper device 10 arranged at one end of the mechanical arm assembly 221 can reach the designated position.

[0092] The specific structure of the mechanical arm assembly 21 and the arrangement of the motor are designed according to the required degrees of freedom and displacement range of the actual mechanical arm 20. The gripper device 10 can be arranged at the end of the mechanical arm 20 to achieve the maximum displacement amount.

[0093] In some embodiments, the mechanical arm 20 comprises an assembly part 22 connected between the mechanical arm assembly 21 and the gripper device 10. By arranging the assembly part 22, the mechanical arm assembly 21 and the gripper device 10 are connected.

[0094] In the present embodiment, the assembly part 22 is a flange, a plurality of openings can be arranged in a ring array on the large end surface of the flange, and the one end of the mechanical arm assembly 21 connected with the gripper device 10 is provided with an assembly hole corresponding thereto, and the mechanical arm assembly 21 and the gripper device 10 are fixedly connected by connecting the openings and the assembly holes with a plurality of fasteners. At least one threaded hole can be provided on the small end surface of the flange, a screw rod is installed in the threaded hole, and the end of the housing body 111 away from the flexible bag 120 is also provided with a threaded hole, so that the gripper device 10 and the screw rod are assembled through the threaded hole.

[0095] Referring to Figure 6 As shown, the present disclosure also provides a space robot 30. The space robot 30 comprises the mechanical arm 20 in any of the above embodiments, a robot body (not shown), a power supply 31, a camera module 32, a sensing assembly 33 and a control assembly 34, and the mechanical arm 20 is connected with the robot body. At least one of the mechanical arm 20 and the robot body is used to arrange the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34. The electromagnet 112 and the motor are respectively electrically connected with the power supply 31. The motor, the power supply 31, the camera module 32 and the sensing assembly 33 are respectively electrically connected with the control assembly 34.

[0096] At least one of the mechanical arm 20 and the robot body is used to set the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34, which can be divided into three cases: first, the mechanical arm 20 is used alone to set the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34, and the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34 are all arranged in the mechanical arm 20. Second, the robot body is used alone to set the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34, and the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34 are all arranged in the robot body. Third, both of them are used to set the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34, and some of the power supply 31, the camera module 32, the sensing assembly 33 and the control assembly 34 are arranged in the mechanical arm 20, and the others are arranged in the robot body. Also, part of a certain assembly can be arranged in the mechanical arm 20, and the other part can be arranged in the robot body.

[0097] That is, the power supply 31 can be arranged in the mechanical arm 20 or arranged in the robot body, or part of the power supply 31 is arranged in the mechanical arm 20 and the other part is arranged in the robot body. The camera module 32 can be arranged in the mechanical arm 20 or arranged in the robot body, or part of the camera module 32 is arranged in the mechanical arm 20 and the other part is arranged in the robot body. The sensing assembly 33 can be arranged in the mechanical arm 20 or arranged in the robot body, or part of the sensing assembly 33 is arranged in the mechanical arm 20 and the other part is arranged in the robot body. The control assembly 34 can be arranged in the mechanical arm 20 or arranged in the robot body, or part of the control assembly 34 is arranged in the mechanical arm 20 and the other part is arranged in the robot body.

[0098] The camera module 32 is used to process the photographed information and feed it back to the control assembly 34, and the sensing assembly 33 transmits the sensed information to the control assembly 34. The control assembly 34 calculates and judges these information, and then controls the operation of the motor to make the mechanical arm 20 move, and / or controls the power supply 31 to control the on-off of the electromagnet 112 and the size of the power supply voltage, changes the magnetic field generated by the electromagnet 112, so as to change the physical state of the magnetorheological material 130. In this way, the control of the gripper device 10 is realized, so that the target object capturing work is completed.

[0099] Specifically, in some embodiments, the control assembly 34 includes a processing assembly and a memory.

[0100] The processing component generally controls the overall operation of the spatial robot 30, such as operations associated with displaying, data transmission processing, and recording operations. The processing component can include one or more processors to execute instructions to complete all or part of the steps of the methods in the present disclosure. In addition, the processing component can include one or more modules to facilitate interaction between the processing component and other components. For example, the processing component can include a multimedia module to facilitate interaction between the multimedia component and the processing component, such as a control board.

[0101] The memory is configured to store various types of data to support the operation of the spatial robot 30. Examples of these data include instructions, data, messages, pictures, videos, etc. for any application or method operating on the spatial robot 30. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0102] The power supply 31 provides power for various components of the spatial robot 30. The power supply 31 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the spatial robot 30.

[0103] The camera module 32 can include a lens assembly for accepting light, an image sensing assembly for processing light, and a driving assembly for moving the lens assembly.

[0104] The sensor component 33 can include one or more sensors for providing various aspects of state evaluation for the spatial robot 30.

[0105] Further, in some embodiments, the sensing component 33 includes a displacement sensor 331 disposed on the mechanical arm 20 and / or the robot body for detecting the displacement amount of the mechanical arm 20. The control component 34 judges the position of the mechanical arm 20 through the displacement amount fed back by the displacement sensor 331, and adjusts in time.

[0106] In some embodiments, the sensing component 33 includes a force sensor 332 disposed on the mechanical arm 20 and / or the robot body for detecting the force condition of the gripper device 10. The control component 34 judges the situation of the mechanical arm 20 capturing the target object through the force size and area fed back by the force sensor 332, and adjusts in time.

[0107] In actual application scenarios, the spatial robot can be a spacecraft on a space orbit, a probe of an extraterrestrial celestial body, etc.

[0108] The present disclosure also provides a control method of a space robot, which is used to control the space robot 30 to capture a target object. The method comprises: step S1, maintaining the gripper device 10 in a first working state; step S2, acquiring an area of the target object, and controlling the robot arm 20 to move towards the target object when the area of the target object is less than or equal to a maximum capture area of the space robot 30; and step S3, controlling the flexible bag 120 to wrap the target object in a set variable voltage area, and switching the gripper device 10 to a second working state to enable the flexible bag 120 to clamp the target object.

[0109] Initially, after acquiring information that a target object exists, the gripper device 10 is set in the first working state, so that the flexible bag 120 can deform freely to achieve the purpose of capture.

[0110] Optionally, when information that a target object exists is not acquired, the gripper device 10 can be set in the first working state or the second working state according to actual needs.

[0111] The area of the target object can be the surface area or the effective capture area of the target object. The effective capture area can be the projection area of the target object towards the gripper device 10. When the area of the target object is within the capture range, the robot arm 20 is controlled to move towards the target object for capture. When the area of the target object is not within the capture range, the capture is abandoned.

[0112] When the gripper device 10 is in the first working state, the magnetorheological material 130 is in a liquid state, and the flexible bag 120 changes shape along with the flow of the magnetorheological material 130. The flexible bag 120 is controlled to contact the target object, and the target object is trapped in the flexible bag 120 and captured. Referring to Figure 7 As shown, from the target object 40 contacting the flexible bag 120 to the target object 40 being captured by the flexible bag 120, the target object 40 sinks deeper and deeper in the flexible bag 120, and the surface area of the target object 40 wrapped by the flexible bag 120 becomes larger and larger, until reaching the set variable voltage area.

[0113] When the surface area of the target object wrapped by the flexible bag 120 reaches or exceeds the set variable voltage area, the gripper device 10 is switched from the first working state to the second working state, and the magnetorheological material 130 changes from the liquid state to the solid state. The shape of the magnetorheological material 130 is fixed, and the flexible bag 120 wrapping the magnetorheological material 130 is also shaped, fixed as the shape of the captured target object at this time, and the fixed clamping of the target object is achieved.

[0114] The surface area of the target object wrapped by the flexible bag 120 can be evaluated by the camera module 32 and / or the sensor assembly 33. Specifically, in some embodiments, the camera module 32 identifies the surface area of the target object wrapped by the flexible bag 120. In other embodiments, the surface area of the target object wrapped by the flexible bag 120 is determined by the force sensor 332 obtaining the force area between the target object and the flexible bag 12. In yet other embodiments, the feedback information of the camera module 32 and the sensor assembly 33 is integrated to determine the surface area of the target object wrapped by the flexible bag 120.

[0115] The space robot 30 is controlled by the control method of the space robot in the present disclosure to capture the target object, which can achieve on-orbit capture of the target object in a vacuum environment, and has good capture effect and high reliability.

[0116] The space robot is provided with a maximum capture area. When the camera module 32 identifies that the area of the target object is less than or equal to the maximum capture area, the control assembly 34 controls the movement of the robot arm 20 to drive the gripper device 10 to approach and capture the target object. The area of the target object is obtained by identifying the target object by the camera module 32. The maximum capture area of the space robot can be set according to the actual size of the gripper device 10, to ensure that the flexible bag 120 effectively wraps the target object and avoid the situation that the flexible bag 120 cannot fix and hold the target object due to too small wrapping area.

[0117] When the area of the captured target object is less than the set pressure change area, the power supply 31 applies a first voltage value to the electromagnet 112 to generate a first magnetic field, so that the gripper device 10 remains in the first working state. When the area of the captured target object is greater than or equal to the set pressure change area, the electrical connection between the power supply 31 and the electromagnet 112 is cut off or the power supply 31 applies a second voltage value to the electromagnet 112 to generate a second magnetic field, so that the gripper device 10 switches from the first working state to the second working state. The set pressure change area is set to ensure that the flexible bag 120 has a large enough wrapping area of the target object before switching the working state of the gripper device 10, to ensure that the gripper device 10 can fix and hold the target object after switching the working state. Before the area of the captured target object reaches the set pressure change area, the gripper device 10 is in the first working state, the magnetorheological material 130 is in a liquid state, and the wrapping area of the flexible bag 120 of the target object becomes larger and larger until the set pressure change area is reached. When the area of the captured target object reaches or exceeds the set pressure change area, the gripper device 10 is in the second working state, the magnetorheological material 130 is in a solid state, and the capturing is completed.

[0118] Optionally, in some embodiments, the value of the variable pressure area can be set according to the proportion of the surface area of the target object wrapped by the flexible bag 120 to the surface area of the target object. In other embodiments, the value of the variable pressure area can be set according to the force condition of the clamping jaw device 10.

[0119] The magnetorheological fluid has a magnetic field controllability, that is, after a magnetic field is applied, the yield stress and apparent viscosity of the magnetorheological fluid will increase by 2-3 orders of magnitude, and the yield stress and apparent viscosity will increase with the increase of the magnetic field strength. The stress and viscosity of the magnetorheological fluid can meet the application requirements by controlling the strength of the external magnetic field.

[0120] In some embodiments, the electromagnet 112 is powered off, and the magnetorheological fluid becomes a liquid with very small viscosity and flows freely. In other embodiments, a first voltage value greater than 0 is applied to the electromagnet 112 to generate a first magnetic field, and the magnetorheological fluid becomes a liquid with a certain viscosity, the flowability decreases, and the flexible bag 120 can maintain a certain range of shapes, so that the displacement control of the clamping jaw device 10 is more accurate.

[0121] In some embodiments, the second voltage value is set to be relatively high, so that the magnetorheological fluid becomes a solid state with a large yield stress, thereby increasing the clamping force on the target object and capturing more stably. In other embodiments, the second voltage value is set to a general value, so that the magnetorheological fluid becomes a solid state or even a gel state with relatively small yield stress, and has a certain elasticity, thereby avoiding causing wear to the surface of the target object when capturing the target object.

[0122] The magnetorheological effect responds quickly, and the response time is generally milliseconds, so that the clamping jaw device switches between the first working state and the second working state quickly, the control is accurate, and the clamping is accurate.

[0123] In some embodiments, the first voltage value and the second voltage value are pre-set to fixed values according to actual needs. In other embodiments, the first voltage value and the second voltage value are adjusted according to information feedback during actual use to generate appropriate first and second magnetic fields.

[0124] In the present embodiment, the power supply 31 adopts a 24v stabilized power supply. When the area of the captured target object is less than the set variable pressure area, the control power supply 31 applies a voltage value of 24v to the electromagnet 112 to generate a first magnetic field, so that the clamping jaw device 10 remains in the first working state. When the area of the captured target object is greater than or equal to the set variable pressure area, the electrical connection between the power supply 31 and the electromagnet 112 is cut off, so that the clamping jaw device 10 switches from the first working state to the second working state. The control strategy is simple and easy to implement.

[0125] In some embodiments, when the space robot 30 completes the capture of the target object, the electrical connection between the power supply 31 and the electromagnet 112 is cut off or the power supply 31 is controlled to apply the second voltage value to the electromagnet 112 to generate the second magnetic field, so that the gripper device 10 is kept in the second working state. In this way, the gripper device 10 still clamps the target object after completing the capture of the target object, and then the target object is sent to the destination by controlling the movement of the mechanical arm 20.

[0126] In some embodiments, the target object is sent to a recycling site for recycling, such as being recycled into the space robot or a space station. In other embodiments, the target object is transported to a destination orbit so that the target object runs on the destination orbit.

[0127] Optionally, in some embodiments, the movement of the mechanical arm 20 close to the target object includes identifying the displacement direction of the target object, and controlling the mechanical arm 20 to move in the direction opposite to the displacement direction of the target object to drive the gripper device 10 and the target object to move towards each other. In space, the gravity acting on an object is zero, and the contact with an object is easy to push the object away. Therefore, the displacement direction of the gripper device 10 is set to be opposite to the movement direction of the target object, and after the target object and the gripper device 10 collide, the target object is trapped in the flexible bag 120 to achieve capture.

[0128] Further, in some embodiments, the gripper device 10 moves along the long axis direction of the flexible bag 120, and the target object collides with the flexible bag 120 along the long axis direction of the flexible bag 120, so that the target object is trapped in the flexible bag to a greater depth. In other embodiments, the gripper device 10 moves along other extension directions of the flexible bag 120, which are not limited by the present disclosure.

[0129] Optionally, in some embodiments, the space robot 30 includes two mechanical arms 20, and the movement of the mechanical arm 20 close to the target object includes controlling the two mechanical arms 20 to move towards each other from both sides of the target object, so that the two gripper devices 10 jointly clamp the target object from both sides of the target object. In this way, it is convenient to capture the target object with a slow displacement speed.

[0130] Specifically, in some embodiments, the two gripper devices 10 are both in the first working state at the initial time, i.e., after obtaining the information that there is a target object. The two gripper devices 10 contact the target object, and part of the target object is trapped in the flexible bag 120 of one of the gripper devices 10, and part of the target object is trapped in the flexible bag 120 of the other gripper device 10. When the sum of the wrapping areas of the two flexible bags 120 on the target object is greater than or equal to the set variable area, the working states of the two gripper devices 10 are switched to the second working state to complete the capture of the target object.

[0131] In some embodiments, one gripper device 10 is in the first working state and the other gripper device 10 is in the second working state at the initial time, i.e. after obtaining the information that the target object exists. The two gripper devices 10 contact the target object, and the gripper device 10 in the second working state pushes the target object into the flexible bag 120 of the gripper device 10 in the first working state. When the wrapping area of the target object by the gripper device 10 in the first working state is greater than or equal to the set variable area, the working state of the gripper device 10 in the first working state is switched to the second working state, and the capture of the target object is completed.

[0132] By adjusting the displacement direction and quantity of the gripper device 10, the capture of the target object in different motion states can be realized, and the versatility of the space robot is enhanced.

[0133] In some embodiments, the space robot 30 is provided with a target object recognition feature. When the feature on the target object recognized by the camera module 32 meets the target object recognition feature, the control assembly 34 controls the gripper device 10 to capture the target object recognition feature. In this way, on the one hand, the capture of the target object can be realized at a relatively small power cost, the power source is saved, and the capture effect is better. On the other hand, objects larger than the maximum capture area can also be captured, and the use range of the space robot 30 is expanded.

[0134] Specifically, the target object recognition feature can be a step, a thread, a convex rod, a boss, etc. The gripper device 10 captures the target object recognition feature in a targeted manner, and after fixing and clamping the target object recognition feature, the target object is dragged to realize the capture of the target object.

[0135] In the description of the present disclosure, it should be understood that the terms "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0136] In addition, the terms "first", "second", and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0137] In the present disclosure, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and "fixedly" should be construed as broad terms, for example, can be fixed connection, can be detachable connection, or integral; can be mechanical connection, can be electrical connection; can be direct connection, can be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements, unless specifically defined otherwise. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0138] In the present disclosure, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0139] It should be noted that when an element is referred to as "fixed to", "arranged on", "fixed on" or "arranged on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or a middle element can exist at the same time. Further, when an element is considered to be "fixedly connected" to another element, the two can be fixed in a detachable manner, or can be fixed in a non-detachable manner, such as sleeving, clamping, integral forming, welding, etc., which can be realized in traditional technology, and will not be repeated here.

[0140] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of technical features in the above embodiments are described, but as long as the combination of technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0141] The above embodiments only express several implementation manners of the present disclosure, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the inventive concept of the present disclosure, a number of modifications and improvements can be made, which are within the scope of protection of the present disclosure.

Claims

1. A control method for a space robot, used to control the space robot to capture a target object, characterized in that, The space robot includes a robotic arm, a robot body, a power supply, a camera module, a sensing component, and a control component. The robotic arm includes multiple robotic arm components, a motor, and a gripper device. The multiple robotic arm components are connected through the motor, and the gripper device is located at one end of one of the robotic arm components. The robotic arm is connected to the robot body; at least one of the robotic arm and the robot body is used to house the power supply, the camera module, the sensing components, and the control components; the motor is electrically connected to the power supply. The motor, the power supply, the camera module, and the sensing components are all electrically connected to the control components. The gripper device includes: The base includes an outer casing and an electromagnet disposed within the outer casing; the electromagnet is electrically connected to the power supply. A flexible pouch, connected to the outer shell, wherein the flexible pouch has a receiving cavity; and A magnetorheological material is disposed within the cavity, and the magnetorheological material switches between solid and liquid states as the magnetic field of the electromagnet changes. The gripper device includes a first working state and a second working state; in the first working state, the electromagnet generates a first magnetic field when energized or the electromagnetic field disappears when de-energized, and the magnetorheological material is in a liquid state; in the second working state, the electromagnet generates a second magnetic field when energized, and the magnetorheological material is in a solid state. The method includes: Keep the gripper device in the first working state; The area of ​​the target object is obtained. When the area of ​​the target object is less than or equal to the maximum capture area of ​​the space robot, the robotic arm is controlled to move closer to the target object. The flexible bag is controlled to wrap the target object with a set variable pressure area, and the gripper device is switched to the second working state so that the flexible bag clamps the target object; the value of the variable pressure area is set according to the ratio of the surface area of ​​the target object wrapped by the flexible bag to the surface area of ​​the target object, so as to ensure that the wrapping area of ​​the flexible bag on the target object is large enough before switching the working state of the gripper device and ensuring the fixed clamping of the target object by the gripper device.

2. The control method for a space robot as described in claim 1, characterized in that, The space robot is equipped with a maximum capture area. When the camera module detects that the area of ​​the target object is less than or equal to the maximum capture area, the control component controls the movement of the robotic arm to drive the gripper device to approach and capture the target object.

3. The control method for a space robot as described in claim 2, characterized in that, The space robot is equipped with target object recognition features. When the features on the target object identified by the camera module match the target object recognition features, the control component controls the gripper device to capture the target object recognition features.

4. The control method for a space robot as described in claim 1, characterized in that, When the area of ​​the target object captured is smaller than the set transformer area, the power supply is controlled to apply a first voltage value to the electromagnet to generate the first magnetic field, so that the gripper device is kept in the first working state. When the area of ​​the target object captured is greater than or equal to the set transformer area, the electrical connection between the power supply and the electromagnet is cut off, and the power supply is controlled to apply a second voltage value to the electromagnet to generate the second magnetic field, so that the gripper device switches from the first working state to the second working state.

5. The control method for a space robot as described in claim 4, characterized in that, When the space robot completes the capture of the target object, it cuts off the electrical connection between the power supply and the electromagnet, or controls the power supply to apply the second voltage value to the electromagnet to generate the second magnetic field, so that the gripper device remains in the second working state.

6. The control method for a space robot as described in claim 1, characterized in that, The control of the robotic arm to move closer to the target object includes: The displacement direction of the target object is identified, and the robotic arm is controlled to move in the opposite direction to the displacement direction of the target object, so as to drive the gripper device and the target object to move towards each other.

7. The control method for a space robot as described in claim 1, characterized in that, The space robot includes two robotic arms, and controlling the robotic arms to move closer to the target object includes: Control the two robotic arms to move towards each other from both sides of the target object, so that the two gripper devices jointly clamp the target object from both sides.

8. The control method for a space robot as described in claim 1, characterized in that, The sensing component includes a displacement sensor disposed on the robotic arm and / or the robot body, for detecting the displacement of the robotic arm; and / or The sensing component includes a force sensor, which is disposed on the robotic arm and / or the robot body, for detecting the force applied to the gripper device.

9. The control method for a space robot as described in claim 1, characterized in that, The flexible pouch has an opening communicating with the receiving cavity, and a portion around the opening has a bottom edge that is sealed to the outer shell. The flexible pouch and the outer shell together form a closed receiving cavity.

10. The control method for a space robot as described in claim 9, characterized in that, The gripper device further includes a clamping member, which is connected to the outer shell, and the bottom edge is clamped between the clamping member and the outer shell.

11. The control method for a space robot as described in claim 10, characterized in that, The outer casing includes a main body and a connector connected to the main body, the connector being disposed around the periphery of the main body; The connector and the clamping member are connected along the axial direction of the body, and the bottom edge is clamped between the clamping member and the connector.

12. The control method for a space robot as described in claim 11, characterized in that, The clamping member has a plurality of first holes, the outer shell has a plurality of second holes, and the bottom edge has a plurality of third holes. The gripper device also includes a plurality of fasteners, which pass through the first holes, second holes and third holes at corresponding positions, so that the clamping member and the outer shell clamp the bottom edge.

13. The control method for a space robot as described in claim 12, characterized in that, The first hole is a blind hole, the second hole is a through hole, and the third hole is a through hole.

14. The control method for a space robot as described in claim 11, characterized in that, The connector includes a boss, the cross-section of which is stepped along the axial direction of the main body, the clamping member abuts against the boss in the axial direction of the main body, and the bottom edge is clamped between the boss and the clamping member.

15. The control method for a space robot as described in claim 14, characterized in that, The connector includes a first connecting portion and a second connecting portion, which are connected to form the boss; the inner wall of the first connecting portion abuts against the peripheral surface of the main body, and the inner wall of the second connecting portion abuts against the outer wall of the clamping member.

16. The control method for a space robot as described in claim 1, characterized in that, The robotic arm includes an assembly that connects the robotic arm assembly and the gripper device.

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