Space crawling robot attachment foot

Abstract

The present invention relates to an attachment foot of a space crawling robot, comprising a base plate, and also comprising: a flexible base arranged on the lower surface of the base plate, the lower surface of the flexible base being provided with a bionic adhesive material; a plurality of claw feet rotatably arranged on the base plate, each claw foot being provided with a transmission structure; the transmission structure comprising: a directional support rod fixedly arranged on the upper surface of the base plate; a slider sleeved on the directional support rod and movable along the directional support rod; the slider is connected to the claw foot through a connecting rod, and is configured as follows: the slider moves along the directional support rod to drive the claw foot to rotate. The present invention can achieve reliable attachment to spacecraft surfaces of different roughnesses in a space environment, a plurality of claw feet are designed in the attachment foot, each claw foot is designed with a set of independent transmission mechanisms, the space robot can be stably attached to the target spacecraft surface for a long time, and is suitable for scenes where the crawling robot foot is frequently attached and detached.

Description

Technical Field

[0001] The invention relates to the technical field of space crawling robots, and in particular to an attachment foot of a space crawling robot. Background Art

[0002] The rapid development of space technology has made the structure and functions of spacecraft more complex and the cost more expensive, so the importance of developing spacecraft on-orbit service capabilities is becoming increasingly important. Space crawling robots can traverse and patrol the surface of spacecraft, perform tasks such as extravehicular status monitoring, fault location and diagnosis, repair and maintenance, etc., and have been one of the research hotspots in the field of aerospace technology in recent years.

[0003] In the special environment of space, achieving reliable adhesion between the robot and the target is one of the keys to the successful application of space crawling robots. At present, dry adhesion imitating the bristles on the paws of geckos and claw attachment imitating the tarsus of insects are two more feasible attachment schemes for application in space environments. Dry adhesion is based on the van der Waals force mechanism, which establishes effective adhesion with the wall through a large number of microscopic bristle arrays. In theory, it is not affected by vacuum or temperature and is suitable for relatively smooth surfaces; claw attachment uses spikes or hook-like structures to form a lock with the microscopic concave-convex structure of the target surface to establish a connection, which is more suitable for rough surfaces.

[0004] Different equipment and parts outside the spacecraft are made of different materials, and their surface roughness characteristics vary greatly, so it is necessary to study robot attachment feet that can adapt to surfaces of different roughness. On the other hand, the attachment feet of space crawling robots need to frequently perform attachment and detachment actions, so the attachment feet are required to be able to reliably attach to surfaces of different roughness and to be able to detach easily.

[0005] Yu Zhiwei and others disclosed "Robotic feet and legs combining dry adhesion and hooks, and robots and movement methods" (CN201910991692.3), which simulate the dry adhesion and hook action mechanism of insects, and adapt to smooth and rough surfaces at the same time. It uses the ground support force exerted on the robot's feet when they land to unfold the elastic sole surface to achieve adsorption and grasping; when the foot is lifted, the ground support force is reduced, and the elastic sole is driven by the spring to recover and achieve detachment. However, in space, the robot is in a zero-gravity environment, and the robot's feet are not supported by the ground, so it will be difficult for the robot's feet to maintain an attached state. Therefore, this invention is not suitable for space crawling robots; and the robot's feet use a solution of directly forcibly lifting the feet when detaching, which is not suitable for application scenarios with frequent attachment and detachment. Summary of the invention

[0006] The present invention provides an attachment foot for a space crawling robot, which can enable the space crawling robot to reliably attach and climb on surfaces of different roughnesses of a spacecraft.

[0007] The present invention provides a space crawling robot attachment foot, comprising a base plate and further comprising:

[0008] A flexible substrate is arranged on the lower surface of the bottom plate, and a bionic adhesive material is arranged on the lower surface of the flexible substrate;

[0009] A plurality of claws and thorns are rotatably arranged on the bottom plate, and any of the claws and thorns is equipped with a transmission structure;

[0010] The transmission structure comprises:

[0011] A directional support rod, fixedly arranged on the upper surface of the bottom plate;

[0012] A sliding block, sleeved on the directional support rod, and movable along the directional support rod;

[0013] The slider is connected to the claw foot through a connecting rod and is configured as follows:

[0014] The sliding block moves along the directional support rod to drive the claw foot to rotate.

[0015] In any of the above technical solutions, the bottom plate is provided with notches adapted to the plurality of claw feet.

[0016] In any of the above technical solutions, a driving device for driving the slider is also included, and the driving device includes:

[0017] A compression spring is disposed between the slider and the bottom plate;

[0018] The movable plate is arranged above the plurality of sliding blocks, any one of the directional support rods passes through the movable plate, and the movable plate is driven by a driving member to move along the directional support rod.

[0019] In any of the above technical solutions, a plurality of the claws and thorns are equipped with one moving plate and a corresponding driving member, and the driving member includes:

[0020] A motor, fixed to the bottom plate via a motor fixing bracket;

[0021] A lead screw is fixed to the output end of the motor, and the lead screw passes through a threaded hole arranged at the center position of the moving plate.

[0022] In any of the above technical solutions, the claw thorn foot includes:

[0023] The claw-spined foot body is a semi-cylindrical structure, and a convex structure is provided at one end of the semi-cylindrical horizontal plane axis;

[0024] The claw thorn is arranged at the other end of the semi-cylindrical horizontal plane of the claw thorn foot body, and a micro spring is arranged between the claw thorn and the claw thorn foot body;

[0025] Through holes are arranged on two parallel circular surfaces of the semi-cylindrical structure of the claw foot body, and the fixed shaft on the bottom plate passes through the through holes, and the fixed shaft is fixedly arranged in the notch.

[0026] In any of the above technical solutions, the claw thorn foot also includes:

[0027] The first ear plate is fixedly arranged on the circular surface of the semi-cylindrical structure of the claw foot body and is connected to the connecting rod through a first pin shaft.

[0028] In any of the above technical solutions, a second ear plate is fixed on the sliding block, and the second ear plate is connected to the connecting rod via a second pin shaft.

[0029] In any of the above technical solutions, the angles between any two adjacent claw thorns are equal.

[0030] In any of the above technical solutions, it also includes:

[0031] An upper cover plate, arranged on the top ends of the plurality of directional support rods;

[0032] The shell is fixedly arranged on the bottom plate.

[0033] In any of the above technical solutions, the bionic adhesive material is a dry adhesive material imitating the bristle array of the gecko's paw.

[0034] According to the concept of the present invention, the two proposed attachment schemes of attachment foot fusion dry adhesion and claw thorn grasping attachment can provide better attachment effects for target surfaces with different roughness.

[0035] According to one aspect of the present invention, the attachment foot uses the elastic force of the compression spring to provide the claw's grasping force, which is a passive force solution. In the grasping state, there is no need for the motor to be always in a load state, so that the space crawling robot can be stably attached to the target spacecraft surface for a long time with low power consumption.

[0036] According to one aspect of the present invention, each claw foot in the attachment foot is designed with an independent transmission mechanism, which is independently driven by its own compression spring, and a micro spring is installed between each claw and the claw foot body. This two-stage spring solution makes the claw attachment more adaptable to different rough surfaces.

[0037] According to one aspect of the present invention, the attachment foot adopts a motor-driven active detachment scheme during detachment, and uses the protrusions on one side of the multiple claws to lift the attachment foot to achieve detachment from the target. Compared with the traditional scheme of directly forcibly lifting the attachment foot, detachment is more reliable and more suitable for frequent attachment and detachment scenarios of the crawling robot foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram schematically shows the overall structure of the attachment foot of a space crawling robot according to an embodiment of the present invention;

[0040] Figure 2 A cross-sectional view schematically showing an attachment foot of a space crawling robot according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the claw-spur foot structure of the attachment foot of a space crawling robot according to an embodiment of the present invention is schematically shown;

[0042] Figure 4 A schematic diagram schematically showing an initial state and a dry adhesion state of an attachment foot of a space crawling robot according to an embodiment of the present invention;

[0043] Figure 5 A schematic diagram schematically showing the detachment state of the attachment foot of a space crawling robot according to an embodiment of the present invention;

[0044] Figure 6 A schematic diagram schematically shows the claw grasping state of the attachment foot of a space crawling robot according to an embodiment of the present invention.

[0045] in, Figures 1 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0046] 1. Shell; 2. Claw foot; 3. Bottom plate; 4. Flexible substrate; 5. Bionic adhesive material; 6. Lead screw; 7. Upper cover plate; 8. Moving plate; 9. Directional support rod; 10. Slider; 11. Second pin shaft; 12. Connecting rod; 13. First pin shaft; 14. Compression spring; 15. Motor; 16. Motor fixing bracket; 17. Fixed shaft; 201. Claw foot body; 202. Claw; 203. Micro spring; 2011. Protruding structure. DETAILED DESCRIPTION

[0047] The description of the embodiments of this specification should be combined with the corresponding drawings, which should be considered as part of the complete specification. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated for simplification or convenience. Furthermore, the parts of each structure in the drawings will be described separately. It is worth noting that the elements not shown in the drawings or not described in words are in a form known to ordinary technicians in the relevant technical field.

[0048] The description of the embodiments herein and any reference to directions and orientations are only for the convenience of description and are not to be construed as any limitation on the scope of protection of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0049] like Figures 1 to 6 As shown, a space crawling robot attachment foot includes a base plate 3 and also includes:

[0050] A flexible substrate 4 is arranged on the lower surface of the bottom plate 3, and a bionic adhesive material 5 is arranged on the lower surface of the flexible substrate 4;

[0051] A plurality of claws and thorns 2 are rotatably arranged on the bottom plate 3, and each claw and thorn 2 is equipped with a transmission structure;

[0052] The transmission structure includes:

[0053] A directional support rod 9 is fixedly arranged on the upper surface of the bottom plate 3;

[0054] The slider 10 is sleeved on the directional support rod 9 and can move along the directional support rod 9;

[0055] The slider 10 is connected to the claw foot 2 through a connecting rod 12 and is configured as follows:

[0056] The slide block 10 moves along the directional support rod 9 to drive the claw prong foot 2 to rotate.

[0057] In this embodiment, the space crawling robot attachment foot is integrally configured with a bionic adhesive material 5 and a claw foot 2. When the target surface to be attached is a relatively smooth surface, the space crawling robot attachment foot falls down, and the bionic adhesive material 5 on the sole contacts the target surface, thereby establishing a dry attachment connection with the target; when the target surface to be attached is a relatively rough surface, the space crawling robot attachment foot falls down, and the bionic adhesive material 5 on the sole contacts the target surface, but a stable and reliable attachment connection is not established with the target surface, and the claw foot 2 is used to grasp and supplement the adhesion. By integrating the two attachment schemes of dry adhesion and claw 202 grasping, the attachment foot can achieve reliable attachment to spacecraft surfaces of different roughness in a space environment. A plurality of claw feet 2 are designed in the attachment foot, and each claw foot 2 is designed with an independent transmission mechanism. The space robot can stably attach to the target spacecraft surface for a long time, which is suitable for the scenario where the crawling robot foot is frequently attached and detached.

[0058] The bottom plate 3 is the main supporting structure plate, and most of the other components are connected to the bottom plate 3. The lower surface of the bottom plate 3 (here, the side where the foot plate contacts the target) is covered with a layer of flexible substrate 4, and the other side of the flexible substrate 4 is integrated with a bionic adhesive material 5. The flexible adhesive layer formed can adapt to the attachment and crawling on a smooth surface. The existence of the flexible substrate 4 improves the posture tolerance of the robot's attachment foot in contact with the target surface.

[0059] The number of the claws 2 can be designed to be 3 to 6, preferably 4.

[0060] In one embodiment of the present invention, preferably, the bottom plate 3 is provided with notches adapted to the plurality of claw feet 2 .

[0061] In this embodiment, the bottom plate 3 is provided with slots adapted to the plurality of claw feet 2, and the claw feet 2 are arranged in the slots, so that the overall structure of the attachment foot of the crawling robot is more compact and the space utilization is improved.

[0062] In one embodiment of the present invention, preferably, a driving device for driving the slider 10 is further included, and the driving device includes:

[0063] A compression spring 14 is disposed between the slider 10 and the bottom plate 3;

[0064] The movable plate 8 is arranged above the plurality of sliders 10 , and any directional support rod 9 passes through the movable plate 8 . The movable plate 8 is driven by a driving member to move along the directional support rod 9 .

[0065] In one embodiment of the present invention, preferably, a plurality of claws 2 are provided with a moving plate 8 and a corresponding driving member, and the driving member comprises:

[0066] The motor 15 is fixed on the bottom plate 3 through the motor fixing bracket 16;

[0067] The lead screw 6 is fixed to the output end of the motor 15 , and passes through a threaded hole arranged at the center position of the moving plate 8 .

[0068] like Figure 3 In one embodiment of the present invention, preferably, the claw thorn foot 2 comprises:

[0069] The claw foot body 201 is a semi-cylindrical structure, and a protruding structure 211 is provided at one axial end of the semi-cylindrical horizontal plane;

[0070] The claw thorn 202 is arranged at the other end of the semi-cylindrical horizontal plane of the claw foot body 201, and a micro spring 203 is arranged between the claw thorn 202 and the claw foot body 201;

[0071] Through holes are arranged on the two parallel circular surfaces of the semi-cylindrical structure of the claw foot body 201, and the fixed shaft 17 on the bottom plate 3 passes through the through holes, and the fixed shaft 17 is fixedly arranged in the notch.

[0072] In this embodiment, the claw foot 2 is composed of a claw foot body 201, claw thorns 202, and a micro spring 203. The claw foot body 201 is a semi-cylindrical structure, one side of the lower end surface of the claw foot body 201 is a raised structure 2011, and the other side is equipped with multiple claw thorns 202. A micro spring 203 is installed between each claw thorn 202 and the claw foot body 201, so that each claw thorn 202 can adaptively adjust the amount of expansion and contraction when grasping a rough surface, further improving the adaptability of the claw thorn 202 to grasping a rough surface. In a specific implementation, the micro spring 203 can be replaced with other micro elastic elements, which can provide the claw thorn 202 with a certain expansion and contraction flexibility. The raised structure 2011 on one side of the claw foot body 201 can be used to lift the attachment foot when detaching, so as to achieve reliable separation of the attachment foot from the target.

[0073] In one embodiment of the present invention, preferably, the claw foot 2 further includes:

[0074] The first ear plate is fixedly arranged on the circular surface of the semi-cylindrical structure of the claw foot body 201 and is connected to the connecting rod 12 through the first pin shaft 13.

[0075] In one embodiment of the present invention, preferably, a second ear plate is fixed on the slider 10 , and the second ear plate is connected to the connecting rod 12 via a second pin shaft 11 .

[0076] In this embodiment, the independent parts of the driving device of each claw foot 2 include a slider 10, a second ear plate, a second pin 11, a connecting rod 12, a first ear plate, a first pin 13 and the claw foot 2, and the common parts are a motor 15, a screw 6 and a moving plate 8. Among them, the slider 10 is arranged on the directional support rod 9 and is connected to the connecting rod 12 through the second pin shaft 11. The connecting rod 12 is connected to the claw foot 2 through the first pin shaft 13. The claw foot 2 is arranged on the base plate 3 through the fixed shaft 17 and can rotate with the fixed shaft 17 as the rotation axis. When the slider 10 slides on the directional support rod 9, the claw foot 2 is driven to rotate around the fixed shaft 17 through the connecting rod 12. The motor 15 is fixed to the base plate 3 through the motor fixing frame 16. The output shaft of the motor 15 is connected to the screw 6. A movable plate 8 is arranged on the screw 6. The movable plate 8 is simultaneously mounted on multiple directional support rods 9. The motor 15 can drive the movable plate 8 to slide up and down on the directional support rod 9 through the screw 6. Multiple directional support rods 9 are fixed on the base plate 3 and are evenly arranged in a circle. Each directional support rod 9 is sequentially mounted with a compression spring 14 and a slider 10 from bottom to top. The moving plate 8 is adjacent to the sliders 10 . The moving plate 8 is disposed above the plurality of sliders 10 . The moving plate 8 can push the sliders 10 to slide on the directional support rods 9 .

[0077] In one embodiment of the present invention, preferably, the angles between any two adjacent claw feet 2 are equal.

[0078] In this embodiment, when there are three claws 2, the included angle is 120°; when there are four claws 2, the included angle is 90°; when there are six claws 2, the included angle is 60°.

[0079] In one embodiment of the present invention, preferably, it further comprises:

[0080] An upper cover plate 7 is arranged on the top ends of a plurality of directional support rods 9;

[0081] The housing 1 is fixedly mounted on the bottom plate 3 .

[0082] In this embodiment, the upper cover plate 7 is installed at the other end of the directional support rod 9 to ensure the stability of the directional support rod 9. The outer shell 1 is installed on the outermost side to achieve packaging and protection of the entire set of attachment feet. The outer shell 1 is connected to the end of the robot leg.

[0083] In one embodiment of the present invention, the bionic adhesive material 5 is a dry adhesive material imitating the bristle array of the gecko's paw. Preferably, the material is made of low-temperature resistant silicone rubber, has adaptability to space environment, and realizes microscopic bristle array processing through electric induced molding process.

[0084] The movement method of the space crawling robot attachment foot of the present invention is as follows:

[0085] (1) Initial state of the attachment foot:

[0086] In the initial state of the attachment foot (the attachment foot is lifted up and not dropped), the motor 15 drives the movable plate 8 to move to a suitable position (recorded as position 1) through the lead screw 6. At this time, the sliders 10 on each directional support rod 9 are attached to the lower end surface of the movable plate 8 under the elastic force of each compression spring 14. Each slider 10 adjusts each claw foot 2 to a balanced position through each connecting rod 12, that is, the protruding structure 2011 on one side of the claw foot body 201 and the claw 202 on the other side do not protrude from the sole surface of the foot, which is convenient for landing. At this time, the state of the attachment foot can be seen in Figure 4 .

[0087] (2) Adhesion-desorption movement on smooth surface:

[0088] When the target surface to be attached is a relatively smooth surface, the space crawling robot's attachment foot falls down, and the bionic adhesive material 5 on the sole contacts the target surface, thereby establishing a dry attachment connection with the target. At this time, the state of the attachment foot can be seen in Figure 4. When the attachment foot needs to be lifted, that is, needs to be detached, the motor 15 drives the moving plate 8 to move downward a certain distance through the screw 6 (the position of the moving plate 8 is recorded as position 2 at this time), and the moving plate 8 pushes each slider 10 to move downward synchronously along each directional support rod 9. The slider 10 drives the claw foot 2 to rotate through the connecting rod 12, and the raised structure 2011 on one side of the claw foot body 201 gradually protrudes from the bottom surface of the foot, thereby lifting the attachment foot, separating the attachment foot from the target, and achieving the purpose of detachment. The state of the attachment foot at this time can be seen in the figure. When the attachment foot is completely lifted, the motor 15 drives the moving plate 8 back to position 1 through the screw 6, and each slider 10 also returns to its original position under the action of the restoring force of each compression spring 14, and the claw foot 2 returns to the equilibrium position, waiting for the next foot landing attachment.

[0089] That is, when the robot is crawling on a smooth surface, the attachment foot of the present invention will be in a periodic action of "lifting state (preparing to land) - landing attachment state - desorption action - lifting state (preparing to land) -", and accordingly, the motor 15 drives the moving plate 8 to be in a periodic state of "position 1 - maintaining position 1 (forming a dry adsorption connection) - moving to position 2 (desorption action) - returning to position 1" in sequence.

[0090] (3) Adhesion-desorption movement on rough surface:

[0091] When the target surface to be attached is a relatively rough surface, the attachment foot of the space crawling robot falls down, and the bionic adhesive material 5 on the sole contacts the target surface, but does not establish a stable and reliable attachment connection with the target. At this time, the claw 202 is needed to grasp and provide additional adhesion. The specific movement method is: the motor 15 drives the movable plate 8 to move upward to a suitable position (recorded as position 3) through the screw 6. Without the obstruction of the movable plate 8, each slider 10 will move upward under the action of the restoring force of each compression spring 14, thereby driving the claw foot 2 to rotate through the connecting rod 12, so that the claw 202 grasps the rough surface of the target and forms a grasping adhesion. At this time, in each set of claw 202 grasping connecting rod mechanism, the restoring force of the compression spring 14 on the slider 10 and the force of the target on the claw foot 2 form a balance. Due to the differences in the microscopic peaks and valleys of the rough surface of the target, each claw foot 2 adaptively grasps the target, and the degree of recovery of the compression spring 14 is slightly different. At this time, the state of the attachment foot can be seen. Figure 6 , the two compression springs 14 on the left and right sides of the figure have different recovery degrees, which reflects the high adaptability of the multiple independently driven claws 202 used in the attachment foot of the present invention to the rough surface.

[0092] When the attachment foot needs to be lifted (i.e., needs to be detached), the motor 15 drives the moving plate 8 to move downward through the lead screw 6, and the moving plate 8 passes through position 1 and reaches position 2. When passing position 1, the claw 202 of the claw foot 2 has been separated from the target and returned to the equilibrium position; when reaching position 2, the protruding structure 20112011 on one side of the claw foot body 201 lifts the attachment foot to achieve complete detachment. When the attachment foot is completely lifted, the motor 15 drives the moving plate 8 back to position 1 through the lead screw 6, and the attachment foot is reset to the initial state, waiting for the next foot landing attachment.

[0093] That is, when the robot crawls on a rough surface, the attachment foot of the present invention will be in a periodic action of "lifting state (preparing to land) - landing foot is not completely attached - claw 202 grasps and attaches - detachment action - lifting state (preparing to land)", and accordingly, the motor 15 drives the moving plate 8 to be in a periodic state of "position 1 - maintaining position 1 - moving to position 3 (forming claw 202 grasping and attaching) - moving to position 2 (detachment action) - returning to position 1" in sequence.

[0094] The space crawling robot attachment foot of the present invention is equipped with bionic adhesion material and claw feet on the entirety of the space crawling robot attachment foot. When the target surface to be attached is a relatively smooth surface, the space crawling robot attachment foot falls down, and the bionic adhesion material on the sole contacts the target surface, thereby establishing a dry attachment connection with the target; when the target surface to be attached is a relatively rough surface, the space crawling robot attachment foot falls down, and the bionic adhesion material on the sole contacts the target surface, but a stable and reliable attachment connection is not established with the target surface, and the claw feet are used to supplement the adhesion force. By integrating the two attachment schemes of dry adhesion and claw feet, the above-mentioned attachment foot can achieve reliable attachment to spacecraft surfaces of different roughness in a space environment. A plurality of claw feet are designed in the attachment foot, and each claw foot 2 is designed with a set of independent transmission mechanisms. The space robot can be stably attached to the target spacecraft surface for a long time, and is suitable for the scenario where the crawling robot foot is frequently attached and detached.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A space crawling robot attachment foot, comprising a base plate, characterized in that: Also includes: A flexible substrate (4) is arranged on the lower surface of the bottom plate (3), and a bionic adhesive material (5) is arranged on the lower surface of the flexible substrate (4); A plurality of claws and thorns (2) are rotatably arranged on the bottom plate (3), and any of the claws and thorns (2) is provided with a transmission structure; The transmission structure comprises: A directional support rod (9) fixedly arranged on the upper surface of the bottom plate (3); A sliding block (10) is sleeved on the directional support rod (9) and is movable along the directional support rod (9); The slider (10) is connected to the claw foot (2) via a connecting rod (12) and is configured as follows: The sliding block (10) moves along the directional support rod (9) to drive the claw foot (2) to rotate; It also includes a driving device for driving the slider (10), the driving device comprising: A compression spring (14) is arranged between the slider (10) and the bottom plate (3); A movable plate (8) is arranged above the plurality of sliding blocks (10), any one of the directional support rods (9) passes through the movable plate (8), and the movable plate (8) is driven by a driving member to move along the directional support rod (9); The plurality of claw thorn feet (2) are equipped with a movable plate (8) and a corresponding driving member, wherein the driving member comprises: A motor (15) is fixed on the bottom plate (3) via a motor fixing frame (16); A lead screw (6) is fixed to the output end of the motor (15), and the lead screw (6) passes through a threaded hole arranged at the center position of the movable plate (8); The clawed foot (2) comprises: The claw-spined foot body (201) is in a semi-cylindrical structure, and a protruding structure (2011) is provided at one axial end of the semi-cylindrical horizontal plane; The claw thorn (202) is arranged at the other end of the semi-cylindrical horizontal plane of the claw thorn foot body (201) in the axial direction, and a micro spring (203) is arranged between the claw thorn (202) and the claw thorn foot body (201); The bottom plate (3) is provided with notches adapted to fit the plurality of claw thorn feet (2); Through holes are provided on the two parallel circular surfaces of the semi-cylindrical structure of the claw foot body (201); the fixed shaft (17) on the bottom plate (3) passes through the through holes; the fixed shaft (17) is fixedly arranged in the notch.

2. The space crawling robot attachment foot according to claim 1, characterized in that: The clawed foot (2) also includes: The first ear plate is fixedly arranged on the circular surface of the semi-cylindrical structure of the claw foot body (201) and is connected to the connecting rod (12) via a first pin shaft (13).

3. The space crawling robot attachment foot according to claim 2, characterized in that: A second ear plate is fixed on the sliding block (10), and the second ear plate is connected to the connecting rod (12) via a second pin shaft (11).

4. The space crawling robot attachment foot according to claim 1, characterized in that: The included angles between any two adjacent claw thorns (2) are equal.

5. The space crawling robot attachment foot according to claim 1, characterized in that: Also includes: An upper cover plate (7) is arranged on top ends of the plurality of directional support rods (9); The outer shell (1) is fixedly arranged on the bottom plate (3).

6. The space crawling robot attachment foot according to claim 1, characterized in that: The bionic adhesive material (5) is a dry adhesive material imitating the bristle array of the gecko's paw.

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