An adhesive robot capable of stable compliant landing

Abstract

The application discloses an adhering robot capable of stable and compliant landing, comprising a fuselage, a plurality of three-degree-of-freedom single legs arranged on the bottom side of the fuselage, an adhering foot sole arranged at the end of the three-degree-of-freedom single leg, and a single leg sub-controller, a main controller and a power battery arranged on the fuselage respectively, the three-degree-of-freedom single leg corresponding to the adhering foot sole and the single leg sub-controller one by one; the power battery is electrically connected with the three-degree-of-freedom single leg, the adhering foot sole, the single leg sub-controller and the main controller respectively; the single leg sub-controller is communicatively connected with the main controller and the corresponding three-degree-of-freedom single leg respectively; the single leg sub-controller makes the three-degree-of-freedom single leg and the adhering foot sole move according to the instruction of the main controller, so as to realize the walking and buffer landing of the robot. The adhering foot sole is used as a primary buffer mechanism, and the three-degree-of-freedom single leg is used as a secondary buffer mechanism with adjustable stiffness and damping, the adhering foot sole and the three-degree-of-freedom single leg jointly work to improve the success rate and stability of the robot and the target spacecraft adhesion, and effectively reduce the disturbance to the target spacecraft.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an adhesive robot capable of stable and compliant landing. Background Technology

[0002] In recent decades, with the rapid development of space technology, human activities have continuously expanded in the space environment. On-orbit servicing, as a crucial branch of space missions, mainly includes assisting astronauts with their activities, on-orbit maintenance, and on-orbit assembly. Among these, the ability to enable space robots to perform on-orbit inspection and repair tasks on target spacecraft urgently needs development. Currently, most existing spacecraft are not specifically designed for docking or capture, and both the target spacecraft and the space robot float in zero gravity or microgravity. This makes the smooth landing of a space robot with a certain relative velocity on the target spacecraft a highly significant and challenging task.

[0003] For space robots designed for landing and adhesion to target spacecraft, the performance of their landing cushioning system and stable adhesion capabilities are crucial. Currently, some dry-adhesion space robot designs are emerging, such as the Chinese patent application (CN202011061468.3). Figure 1 As shown, this robot is designed with four four-degree-of-freedom (DOF) legs and four small-sized force-sensing integrated adhesive feet. The four DDF legs are arranged in pairs on the front and rear sides of the robot body. The main control board, sub-control boards, and high-capacity lithium batteries are all located on the robot body. The main control board and sub-control boards are electrically connected, and the high-capacity lithium batteries provide power. The four small-sized force-sensing integrated adhesive feet are located at the ends of the four DDF legs. Advantages: The robot's four DDF legs, through the rational layout of the drive motors, increase the range of motion of the shoulder joints, allowing for free adjustment of the robot's height. The integrated adhesive feet utilize biomimetic dry adhesive materials to maximize adhesive performance, enabling small feet to generate large adhesive forces, thus achieving the ability to support large-mass robots and heavy loads.

[0004] However, the space robots based on dry adhesion designed in the above inventions and other currently disclosed technologies are not suitable for microgravity environments in space. They have a certain initial velocity relative to the target spacecraft when they are adhering to the target spacecraft. In the process of collision adhesion with a certain initial velocity, not only is there a high stability requirement for the robot's leg structure, but it is also necessary to suppress the large disturbance caused by the collision to the target spacecraft to avoid adhesion failure due to excessive collision force. One of the key conditions for the dry adhesion material to generate stable adhesion force is the degree of adhesion between the dry adhesion material and the target surface. Most of the other currently disclosed inventions adopt an adaptive scheme that combines passive joints and flexible layers. Therefore, the stiffness cannot be adjusted. In the process of collision adhesion, it is impossible to adhere to the uneven contact target surface, resulting in poor adhesion stability and limited adaptability. Summary of the Invention

[0005] The purpose of this invention is to provide an adhesion robot that can land smoothly and stably, so as to solve the problems of existing adhesion robots being unable to land smoothly and having poor adhesion stability in microgravity environments.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] An adhesive robot capable of stable and compliant landing includes: a body, several three-degree-of-freedom single legs disposed on the underside of the body, adhesive feet disposed at the ends of the three-degree-of-freedom single legs, and single-leg sub-controllers, main controllers, and power batteries disposed on the body respectively, with each three-degree-of-freedom single leg corresponding to an adhesive foot and a single-leg sub-controller.

[0008] The power battery is electrically connected to the three-degree-of-freedom single leg, the attached foot, the single leg sub-controller and the main controller respectively. The single leg sub-controller is communicatively connected to the main controller and the corresponding three-degree-of-freedom single leg respectively.

[0009] The single-leg controller moves the three-degree-of-freedom single leg and the attached foot according to the instructions of the main controller, enabling the robot to walk and land with cushioning.

[0010] In this invention, the adhesive foot and the three-degree-of-freedom single leg are respectively connected to a single-leg sub-controller. The single-leg sub-controller analyzes the feedback information from the three-degree-of-freedom single leg, and then the main controller analyzes the information and sends command information to the single-leg sub-controller, thereby realizing stable walking and smooth cushioning landing of the three-degree-of-freedom single leg and the adhesive foot. At the same time, the adhesive foot can be used to adhere to uneven contact surfaces, enabling the robot to walk on uneven surfaces and land smoothly on them. Under the action of the single-leg sub-controller, the adhesive foot of this invention acts as a primary buffer mechanism, and the three-degree-of-freedom single leg acts as a secondary buffer mechanism with adjustable stiffness and damping. Together, they improve the adhesion success rate and stability of the robot to the target spacecraft and effectively reduce disturbance to the target spacecraft.

[0011] Furthermore, the foot attachment includes an upper foot plate, a lower foot plate located below the upper foot plate, multiple pushers disposed on the upper foot plate, and a connecting seat disposed on the upper foot plate and connected to the end of a three-degree-of-freedom single leg. The pushers are communicatively connected to the single-leg controller.

[0012] The foot plate is composed of multiple fan-shaped plates with the same angle arranged circumferentially. The number of pushing parts is the same as the number of fan-shaped plates. The output end of the pushing parts is movably connected to the corresponding fan-shaped plate, and multiple adhesive attachments are glued to the bottom of each fan-shaped plate.

[0013] Furthermore, each sector plate is equipped with a spherical bearing, and the output end of the pusher is movably connected to the spherical bearing.

[0014] Furthermore, the thickness of the adhesive attachment is 1.5 to 2.5 mm, and the adhesive attachment has a circular structure with a radius of 2 to 15 mm.

[0015] The pusher on the upper foot plate of the present invention is movably connected to the joint bearing on the lower foot plate, and the lower foot plate is composed of multiple fan-shaped plates. When the target surface is uneven, the pusher and the fan-shaped plates can make contact with the uneven target surface, and then the adhesive at the bottom of the fan-shaped plates can be used for adhesion. After the adhesive is successfully adhered, it serves as a fixed end. Under the action of the pusher, the upper foot plate can move within a certain range of tilt angles, forming an adaptive property to the contact surface. This ensures the stable adhesion of the adhesive to the target surface, facilitating smooth and cushioned landing and stable walking on uneven target surfaces.

[0016] Furthermore, the three-degree-of-freedom single leg includes a drive unit mounted on the body, a Z-frame located at the bottom of the body, leg link drive units mounted on both sides of the Z-frame, a leg link assembly connected to the output end of the leg link drive unit, and angle sensors mounted on both sides of the Z-frame for detecting the rotation angle of the leg link drive unit's shaft. The output end of the drive unit passes through the body and connects to the Z-frame, and the end of the leg link assembly connects to the connecting seat. The drive unit, the leg link drive unit, and the angle sensors are all communicatively connected to the single leg controller.

[0017] The driving component of this invention can adjust the direction of a three-degree-of-freedom single leg under the drive of the single-leg controller. An angle sensor is used to collect the rotation angle of the shaft of the leg link drive component, thereby determining the rotation angle of the first and second thigh links in the leg link assembly. The angle information is then fed back to the single-leg controller, which analyzes the angle information and feeds it back to the main controller. The main controller then issues command information to the single-leg controller, which controls the leg link assembly through the leg link drive component, thereby realizing the vertical movement of the leg link assembly and enabling the robot to walk and smoothly land.

[0018] Furthermore, the leg linkage assembly includes a first thigh linkage that mates with the output end of a leg linkage drive member, a second thigh linkage that mates with the output end of another leg linkage drive member, a first lower leg linkage, a second lower leg linkage, knee joints connected to the beginning ends of the first and second lower leg linkages respectively, and an end joint that rotatably engages with the end ends of the first and second lower leg linkages. The end end of the first thigh linkage rotatably engages with the knee joint on the first lower leg linkage, and the end end of the second thigh linkage rotatably engages with the knee joint on the second lower leg linkage. The end joint is connected to a connecting seat.

[0019] The first thigh link and the second thigh link of this invention are driven simultaneously by two leg link drive components, enabling the two thigh links to rotate synchronously. This, in turn, causes the knee joints on the first lower leg link and the second lower leg link to rotate around the two thigh links, realizing the vertical movement of the leg link assembly. Furthermore, by adjusting the angles of the first thigh link, the second thigh link, the first lower leg link, and the second lower leg link, the stiffness and damping of the leg link assembly can be adjusted. In conjunction with the foot adhesion, it adapts to a smooth landing and stable adhesion with a certain initial velocity in the microgravity environment of space, and effectively reduces disturbance to the target spacecraft.

[0020] Furthermore, the knee joint includes two knee joint connecting plates and a connecting shaft connecting the two knee joint connecting plates. The first thigh connecting rod and the second thigh connecting rod are respectively rotatably engaged with the connecting shaft. The first lower leg connecting rod is connected to the knee joint connecting plate of one knee joint, and the second lower leg connecting rod is connected to the knee joint connecting plate of the other knee joint.

[0021] Furthermore, the Z-frame includes a main support and side cantilever arms connected to both sides of the main support, with the leg linkage drive and angle sensor respectively connected to the side cantilever arms.

[0022] Furthermore, the drive unit is connected to the fuselage via a U-shaped frame.

[0023] Furthermore, the machine body is equipped with a fixed base that connects to the U-shaped frame, and the machine body has multiple load mounting holes for easy installation of the single-leg sub-controller, main controller and power battery, as well as multiple wire passage holes.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The present invention provides a stable and compliant landing adhesion robot. During the collision and adhesion process between the robot and the target spacecraft, the adhesion foot serves as a primary buffer mechanism with adjustable stiffness, and the three-degree-of-freedom single leg serves as a secondary buffer mechanism with adjustable stiffness and damping. Together, they improve the adhesion success rate and stability between the robot and the target spacecraft, and effectively reduce disturbance to the target spacecraft.

[0026] 2. The adhesive robot of the present invention, which can land stably and smoothly, adopts a parallel leg structure for the leg link assembly, and is driven directly in parallel by two leg link drive components, which effectively improves the rigidity, load capacity, impact resistance and response speed of the robot legs.

[0027] 3. The adhesive robot of the present invention, which can land smoothly and stably, has a pusher on the upper plate of the foot that is attached to the foot that is movably connected to the lower plate of the foot. This effectively reduces the peak impact force at the moment of impact and ensures that the adhesive attachment has a high degree of fit with the target surface during the collision and adhesion process between the robot and the target spacecraft, thereby providing a stable adhesive force and thus achieving smooth landing and stable walking.

[0028] 4. The adhesive robot of the present invention, which can land smoothly and stably, can switch between two different modes: landing and adhesion mode and roaming and adhesion mode. The landing and adhesion mode successfully achieves a smooth landing and stable adhesion posture with a certain initial velocity. The roaming and adhesion mode can achieve in-situ turning and stable walking in all directions. Attached Figure Description

[0029] Figure 1 A schematic diagram of the structure of an existing landing and adhesion space robot;

[0030] Figure 2 A schematic diagram of the overall structure of an adhesive robot capable of stable and compliant landing;

[0031] Figure 3 This is a structural diagram of the fuselage;

[0032] Figure 4 This is a schematic diagram of a three-degree-of-freedom single-leg structure;

[0033] Figure 5 This is a schematic diagram of the Z-shaped frame structure;

[0034] Figure 6 This is a structural schematic diagram of the leg link assembly;

[0035] Figure 7 This is a schematic diagram of the knee joint.

[0036] Figure 8 This is a structural schematic diagram of the first thigh link / second thigh link;

[0037] Figure 9 This is a schematic diagram of the structure of the first lower leg connecting rod;

[0038] Figure 10 This is a schematic diagram of the second lower leg connecting rod;

[0039] Figure 11 A schematic diagram of the structure for attaching to the sole of the foot;

[0040] Figure 12 A schematic diagram of the structure of the foot's lower plate;

[0041] Figure 13 A 3D schematic diagram of the robot's initial posture before collision and adhesion;

[0042] Figure 14 A 3D diagram illustrating the robot's posture after successful landing and attachment.

[0043] Figure 15 A 3D schematic diagram of the robot's landing and adhesion posture on an uneven surface;

[0044] Figure 16 A 3D schematic diagram of the robot's landing and adhesion mode;

[0045] Figure 17 A 3D schematic diagram of the robot's patrol and adhesion pattern.

[0046] In the diagram: 1. Body; 11. U-shaped frame; 12. Fixing base; 13. Load mounting hole; 14. Cable guide hole; 2. Three-degree-of-freedom single leg; 21. Drive component; 22. Z-shaped frame; 221. Main support; 222. Side cantilever; 23. Leg link drive component; 24. Leg link assembly; 241. First thigh link; 242. Second thigh link; 243. First lower leg link; 244. Second lower leg link; 245. Knee joint; 2451. Knee joint connecting plate; 2452. Connecting shaft; 246. End joint; 25. Angle sensor; 3. Adhesive foot; 31. Upper foot plate; 32. Lower foot plate; 321. Fan-shaped plate; 322. Adhesive attachment; 323. Joint bearing; 33. Pushing component; 34. Connecting base; 4. Single leg sub-controller; 5. Main controller; 6. Power battery. Detailed Implementation

[0047] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] like Figure 2 and Figure 3As shown, this invention provides an adhesive robot capable of stable and compliant landing, comprising: a body 1, several three-degree-of-freedom single legs 2 disposed on the bottom side of the body 1, adhesive feet 3 disposed at the ends of the three-degree-of-freedom single legs 2, and single-leg sub-controllers 4, a main controller 5, and a power battery 6 respectively disposed on the body 1. Each three-degree-of-freedom single leg 2 corresponds one-to-one with the adhesive feet 3 and the single-leg sub-controllers 4. In this embodiment, four three-degree-of-freedom single legs 2 are provided and circumferentially distributed on the bottom of the body 1. The number of adhesive feet 3 and the number of single-leg sub-controllers 4 correspond to the number of three-degree-of-freedom single legs 2. In other embodiments of this invention, six or eight three-degree-of-freedom single legs 2 and adhesive feet 3 may also be provided. The body 1 has multiple load mounting holes 13 for easy installation of the single-leg sub-controllers 4, the main controller 5, and the power battery 6. The single-leg sub-controllers 4 and the main controller 5 are connected to the load mounting holes 13 on the body 1 by screws, and the body 1 also has multiple wire-passing holes 14. The wire hole 14 facilitates wire passage and cable management. The power battery 6 is electrically connected to the three-degree-of-freedom single leg 2, the adhesive foot 3, the single-leg controller 4, and the main controller 5. The single-leg controller 4 is communicatively connected to the main controller 5 and the corresponding three-degree-of-freedom single leg 2. In this embodiment, the power battery 6 is a high-capacity lithium battery, which is fixed to the body 1 by cable ties or screws for easy disassembly and replacement. It provides power to the three-degree-of-freedom single leg 2, the adhesive foot 3, the single-leg controller 4, and the main controller 5. The single-leg controller 4 moves the three-degree-of-freedom single leg 2 and the adhesive foot 3 according to the instructions of the main controller 5, enabling the robot to walk and land with cushioning. The adhesive foot 3 serves as a primary buffer mechanism, adaptable to uneven contact surfaces. The three-degree-of-freedom single leg 2 serves as a secondary buffer mechanism with adjustable stiffness and damping, enabling compliant landing and stable adhesion with a certain initial velocity. Together with the adhesive foot 3, they improve the success rate and stability of the robot's adhesion to the target spacecraft, and effectively reduce disturbances to the target spacecraft.

[0049] like Figure 11 and Figure 12As shown, the foot attachment 3 includes an upper foot plate 31, a lower foot plate 32 located below the upper foot plate 31, multiple pushers 33 disposed on the upper foot plate 31, and a connecting seat 34 disposed on the upper foot plate 31 and connected to the end of the three-degree-of-freedom single leg 2. The pushers 33 are communicatively connected to the single leg controller 4. The lower foot plate 32 is composed of multiple fan-shaped plates 321 with the same angle arranged circumferentially. The number of pushers 33 is the same as the number of fan-shaped plates 321. The output end of the pusher 33 is movably connected to the corresponding fan-shaped plate 321, and multiple adhesive attachments 322 are attached to the bottom of each fan-shaped plate 321. Each sector plate 321 is equipped with a joint bearing 323. The output end of the pusher 33 is movably connected to the joint bearing 323. The joint bearing 323 is fixed to the sector plate 321 by bolts. The pusher 33 is a push-type electromagnet. The upper foot plate 31 has mounting holes that match the push-type electromagnet. The push-type electromagnet is then fixed to the upper foot plate 31 by bolts. The push rod of the push-type electromagnet is connected to the movable ball head of the joint bearing 323. In this embodiment, there are four sector plates 321. The four 90-degree sector plates 321 are arranged circumferentially to form a circular lower foot plate 32. Adjacent sector plates 321 are not connected. In this embodiment, six adhesive attachments 322 are bonded to the bottom of each sector plate 321 using an adhesive. In other embodiments of the invention, the adhesive attachments 322 can be three, four, five, seven, eight, etc. The adhesive attachments 322 are made of a biomimetic dry adhesive material, with a thickness of 1.5 to 2.5 mm. The adhesive attachments 322 have a circular structure with a radius of 2 to 15 mm. In this embodiment, the diameter of the adhesive attachments 322 is 5 mm. The dry adhesive material is bonded to the bottom of the sector plate 321 using an adhesive. When the lower foot plate 32 is successfully bonded, it serves as a fixed end. The upper foot plate 31 is then movably connected to the lower foot plate 32 via a pushing member 33. The pushing member 33 can extend and retract within a small range, allowing the sector plate 321 to move within a certain tilt angle, achieving stable adhesion to the target surface. This improves the fit between the adhesive attachments 322 and the target surface, making it suitable for adhesion on uneven surfaces.

[0050] like Figures 4 to 10As shown, the three-degree-of-freedom single leg 2 includes a drive unit 21 mounted on the fuselage 1, a Z-shaped frame 22 located at the bottom of the fuselage 1, leg link drive units 23 mounted on both sides of the Z-shaped frame 22, a leg link assembly 24 connected to the output end of the leg link drive unit 23, and angle sensors 25 mounted on both sides of the Z-shaped frame 22 for detecting the rotation angle of the shaft of the leg link drive unit 23. The output end of the drive unit 21 passes through the fuselage 1 and is connected to the Z-shaped frame 22. The end of the leg link assembly 24 is connected to the connecting seat 34. The drive unit 21, the leg link drive unit 23, and the angle sensor 25 are respectively connected to the single leg controller 4. The drive unit 21 is a high-torque digital servo motor, and the leg link drive unit 23 is an IPower GM5208-12 brushless DC motor. The drive component 21 is connected to the body 1 via a U-shaped frame 11. The drive component 21 is also bolted to the U-shaped frame 11. A fixed base 12 connected to the U-shaped frame 11 is also provided on the body 1. The U-shaped frame 11 is fixed to the fixed base 12 with bolts, facilitating the disassembly and replacement of the drive component 21. The drive component 21 is used to adjust the direction of the three-degree-of-freedom single leg 2. The Z-shaped frame 22 includes a main support 221 and side cantilever arms 222 connected to both sides of the main support 221. The leg linkage drive component 23 and the angle sensor 25 are respectively connected to the side cantilever arms 222.

[0051] The leg link assembly 24 includes a first thigh link 241 connected to the output end of a leg link drive 23, a second thigh link 242 connected to the output end of another leg link drive 23, a first lower leg link 243, a second lower leg link 244, knee joints 245 connected to the beginning ends of the first lower leg link 243 and the second lower leg link 244 respectively, and an end joint 246 rotatably engaged with the end ends of the first lower leg link 243 and the second lower leg link 244. The end end of the first thigh link 241 rotatably engages with the knee joint 245 on the first lower leg link 243, and the end end of the second thigh link 242 rotatably engages with the knee joint 245 on the second lower leg link 244. The end joint 246 is connected to the connecting seat 34. In this embodiment, the connecting seat 34 in the attached foot 3 has a U-shaped structure. The two side walls of the connecting seat 34 are provided with round holes that cooperate with the end joint 246 of the leg link assembly 24, and adjustment mounting holes that cooperate with the tail end of the first lower leg link 243 and the tail end of the second lower leg link 244. The spindle of the end joint 246 is connected to the round hole. The adjustment mounting holes have an arc-shaped structure and are distributed circumferentially along the round hole. The adjustment mounting holes are used so that when the leg link assembly 24 is in different initial adjustment positions, the attached foot 3 can be easily adjusted to be parallel to the collision contact surface during installation.

[0052] The knee joint 245 includes two knee joint connecting plates 2451 and a connecting shaft 2452 connecting the two knee joint connecting plates 2451. The two knee joint connecting plates 2451 are provided with bearings that cooperate with the connecting shaft 2452. The first thigh connecting rod 241 and the second thigh connecting rod 242 are respectively rotatably engaged with the connecting shaft 2452. The first lower leg connecting rod 243 is connected to the knee joint connecting plate 2451 of one knee joint 245, and the second lower leg connecting rod 244 is connected to the knee joint connecting plate 2451 of the other knee joint 245. The thigh links engage with the output ends of the two leg link drive members 23, enabling the first thigh link 241 and the second thigh link 242 to rotate synchronously. The ends of the two thigh links furthest from the leg link drive members 23 are the tail ends, and the ends of the two lower leg links closest to the knee joint 245 are the head ends, while the ends furthest from the knee joint 245 are the tail ends. The two thigh links rotate with the connecting shaft 2452 on the knee joint 245, and the tail ends of the two lower leg links rotate with the end joint 246, thereby achieving a three-degree-of-freedom rotational engagement. Angle sensor 25 is used to measure the rotation angle of the shaft of the leg link drive 23 in real time and feeds the measured data back to the single-leg controller 4. The single-leg controller 4 analyzes the information fed back by the angle sensor 25 and feeds the analysis results back to the main controller 5. The main controller 5 compares the above analysis results and then sends command information to the single-leg controller 4. The single-leg controller 4 then controls the leg link drive 23 and the pusher 33 and drives the robot to complete actions such as walking and compliant adhesion landing.

[0053] The collision adhesion process of the robot in this invention is divided into a landing adhesion mode and a roaming adhesion mode:

[0054] In the microgravity environment of space, the collision force generated by the robot during the adhesion and landing process with a certain initial velocity to the target surface can easily cause a large disturbance to the target spacecraft.

[0055] (1) As Figure 16 As shown, the landing adhesion mode: where, as Figure 13 As shown, the robot is in its initial state at this time, with the three-degree-of-freedom single leg 2 and the adhesive foot 3 in their initial extended state. During landing and adhesion, the main controller 5 sends commands to the single-leg sub-controller 4. The single-leg sub-controller 4 controls the rotation of the leg linkage assembly 24 and outputs torque through the leg linkage drive component 23, lowering the robot's center of gravity. The upper plate 31 of the adhesive foot 3 is movably connected to the lower plate 32 of the foot through the pusher 33. The single-leg sub-controller 4 controls the extension and retraction of the pusher 33, effectively reducing the peak impact force at the moment of impact and ensuring a high degree of adhesion between the dry adhesive material and the target surface during the collision and adhesion process between the robot and the target spacecraft, thus providing stable adhesion force. Figure 14As shown in the diagram, the robot successfully lands and adheres to the target spacecraft. During the collision and adhesion process between the robot and the target spacecraft, the aforementioned adhesion foot 3 serves as a primary buffer mechanism with adjustable stiffness, and the aforementioned three-degree-of-freedom single leg 2 serves as a secondary buffer mechanism with adjustable stiffness and damping. Together, they work to improve the adhesion success rate and stability between the robot and the target spacecraft, and effectively reduce disturbance to the target spacecraft.

[0056] like Figure 15 As shown, when the contact target surface is uneven, the pusher 33 is extended and retracted by the single-leg controller 4, so that the fan-shaped plate 321 can move within a certain range of tilt angles, thereby making the adhesive attachment 322 at the bottom of the fan-shaped plate 321 fit with the contact target surface to adapt to the uneven surface.

[0057] (2) Figure 17 As shown, in the cruising and adhesion mode: the direction of each of the four three-degree-of-freedom single legs 2 is adjusted by the drive component 21. The single leg controller 4 drives the leg link drive component 23 according to the instructions of the main controller 5. In turn, the leg link assembly 24 driven by the leg link drive component 23 is lifted and placed at the target point for foot adhesion, thereby realizing walking and movement.

[0058] During the detachment process, by rapidly rotating one leg linkage drive 23 of a single three-degree-of-freedom leg 2 clockwise and slowly rotating the other leg linkage drive 23 counterclockwise, the adhered foot 3 is subjected to an upward detachment force on the adhesion surface, thereby tearing the adhered foot 3 off the adhesion surface.

[0059] The above description is only a preferred embodiment of the present invention and is 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 within the protection scope of the present invention.

Claims

1. An adhesive robot that can stably land in compliance with a landing surface, characterized by, The application relates to a robot, which comprises a body (1), a plurality of three-degree-of-freedom single legs (2) arranged on the bottom side of the body (1), an adhesive foot sole (3) arranged at the end of the three-degree-of-freedom single leg (2), a single leg sub-controller (4), a main controller (5) and a power battery (6) arranged on the body (1) respectively, and the three-degree-of-freedom single leg (2) corresponds to the adhesive foot sole (3) and the single leg sub-controller (4) one by one. The power battery (6) is electrically connected with the three-degree-of-freedom single leg (2), the adhesive foot sole (3), the single leg sub-controller (4) and the main controller (5) respectively, the single leg sub-controller (4) is communicatively connected with the main controller (5) and the corresponding three-degree-of-freedom single leg (2) respectively. The single leg sub-controller (4) moves the three-degree-of-freedom single leg (2) and the adhesive foot sole (3) according to the instruction of the main controller (5), so that the robot walking and buffering landing are realized. The adhesive foot sole (3) comprises a foot sole upper plate (31), a foot sole lower plate (32) arranged below the foot sole upper plate (31), a plurality of pushers (33) arranged on the foot sole upper plate (31), and a connecting seat (34) arranged on the foot sole upper plate (31) and matched with the end of the three-degree-of-freedom single leg (2), and the pusher (33) is communicatively connected with the single leg sub-controller (4). The foot sole lower plate (32) is circumferentially arranged by a plurality of angle-same sector plates (321), the number of the pushers (33) is the same as that of the sector plates (321), the output end of the pusher (33) is movably connected with the corresponding sector plate (321), and the bottom of each sector plate (321) is bonded with a plurality of adhesive accessories (322). The three-degree-of-freedom single leg (2) comprises a driving element (21) arranged on the body (1), a Z-shaped frame (22) arranged at the bottom of the body (1), a leg connecting rod driving element (23) arranged on the two sides of the Z-shaped frame (22), a leg connecting rod assembly (24) matched with the output end of the leg connecting rod driving element (23), and an angle sensor (25) arranged on the two sides of the Z-shaped frame (22) and used for detecting the rotation angle of the rotation shaft of the leg connecting rod driving element (23), the output end of the driving element (21) penetrates through the body (1) and is connected with the Z-shaped frame (22), the end of the leg connecting rod assembly (24) is matched with the connecting seat (34), and the driving element (21), the leg connecting rod driving element (23) and the angle sensor (25) are communicatively connected with the single leg sub-controller (4) respectively. A joint bearing (323) is arranged on each sector plate (321), and the output end of the pusher (33) is movably connected with the joint bearing (323).

2. The stably compliant-landing adhesive robot of claim 1, wherein, The thickness of the adhesive accessory (322) is 1.5-2.5 mm, the adhesive accessory (322) is in a circular structure and has a radius of 2-15 mm.

3. The stably compliant landing adherent robot of claim 1, wherein, ​ 4. The stably compliant landing adherent robot of claim 1, wherein, The leg link assembly (24) comprises a first thigh link (241) connected with the output end of one of the leg link driving members (23), a second thigh link (242) connected with the output end of the other leg link driving member (23), a first calf link (243), a second calf link (244), a knee joint (245) connected with the leading end of the first calf link (243) and the leading end of the second calf link (244) respectively, and an end joint (246) rotationally connected with the trailing end of the first calf link (243) and the trailing end of the second calf link (244), the trailing end of the first thigh link (241) being rotationally connected with the knee joint (245) on the first calf link (243), the trailing end of the second thigh link (242) being rotationally connected with the knee joint (245) on the second calf link (244), and the end joint (246) being connected with the connecting seat (34).

5. The stably compliant landing adherent robot of claim 4, wherein, The knee joint (245) comprises two knee joint connecting plates (2451) and a connecting shaft (2452) connected between the two knee joint connecting plates (2451), the first thigh link (241) and the second thigh link (242) being rotationally connected with the connecting shaft (2452) respectively, the first calf link (243) being connected with the knee joint connecting plate (2451) of one of the knee joints (245), and the second calf link (244) being connected with the knee joint connecting plate (2451) of the other knee joint (245).

6. The stably compliant landing adherent robot of claim 4, wherein, The Z-shaped bracket (22) comprises a main bracket (221) and side cantilevers (222) connected with the two sides of the main bracket (221) respectively, the leg link driving member (23) and the angle sensor (25) being connected with the side cantilevers (222) respectively.

7. The stably compliant landing adherent robot of claim 4, wherein, The driving member (21) is connected with the fuselage (1) through a U-shaped bracket (11).

8. The stably compliant-landing adhesive robot of claim 7, wherein, The fuselage (1) is provided with a fixing seat (12) connected with the U-shaped bracket (11), a plurality of load mounting holes (13) are formed in the fuselage (1) to facilitate the installation of the single-leg sub-controller (4), the main controller (5) and the power battery (6), and a plurality of wire passing holes (14) are formed in the fuselage (1).

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