A space gliding robot

Abstract

The present invention discloses a space sliding robot, whose clamping mechanism includes a base and a clamping plate rotatably connected to the base, and two opposite surfaces of the base are respectively provided with driving wheels and mechanical arms, and the two clamping plates can perform flipping movements toward and away from each other; after the two clamping plates move toward each other, the two clamping plates and the base form a clamping space for surrounding the structure to be clamped, and the clamping space is provided with a driving wheel and a driven wheel for abutting against the structure to be clamped, and the driven wheel is provided on the clamping plate; the mechanical arm is provided with a clamping claw that can be used for clamping operation, and the mechanical arm is used to drive the clamping claw to move in multiple dimensions for clamping and positioning, and lift and drive the clamping mechanism to the required position; therefore, by utilizing the lifting operation, the equipment will be able to cross obstacles, and move to a suitable position before moving again, thereby effectively solving the problem that the existing space sliding robots are difficult to cross obstacles during movement.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly robots, and particularly to a space sliding robot. Background Art

[0002] With the complication of space missions, the development trend of space structures has gradually evolved towards large-scale and modular directions, and typical representatives include large space telescopes and space solar power stations, etc. However, due to the limitations of the size and mass-carrying capacity of launch vehicles on the earth, large space structures cannot be directly launched integrally after being manufactured on the earth's surface. On the contrary, to overcome this challenge, a modular launch scheme must be adopted, and then assembly is carried out in orbit. Therefore, as a feasible method to address this challenge, space assembly robots have gradually become the focus of extensive attention in the academic community, aiming to achieve on-orbit structural assembly and maintenance services.

[0003] Current research on space robots mainly focuses on two categories: space free-flying robots and space crawling robots. Space free-flying robots face challenges in precise control due to their high degrees of freedom and the complex kinematic and dynamic coupling between the manipulator and the body. This problem stems from the fact that the robot needs to consider multiple aspects such as attitude adjustment, position positioning, and task execution simultaneously during task execution, resulting in complex design and optimization of the control system and increasing the difficulty of engineering implementation. In addition, due to the high degrees of freedom of space free-flying robots, their motion process may be affected by various factors, such as inertia, aerodynamic effects, and the nonlinear characteristics of the spacecraft's own structure, which further increases the complexity of control.

[0004] Although space crawling robots have the advantage of strong adaptability, their moving speed is relatively low, so there are certain challenges in meeting the assembly requirements of ultra-large space trusses. Since space trusses usually have large sizes and complex structures, it is required that the robot can move and position efficiently in a short time to ensure the smooth progress of the assembly process. However, the moving speed of space crawling robots is limited by their design and working principles and is difficult to meet the requirements of fast and efficient assembly, which may affect the construction and operation processes of spacecraft.

[0005] Therefore, the challenge for space free-flying robots lies in the complexity and precision of the control system, while space crawling robots need to overcome the limitation of low moving speed to adapt to the assembly tasks of ultra-large space trusses. In future research, it is necessary to continue to explore and solve these problems to promote the development and application of space robot technology.

[0006] Space wheeled sliding assembly robots may have higher moving speeds and better maneuverability, which gives them certain advantages in large-scale space structure assembly tasks that require rapid movement and positioning. However, there are currently few designs for sliding assembly robots, so there is a need to provide a space sliding robot design to meet the requirements of rapid movement and simple control, and to provide a reference for related robot designs. However, current space sliding robots face the following problems:

[0007] 1. Lack of gravitational force: On Earth, gravity is one of the main forces affecting the movement and stability of objects. However, in space, due to the zero-gravity environment, robots cannot rely on gravity to provide pressure and friction.

[0008] 2. Inertia: Due to the lack of gravitational constraints, the movement of robots in space is affected by inertia. Therefore, an inertial navigation system is needed to sense and compensate for the inertial movement of the robot to ensure that the robot can move along a predetermined trajectory and accurately position itself.

[0009] 3. Attitude control and stability: In a zero-gravity environment, the attitude control of robots is particularly important. Robots must be able to stably maintain their attitudes and remain stable during movement.

[0010] 4. Avoiding collisions and obstacle recognition: Robots may encounter collisions or obstacles during movement.

[0011] Therefore, a collision detection and obstacle avoidance system, as well as precise obstacle recognition technology, need to be equipped to avoid collisions and ensure the safe movement of the robot. Summary of the Invention

[0012] The purpose of the present invention is to provide a space sliding robot to solve the problem that existing space sliding robots are difficult to cross obstacles during movement.

[0013] To solve the above technical problems, the present invention provides a space sliding robot, including a clamping mechanism and a robotic arm; the clamping mechanism includes a base and clamping plates; on two opposite surfaces of the base, a driving wheel and the robotic arm are respectively provided, on both sides of the robotic arm, the base is rotatably connected with the clamping plates, and the two clamping plates can perform flipping movements towards and away from each other. After the two clamping plates move towards each other, a clamping space for surrounding the structure to be clamped is formed between the two clamping plates and the base. In the clamping space, the driving wheel and the driven wheel for abutting against the structure to be clamped are provided, and the driven wheel is arranged on the clamping plate; the robotic arm is provided with a jaw for clamping operations, and the robotic arm is used to drive the jaw to move in multiple dimensions for clamping and positioning, and to lift and drive the clamping mechanism to move to the required position.

[0014] In one embodiment, the clamping plate includes a lateral clamping plate and a bottom clamping plate, and the driven wheels are provided on both the lateral clamping plate and the bottom clamping plate; first on-plate rotating joints and second on-plate rotating joints are respectively provided on two opposite sides of the lateral clamping plate, the first on-plate rotating joint is rotatably connected to the base, and the second on-plate rotating joint is rotatably connected to the bottom clamping plate; the two lateral clamping plates, the two bottom clamping plates and the base are used to jointly enclose the clamping space.

[0015] In one embodiment, the robotic arm includes a plurality of sequentially rotatably connected rotating arm segments, first on-arm rotating joints and second on-arm rotating joints are respectively provided at both ends of the rotating arm segment, the rotation axes of the first on-arm rotating joint and the second on-arm rotating joint are perpendicular to each other, and adjacent rotating arm segments are rotatably connected by the same on-arm rotating joint.

[0016] In one embodiment, at least two such robotic arms are provided on the base.

[0017] In one embodiment, a sensor assembly is provided on the base, and the sensor assembly is used to detect the movement environment information of the space sliding robot.

[0018] In one embodiment, the sensor assembly includes a vision sensor, an infrared sensor and an inertial navigation module.

[0019] In one embodiment, the rotating wheel is provided with a rotational speed sensor.

[0020] The beneficial effects of the present invention are as follows:

[0021] Taking the application of the present invention to the truss of a large spacecraft as an example, since the two clamping plates and the base enclose a clamping space for surrounding the structure to be clamped, and the driving wheel and the driven wheel for abutting against the structure to be clamped are provided in the clamping space, during application, the truss can be clamped in the clamping space by using the clamping plate, and then the driving wheel rotates to realize the movement control of the space sliding robot.

[0022] If obstacle crossing operation is required, since the robotic arm is used to drive the gripper to move in multiple dimensions for clamping and positioning, and lift and drive the clamping mechanism to move to the required position, by using the lifting operation, the device can cross obstacles, move to a suitable position and then move, thus effectively solving the problem that it is difficult for the existing space sliding robot to cross obstacles during movement. Description of the Drawings

[0023] To more clearly illustrate the technical solution of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0024] Figure 1 is the structural schematic diagram provided by the embodiment of the present invention;

[0025] Figure 2 is Figure 1 the partial enlarged structural schematic Figure 1 ;

[0026] Figure 3 is Figure 1 the partial enlarged structural schematic Figure 2 ;

[0027] Figure 4 is Figure 1 the partial enlarged structural schematic Figure 3 ;

[0028] Figure 5 is Figure 1 the partial enlarged structural schematic Figure 4 ;

[0029] Figure 6 is the application state schematic provided by the embodiment of the present invention Figure 1 ;

[0030] Figure 7 is the application state schematic provided by the embodiment of the present invention Figure 2 ;

[0031] Figure 8 is the application state schematic provided by the embodiment of the present invention Figure 3 .

[0032] The reference numerals are as follows:

[0033] 10, clamping mechanism; 11, base; 12, clamping plate; 121, lateral clamping plate; 122, bottom clamping plate; 13, driving wheel; 14, clamping space; 15, driven wheel; 161, first plate rotating joint; 162, second plate rotating joint; 17, sensor assembly;

[0034] 20, robotic arm; 21, gripper; 22, rotating arm segment; 231, first arm rotating joint; 232, second arm rotating joint;

[0035] 30, truss. Detailed Embodiments

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0037] The present invention provides a space gliding robot, and an embodiment thereof is as Figures 1 to 8 shown, including a clamping mechanism 10 and a robotic arm 20.

[0038] Regarding the clamping mechanism 10, as Figure 1 shown, the clamping mechanism 10 includes a base 11 and a clamping plate 12; the outer shape of the base 11 is a rectangular body, which is used to install various devices of the space gliding robot; for example, in this embodiment, two opposite surfaces of the base 11 are respectively provided with a driving wheel 13 and a robotic arm 20. Specifically, with reference to the direction shown in Figure 1 at this time, the driving wheel 13 is arranged at the bottom of the base 11, and the robotic arm 20 is arranged at the upper part of the base 11.

[0039] Moreover, the base 11 is rotatably connected with clamping plates 12 on both sides opposite to the robotic arm 20, and the two clamping plates 12 can perform flipping movements towards and away from each other. For example, with reference to the direction shown in Figure 1 at this time, the two clamping plates 12 are respectively arranged on the left and right sides of the robotic arm 20, and both clamping plates 12 are rotatably connected to the left and right sides of the base 11 through their upper parts. Therefore, when the two clamping plates 12 move away from each other, the two clamping plates 12 will turn upwards, and when the two clamping plates 12 move towards each other, the two clamping plates 12 will turn downwards.

[0040] From Figure 1 it can be seen that after the two clamping plates 12 move towards each other, the two clamping plates 12 and the base 11 can enclose a clamping space 14 for surrounding the structure to be clamped, and a driving wheel 13 and a driven wheel 15 for abutting against the structure to be clamped are arranged in the clamping space 14. Specifically, at this time, the driven wheel 15 is arranged on the clamping plate 12.

[0041] Taking the structure to be clamped as a truss 30 as an example, during application, the two clamping plates 12 can be controlled to move towards each other to form the clamping space 14 to enclose the truss 30 therein, so as to realize the positioning and installation between the space gliding robot and the truss 30; and since the driving wheel 13 and the driven wheel 15 will both abut against the surface of the truss 30 at this time, as long as the driving wheel 13 is driven by a motor to rotate, the space gliding robot can realize walking on the truss 30, and the driven wheel 15 is used to keep the movement of the space gliding robot smooth.

[0042] It should be noted that in order to clamp both the side and bottom of the truss 30, as Figure 1 、 Figure 2 、 Figure 4 and Figure 5As shown in the figure, in this embodiment, the clamping plate 12 is provided with a lateral clamping plate 121 and a bottom clamping plate 122, and driven wheels 15 are provided on both the lateral clamping plate 121 and the bottom clamping plate 122. At this time, a first on-plate rotating joint 161 and a second on-plate rotating joint 162 are respectively provided on the opposite sides of the lateral clamping plate 121. The first on-plate rotating joint 161 is rotatably connected to the base 11, and the second on-plate rotating joint 162 is rotatably connected to the bottom clamping plate 122. Thus, the two lateral clamping plates 121, the two bottom clamping plates 122 and the base 11 can be used to jointly enclose a clamping space 14.

[0043] When it is necessary to clamp the truss 30, the base 11 can be first placed on the top of the truss 30 so that the driving wheel 13 abuts against the top surface of the truss 30. Then, control the two lateral clamping plates 121 to move towards each other until the driven wheels 15 on the two lateral clamping plates 121 abut against the two side surfaces of the truss 30. Finally, control the two bottom clamping plates 122 to turn upwards until the driven wheels 15 on the two bottom clamping plates 122 abut against the bottom surface of the truss 30.

[0044] Similarly, when it is necessary to release the clamping of the truss 30, first control the two bottom clamping plates 122 to turn outwards to release the clamping of the bottom of the truss 30, and then control the two side clamping plates 12 to turn upwards to release the clamping of the side of the truss 30.

[0045] Regarding the robotic arm 20, as Figure 1 shown in the figure, a jaw 21 for clamping operation is provided on the robotic arm 20 of this embodiment. The robotic arm 20 is used to drive the jaw 21 to move in multiple dimensions for clamping and positioning, and lift and drive the clamping mechanism 10 to a required position.

[0046] Obviously, the above-mentioned robotic arm 20 needs to support and move the clamping mechanism 10. Therefore, in order to maintain the stability of the entire operation process, at least two robotic arms 20 can be considered to be provided on the base 11. For example, in this embodiment, two robotic arms 20 are provided on the base 11 to ensure that clamping can be performed using multiple jaws 21 to improve clamping stability, and to ensure the common support of the clamping mechanism 10 by the two robotic arms 20 to ensure the safety and stability when the robotic arm 20 drives the clamping mechanism 10 to move.

[0047] In addition, to ensure that the robotic arm 20 can drive the clamping mechanism 10 to move and avoid obstacles better, it should be ensured that the robotic arm 20 has multiple moving dimensions. Therefore, to achieve this purpose, as Figure 1As shown, in this embodiment, the robotic arm 20 is provided with a plurality of rotatable arm segments 22 that are sequentially rotatably connected. The two ends of the rotatable arm segment 22 are respectively provided with a first on-arm rotating joint 231 and a second on-arm rotating joint 232. The rotation axes of the first on-arm rotating joint 231 and the second on-arm rotating joint 232 are perpendicular to each other, and adjacent rotatable arm segments 22 are rotatably connected by the same on-arm rotating joints.

[0048] Specifically, in this embodiment, each robotic arm 20 is formed by sequentially rotatably connecting six rotatable arm segments 22. Among them, the rotation axis of the first on-arm rotating joint 231 is consistent with the length direction of the rotatable arm segment 22, and the rotation axis of the second on-arm rotating joint 232 is perpendicular to the length direction of the rotatable arm segment 22. Therefore, when the rotatable arm segments 22 are rotatably connected to each other, the rotatable arm segment 22 will be rotatably connected to the first on-arm rotating joint 231 of a rotatable arm segment 22 by its own first on-arm rotating joint 231, and will be rotatably connected to the second on-arm rotating joint 232 of another rotatable arm segment 22 by its own second on-arm rotating joint 232.

[0049] After adopting the above setting method, the part rotatably connected by the first on-arm rotating joint 231 can perform axial self-rotation movement, and the part rotatably connected by the second on-arm rotating joint 232 can perform swinging in the clockwise and counterclockwise directions, so that the robotic arm 20 obtains movement dimensions.

[0050] Furthermore, to achieve intelligent obstacle avoidance control, as Figure 1 and Figure 3 shown, in this embodiment, a sensor assembly 17 is provided on the base 11. The sensor assembly 17 is used to detect the movement environment information of the space gliding robot, so that the space gliding robot can formulate a movement plan in a timely manner according to the obtained information.

[0051] Among them, the above-mentioned sensor assembly 17 can be composed of suitable sensors according to requirements. For example, in this embodiment, the sensor assembly 17 includes a vision sensor, an infrared sensor, and an inertial navigation module, thus meeting the requirements for detecting various movement environment information.

[0052] Especially for the above-mentioned inertial navigation module, it refers to the use of GNSS (BDS / GPS system combined positioning) / INS integrated navigation and positioning technology. With high-precision six-axis inertial devices and mature inertial algorithms, it does not require the access of an odometer or speed signal, and has no strict installation requirements. Even in weak signal environments such as tunnels and garages, it can provide a high-precision positioning module for vehicles.

[0053] In addition, to perform more accurate movement control on the space gliding robot, this embodiment also provides a rotational speed sensor on the rotating wheel to control the rotational speed of the driving wheel 13 in a timely manner according to requirements.

[0054] To provide a clearer description of the application method of the space gliding robot of the present invention, a specific application process will be provided below, as Figures 1 to 8 shown, which specifically includes the following steps:

[0055] 1. The space gliding robot starts from the assembly platform on the super-large aerospace structure and moves forward quickly;

[0056] 2. When the sensor assembly 17 detects the cross node during the movement, it decelerates and stops;

[0057] 3. Before the cross node, the robotic arm 20 catches the forward truss 30. a. If the robot wants to turn, it catches the trusses 30 in the front and on the turning side; b. If it wants to move forward, it catches the trusses 30 on both sides;

[0058] 4. The end effector applies a grasping force and the robot unfolds the bottom clamping plate 122;

[0059] 5. After the bottom clamping plate 122 is unfolded, the lateral clamping plate 121 is unfolded;

[0060] 6. When the clamping mechanism 10 is fully unfolded, the robotic arm 20 applies a driving force to lift the base 11 of the robot;

[0061] 7. Place the base 11 of the robot on the truss 30 in the adjacent space to complete the turn;

[0062] 8. Place the base 11 of the robot on the truss 30 in the opposite space to complete the straight line movement;

[0063] 9. Continue to move forward quickly;

[0064] 10. Reach the designated assembly location;

[0065] 11. The dual robotic arms 20 operate the assembly module for assembly and construction.

[0066] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A space gliding robot, characterized in that it includes a clamping mechanism and a robotic arm; the clamping mechanism includes a base and a clamping plate; on two opposite surfaces of the base, a driving wheel and the robotic arm are respectively provided, on both sides of the base opposite to the robotic arm, the clamping plates are rotatably connected, and the two clamping plates can perform flipping movements towards and away from each other. After the two clamping plates move towards each other, the two clamping plates and the base enclose a clamping space for surrounding the structure to be clamped. In the clamping space, the driving wheel and the driven wheel for abutting against the structure to be clamped are provided, and the driven wheel is arranged on the clamping plate; the robotic arm is provided with a gripper for performing clamping operations, and the robotic arm is used to drive the gripper to move in multiple dimensions for clamping and positioning, and lift and drive the clamping mechanism to move to the required position; the clamping plate includes a lateral clamping plate and a bottom clamping plate, and the driven wheels are arranged on both the lateral clamping plate and the bottom clamping plate; on two opposite sides of the lateral clamping plate, a first on-plate rotating joint and a second on-plate rotating joint are respectively provided. The first on-plate rotating joint is rotatably connected to the base, and the second on-plate rotating joint is rotatably connected to the bottom clamping plate; the two lateral clamping plates, the two bottom clamping plates and the base are used to jointly enclose the clamping space; the robotic arm includes multiple sequentially rotatably connected rotating arm segments. At both ends of the rotating arm segment, a first on-arm rotating joint and a second on-arm rotating joint are respectively provided. The rotation axes of the first on-arm rotating joint and the second on-arm rotating joint are perpendicular to each other, and adjacent rotating arm segments are rotatably connected with the same on-arm rotating joint.

2. The space gliding robot according to claim 1, characterized in that at least two robotic arms are provided on the base.

3. The space gliding robot according to claim 1, characterized in that a sensor assembly is provided on the base, and the sensor assembly is used to detect the movement environment information of the space gliding robot.

4. The space gliding robot according to claim 3, characterized in that the sensor assembly includes a vision sensor, an infrared sensor and an inertial navigation module.

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