A spacecraft on-orbit inspection robot platform and control method thereof

Abstract

The present invention discloses a spacecraft on-orbit inspection robot platform, which belongs to the technical field of space robots and special operation robots, and includes a mobile platform, and both sides of the mobile platform are respectively provided with rope-driven flexible and deformable tentacle modules, one end of the tentacle module is a connection end connected to the mobile platform, and the other end is a free foot end, and a controllable adhesion and detachment module is provided at the sole of the foot, and a control module is provided in the mobile platform, and the tentacle module controls its own deformation based on rope drive, and through the coordination and cooperation of multiple groups of tentacle modules, the displacement or posture adjustment of the spacecraft on-orbit inspection robot platform in space can be realized. The spacecraft on-orbit inspection robot platform provided by the present invention can assist the spacecraft in realizing on-orbit maintenance and repair, and its flexible tentacle modules cooperate with each other to be reconfigured into different configurations, have a variety of gait modes, and have strong environmental adaptability, and have important application value in the field of on-orbit service and maintenance of spacecraft.

Description

Technical Field

[0001] The present invention relates to a robot platform and a control method thereof, and in particular to a spacecraft on-orbit inspection robot platform and a control method thereof, and belongs to the technical field of space robots and special operation robots. Background Art

[0002] Spacecraft is an important means for human beings to achieve space exploration. With the increasing number of spacecraft launched, space has become overcrowded. Collisions between spacecraft or between spacecraft and space debris are common, and spacecraft are facing more and more threats in orbit. In response to the demand for on-orbit service and maintenance of spacecraft, the present invention proposes a spacecraft on-orbit inspection robot platform, which is used to perform on-orbit inspection and maintenance tasks of spacecraft, and can effectively extend the on-orbit service life of spacecraft. Summary of the invention

[0003] The purpose of the present invention is to provide a spacecraft on-orbit inspection robot platform and a control method thereof, in order to address the difficulties faced by spacecraft in on-orbit inspection and maintenance tasks, extend the on-orbit service life of the spacecraft, and reduce the launch and operation costs of the spacecraft.

[0004] The present invention provides the following scheme:

[0005] A spacecraft on-orbit inspection robot platform comprises a mobile platform. Both sides of the mobile platform are provided with rope-driven flexible and deformable tentacle modules, one end of the tentacle module is a connection end connected to the mobile platform, and the other end is a free foot end. A controllable adhesion and detachment module is provided at the sole of the foot. A control module is provided in the mobile platform. The tentacle module controls its own deformation based on rope drive. Through the coordinated cooperation of multiple groups of tentacle modules, the displacement or posture adjustment of the spacecraft on-orbit inspection robot platform in space is realized.

[0006] A spacecraft on-orbit inspection robot platform comprises a mobile platform, wherein deformable tentacle modules are respectively arranged on both sides of the mobile platform, the tentacle modules are symmetrically distributed on both sides of the mobile platform, one end of the tentacle module is a connection end connected to the mobile platform, and the other end is a free foot end with controllable adsorption / desorption, a control module is arranged in the mobile platform, the control module is used to send action control instructions, and the tentacle module realizes the displacement or posture adjustment of the spacecraft on-orbit inspection robot platform in space through its own swing or deformation combined with the free foot end with controllable adsorption / desorption.

[0007] Furthermore, there are six tentacle modules, three of which are arranged on one side of the mobile platform, and the other three tentacle modules are symmetrically arranged on the other side of the mobile platform.

[0008] Furthermore, the outside of the tentacle module is a flexible shell, an elastic core shaft is arranged inside the flexible shell, a rope is installed between the flexible shell and the elastic core shaft, and rope positioning rings are arranged at intervals in the axial direction of the elastic core shaft. Under the tension of the rope, the elastic core shaft can be deformed in a specified direction, and an adsorption module is installed on the free foot end of the tentacle module. The adsorption module is used to provide adhesion, and the adsorption method is electrostatic adsorption or bionic material adsorption.

[0009] Furthermore, the mobile platform also includes a driving module and a transmission module, the touch foot module is connected to the transmission module, and an inner winding shaft, an outer winding shaft, a thrust bearing and a pulley group are provided in the transmission module, the rope in the touch foot module is wound on the inner and outer winding shafts under the guidance of the pulley group, the inner and outer winding shafts are connected to the winding shaft fixing block and the winding shaft fixing plate through the thrust bearing, the output shaft of the driving motor in the driving module is fixedly connected to the inner and outer winding shafts, and the inner and outer winding shafts can rotate under the drive of the driving motor to drive the rope to move, thereby driving the touch foot module to deform.

[0010] Furthermore, there are three transmission modules, both ends of each transmission module are connected to a foot contact module respectively, and the control module and the energy supply module are installed between adjacent transmission modules.

[0011] Furthermore, the driving module includes multiple driving motors, the output shafts of the driving motors are D-shaped shafts, and the D-shaped shafts are connected to the hollow input shafts at one end of the inner and outer winding shafts in the transmission module to provide motive power for the winding shafts.

[0012] Furthermore, a camera module for acquiring image / video information is installed at one end of the mobile platform.

[0013] Furthermore, the mobile platform includes an upper top plate and a lower bottom plate, and the control module, the drive module and the transmission module are installed between the upper top plate and the lower bottom plate.

[0014] A method for controlling a spacecraft on-orbit inspection robot platform is used to control the spacecraft on-orbit inspection robot platform to execute one or more of the following motion modes according to different control instructions:

[0015] Initial state mode: The tentacles of the spacecraft on-orbit inspection robot platform are oriented in the same direction and are in the first angle bending state;

[0016] Height adjustment mode: The control module controls the drive module and the transmission module, so that the elastic core shaft of the feeler module is driven by the rope to bend at an angle perpendicular to the longitudinal section of the mobile platform, so that the feeler module is in a second angle bending state, thereby changing the chassis height of the spacecraft on-orbit inspection robot platform;

[0017] Travel mode: Control the tentacles on both sides of the mobile platform to swing alternately in groups and in sequence, so as to realize the forward or backward movement of the spacecraft on-orbit inspection robot platform;

[0018] Steering mode: Control the tentacle modules on both sides of the mobile platform to swing alternately in groups and sequence to achieve the steering movement of the spacecraft on-orbit inspection robot platform.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] The spacecraft on-orbit inspection robot platform provided by the present invention can assist spacecraft in achieving on-orbit maintenance and repair. Its tentacles and feet modules cooperate with each other to be reconfigured into different configurations. It has a variety of gait modes and strong terrain adaptability, and has important application value in the field of on-orbit service and repair of spacecraft.

[0021] The present invention uses rope drive to provide power, can continuously adjust the state of the tentacle module, realize various gait pattern changes through the coordinated cooperation of multiple groups of tentacle modules, realize the adjustment of its own height, configuration, movement direction and speed, and can stably parasitize on the surface of the spacecraft through the adsorption module. It has strong environmental adaptability and high flexibility in executing tasks, and has important application value in the field of on-orbit service and maintenance of spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is an axonometric view of the spacecraft in-orbit inspection robot platform.

[0024] Figure 2 It is an axonometric view of the spacecraft's on-orbit inspection robot platform with the upper top plate removed.

[0025] Figure 3 It is a schematic diagram of the external structure of the feeler module of the spacecraft on-orbit inspection robot platform.

[0026] Figure 4 It is a schematic diagram of the internal structure of the feeler module of the on-orbit inspection robot platform of a spacecraft without an outer shell.

[0027] Figure 5 This is an exploded view of the transmission module of the spacecraft's in-orbit inspection robot platform.

[0028] Figure 5A It is a breakdown diagram of the transmission module and rope after assembly.

[0029] Figure 5B It is the structural diagram of the pulley block.

[0030] Figure 6 This is the axonometric diagram of the drive module of the spacecraft on-orbit inspection robot platform.

[0031] Figure 7 It is an axonometric diagram of the spacecraft on-orbit inspection robot platform in its initial state.

[0032] Figure 8 This is a top view of the spacecraft on-orbit inspection robot platform in its initial state.

[0033] Fig. 9 It is an axonometric diagram of the height adjustment status of the spacecraft on-orbit inspection robot platform.

[0034] Fig.10 This is a bird's-eye view of the first half of the spacecraft's on-orbit inspection robot platform's moving state.

[0035] Fig.11 This is a top view of the spacecraft's in-orbit inspection robot platform in the second half of its moving state.

[0036] Fig.12 This is a top view of the spacecraft on-orbit inspection robot platform in the turning preparation state.

[0037] Fig.13 It is a top view of the steering adjustment status of the spacecraft on-orbit inspection robot platform.

[0038] Fig.14 This is a top view of the spacecraft on-orbit inspection robot platform in the completed turning state.

[0039] Fig.15 It is an axonometric diagram of the working status of the spacecraft on-orbit inspection robot platform. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Description of reference numerals:

[0042] Camera module 1, lower base plate 2, adsorption module 3, upper top plate 4, touch foot module 5, transmission module 6, drive module 7, control module 8, energy supply module 9, adsorption module mounting flange 501, flexible shell 502, elastic core shaft 503, rope positioning ring 504, rope 505, winding shaft fixing block 601, inner winding shaft 602, winding shaft fixing block baffle 603, thrust bearing 604, outer winding shaft 605, pulley block 606, motor fixing plate 701, drive motor 702, left first touch foot module L1, left second touch foot module L2, left third touch foot module L3, right first touch foot module R1, right second touch foot module R2, right third touch foot module R3.

[0043] like Figure 1 and Figure 2 As shown, the spacecraft on-orbit inspection robot platform of the present invention includes a mobile platform, and deformable tentacle modules 5 are respectively arranged on both sides of the mobile platform, and the tentacle modules 5 are symmetrically distributed on both sides of the mobile platform. One end of the tentacle module 5 is a connection end connected to the mobile platform, and the other end is a free foot end with controllable adsorption / desorption. The adsorption form of the tentacle module 5 can be electrostatic adsorption or bionic material adsorption. The connection mode between the tentacle module 5 and the mobile platform can be a movable connection or a fixed connection, and different corresponding settings are made according to the requirements of different application scenarios. A control module 8 is arranged in the mobile platform, and the control module 8 is used to send control instructions for actions. The tentacle module 5 realizes the displacement or posture adjustment of the mobile mechanism in space through its own swing or deformation, combined with the free foot end with controllable adsorption / desorption.

[0044] The embodiments of the present application may also be described in other ways: the spacecraft on-orbit inspection robot platform includes a mobile platform, and rope-driven flexible and deformable tentacle modules 5 are respectively arranged on both sides of the mobile platform, one end of the tentacle module 5 is a connection end connected to the mobile platform, and the other end is a free foot end, and a controllable adhesion and desorption module (free foot end with controllable adsorption / desorption) is arranged on the sole of the foot, and a control module is arranged in the mobile platform. The tentacle module controls its own deformation based on rope drive, and the displacement or posture adjustment of the spacecraft on-orbit inspection robot platform in space is realized through the coordinated cooperation of multiple groups of tentacle modules.

[0045] In the embodiment of the present application, the tentacle module 5 has a connection end connected to the mobile platform and a free foot end for controllable adsorption / desorption. The controllable adsorption / desorption of the free foot end means that the tentacle module 5 can be provided with adhesion by adsorption, or the tentacle module 5 can be released from adhesion by desorption. The controllable adsorption / desorption can be achieved by installing an adsorption module on the free foot end of the tentacle module. The adsorption module provides adhesion, and the adsorption method is electrostatic adsorption or bionic material adsorption. Multiple tentacle modules swing or deform under the action of the control module, and the adsorption module at the free foot end is used to adsorb or desorb its contact surface, which can drive the mobile platform to change the corresponding spatial position, thereby realizing the displacement or posture adjustment of the mobile mechanism in space, and executing multiple gait mode movements, for example: sending control instructions through the control module to control the drive module and the transmission module to execute one or more of the following movement modes:

[0046] Initial state mode: The foot modules of the spacecraft on-orbit inspection robot platform are oriented in the same direction and are in the first angle bending state. In the initial state mode, the foot modules are in a small angle bending state, and the height of the mobile platform (chassis) is relatively low.

[0047] Height adjustment mode: The control module controls the drive module and the transmission module, so that the elastic core shaft of the tentacle module is driven by the rope to bend at an angle perpendicular to the longitudinal section of the mobile platform, so that the tentacle module is in a second angle bending state, thereby changing the chassis height of the spacecraft on-orbit inspection robot platform. The role of the tentacle module in the second angle bending state is to assist the robot in obstacle crossing. By adjusting the height of the mobile platform (chassis), the spacecraft on-orbit inspection robot platform can be controlled to cross obstacles during displacement movement and better perform on-orbit inspection work.

[0048] Travel mode: Control the tentacles on both sides of the mobile platform to swing alternately in groups and in sequence, so as to realize the forward or backward movement of the spacecraft on-orbit inspection robot platform;

[0049] Steering mode: Control the tentacle modules on both sides of the mobile platform to swing alternately in groups and sequence to achieve the steering movement of the spacecraft on-orbit inspection robot platform.

[0050] like Figures 3 to 6As shown, as a further optimization and improvement of the embodiment of the present application, there are six tentacle modules, three of which are arranged on one side of the mobile platform, and the other three tentacle modules are symmetrically arranged on the other side of the mobile platform. The outside of the tentacle module 5 is a flexible shell, an elastic mandrel 503 is arranged in the flexible shell, a rope is installed between the flexible shell and the elastic mandrel 503, and a rope positioning ring 504 is arranged at intervals in the axial direction of the elastic mandrel 503. Under the tension of the rope 505, the elastic mandrel 503 can swing, bend or deform in a specified direction, thereby driving each tentacle module 5 to achieve different actions such as swinging and deformation. It can be understood that although the embodiment of the present application discloses a six-legged tentacle module, it does not mean that the protection scope of the present invention is limited to the six-legged tentacle module. Without changing the substantial technical content, those skilled in the art can design more or less tentacle modules according to the central idea of ​​the present invention. No matter how many tentacle modules there are, as long as they can control their own deformation and cooperate with different tentacle modules, they should fall within the protection scope of the present invention.

[0051] The mobile platform also includes a transmission module 6 and a drive module 7. The foot-touch module 5 is connected to the transmission module 6. An inner winding shaft 602, an outer winding shaft 605, a thrust bearing 604 and a pulley block 606 are provided in the transmission module 6. The rope 505 in the foot-touch module 5 is wound on the inner and outer winding shafts under the guidance of the pulley block 606. The inner and outer winding shafts are connected to the winding shaft fixing block 601 and the winding shaft fixing block baffle 603 through the thrust bearing 604. The output shaft of the driving motor 702 in the driving module 7 is fixedly connected to the inner and outer winding shafts.

[0052] Exemplarily, in the present embodiment, there are three transmission modules 6, and both ends of each transmission module 6 are respectively connected to a tentacle module 5, and a control module 8 or a power supply module 9 is installed between adjacent transmission modules 6. The drive module 7 includes multiple drive motors 702, and the output shaft of the drive motor 702 is a D-shaped shaft, which is connected to the hollow input shaft at one end of the inner and outer winding shafts 602 and 605 in the transmission module 6. A camera module 1 for acquiring image / video information is installed at one end of the mobile platform, and the mobile platform includes an upper top plate 4 and a lower bottom plate 2. The control module 8, the drive module 7 and the transmission module 6 are installed between the upper top plate 4 and the lower bottom plate 2.

[0053] The driving module 7 includes a motor fixing plate 701 and a driving motor 702. The motor fixing plate 701 is fixedly arranged between the lower bottom plate 2 and the upper top plate 4. The driving motor 702 is arranged on the motor fixing plate 701. The output shafts of multiple groups of driving motors 702 are respectively connected to the inner winding shaft 602 and the outer winding shaft 605 of the transmission module 6. The transmission module 6 is connected to the tentacle module 5. The winding shaft drives the rope 505 of the tentacle module 5 to move under the drive of the driving motor 702, so that the tentacle module 5 swings or deforms in a specified direction.

[0054] The transmission module 6 includes a winding shaft fixing block 601, an inner winding shaft 602, a winding shaft fixing block baffle 603, an outer winding shaft 605, and a pulley group 606. Each group of transmission modules 6 includes 4 winding shafts, namely the inner winding shaft 602 and the outer winding shaft 605. After the rope 505 reaches the specified position of the specified winding shaft under the guidance of multiple pulley groups, it is wound around the inner winding shaft 602 and the outer winding shaft 605. One end of the winding shaft is connected to the winding shaft fixing block 601 through a thrust bearing 604, and the other end is connected to the winding shaft fixing block baffle 603 through a thrust bearing 604. The structure of the tentacle module 5 includes a flexible shell 502, an elastic core shaft 503, a rope positioning ring 504, a rope 505, etc. One end of the elastic core shaft 503 is fixed to the transmission module 6, and the rope positioning ring 504 is arranged on the elastic core shaft 503 at intervals along the axial direction of the elastic core shaft 503. Four groups of ropes 505 are evenly distributed around the elastic core shaft through the rope positioning ring 504.

[0055] The rope 505 is slidably arranged inside the winding shaft fixed block 601 through a pulley block 606. The pulley block 606 includes a pulley and a base. The pulley is rotatably connected to the base through a sliding shaft. The base is provided with a fixing hole. The pulley block is fixedly connected to the inner wall of the winding shaft fixed block 601 through the fixing hole. The pulley in the pulley block 606 can rotate around its axis. Under the pulling force of the rope 505, the elastic core shaft 503 can be bent in a specified direction, and the flexible housing 502 is sleeved on the outer ring of the rope positioning ring 504.

[0056] Preferably, multiple winding shafts are arranged in parallel inside the winding shaft fixing block 601 and the winding shaft fixing baffle 603, with outer winding shafts 605 on both sides, and the inner winding shaft 602 is arranged in the middle of the outer winding shaft 605. The inner and outer winding shafts are provided with grooves at different axial positions thereof, and the grooves of the inner winding shaft 602 are arranged to be biased to both sides and the spacing is greater than the spacing between the grooves of the outer winding shaft 605. Each group of transmission modules is correspondingly provided with 2 inner winding shafts and 2 outer winding shafts, and the 4 inner and outer winding shafts are provided with a total of eight grooves corresponding to eight ropes. The above-mentioned multiple inner and outer winding shafts are arranged in parallel, and the ropes are wound around the grooves of the inner and outer winding shafts under the guidance of the pulley group. The arrangement of the pulley group corresponds to the staggered grooves. Such a structure can guide the rope from a specified direction to a specified position of a specified winding shaft, and stagger the positions of different ropes to avoid interference between ropes.

[0057] In the embodiment of the present application, the flexible shell 502 is in the form of a bellows, and of course it can also be in other flexible forms besides the bellows. The flexible shell 502 can be bent and deformed along with the elastic mandrel 503 to protect the internal structure of the tentacle module 5. It can be seen from the embodiment of the present application that the tentacle module 5 with the flexible shell 502 bends or deforms the elastic mandrel 503 in a specified direction through the tension of the rope, thereby driving the mobile platform and the on-orbit inspection robot platform of the spacecraft to move and adjust the posture, and the four sets of tentacle feet at the front and rear ends of the mobile platform can cooperate with tools to perform specific work, and can also cooperate with each other to achieve movements such as climbing, realizing the multifunctional operation of on-orbit inspection work.

[0058] The driving module 7 includes four driving motors 702. The output shafts of the driving motors 702 are D-shaped shafts, which are respectively connected to the hollow output shafts at one end of the inner winding shaft 602 and the outer winding shaft 605 of the transmission module 6 to provide motive power for the winding shafts.

[0059] The adsorption module 3 in the spacecraft on-orbit inspection robot platform is arranged at the end of the foot module 5 (free foot end) to provide adhesion. The adsorption form is electrostatic adsorption or bionic material adsorption, which can realize the functions of adsorption and desorption.

[0060] A camera module 1, a control module 8 and a power supply module 9 are arranged on the lower base plate 2, wherein the camera module 1 is used to provide environmental image information for the spacecraft on-orbit inspection robot platform, the control module 8 is used to issue control instructions for the spacecraft on-orbit inspection robot platform, and the power supply module 9 is used to provide energy for the spacecraft on-orbit inspection robot platform.

[0061] like Figures 7 to 15 As shown, Figures 7 to 15 Four state modes of the spacecraft on-orbit inspection robot platform are demonstrated. The four state modes are as shown in the above embodiment, including: a starting state mode, a height adjustment mode, a travel mode, a steering mode and a working mode.

[0062] In the embodiment of the present application, the center of the spacecraft on-orbit inspection robot platform in the attached figure is taken as the origin, the end where the camera module 1 is located is the positive direction of the robot's X-axis, the left side of the travel direction is the positive direction of the Y-axis, and the height direction is the positive direction of the Z-axis, which conforms to the characteristics of the right-handed Cartesian coordinate system. Through the embodiments of this part combined with the attached figures, the fine movements involving posture adjustment and the like are further explained. Fig. 9 For example:

[0063] In the height adjustment mode of the spacecraft on-orbit inspection robot platform, the elastic core shaft 503 of the touch foot module 5 increases its bending angle in the Z-axis direction driven by the upper and lower ropes, thereby increasing the chassis height of the robot and assisting the robot in obstacle crossing.

[0064] In the travel mode of the spacecraft on-orbit inspection robot platform, the positive direction of the X-axis is the travel direction of the spacecraft on-orbit inspection robot platform ( Fig.10 The robot in the middle is moving upward), and the positive direction of the Y axis is the left side of the spacecraft on-orbit inspection robot platform.

[0065] like Fig.10 , 11 Combined with Figure 8 As shown, the left first tentacle module L1, the left third tentacle module L3, and the right second tentacle module R2 on the left side of the spacecraft on-orbit inspection robot platform are combined into a first group of tentacle modules, and the right first tentacle module R1, the right third tentacle module R3 and the left second tentacle module L2 of the spacecraft on-orbit inspection robot platform are combined into a second group of tentacle modules. The first group of tentacle modules and the second group of tentacle modules swing alternately in sequence, so that the robot can move forward or backward. Exemplarily, the first group of tentacle modules and the second group of tentacle modules perform bionic simulation on the state of insect hexapod walking, and imitate the state of insect hexapod walking to move.

[0066] Taking the robot's forward motion as an example, the initial state of the spacecraft on-orbit inspection robot platform is as follows: Figure 8 As shown, each tentacle module is in the same state, and then the first group of tentacle modules of the spacecraft on-orbit inspection robot platform detaches from the suspended state and swings forward, while the second group of tentacle modules is in the adsorbed state and swings backward, driving the robot structure body to complete a set of half-beat movements forward, and then the first group of tentacle modules touches the ground and swings backward in the adsorbed state, and the second group of tentacle modules detaches from the suspended state and swings forward, driving the structure body of the spacecraft on-orbit inspection robot platform to complete another set of half-beat movements forward, and the robot can move forward in this cycle.

[0067] In the steering mode, the travel mode of the spacecraft on-orbit inspection robot platform is as follows: Fig.12 , Fig.13 , Fig.14The initial state of the spacecraft on-orbit inspection robot platform is shown in Figure 8 As shown, in the initial state, each foot-touch module is in the same state, and then the robot's left foot-touch module L1 and left foot-touch module L3 detach, swing backward and touch the ground for adsorption, and the right foot-touch module R1 and right foot-touch module R3 swing forward and touch the ground for adsorption, completing the process as shown in FIG. Fig.12 The first preparation work shown in FIG. 1 is then performed, and then the left two-touch foot module L2 is detached, swings backward, and then touches the ground for adsorption, and the right two-touch foot module R2 is detached, swings forward, and then touches the ground for adsorption, completing the process as shown in FIG. Fig.13 The second preparation work shown in the figure, finally the three groups of tentacles on the left (the first left tentacles module L1, the second left tentacles module L2, and the third left tentacles module L3) swing forward in the adsorption state, and the three groups of tentacles on the right (the first right tentacles module R1, the second right tentacles module R2, and the third right tentacles module R3) swing backward in the adsorption state, completing the following steps: Fig.14 Steering action shown.

[0068] In working mode, the four sets of tentacles at the front and rear ends of the spacecraft on-orbit inspection robot platform can cooperate with tools to perform specific tasks. For example, the left tentacle module L1 and the right tentacle module R1 cooperate with tools to perform specific tasks, or: the left third tentacle module L3 and the right third tentacle module R3 cooperate with tools to perform specific tasks. They can also cooperate with each other to achieve movements such as climbing.

[0069] From the above, it can be seen that the present invention uses rope drive to provide power, can continuously adjust the state of the tentacle module, realize various gait pattern changes through the coordinated cooperation of multiple groups of tentacle modules, realize the adjustment of its own height, configuration, movement direction and speed, and can stably parasitize on the surface of the spacecraft through the adsorption module. It has strong environmental adaptability and high flexibility in executing tasks, and has important application value in the field of on-orbit service and maintenance of spacecraft.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0071] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0072] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any way. Any feature disclosed in this specification, unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features. Throughout the specification, the same reference numerals indicate the same elements.

[0073] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present invention can be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order, and these words may be interpreted as names.

[0074] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "top", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spacecraft on-orbit inspection robot platform, comprising a mobile platform, characterized in that: Deformable tentacle modules are respectively arranged on both sides of the mobile platform, and the tentacle modules are symmetrically distributed on both sides of the mobile platform. One end of the tentacle module is a connection end connected to the mobile platform, and the other end is a free foot end for controllable adsorption / desorption. A control module is arranged in the mobile platform, and the control module is used to send control instructions for actions. The tentacle module realizes the displacement or posture adjustment of the spacecraft on-orbit inspection robot platform in space through its own swing or deformation, combined with the free foot end for controllable adsorption / desorption; The outside of the tentacle module is a flexible shell, an elastic core shaft is arranged inside the flexible shell, a rope is installed between the flexible shell and the elastic core shaft, and rope positioning rings are arranged at intervals in the axial direction of the elastic core shaft. Under the tension of the rope, the elastic core shaft can be deformed in a specified direction; The mobile platform also includes a driving module and a transmission module. The foot-touch module is connected to the transmission module. An inner winding shaft, an outer winding shaft, a thrust bearing and a pulley group are provided in the transmission module. The rope in the foot-touch module is wound around the inner and outer winding shafts under the guidance of the pulley group. The inner and outer winding shafts are connected to the winding shaft fixing block and the winding shaft fixing plate through the thrust bearing. The output shaft of the driving motor in the driving module is fixedly connected to the inner and outer winding shafts. Driven by the driving motor, the inner and outer winding shafts can rotate to drive the rope to move, thereby driving the foot-touch module to deform.

2. The spacecraft on-orbit inspection robot platform according to claim 1, characterized in that: There are six foot-touch modules, three of which are arranged on one side of the mobile platform, and the other three foot-touch modules are symmetrically arranged on the other side of the mobile platform.

3. The spacecraft on-orbit inspection robot platform according to claim 1, characterized in that: An adsorption module is installed on the free foot end of the foot-touch module, and the adsorption module is used to provide adhesion, and the adsorption method is electrostatic adsorption or bionic material adsorption.

4. The spacecraft on-orbit inspection robot platform according to claim 3, characterized in that: There are three transmission modules, and both ends of each transmission module are connected to a foot contact module respectively. The control module and the energy supply module are installed between adjacent transmission modules.

5. The spacecraft on-orbit inspection robot platform according to claim 4, characterized in that: The driving module includes a plurality of driving motors, the output shafts of the driving motors are D-shaped shafts, and the D-shaped shafts are connected to the hollow input shafts at one end of the inner and outer winding shafts in the transmission module to provide motive power for the winding shafts.

6. The spacecraft on-orbit inspection robot platform according to claim 1, characterized in that: A camera module for acquiring image / video information is installed at one end of the mobile platform.

7. The spacecraft on-orbit inspection robot platform according to claim 1, characterized in that: The mobile platform comprises an upper top plate and a lower bottom plate, and the control module, the drive module and the transmission module are installed between the upper top plate and the lower bottom plate.

8. A method for controlling a spacecraft on-orbit inspection robot platform, used to control the spacecraft on-orbit inspection robot platform according to any one of claims 1 to 7, characterized in that: Depending on the control instructions, one or more of the following motion modes are executed: Initial state mode: The tentacles of the spacecraft on-orbit inspection robot platform are oriented in the same direction and are in the first angle bending state; Height adjustment mode: The control module controls the drive module and the transmission module, so that the elastic core shaft of the feeler module is driven by the rope to bend at an angle perpendicular to the longitudinal section of the mobile platform, so that the feeler module is in a second angle bending state, thereby changing the chassis height of the spacecraft on-orbit inspection robot platform; Travel mode: Control the tentacles on both sides of the mobile platform to swing alternately in groups and in sequence, so as to realize the forward or backward movement of the spacecraft on-orbit inspection robot platform; Steering mode: Control the tentacle modules on both sides of the mobile platform to swing alternately in groups and sequence to achieve the steering movement of the spacecraft on-orbit inspection robot platform.

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