Self-reconfiguration robot in spaceflight space cabin

Abstract

The invention relates to the technical field of space robots, in particular to a self-reconfiguration robot in a spaceflight space cabin. Comprising a machine body, a power assembly and a butt joint device, the machine body comprises a first half machine body and a second half machine body; the power assembly comprises a ducted fan, a first rotating device and a second rotating device; the male butt joint device and the female butt joint device are installed on the first half machine body and the second half machine body correspondingly, and the robot is connected with the expansion module through the butt joint devices. In the independent working mode, space six-degree-of-freedom flight is achieved through eight or less ducted fans; when the working mode is reconstructed, the multiple robots are connected into the series-connection type reconstruction robot through the butt joint device, the first steering device drives the first half machine body and the second half machine body to rotate relatively, and the second steering device drives the robots to rotate relatively. The device can quickly adapt to various maintenance, detection and operation tasks, improves the working efficiency, is high in reliability, and is suitable for narrow and complex spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of space robots, and in particular to a self-reconfigurable robot in an aerospace cabin. Background Art

[0002] With the rapid development of information technology and automation technology, human beings' ability to explore the unknown universe is constantly improving. Various types of spacecraft such as space shuttles, spacecrafts, and artificial satellites continue to emerge, and the number of annual global launches and the number of spacecraft entering orbit have steadily increased year by year. Robotics technology has made significant progress in recent years and has been widely used in industry, military, medical, education, and home services. Although the existing space robots are powerful, they are fixed structures and cannot be self-reconfigured. With the increase in the complexity and diversity of tasks, traditional fixed-configuration robots can no longer meet the needs of working in space capsules.

[0003] The concept of self-reconfigurable robots provides a new approach to solving this problem. Self-reconfigurable robots can change their own states through self-reconfiguration according to different working environments and task requirements, thereby adapting to different working environments and completing diverse tasks.

[0004] However, due to the special space environment, microgravity, limited space, and complex tasks, there are currently no self-reconfigurable robots used in aerospace agencies. In addition, space missions have extremely high reliability requirements, and self-reconfigurable robots require reliable mechanical structures and autonomous adaptability to reduce the risk of mission failure due to robot failure. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a self-reconfigurable robot in a space cabin, which has two working modes: a single working mode and a reconstruction working mode. It can quickly adapt to various maintenance, inspection and operation tasks, improve work efficiency, has strong reliability, and is suitable for small and complex spaces.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A self-reconfigurable robot in an aerospace cabin comprises a body, a power assembly and a docking device installed on the body; the body comprises a first half body and a second half body; the power assembly comprises a ducted fan, a first rotating device and a second rotating device; the docking device comprises a male docking device and a female docking device, the male docking device and the female docking device are respectively installed on the first half body and the second half body, and the robot is connected to an expansion module via the docking device; in a single working mode, six-degree-of-freedom flight in space is achieved through eight or less ducted fans; in a reconfigurable working mode, a plurality of robots are connected into a serial reconfigurable robot through the docking device, the first steering device drives the first half body and the second half body to rotate relative to each other, and the second steering device drives the robots to rotate relative to each other.

[0008] Furthermore, the shell of the first half body is a hemispherical shell, the shell of the second body is a hemispherical shell, the shell of the first half body and the shell of the second body are connected by a rotating pair to form a complete sphere, and the plane where the shell of the first half body and the shell of the second half body are connected is a large circle plane.

[0009] Furthermore, there are six ducted fans, three of which are evenly distributed on the shell of the first half of the body, and the other three are evenly distributed on the shell of the second half of the body; the angle between the axis of the ducted fan and the large circle plane is 35.26°.

[0010] Furthermore, the first rotating device includes a steering gear, an internal gear and an external gear ring, the external gear ring is fixedly connected to the shell of the first half body, the steering gear is fixedly connected to the shell of the second half body, the internal gear is connected to the steering gear, and the internal gear is meshed with the external gear ring; the steering gear drives the internal gear to rotate, thereby driving the first half body and the second half body to rotate relative to each other.

[0011] Furthermore, the second steering device includes a motor, a worm and worm gear teeth. The motor is fixed to the first half body, the motor is connected to the worm, the worm gear teeth are arranged on the male docking device, and the worm and the worm gear teeth are meshed; the motor drives the worm to rotate, thereby driving the two robots to rotate relative to each other.

[0012] Furthermore, the male docking device includes a three-core male docking joint, a docking turntable, a barb, a reset spring, a pull rod, a slider, a suction cup and an electromagnet; the upper part of the docking turntable is a triangular prism, and the lower part is a circular disc, and the circular disc is provided with a groove; the three-core docking joint is installed on the top of the triangular prism; the barb, the reset spring, the pull rod and the suction cup form a connecting rod mechanism, and are installed in the docking turntable; the electromagnet is installed in the groove.

[0013] Furthermore, the female docking device includes a three-core female docking connector and an electromagnet; the three-core female docking connector and the electromagnet are installed on the base of the female docking device, and the base of the female docking device is arranged in the second half of the body; the base of the female docking device is a concave triangular prism, and the concave triangular prism is provided with a groove, which cooperates with the barb of the male docking device during docking to fix the docking.

[0014] Furthermore, it also includes a camera, which is installed on the body and located at the docking device to assist docking.

[0015] Furthermore, it also includes a posture control device, which is installed inside the machine body.

[0016] Furthermore, the expansion module includes a male docking base module and an end execution module.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention has two working modes: a single working mode and a reconfiguration working mode. When the robot is in the single working mode, the ducted fan is used as a power source, so that the robot can fly in the space capsule. In the single working mode, it can assist astronauts in completing maintenance inspections, air inspections, human-machine interaction and other tasks. When the work requires, the robot enters the reconfiguration working mode, and multiple robots are connected into one through the docking device. The first steering device drives the first half body and the second half body to rotate relative to each other, and the second steering device drives the robots to rotate relative to each other. The robot is connected to the expansion module through the docking device, and different expansion modules can be installed according to work requirements. This process does not require manual operation, which greatly reduces the workload of astronauts.

[0019] The present invention can quickly adapt to various maintenance, inspection and operation tasks, reduce task execution time and improve work efficiency. At the same time, its autonomous adaptability can reduce the risk of mission failure due to robot failure and enhance the reliability of the mission. And robots with self-reconfiguration capabilities can work in smaller and more complex spaces, which helps to explore every corner of the space capsule in depth and provide technical support for longer-term and more complex space missions in the future. In addition, it reduces the need for astronauts to directly participate in dangerous and complex tasks and reduces personnel risks. By improving the adaptability and reuse rate of robots, the hardware cost of space missions is reduced.

[0020] 2. The robot body of the present invention is a sphere, and the number of ducted fans is reduced to six, making the robot safer, smaller, and more agile. The space inside the space capsule is extremely precious. When working alone, it takes up less activity and storage space, which is convenient for flexible deployment in dense equipment layouts and avoids conflicts with astronauts or other equipment. It can enter narrow and dangerous spaces such as pipelines, equipment gaps, and bulkhead interlayers to perform inspection, maintenance, cleaning, and other tasks, reducing the workload of astronauts and ensuring their safety.

[0021] 3. The present invention combines the electromagnetic structure, mechanical structure and camera-assisted positioning during docking. A single robot begins docking under camera-assisted positioning, greatly reducing docking accuracy in the weightless environment of the space capsule. Accurate docking can be achieved through spatial fuzzy positioning, and then a combination of mechanical structure and electromagnetic structure is used to make the docking very reliable, solving the problem of unreliable docking in the prior art. The present invention solves the contradiction between high docking accuracy and unreliable docking in the space capsule, and maximizes reliability while meeting the necessary accuracy.

[0022] 4. The docking mechanical structure of the present invention is a concave-convex locking structure. The male docking device is provided with a triangular prism structure, and the female docking device is provided with a concave triangular prism structure. The concave-convex positioning and the concave triangular prism are provided with grooves and corresponding barbs, the two interact with each other to fix the docking, thereby improving the accuracy and firmness of the docking.

[0023] 5. The internal gear and the external gear ring of the present invention realize the relative rotation of the upper hemispherical shell and the lower hemispherical shell of a single robot, and the relative rotation of two robots is realized through the worm and the worm gear, which has significant advantages in terms of space, efficiency, precision, and carrying capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the shell of the present invention in a transparent state.

[0026] Figure 3 It is a cross-sectional view of the machine body of the present invention.

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the upper half of the machine body of the present invention.

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the lower half of the machine body of the present invention.

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure of the first rotating device of the present invention.

[0030] Figure 7It is a schematic diagram of the three-dimensional structure of the second rotating device of the present invention.

[0031] Figure 8 It is a sectional view of the three-dimensional structure of the male docking device of the present invention.

[0032] Fig. 9 It is a sectional view of the three-dimensional structure of the female docking device of the present invention.

[0033] Fig.10 It is a schematic diagram of the three-dimensional structure of the male docking device of the present invention (excluding the docking turntable and the electromagnet).

[0034] Fig.11 It is a cross-sectional view of the three-dimensional structure of the present invention.

[0035] Fig.12 for Fig.11 Enlarged view of point B.

[0036] Fig.13 It is a schematic diagram of the three-dimensional structure of the male docking base module of the present invention.

[0037] Fig.14 It is a schematic diagram of the three-dimensional structure of the end execution module of the present invention.

[0038] Fig.15 This is a schematic diagram of the working state of the single working mode of the present invention.

[0039] Fig.16 It is a schematic diagram of the docking process of the present invention.

[0040] Fig.17 This is the tilt docking error diagram of the present invention.

[0041] Fig.18 This is the horizontal docking error diagram of the present invention.

[0042] Fig.19 Reconstruction diagram for the present invention.

[0043] Fig. 20 This is a schematic diagram of a reconstruction working mode of the present invention.

[0044] Fig.21 This is a schematic diagram of another reconstruction working mode of the present invention.

[0045] Fig. 22 This is a schematic diagram of the working state of the reconstructed working mode of the present invention.

[0046] Markings in the figure: 1. body; 101. upper hemispherical shell; 102. lower hemispherical shell; 103. ducted fan bracket; 104. ventilation hole; 106. motor bracket; 109. servo bracket; 110. female docking device base; 112. control panel; 2. power assembly; 201 ducted fan; 202. servo; 203. outer gear ring; 204. inner gear; 205. motor; 206 worm; 207. worm gear; 3. docking device; 301. male docking device; 302. female docking device ; 303, three-core male connector; 304, docking turntable; 305, barb; 306, reset spring; 307, pull rod; 308, slider; 309, suction cup; 310, electromagnet; 311, three-core female connector; 401, male docking base module; 402, end execution module; 501, internal structure support frame; 502, posture control device; 503, power supply; 504 development board; 505, input and output interface; 506, LCD screen; 507, switch; 508, camera. DETAILED DESCRIPTION

[0047] The embodiments of the present invention are described in detail below. In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0048] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] In the description of the present invention, it should be noted that, 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 direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of the present invention, it should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0052] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0053] like Figure 1-5 As shown, a self-reconfigurable robot in a space cabin includes a body 1, a power assembly 2 installed on the body 1, a docking device 3, an expansion module and other devices.

[0054] The body 1 includes an upper hemispherical shell 101 and a lower hemispherical shell 102. The upper hemispherical shell 101 and the lower hemispherical shell 102 are made of aluminum alloy. The upper hemispherical shell 101 and the lower hemispherical shell 102 are connected by a revolute pair to form a complete sphere. Ventilation holes 104 are provided on the shells of the upper hemispherical shell 101 and the lower hemispherical shell 102. A ducted fan bracket 103 and a motor bracket 106 are provided in the upper hemispherical shell 101. A ducted fan bracket 103, a steering gear bracket 109, a female docking device base 110, an internal structure support frame 501 and a control panel 112 are provided in the lower hemispherical shell 102.

[0055] The power assembly 2 includes a ducted fan 201, a first rotating device, and a second rotating device. In this embodiment, preferably, there are six ducted fans 201, and the six ducted fans 201 are evenly distributed in the spherical body 1. The ducted fans 201 are installed on the ducted fan bracket 103 by bolts. The ducted fan bracket 103 is arranged in the upper hemispherical shell 101 and the lower hemispherical shell 102. The plane where the upper hemispherical shell 101 and the lower hemispherical shell 102 are connected is a large circular plane. The large circular plane is used as the plane, and the straight line inclined 35.26° from the straight line passing through the center of the sphere is used as the axis of the ducted fan bracket 103, that is, the axis of the ducted fan 201. The upper hemispherical shell 101 and the lower hemispherical shell 102 are respectively provided with three ducted fans 201, and they are evenly distributed. When the robot is in the single working mode, the ducted fans 201 in the upper hemispherical shell 101 and the lower hemispherical shell 102 are in a symmetrical state.

[0056] like Figure 6 As shown, the first rotating device includes a steering gear 202, an internal gear 204 and an external gear ring 203. The external gear ring 203 is arranged at the lower end of the upper hemispherical shell 101. The steering gear 202 is installed on the steering gear bracket 109 in the lower hemispherical shell 102 by bolts. The internal gear 204 is installed on the output shaft of the steering gear 202, and the internal gear 204 is meshed with the external gear ring 203. The steering gear 202 drives the internal gear 204 to rotate, thereby driving the upper hemispherical shell 101 and the lower hemispherical shell 102 to rotate relative to each other, that is, the first half body and the second half body rotate relative to each other. Figure 6 For the sake of clarity, only one servo 202 is shown. In practice, two servos 202 are preferred. Since a larger torque is required after reconstruction, two servos 202 are installed in the middle of a single robot, one to provide torque and the other to balance the center of gravity. The worm 206 and the worm gear 207 at the docking device 3 are also for providing a large torque.

[0057] like Figure 7As shown, the second steering device includes a motor 205, a worm 206 and a worm gear 207. The motor 205 is installed on the motor bracket 106 in the upper hemispherical shell 101 by bolts. The motor 205 is connected to the worm 206. The worm gear 207 is arranged at the end of the docking turntable 304 of the male docking device 301, and the worm 206 is meshed with the worm gear 207; the motor 205 drives the worm 206 to rotate, thereby driving the two robots to rotate relative to each other.

[0058] like Figure 8 , Fig.10 As shown, the docking device 3 includes a male docking device 301 and a female docking device 302 . The male docking device 301 is installed on the upper hemispherical shell 101 , and the female docking device 302 is installed on the lower hemispherical shell 102 .

[0059] The male docking device 301 includes a three-core male docking connector 303, a docking turntable 304, a barb 305, a reset spring 306, a pull rod 307, a slider 308, a suction cup 309 and an electromagnet 310. The docking turntable 304 has a triangular prism on the top and a circular disc on the bottom. The worm gear 207 is arranged at the bottom of the circular disc, and a circular groove is arranged at the center of the bottom of the circular disc. The three-core docking connector 303 is installed at the top of the triangular prism of the docking turntable 304 to realize charging and information exchange. The barb 305, the reset spring 306, the pull rod 307 and the suction cup 309 form a connecting rod mechanism and are installed in the docking turntable 304. The electromagnet 310 is installed in the circular groove of the circular disc of the docking turntable 304.

[0060] like Fig. 9 As shown, the female docking device 302 includes a three-core female docking connector 311 and an electromagnet 310. The three-core female docking connector 311 and the electromagnet 210 are installed on the female docking device base 110 in the lower hemispherical shell 102. The female docking device base 110 is a concave triangular prism structure, and a groove is provided on the concave triangular prism. When docking, it acts with the barb 305 of the male docking device 301 to fix the docking.

[0061] like Fig.13 , Fig.14 As shown, the expansion module can be customized according to the needs of working in the space capsule, and mainly includes two types: a male docking base module 401 and an end-effector module 402 (the figure shows only one type of end-effector).

[0062] like Fig.11 , 12As shown, other devices include an internal structure support frame 501, a posture control device 502, a power supply 503, a development board 504, an input and output interface 505, a liquid crystal screen 506, a switch 507 and a camera 508. The internal structure support frame 501 is fixedly connected to the lower hemispherical shell 102, the posture control device 502, the power supply 503 and the development board 504 are installed inside the internal structure support frame 501, and the input and output interface 505, the liquid crystal screen 506 and the switch 507 are installed on the control panel 112 on the outer surface of the lower hemispherical shell 102. The camera 508 is installed on the outer surface of the upper hemispherical shell 101, located at the docking device.

[0063] like Figure 15-22 As shown, the present invention has two working modes: a single working mode and a reconstruction working mode. The working principle and working process of the present invention are as follows:

[0064] 1. Robot single working mode:

[0065] When the robot is in the single working mode, the ducted fan 201 is used as a power device. The six ducted fans 201 can push the robot to move forward, backward, left, right, up and down to achieve six degrees of freedom in space. The torque difference generated by the three pairs of ducted fans in front and back, left and right, and up and down can make the robot rotate around the axis of the three pairs of ducted fans. In addition, there is an attitude control device 502 inside the robot to balance the excess torque, so that the robot can fly at any angle in the space cabin. In the single working mode, it can assist astronauts to complete maintenance inspection, air inspection, human-machine interaction, docking and other tasks, such as Fig.15 shown.

[0066] 2. Robot reconstruction working mode:

[0067] like Fig.16As shown, when the work requires, the robot enters the reconstruction work mode, and a single robot starts docking under the auxiliary positioning of the camera 508. The docking process is divided into three processes: before docking, during docking, and after docking. Before docking: Robot A finds the position of robot B to be docked according to the positioning function of the visual system. When the two robots are close, the male docking device 301 of robot A is aligned with the female docking device 302 of robot B; During docking: When the two robots are close to a certain extent, the electromagnet in the male docking device of robot A is turned on, and under the action of the electromagnet 310, the suction cup 309 in the locking mechanism is attracted, driving the barb 305 to be retracted, and the electromagnet 310 attracts the electromagnet 310 in the female docking device, which plays a role in assisting docking. After docking: The electromagnet is powered off, and under the action of the reset spring 306 in the locking mechanism of the male docking device, the barb 305 rebounds and is stuck in the reverse groove in the female docking device. At this time, the docking of robot A and robot B is completed. After the docking is completed, the original ducted fan 201 is transformed into a power device using a servo 202 in the middle of a single robot and a motor 205 at the male docking device, forming a serial reconfigurable robot, at the end of which different expansion modules 4 can be installed according to work requirements, and this process does not require manual operation.

[0068] like Figure 17-18 As shown in the figure, the whole process only requires the two robots to find the approximate position of the docking device under visual positioning, and then they can dock easily. After docking, the mechanical structure of the docking device makes it very solid, laying the foundation for the completion of subsequent tasks. If you want to separate the two robots, adjust the electromagnets of the two robots to the same polarity and turn on the power.

[0069] This docking device can achieve precise docking through spatial fuzzy positioning, and can achieve accurate docking in the tilted direction. Fig.17 As shown in the figure, the two robots can dock within a tilt error range of 30°; in the horizontal direction, Fig.18 As shown, the two robots can achieve docking within a horizontal error of -6.25 mm to 6.25 mm.

[0070] Robot reconstruction principle:

[0071] For ease of understanding, the robot is simplified as a cylinder. Fig.19 As shown in a, the deformation and reorganization of the cylinder are used to represent the deformation and reorganization of the robot, where the green part represents the upper hemisphere, and the circle at the top of the green part represents the female docking device; the pink part represents the lower hemisphere, and the circle at the top of the pink part represents the male docking device (the male docking device can rotate within a range of -180° to 180°). The entire cylinder can also rotate along the middle oblique line with its oblique plane orthocenter as the axis (the rotation range is -90° to 90°).

[0072] When two robots need to dock, it can be simplified as the pink cylindrical surface docking with the green cylindrical surface in the figure, such as Fig.19 After the docking is completed, the rotation pair in the middle of the robot or the rotation pair of the docking device can be changed according to the work requirements, such as Fig.19 As shown in ce. It can be seen that two robots can reconstruct a variety of different postures. If multiple robots are reconstructed, more postures can be reconstructed. When two or more robots are connected, the steering gear 202 and the motor 205 are the power devices of the robots.

[0073] On the basis of reconstruction, the robot can also connect other modules (such as manipulator module, detector module, maintenance module, etc.) to complete different tasks. Fig.13 , Fig.14 It is a reconstructed schematic diagram of the robot connection base (male docking base module 401) and the mechanical claw (end effector module 402).

[0074] The body 1 of the present invention is spherical, and the number of ducted fans 201 is reduced to six, making the robot safer, more compact and more agile. The space inside the space capsule is extremely precious, and it takes up less activity and storage space in the single working mode, which is convenient for flexible deployment in dense equipment layout and avoids conflicts with astronauts or other equipment. It can enter narrow and dangerous spaces such as pipelines, equipment gaps, and bulkhead interlayers to perform inspection, maintenance, cleaning and other tasks, reducing the workload of astronauts and ensuring their safety.

[0075] The present invention combines the electromagnetic structure, mechanical structure and camera-assisted positioning during docking. A single robot begins docking under camera-assisted positioning, greatly reducing docking accuracy in the weightless environment of the space capsule. Accurate docking can be achieved through spatial fuzzy positioning, and then a combination of mechanical structure and electromagnetic structure is used to make the docking very reliable, solving the problem of unreliable docking in the prior art. The present invention solves the contradiction between high docking accuracy and unreliable docking in the space capsule, and maximizes reliability while meeting the necessary accuracy.

[0076] The docking mechanical structure of the present invention is a concave-convex locking structure. The male docking device 301 is provided with a triangular prism structure, and the female docking device 302 is provided with a concave triangular prism structure. The concave-convex positioning and the concave triangular prism are provided with grooves and corresponding barbs. The two interact with each other to fix the docking, thereby improving the accuracy and firmness of the docking.

[0077] The present invention realizes relative rotation between the upper hemispherical shell 101 and the lower hemispherical shell 102 of a single robot through the inner gear 201 and the outer gear ring 203, and realizes relative rotation between two robots through the worm 206 and the worm gear 207, which has significant advantages in terms of space, efficiency, precision, and carrying capacity.

[0078] The present invention can quickly adapt to various maintenance, inspection and operation tasks, reduce task execution time and improve work efficiency. At the same time, its autonomous adaptability can reduce the risk of mission failure due to robot failure and enhance the reliability of the mission. And robots with self-reconfiguration capabilities can work in smaller and more complex spaces, which helps to explore every corner of the space capsule in depth and provide technical support for longer-term and more complex space missions in the future. In addition, it reduces the need for astronauts to directly participate in dangerous and complex tasks and reduces personnel risks. By improving the adaptability and reuse rate of robots, the hardware cost of space missions is reduced.

[0079] The above descriptions are only some specific implementation methods of the present invention, and the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A self-reconfigurable robot in an aerospace cabin, characterized by: It includes a machine body, a power assembly installed on the machine body, and a docking device; The body comprises a first half body and a second half body; The power assembly includes a ducted fan, a first rotating device and a second rotating device; The docking device includes a male docking device and a female docking device, the male docking device and the female docking device are respectively installed on the first half body and the second half body, and the robot is connected to the expansion module through the docking device; In single-operation mode, six-degree-of-freedom flight in space is achieved through eight or fewer ducted fans; In the reconfiguration working mode, multiple robots are connected into a serial reconfiguration robot through a docking device, the first steering device drives the first half body and the second half body to rotate relative to each other, and the second steering device drives the robots to rotate relative to each other.

2. The self-reconfigurable robot in aerospace cabin according to claim 1, characterized in that: The shell of the first half body is a hemispherical shell, the shell of the second body is a hemispherical shell, the shell of the first half body and the shell of the second body are connected through a revolving pair to form a complete sphere, and the plane where the shell of the first half body and the shell of the second half body are connected is a large circular plane.

3. The self-reconfigurable robot in aerospace cabin according to claim 2, characterized in that: There are six ducted fans, three of which are evenly distributed on the shell of the first half of the body, and the other three are evenly distributed on the shell of the second half of the body; the angle between the axis of the ducted fan and the large circular plane is 35.26°.

4. The self-reconfigurable robot in aerospace cabin according to claim 2, characterized in that: The first rotating device includes a steering gear, an internal gear and an external gear ring, wherein the external gear ring is fixedly connected to the housing of the first half body, the steering gear is fixedly connected to the housing of the second half body, the internal gear is connected to the steering gear, and the internal gear is meshed with the external gear ring; the steering gear drives the internal gear to rotate, thereby driving the first half body and the second half body to rotate relative to each other.

5. The self-reconfigurable robot in aerospace cabin according to claim 1, characterized in that: The second steering device includes a motor, a worm and worm gear. The motor is fixed to the first half body, the motor is connected to the worm, the worm gear is arranged on the male docking device, and the worm and the worm gear are meshed. The motor drives the worm to rotate, thereby driving the two robots to rotate relative to each other.

6. The self-reconfigurable robot in a space cabin according to claim 1, characterized in that: The male docking device comprises a three-core male docking connector, a docking turntable, a barb, a return spring, a pull rod, a slider, a suction cup and an electromagnet; The upper part of the docking turntable is a triangular prism, and the lower part is a circular disk, and the circular disk is provided with a groove; the three-core docking joint is installed on the top of the triangular prism; the barb, the reset spring, the pull rod and the suction cup form a connecting rod mechanism and are installed in the docking turntable; the electromagnet is installed in the groove.

7. The self-reconfigurable robot in a space cabin according to claim 6, characterized in that: The female docking device comprises a three-core female docking connector and an electromagnet; the three-core female docking connector and the electromagnet are installed on the base of the female docking device, and the base of the female docking device is arranged in the second half body; the base of the female docking device is a concave triangular prism, and the concave triangular prism is provided with a groove, which cooperates with the barb of the male docking device during docking to fix the docking.

8. The self-reconfigurable robot in a space cabin according to claim 1, characterized in that: The device also includes a camera, which is installed on the machine body and located at the docking device to assist docking.

9. The self-reconfigurable robot in a space cabin according to claim 1, characterized in that: It also includes a posture control device, which is installed inside the machine body.

10. The self-reconfigurable robot in a space cabin according to claim 1, characterized in that: The expansion module includes a male docking base module and an end execution module.

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