Space station robotic propulsion system based on adjustable-aperture jet

Abstract

The application discloses a space station robot propulsion system based on an adjustable light circle nozzle, which comprises a centrifugal fan air suction pressurization system, an internal curved surface flow guide system and an outlet jet control system; wherein the centrifugal fan air suction pressurization system can complete air suction pressurization through a centrifugal fan and serve as a thrust source; the internal curved surface flow guide system comprises arc-shaped wall surfaces connected with an outer shell and installed on opposite sides of a shell body, can realize flow guide, and can store rudders and other equipment, so that the aerodynamic shape is prevented from being damaged and the space utilization is improved; and the outlet jet system is installed on two corners outside the arc-shaped wall surfaces and realizes precise thrust adjustment through an adjustable light circle nozzle. The application improves the design in view of the low propulsion efficiency and insufficient adjustment precision of the current space station robot, and the jet propulsion system based on the adjustable light circle nozzle can effectively meet the requirements of the space station robot in advancing, turning and attitude adjustment.

Description

Technical Field

[0001] This invention relates to the field of space station equipment technology, and more specifically to a space station robot propulsion system based on an adjustable aperture nozzle. Background Technology

[0002] Intra-vehicle robots (IVRs) are specialized robots used to perform various tasks within the space station. They assist astronauts in moving around and taking photos, conducting interior inspections, managing supplies, and checking products. These robots are small, lightweight, and highly intelligent, capable of operating stably in the unique space environment characterized by microgravity, high vacuum, extremely low temperatures, strong radiation, and poor lighting. In recent years, significant progress has been made in intelligent equipment and robotics technology. IVR research has become a major focus in International Space Station (ISS) related projects, with numerous participating countries investing heavily in its development.

[0003] Existing intravehicular robots (IoVs) on space stations mostly use jet propulsion for movement and attitude control. For example, NASA's next-generation IoV platform, Astrobee, employs two symmetrical propulsion modules, each containing a centrifugal fan and six adjustable nozzles. Propulsion is achieved by the fan drawing in air, pressurizing it, and then expelling it from the nozzles. While this provides ample thrust, the centrifugal fan makes thrust control difficult, and the insufficient number of nozzles and the lack of sensitivity in adjusting their opening and closing can affect the responsiveness of movement and attitude control. JAXA's (Japan Aerospace Exploration Agency) first zero-gravity space environment camera drone, Int-bal, uses multiple micro-fans for propulsion and three flywheels for attitude control. While the fan and flywheel design allows for more flexible movement and attitude adjustment, the relatively small thrust of the satellite fans results in low propulsion efficiency, and the flywheels occupy extra space, limiting the robot's functionality and preventing the installation of larger equipment such as robotic arms.

[0004] This invention, specifically designed for the unique environment inside a space station, innovatively employs a centrifugal airflow pressurization system combined with an adjustable nozzle structure to achieve precise control of propulsion. This propulsion system uses a centrifugal fan to generate negative pressure to draw in gas, which is then pressurized and discharged through an adjustable aperture nozzle. This not only meets the basic propulsion requirements of the in-cabin robot, but its unique nozzle adjustment mechanism also provides a high degree of controllability in thrust output. This design enables the robot to achieve multi-degree-of-freedom motion in the complex cabin environment of the space station, including precise attitude adjustment and flexible displacement control, effectively solving the problem of insufficient adaptability of traditional propulsion methods in confined spaces. Summary of the Invention

[0005] This invention addresses the current shortcomings of space station robots, such as low propulsion efficiency and insufficient adjustment precision. It presents an improved jet propulsion system based on an adjustable aperture nozzle, which can effectively meet the needs of space station robots for forward movement, turning, and attitude adjustment.

[0006] This invention proposes a space station robot propulsion system based on an adjustable aperture nozzle, comprising a centrifugal fan intake pressurization system, an internal curved surface guide system, and an outlet jet system; wherein, the main component of the centrifugal fan intake pressurization system is a centrifugal fan 1; the main component of the internal curved surface guide system is an arc-shaped wall 2 connected to the outer shell; the main component of the outlet jet system is a servo motor 3, a drive shaft 4, a type I gear 5, a type II gear 6, and an adjustable aperture nozzle 7.

[0007] The centrifugal fan intake and pressurization system consists of two rectangular shells on the left and right sides, assembled with a central main frame and secured with bolts and nuts, forming an approximately cube-shaped structure. The rectangular shells and main frame are 3D printed from resin. A platform is installed on each of the upper, middle, and lower sides of the main frame for placing the instrument. Two centrifugal fans are mounted on opposite sides of the cube, facing the center. Circular air inlets are located on the sides of the cube, with the centrifugal fans extending from the center of these inlets.

[0008] The centrifugal fan inlet is circular. When the motor drives the impeller to rotate, the curved thin plastic blades on the impeller are subjected to centrifugal force, causing air to be rapidly drawn into the centrifugal fan and accelerated along the curved path of the blades. Subsequently, the accelerated air is thrown around the impeller, forming a strong airflow, which is then discharged through the centrifugal fan outlet and guided into the internal curved flow guide system. A low-pressure zone then forms at the center of the impeller, continuously drawing in new air, thus achieving a cyclical process of air intake and exhaust.

[0009] The internal curved surface airflow guiding system guides airflow through a 3D-printed arc-shaped wall made of resin.

[0010] When the airflow moves along the curved wall, it can reduce the energy loss of the airflow, maximize the outlet jet velocity, and maximize the thrust. At the same time, the outlet jet system equipment can be placed in the interlayer between the curved wall and the outer shell, avoiding damage to the aerodynamic shape and improving space utilization. The curved wall is embedded in the interior of the overall shell, and the two walls are centrally symmetrically distributed. One end of the curved wall is tangent to the circular centrifugal fan, and the other end is connected to the adjustable aperture nozzle.

[0011] The adjustable aperture nozzle is made of plastic and consists of multiple overlapping arc-shaped thin plastic blades. By rotating the knob on the back of the aperture, the engagement and disengagement of the arc-shaped thin plastic blades can be changed, thereby changing the size of the central circular aperture and ultimately changing the jet volume. It has high adjustment accuracy and a large adjustment range.

[0012] The adjustable aperture nozzles are installed at the two corners outside the curved wall. Each of the three sides at the corner has a circular opening, and an adjustable aperture nozzle is embedded in each of them. A total of 6 adjustable aperture nozzles are embedded in each housing, and a total of 12 adjustable aperture nozzles are embedded in the left and right housings, which can realize 6 degrees of freedom of movement.

[0013] Both types of gears are round metal gears. Type I gear is concentric with the adjustable aperture nozzle and is closely attached to the adjustable aperture nozzle. It is fixed with hot melt glue so that it rotates together with the knob on the back of the adjustable aperture. Type II gear meshes perpendicularly with Type I gear. At the same time, the center of Type II gear is inserted into the drive shaft and fixed with screws. The drive shaft is inserted into the servo motor and fixed with screws.

[0014] The servo motors are secured to the housing by two sets of small screws and nuts. Two servo motors are positioned at each of the two corners shielded by the curved wall, their drive shafts parallel to the plane of the centrifugal fan intake supercharger system's inlet, passing through small holes in the curved wall. One servo motor is positioned at each of the two corners without the curved wall shielding, its drive shaft perpendicular to the plane of the centrifugal fan intake supercharger system's inlet. Six servo motors are housed in each housing, for a total of twelve servo motors across the two housings. When a servo motor receives a signal and rotates a certain angle, it controls the opening and closing of the adjustable aperture nozzle along the drive shaft, type II gear, and type I gear transmission chain, thereby precisely adjusting the thrust.

[0015] The present invention has the following beneficial effects:

[0016] 1. Powered by a centrifugal fan, it provides ample thrust, low noise, and a high safety factor, making it suitable for use inside a space station.

[0017] 2. The adjustable aperture nozzle can precisely adjust the thrust to meet the needs of precise motion and attitude control.

[0018] 3. The adjustable aperture nozzle transmission mechanism has a simple structure and high reliability, making it suitable for use in the complex environment of the space station. Attached Figure Description

[0019] Figure 1 This is an integrated diagram of the main components of the space station robot propulsion system.

[0020] Figure 2 An isometric view of the space station's robot exhaust jet system.

[0021] Figure 3a These are the main views of the adjustable aperture nozzle.

[0022] Figure 3b These are rear views of the adjustable aperture nozzle.

[0023] The labels in the diagram are explained as follows:

[0024] 1. Centrifugal fan; 2. Internal curved airflow system; 3. Servo motor; 4. Drive shaft; 5. Type I gear; 6. Type II gear; 7. Adjustable aperture nozzle; 8. Curved thin plastic blades; 9. Outer frame; 10. Knob. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] like Figure 1 This diagram shows the integrated structure of the main components of the space station's robotic propulsion system, including a centrifugal fan 1, which draws in and accelerates air to provide jet propulsion. The internal curved airflow guiding system 2 has an arc-shaped wall embedded within the overall outer shell. The two walls are centrally symmetrically distributed, with one end tangent to the circular centrifugal fan and the other end connected to the adjustable aperture nozzle. This guides airflow, reducing energy loss, and allows the outlet jet system equipment to be placed within the space between the arc-shaped wall and the outer shell, avoiding disruption of the aerodynamic shape and improving space utilization.

[0027] like Figure 2 The space station robot's exhaust jet system includes servo motors 3, drive shafts 4, type I gears 5, type II gears 6, and adjustable aperture nozzles 7. The selected servo motor model is SG90. Type I gears are concentric with the adjustable aperture nozzles, closely attached to them, and fixed with hot melt adhesive. Type II gears mesh perpendicularly with Type I gears, and their centers are inserted into the drive shaft and secured with screws. The drive shaft is then inserted into servo motors 3 and secured with screws. At the two corners outside the curved wall, three circular openings are made on each of the three sides, each housing containing one adjustable aperture nozzle. A total of six adjustable aperture nozzles are installed within each housing. Two servo motors are placed at each of the two corners shielded by the curved wall, with their drive shafts parallel to the plane of the centrifugal fan intake pressurization system's inlet, passing through small holes in the curved wall. One servo motor is placed at each of the two corners not shielded by the curved wall, with its drive shaft perpendicular to the plane of the centrifugal fan intake pressurization system's inlet. Six servo motors are housed within each housing. When the servo motor receives a signal and rotates a certain angle (0-360 degrees), it controls the opening and closing of the adjustable aperture nozzle along the transmission chain of the drive shaft, type II gear, and type I gear, thereby precisely adjusting the thrust.

[0028] like Figure 3a and Figure 3bThese are front and rear views of the adjustable aperture nozzle, including an arc-shaped thin plastic blade 8, an outer frame 9, and a knob 10. The adjustable aperture nozzle is composed of multiple overlapping arc-shaped thin plastic blades. By rotating the knob on the back of the aperture, the engagement and disengagement of the arc-shaped thin plastic blades can be changed, thereby changing the size of the central circular aperture and ultimately changing the jet volume. It has high adjustment accuracy and a large adjustment range.

[0029] The centrifugal fan speed is set to 2900 rpm (±10%) and the voltage is 10-15V.

[0030] The following example illustrates the specific implementation plan using a concrete example of the movement of a robot inside the space station. When the robot is in operation, a 12V power supply is connected, the centrifugal fan starts rotating, and gas near the inlet is drawn into the casing. After acceleration, the gas reaches a speed of 37.53 m / s at the outlet. When a forward command is given, the two adjustable aperture nozzle servo motors (MCUs) on the same side generate a 20ms pulse signal, including a 2.5ms high-level pulse, causing the servo motors to rotate 360 ​​degrees. The servo motors drive the type I gears fixed to them to rotate 360 ​​degrees, and the type II gears mesh with them, rotating 90 degrees. This, in turn, rotates the knob on the rear of the adjustable aperture nozzle by 90 degrees, changing the diameter of the adjustable aperture nozzle to 50mm, allowing the airflow to be ejected smoothly and providing thrust. The adjustable aperture nozzle diameter can be adjusted from 2mm to 50mm. Actual measurements show that the robot's single-sided thrust can be adjusted from 0.01N to 0.65N, which is sufficient to meet the thrust requirements of the space station robot.

Claims

1. A space station robotic propulsion system based on an adjustable-aperture jet, characterized by: It includes a centrifugal fan intake pressurization system, an internal curved flow guide system, and an outlet jet control system; wherein, the intake of the centrifugal fan intake pressurization system is accomplished by a centrifugal fan; the internal curved flow guide system includes an arc-shaped wall connected to the overall shell of the centrifugal fan intake pressurization system and installed on the opposite side of the centrifugal fan; the outlet jet system is installed at two corners on the same diagonal line and is located at the outlet of the arc-shaped wall. The exhaust jet control system includes a servo motor, drive shaft, Type I gear, Type II gear, adjustable aperture nozzle, screws and nuts; Among them, the two types of gears in the exhaust jet control system are both round metal gears. Type I gear is concentric with the adjustable aperture nozzle and is closely attached to the adjustable aperture nozzle. It is fixed with hot melt adhesive so that Type I gear and the knob on the back of the adjustable aperture rotate together. Type II gear meshes perpendicularly with Type I gear. At the same time, the center of Type II gear is inserted into the drive shaft and fixed with screws. The drive shaft is inserted into the servo motor and fixed with screws. Among them, the adjustable aperture nozzles of the exit jet control system are installed at two corners outside the arc-shaped wall. Each of the three sides at the corner has a circular opening, and each is fitted with an adjustable aperture nozzle. A total of 6 adjustable aperture nozzles are fitted in each housing, and a total of 12 adjustable aperture nozzles are fitted in the left and right housings, realizing 6 degrees of freedom of movement. The servo motors of the exhaust jet control system are fixed to the outer shell by two sets of small screws and nuts; two servo motors are arranged at the two corners with arc-shaped wall shielding, with the drive shaft parallel to the plane of the intake port of the intake supercharger system and passing through the small hole on the arc-shaped wall; one servo motor is arranged at the two corners without arc-shaped wall shielding, with the drive shaft perpendicular to the plane of the intake port of the intake supercharger system; six servo motors are arranged in each shell, and a total of 12 servo motors are arranged in the left and right shells.

2. The space station robot propulsion system based on an adjustable aperture nozzle according to claim 1, characterized in that: The centrifugal fan intake and pressurization system consists of two rectangular shells on the left and right sides and a central main frame, which are fixed with bolts and nuts. The rectangular shells and the main frame are made of resin by 3D printing. A platform is installed on the upper, middle and lower sides of the main frame for placing the instrument. Two centrifugal fans are installed on opposite sides of the cube, facing the center. The cube has a circular air inlet on the side, and the fans extend from the middle of the air inlet.

3. A space station robot propulsion system based on an adjustable aperture nozzle according to claim 1 or 2, characterized in that: The centrifugal fan has a circular inlet. When the motor drives the impeller to rotate, the blades on the impeller are subjected to centrifugal force, which causes air to be rapidly drawn into the fan and accelerated along the curved path of the blades. Subsequently, the accelerated air is thrown around the impeller, forming a strong airflow, which is discharged through the fan outlet and introduced into the curved guide system. Then, a low-pressure zone is formed in the center of the impeller, thereby continuously drawing in new air, and the cycle of air intake and exhaust is repeated.

4. A space station robot propulsion system based on an adjustable aperture nozzle according to claim 1, characterized in that: The internal curved airflow system guides airflow through 3D-printed curved walls made of resin.

5. A space station robot propulsion system based on an adjustable aperture nozzle according to claim 4, characterized in that: When the airflow moves along the curved wall, it can reduce the energy loss of the airflow, increase the exhaust velocity, and maximize the thrust. At the same time, the exhaust control system equipment is placed in the sandwich between the curved wall and the outer shell. The curved wall is embedded in the interior of the overall shell, and the two walls are centrally symmetrically distributed. One end of the curved wall is tangent to the circular centrifugal fan, and the other end is connected to the nozzle.

6. A space station robot propulsion system based on an adjustable aperture nozzle according to claim 1, characterized in that: The adjustable aperture nozzle of the exhaust jet control system is made of plastic and consists of multiple overlapping arc-shaped thin plastic blades. By rotating the knob on the back of the aperture, the engagement and disengagement of the blades can be changed, thereby changing the size of the central circular aperture and ultimately changing the jet volume.

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