Piezoelectric self-energized sensing-low-disturbance adhesion crawling foot end for space robot

Abstract

The invention discloses a piezoelectric self-energy-supply sensing-low-disturbance adhesion crawling foot end for a space robot. The piezoelectric self-energy-supply sensing-low-disturbance adhesion crawling foot end comprises a foot end outer frame module, an adhesion module, an electromagnetic variable structure module array and a deformation self-sensing module. The foot end outer frame module comprises a frame, a hinge, an electromagnetic coil fixing frame, a camera and a foot end connecting rod. The adhesion module comprises a dry adhesion layer, an electrostatic force layer, a deformation curing layer, a rigid supporting rod and an adhesion supporting hinge, and low-disturbance adhesion of the robot foot end is achieved through combination of the electrostatic force layer and the dry adhesion layer. And the deformation self-sensing module is used for realizing self-energy-supply sensing of the deformation state. The electromagnetic variable structure module array comprises a plurality of electromagnetic driving coils, driving connecting rod bottom rods, driving connecting rod middle rods and driving connecting rod top rods, the electromagnetic driving coils, the driving connecting rod bottom rods, the driving connecting rod middle rods and the driving connecting rod top rods form an array and are symmetrically fixed to the two sides of the foot end outer frame module, adhesion layers are pulled through electromagnetic force to deform, and the electromagnetic variable structure module can adapt to typical plane and cambered surface structures and truss rod piece structures. The whole device has the characteristics of high adaptability, high integration level and small size.

Description

Technical Field

[0001] The present invention relates to a piezoelectric self-powered sensing-low disturbance adhesion crawling foot end for a space robot, belonging to the field of industrial automation control. Background Art

[0002] The technology of on-orbit assembly and maintenance of robots based on space is an important guarantee for the long-term reliable operation of large spacecraft in the future. An important prerequisite for a robot to successfully execute on-orbit assembly and maintenance tasks is that the space robot has the ability to stably attach and crawl without gravity on typical planar, arc-shaped structures and truss rod structures. At the same time, it is also necessary to minimize the vibration impact interference of the robot's crawling on the structure and avoid the vibration instability of the flexible attachments of large spacecraft. Therefore, the robot's crawling needs to have low disturbance characteristics. There is an urgent need to develop a robot low disturbance crawling foot end that can adapt to typical planar, arc-shaped structures and truss rod structures in a zero-gravity environment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to provide a robot low disturbance crawling foot end applicable to typical planar, arc-shaped and truss rod structures in a zero-gravity environment, to meet the stable attachment requirements of the robot in on-orbit assembly and maintenance tasks.

[0004] The object of the present invention is achieved by the following technical solutions:

[0005] A piezoelectric self-powered sensing-low disturbance adhesion crawling foot end for a space robot, comprising a foot end outer frame module, an adhesion module, an electromagnetic metamorphic module array, and a deformation self-sensing module.

[0006] The foot end outer frame module includes a frame, a hinge, an electromagnetic coil fixing frame, a camera, and a foot end connecting rod. The frame is installed at the end of the robot leg foot through the foot end connecting rod. Two cameras are fixed on both sides of the frame, one camera is fixed inside, a hinge is fixed at the bottom, and the electromagnetic coil fixing frame is fixed at the arc-shaped part below the camera. The camera is used to observe the morphology of the attached structure and the shape change of the adhesion module in real time.

[0007] The adhesion module includes: a dry adhesion layer, an electrostatic force layer, a deformation curing layer, a rigid support rod, and an adhesion support hinge. The adhesion module is connected to the foot end outer frame module through the adhesion support hinge, and the adhesion support hinge is adhesively fixed on the deformation curing layer. The dry adhesion layer, the electrostatic force layer, and the deformation curing layer are all made of polymer soft materials. The lower surface of the dry adhesion layer is provided with a dry adhesion micro-column array for adhering to the surface of a plane or a truss member of a typical structure of a spacecraft; the electrostatic force layer is fixed on the dry adhesion layer, and when energized, an electrostatic adsorption force is generated between the electrostatic force layer and the adhered surface to enhance the dry adhesion force; the deformation curing layer is fixed on the electrostatic force layer, and a liquid alloy is filled inside. When the liquid alloy is heated by energization, it is in a liquid state, making the deformation curing layer in a soft body state, enabling the adhesion module to have a better morphological fit with the adhered surface under the action of the dry adhesion force. After stopping the energization heating, it returns to a solid state with higher strength, enabling the adhesion module to maintain its shape. The rigid support rod is fixed on the upper surface of the deformation curing layer.

[0008] The electromagnetic metamorphic module array includes several units, and each unit includes an electromagnetic drive coil, a drive link bottom rod, a drive link middle rod, and a drive link top rod, forming an array and symmetrically fixed on both sides of the foot end outer frame module. The drive link bottom rod, the drive link middle rod, and the drive link top rod are connected together by two shafts. When the electromagnetic drive coil is energized, an electromagnetic force is generated, applying a tensile or compressive force along the length direction to the drive link top rod, and transmitted to the adhesion module through the drive link bottom rod and the middle rod, which can cause the adhesion module to bend. When a tensile force is applied, the adhesion module bends inward; when a compressive force is applied, the adhesion module bends outward. With different force magnitudes, different curvatures are generated on the lower surface of the adhesion module to adapt to different target surface curvatures.

[0009] There are several deformation self-sensing modules, symmetrically arranged to form an array. Each module includes a contact ball, a self-sensing rod, and a pressing and rolling unit. The pressing and rolling unit includes a fixed rod shaft, a rolling shaft, and a limiting small plate. A large number of piezoelectric cantilever micro-array units are arranged on one side surface of the self-sensing rod. The contact ball is located below the self-sensing rod and contacts the rigid support rod, transmitting the relative position change of the rigid support rod to the self-sensing rod. The self-sensing rod is a rectangular column, and there are many parallel piezoelectric cantilever micro-array units on one side surface. When these micro-cantilevers pass through the rolling shaft, they will be pressed and deformed by the rolling shaft, generating a voltage signal for self-powered measurement of the displacement of the self-sensing rod.

[0010] The rolling unit is installed on the inner surface of the frame through the fixed rod shaft. The rolling shaft sleeve is sleeved on the fixed rod shaft and can roll around the shaft. The limiting small plate is used to limit the self-sensing rod to move only along the length direction of the self-sensing rod. The contact ball is composed of a contact ball shell and an inner sphere. The contact ball shell will be fixed to the rigid support rod, and the inner sphere is fixed to the self-sensing rod. The contact ball shell and the inner sphere form a universal ball structure, and there is low-friction lubricating oil between the contact interfaces.

[0011] The present invention has the following beneficial effects compared with the prior art:

[0012] The crawling foot end provided by the present invention can be applied to typical planar, arc-shaped and truss member structures of the assembly structure.

[0013] During dry adhesion, the dry adhesion unit needs a certain impact speed to impact the surface of the adhered structure to generate a strong dry adhesion force, which will cause a large impact disturbance to the assembly structure. The present invention can provide an additional electrostatic adsorption force through the electrostatic adsorption layer to enhance the dry adhesion force. By adopting the liquid-solid conversion of liquid metal, the strength of the adhesion module can be enhanced, ensuring that the adhesion surface has good anti-extrusion ability.

[0014] Through the self-sensing module, real-time self-powered monitoring of the adhesion and desorption processes can be provided to measure the deformation of the adhesion module. Through the electromagnetic deformation module, the adhesion module can be quickly driven to generate deformation adapting to the morphology of the adhered surface. The whole device has the advantages of strong adaptability and high integration. Description of the Drawings

[0015] Figure 1a It is a schematic structural diagram of the adhesion crawling foot end of the present invention, Figure 1b It is a front view of the structure of the adhesion crawling foot end of the present invention, Figure 1c It is a side view of the schematic structural diagram of the adhesion crawling foot end of the present invention.

[0016] Figure 2a It is a combined schematic diagram of the adhesion module, Figure 2b It is a disassembled schematic diagram of the adhesion module.

[0017] Figure 3a It is a schematic structural diagram of the deformation curing layer, Figure 3b It is a sectional schematic diagram of the deformation curing layer.

[0018] Figure 4 It is a schematic structural connection diagram of the hinge and the adhesion support hinge.

[0019] Figure 5 It is a schematic structural diagram and a partial enlarged view of the deformation self-sensing module.

[0020] Figure 6 It is a schematic structural diagram of the electromagnetic deformation module array.

[0021] Figure 7 It is a schematic diagram of the internal structure of the cutaway structure of the attached crawling foot end of the present invention.

[0022] Reference numerals:

[0023] Foot end outer frame module-1, frame-101, hinge-102, electromagnetic coil fixing frame-103, camera-104, foot end connecting rod-105, adhesion module-2, dry adhesion layer-201, electrostatic force layer-202, deformation curing layer-203, rigid support rod-204, adhesion support hinge-205, electromagnetic drive coil-301, drive connecting rod bottom rod-302, drive connecting rod middle rod-303, drive connecting rod top rod-304, deformation self-sensing module-4, contact ball-401, inner sphere-4011, contact ball shell-4012, self-sensing rod-402, rolling unit-403, fixed rod shaft-4031, rolling shaft-4032, limiting plate-4033, piezoelectric cantilever microarray unit-4021. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0025] like Figure 1a , Figure 1b , Figure 1c , Figure 7 As shown, a piezoelectric self-powered sensing-low disturbance adhesion crawling foot for space robots includes a foot frame module 1, an adhesion module, an electromagnetic conformational change module array, and a deformation self-sensing module 4.

[0026] like Figure 2a , Figure 2b , Figure 3a , Figure 3b , Figure 4 As shown, the adhesion module includes a dry adhesion layer 201 , an electrostatic force layer 202 , a deformation solidification layer 203 , a rigid support rod 204 , and an adhesion support hinge 205 .

[0027] The foot end outer frame module 1 comprises a frame 101, a hinge 102, an electromagnetic coil fixing frame 103, a camera 104, and a foot end connecting rod 105. The frame 101 is installed at the end of the robot leg through the foot end connecting rod 105. Two cameras 104 are fixed on both sides of the frame 101, one camera 104 is fixed inside, a hinge 102 is fixed at the bottom, and the electromagnetic coil fixing frame 103 is fixed at the arc below the cameras 104 fixed on both sides of the frame 101. The camera 104 is used to observe the morphology of the attached structure and the shape change of the adhesion module in real time.

[0028] The adhesion module is connected to the foot-end outer frame module 1 through the adhesion support hinge 205, and the adhesion support hinge 205 is adhesively fixed on the deformation curing layer 203. The adhesion support hinge 205 can enable the edge of the adhesion module to rotate so as to well fit the surface of the structure to be attached. The dry adhesion layer 201, the electrostatic force layer 202 and the deformation curing layer 203 are all made of polymer soft materials. The lower surface of the dry adhesion layer 201 is provided with a dry adhesion micro-column array for adhering to the flat surface, arc surface or truss rod surface of a typical structure of a spacecraft. When hitting the surface to be attached at a certain speed, an adhesion force is generated to achieve attachment to the structure surface;

[0029] The electrostatic force layer 202 is fixed on the dry adhesion layer 201. When energized, an electrostatic adsorption force is generated between it and the surface to be adhered, which is used to enhance the dry adhesion force. The deformation curing layer 203 is fixed on the electrostatic force layer 202 and is filled with liquid alloy inside. The liquid alloy is in a liquid state when heated by electricity, so that the deformation curing layer is in a soft body state, which can enable the adhesion module 2 to have a better morphological fit with the adhesion surface under the action of the dry adhesion force. After stopping the power-on heating, it returns to a solid state with higher strength, so that the adhesion module 2 maintains its shape.

[0030] The rigid support rod 204 is fixed on the upper surface of the deformation curing layer 203.

[0031] As Figure 6 shown, the electromagnetic deformation module 3 array includes several units, and each unit includes an electromagnetic drive coil 301, a drive link bottom rod 302, a drive link middle rod 303, and a drive link top rod 304, forming an array and symmetrically fixed on both sides of the foot-end outer frame module 1. The drive link bottom rod 302, the drive link middle rod 303, and the drive link top rod 304 are connected together by two shafts. When the electromagnetic drive coil 301 is energized, an electromagnetic force is generated to apply a tensile or thrust force along the length direction to the drive link top rod 304, and through the drive link bottom rod 302 and the drive link bottom middle rod 303, it is transmitted to the adhesion module 2, which can cause the electrostatic force layer 202 and the deformation curing layer 203 to bend and deform. When a tensile force is applied, the electrostatic force layer 202 and the deformation curing layer 203 bend inward, and when a thrust force is applied, the electrostatic force layer 202 and the deformation curing layer 203 bend outward. With different force magnitudes, different curvatures are generated on the surfaces of the electrostatic force layer 202 and the deformation curing layer 203 to adapt to different target surface curvatures.

[0032] As Figure 5As shown, there are several deformation self-sensing modules 4, forming an array, each of which includes a contact ball 401, a self-sensing rod 402, and a pressure rolling unit 403. The pressure rolling unit 403 includes a fixed rod shaft 4031, a rolling shaft 4032, and a limiting plate 4033. There are several piezoelectric cantilever micro-array units 4021 on one side of the self-sensing rod 402. The contact ball 401 is below the self-sensing rod 402 and contacts the rigid support rod 204, transmitting the relative position change of the rigid support rod 204 to the self-sensing rod 402. The self-sensing rod 402 is a rectangular column, and there are many parallel piezoelectric cantilever micro-array units 4021 on one side of the surface. When these micro-cantilevers pass through the rolling shaft 4032, they will be compressed and deformed by the rolling shaft 4032, generating a voltage signal for self-powered measurement of the displacement of the self-sensing rod 402.

[0033] The rolling unit 403 is installed on the inner surface of the frame 101 through the fixed rod shaft 4031, and the rolling shaft 4032 is sleeved on the fixed rod shaft 4031 and can roll around the shaft. The limit plate 4033 is used to limit the self-sensing rod 402 to move only along the length direction of the self-sensing rod. The contact ball 401 is composed of an inner sphere 4011 and a contact ball shell 4012. The contact ball shell 4012 will be fixed to the rigid support rod 204, and the inner sphere 4011 is fixed to the self-sensing rod 402. The contact ball shell 4012 and the inner sphere 4011 form a structure similar to a universal ball, and there is low-friction lubricating oil between the contact interfaces.

[0034] When the robot foot needs to be attached to a rod structure or an arc structure surface, the deformation solidification layer 203 is first energized and heated to make the liquid alloy inside it in a fluid state, and the curvature and direction of the rod or arc surface shape are identified and measured by the camera 104, and then a number of electromagnetic driving coils 301 are driven to generate electromagnetic pulling force on a number of driving connecting rod top rods 304, which is transmitted to the rigid support rod 204 connected below through the driving connecting rod middle rod 303 and the driving connecting rod bottom rod 302, pulling the adhesion module 2 to deform according to the expected displacement, so that the dry adhesion layer 201 produces the same curvature as the attached rod, and the deformation of the adhesion module 2 is qualitatively observed by the camera 104, and the deformation of the adhesion module 2 is quantitatively measured by the deformation self-sensing module 4. When the adhesion module 2 is deformed to the expected degree, the designed crawling foot end is brought close to and attached to the surface of the structure to be attached. After the camera 104 observes that the attachment is completed, the electrostatic force layer 202 is energized to generate an attractive electrostatic force between the electrostatic force layer 202 and the attached surface. The attractive electrostatic force generates pressure between the dry adhesion layer 201 and the attached surface, so that the dry adhesion layer 201 and the attached surface are fully attached and dry adhesion is generated. Then the deformation solidification layer 203 is powered off and cooled, so that the liquid alloy is cooled and solidified, and the deformation solidification layer 203 is hardened, providing sufficient strength of the surface retention ability and maintaining sufficient adhesion.

[0035] When the robot's foot end needs to adhere to the surface of a planar structure, there is no need to energize and heat the deformation curing layer 203 to keep the liquid alloy in a solid state. Bring the designed crawling foot end close to and fit the surface of the structure to be adhered. After the camera 104 observes that the fitting is good, energize the electrostatic force layer 202 to generate an attractive electrostatic force between the electrostatic force layer 202 and the adhered surface. Generate a pressure between the dry adhesion layer 201 and the adhered surface through the attractive electrostatic force, so that the dry adhesion layer 201 fully adheres to the adhered surface and generates a dry adhesion force. The liquid alloy in the deformation curing layer 203 always remains in a solid state to provide sufficient strength for the surface shape maintaining ability and maintain sufficient adhesion force.

[0036] The adhesion crawling foot end of the present invention is the foot end part of a crawling robot used in the in-orbit assembly process in space. As an adhesion foot end, it is used to enable the robot to crawl without gravity on typical planar, arc-shaped and truss member structures.

[0037] The power supply of the device of the present invention comes from the robot body, and the signal processing and controller also come from the robot body.

[0038] In summary, a piezoelectric self-powered sensing - low-disturbance adhesion crawling foot end for a space robot according to the present invention realizes low-disturbance adhesion to the surfaces of planar, arc-shaped and member structures through the combination of electrostatic force and dry adhesion. Generate an electromagnetic force through an electromagnetic coil to drive the adhesion module to move, and realize the adjustment of the surface topography of the adhesion layer to match the topography of the adhered surface. Realize configuration maintenance through the curing of the liquid alloy. Transmit the deformation of the adhesion module to the rolling shaft through a rod, and then apply pressure to the piezoelectric cantilever microarray to generate a voltage signal, realizing the self-powered sensing measurement of the topography change of the adhesion module. Compared with the prior art, the present invention has the characteristics of low-disturbance attachment, which can minimize the influence on the structure when the robot crawls on the structure surface, and has strong adaptability to the structure topography and high integration.

[0039] The content not detailedly described in the specification of the present invention belongs to the well-known technology of those skilled in the art.

[0040] Although the present invention has been publicly disclosed above with preferred embodiments, it is not used to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution of the present invention all belong to the protection scope of the technical solution of the present invention.

Claims

1. A piezoelectric self-powered sensing-low disturbance adhesion crawling foot for space robots, characterized in that: It comprises a foot end outer frame module (1), an adhesion module (2), an electromagnetic conformational module array, and a deformation self-sensing module (4); The foot end outer frame module (1) comprises a frame (101), a hinge (102), an electromagnetic coil fixing frame (103), a camera (104), and a foot end connecting rod (105); the frame (101) is installed at the end of the robot leg through the foot end connecting rod (105); two cameras (104) are fixed on both sides of the frame (101); a camera (104) is fixed inside; a hinge (102) is fixed at the bottom; and the electromagnetic coil fixing frame (103) is fixed at the arc below the cameras (104) fixed on both sides of the frame (101); the camera (104) is used to observe the shape change of the attached structure and the adhesion module in real time; The adhesion module comprises a dry adhesion layer (201), an electrostatic force layer (202), a deformation solidification layer (203), a rigid support rod (204), and an adhesion support hinge (205); the adhesion module is connected to the foot end outer frame module (1) through the adhesion support hinge (205), and the adhesion support hinge (205) is bonded and fixed on the deformation solidification layer (203); the adhesion support hinge (205) can allow the edge of the adhesion module to rotate to fit the surface of the structure to be attached; the dry adhesion layer (201) is used to adhere to the plane of a typical structure of a spacecraft , curved surface or truss rod surface; the electrostatic force layer (202) is fixed on the dry adhesion layer (201), and generates electrostatic adsorption force between the electrostatic force layer and the adhered surface when powered on, so as to enhance the dry adhesion force; the deformation solidification layer (203) is fixed on the electrostatic force layer (202), and is filled with liquid alloy. The liquid alloy is in a liquid state when powered on and heated, so that the deformation solidification layer is in a soft state, and the adhesion module can be attached to the adhesion surface morphology under the action of the dry adhesion force; the rigid support rod (204) is fixed on the upper surface of the deformation solidification layer (203); The electromagnetic configuration module (3) array comprises a plurality of units, each unit comprising an electromagnetic drive coil (301), a drive connecting rod bottom rod (302), a drive connecting rod middle rod (303), and a drive connecting rod top rod (304), forming an array and symmetrically fixed on both sides of the foot end outer frame module (1); the drive connecting rod bottom rod (302), the drive connecting rod middle rod (303), and the drive connecting rod top rod (304) are connected together via two shafts, and when the electromagnetic drive coil (301) is energized, an electromagnetic force is generated, exerting a pulling force or a thrust force along the length direction on the drive connecting rod top rod (304), which is then transmitted to the adhesion module (2) via the drive connecting rod bottom rod (302) and the drive connecting rod bottom rod middle rod (303), causing the electrostatic force layer (202) and the deformation solidification layer (203) to bend and deform; There are a plurality of deformation self-sensing modules (4) forming an array, each comprising a contact ball (401), a self-sensing rod (402), and a pressure rolling unit (403), wherein the pressure rolling unit (403) comprises a fixed rod shaft (4031), a rolling shaft (4032), and a limiting plate (4033), and a plurality of piezoelectric cantilever micro-array units (4021) are provided on one side surface of the self-sensing rod (402); the contact ball (401) is located below the self-sensing rod (402) and in contact with the rigid support rod (204), and transmits the relative position change of the rigid support rod (204) to the self-sensing rod (402); the self-sensing rod (402) is a rectangular column, and a plurality of parallel piezoelectric cantilever micro-array units (4021) are provided on one side surface, and when the micro-cantilever passes through the rolling shaft (4032), it will be rolled. The shaft (4032) is compressed and deformed to generate a voltage signal for self-powered measurement of the displacement of the self-sensing rod (402); the rolling unit (403) is installed on the inner surface of the frame (101) through the fixed rod shaft (4031), and the rolling shaft (4032) is sleeved on the fixed rod shaft (4031) and can roll around the shaft; the limiting plate (4033) is used to limit the self-sensing rod (402) to move only along the length direction of the self-sensing rod; the contact ball (401) is composed of an inner sphere (4011) and a contact ball shell (4012), the contact ball shell (4012) will be fixed to the rigid support rod (204), the inner sphere (4011) is fixed to the self-sensing rod (402), the contact ball shell (4012) and the inner sphere (4011) form a structure similar to a universal ball, and there is lubricating oil between the contact interfaces.

2. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: The dry adhesion layer (201), the electrostatic force layer (202) and the deformation solidification layer (203) are all made of polymer soft materials.

3. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: When the robot foot needs to be attached to a rod structure or an arc structure surface, the deformation solidification layer (203) is first energized to generate heat, so that the liquid alloy inside is in a fluid state, and the curvature and direction of the rod or arc surface are identified and measured by the camera (104), and then a plurality of electromagnetic drive coils (301) are driven to generate electromagnetic pulling forces on a plurality of driving connecting rod top rods (304), which are transmitted to the rigid support rod (204) connected below through the driving connecting rod middle rod (303) and the driving connecting rod bottom rod (302), pulling the adhesion module (2) to deform according to the expected displacement, so that the dry adhesion layer (201) generates the same curvature as the attached rod, and the deformation of the adhesion module (2) is qualitatively observed by the camera (104), and The deformation of the adhesion module (2) is quantitatively measured by the deformation self-sensing module (4); when the adhesion module (2) is deformed to the expected degree, the robot crawling foot is brought close to and attached to the surface of the structure to be attached, and after the camera (104) observes that the attachment is completed, the electrostatic force layer (202) is energized to generate an attractive electrostatic force between the electrostatic force layer (202) and the attached surface, and pressure is generated between the dry adhesion layer (201) and the attached surface through the attractive electrostatic force, so that the dry adhesion layer (201) and the attached surface are fully attached and dry adhesion force is generated, and then the deformation solidification layer (203) is powered off and cooled, so that the liquid alloy is cooled and solidified, and the deformation solidification layer (203) is hardened, providing a sufficient strength of the surface retention ability and maintaining sufficient adhesion force.

4. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: When the robot foot needs to be attached to the surface of a planar structure, it is not necessary to energize and heat the deformation solidification layer (203), and the liquid alloy is kept in a solid state. The robot crawling foot is brought close to and attached to the surface of the structure to be attached. After the camera (104) observes that the attachment is completed, the electrostatic force layer (202) is energized to generate an attractive electrostatic force between the electrostatic force layer (202) and the attached surface. The attractive electrostatic force generates pressure between the dry adhesion layer (201) and the attached surface, so that the dry adhesion layer (201) and the attached surface are fully attached and dry adhesion force is generated; the liquid alloy in the deformation solidification layer (203) is always in a solid state to provide a sufficient strength of surface retention capability and maintain sufficient adhesion force.

5. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: The lower surface of the dry adhesion layer (201) is provided with a dry adhesion micro-column array, which is used to adhere to the plane, curved surface or truss rod surface of a typical spacecraft structure. When it hits the adhered surface at a certain speed, an adhesion force is generated to achieve adhesion on the structure surface.

6. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: After the electric heating stops, the deformation solidified layer (203) returns to a solid state with relatively high strength, so that the adhesion module (2) maintains its shape.

7. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: When a pulling force is applied, the electrostatic force layer (202) and the deformation solidification layer (203) bend inwards, and when a pushing force is applied, the electrostatic force layer (202) and the deformation solidification layer (203) bend outwards; with different forces, the surfaces of the electrostatic force layer (202) and the deformation solidification layer (203) have different curvatures to adapt to different target surface curvatures.

8. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1 is characterized in that: The power supply of the piezoelectric self-powered sensing-low disturbance adhesion crawling foot comes from the robot body.

9. The piezoelectric self-powered sensing-low disturbance adhesion crawling foot end according to claim 1, characterized in that: The signal processing and controller of the piezoelectric self-powered sensing-low disturbance adhesion crawling foot are completed by the robot body.

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