Leg device of space operation robot

Abstract

The invention discloses a space operation robot leg device, and relates to the technical field of space and universe exploration, the space operation robot leg device comprises a plurality of walking legs, a driving device and a control device, the control device is fixedly connected to the walking legs, the driving device can drive the walking legs to move so as to drive working equipment to move, and the walking legs can be fixedly connected to the working equipment. An electromagnet is connected to the walking leg, the electromagnet can be magnetically adsorbed on the adsorption surface after being electrified, a liquid storage tank is further connected to the walking leg, magnetic fluid sprayed out of the liquid storage tank can drive the walking leg to fly and move away from the adsorption surface, and the walking leg is fixedly connected to the working equipment, so that the working equipment can be driven to move; and the electromagnet can be magnetically adsorbed on the adsorption surface after being electrified, and can be separated from the adsorption surface to fly and move through the magnetic fluid sprayed from the liquid storage tank, so that the working equipment can work on a satellite, and the leg device of the space operation robot can complete convenient conversion between a fixed mode and a moving mode in a microgravity environment.

Description

Technical Field

[0001] The present invention relates to the field of space and universe exploration technology, and in particular to a leg device of a space operation robot. Background Art

[0002] For a long time, most space operations have been carried out manually using corresponding equipment. Although astronauts have high work flexibility, there are also many disadvantages. When astronauts work outside the space station, due to the harsh space environment, people may be in danger at any time. Secondly, the workload of the space station is huge and the extravehicular work is very complex and delicate. Astronauts can easily cause irreversible accidents due to fatigue. With the continuous development of robotics technology, it just meets the needs of the aerospace field in terms of technology and trends. It not only protects astronauts from the harsh environment of space, but also improves the work efficiency of space operations. However, ordinary robots with existing technologies are not convenient to complete the conversion between fixed mode and mobile mode in a microgravity environment. Summary of the Invention

[0003] The purpose of the present invention is to provide a space operation robot leg device to solve the problems existing in the above-mentioned prior art and to facilitate the conversion between fixed and mobile modes in a microgravity environment.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a leg device of a space operation robot, comprising: walking legs, a driving device and a control device, wherein the control device is fixedly connected to the walking legs, the driving device can drive the walking legs to move to drive the working equipment to move, the walking legs can be fixedly connected to the working equipment, the walking legs are connected to electromagnets, the electromagnets can be energized to be magnetically adsorbed on an adsorption surface, the walking legs are also connected to a liquid storage tank, the magnetic fluid ejected from the liquid storage tank can drive the walking legs to fly away from the adsorption surface, and the liquid storage tank is connected to the control device by signal.

[0006] In some embodiments, the liquid storage tank includes a box body and a vibration device, the box body can accommodate a mixed solution of magnetic particles and carrier liquid, the vibration device is provided with a magnetic fluid channel, the magnetic fluid channel can be connected to the box body, the vibration device can vibrate to generate ultrasonic waves to evenly mix the magnetic particles ejected from the box body with the carrier liquid to form the magnetic fluid, and the magnetic fluid can be sprayed from the magnetic fluid channel toward the adsorption surface.

[0007] In some embodiments, the electromagnet includes an electromagnetic coil and an iron core, the walking leg has an opening and a first cavity, the first cavity is connected to the opening, and the opening is connected to the outside world, the electromagnetic coil is sleeved on the outside of the iron core and fixedly connected to the first cavity, the iron core is connected to the first cavity, and when the electromagnetic coil is energized, the iron core can be magnetically adsorbed on the adsorption surface and the walking leg can be fixed relative to the adsorption surface.

[0008] In some embodiments, an elastic member is further connected to the first cavity, one end of the elastic member is fixedly connected to the inner wall of the first cavity away from the opening, and the other end of the elastic member is fixedly connected to the iron core, the electromagnetic coil is sleeved on the outside of the iron core and the elastic member, the box body is fixedly connected to the inner wall of the first cavity away from the opening, the iron core is annular, the elastic member and the iron core are sleeved on the outside of the liquid storage tank, the vibration device is connected to the end of the box body facing the opening, the magnetic fluid channel is connected to the opening, and when the amount of electricity supplied to the electromagnetic coil is greater than or equal to I, it can drive the iron core to move to the opening and be magnetically adsorbed on the adsorption surface; when the electromagnetic coil is powered off or the amount of electricity supplied is less than I, the elastic member resets to drive the iron core to detach and move away from the adsorption surface; the amount of electricity supplied to the electromagnetic coil is I, which can drive the magnetic fluid to be ejected from the opening at an accelerated speed, and the I is greater than and less than I.

[0009] In some embodiments, the walking leg includes an upper leg and a lower leg, the lower leg is connected to the upper leg by rotating around a first axis, the end of the upper leg away from the lower leg is used to be fixedly connected to the working equipment, the lower leg has the opening and the first cavity, the upper leg is fixedly connected to an air source, the air source is fixedly connected to a nozzle, the nozzle is fixedly connected to the upper leg, and the nozzle can spray in a direction away from the connection end of the upper leg and the working equipment.

[0010] In some embodiments, the upper leg is fixedly connected to a magnetic part at one end away from the lower leg, and the upper leg can be magnetically adsorbed on the working equipment through the magnetic part. The upper leg has a second cavity therein, and the air source and the nozzle are fixedly connected to the inner wall of the upper leg in the second cavity. A nozzle is provided at the end of the upper leg away from the magnetic part, and the nozzle is connected to the nozzle.

[0011] In some embodiments, a valve is connected between the gas source and the nozzle. Opening and closing the valve can connect or block the gas source and the nozzle. The valve is connected to the control device by signal.

[0012] In some embodiments, the driving device includes a first servo and a transmission rod, the first servo is fixedly connected to one end of the upper leg close to the lower leg, the rotation output end of the first servo can rotate around the first axis, the first servo is signal-connected to the control device, one end of the transmission rod is fixedly connected to the rotation output end of the first servo, and the other end is fixedly connected to one end of the lower leg close to the upper leg, the rotation of the rotation output end of the first servo can drive the transmission rod to rotate around the first axis, thereby driving the lower leg to rotate around the first axis, thereby changing the relative angle between the lower leg and the upper leg.

[0013] In some embodiments, a first laser rangefinder is connected to the upper leg, the first laser rangefinder is signal-connected to the control device, the first laser rangefinder is capable of measuring the distance between the connection end of the upper leg and the lower leg relative to an obstacle, and the first laser rangefinder is signal-connected to the control device; and / or, a second laser rangefinder is connected to the lower leg, the second laser rangefinder is signal-connected to the control device, the second laser rangefinder is capable of measuring the distance of the lower leg away from the adsorption surface, and the first laser rangefinder is signal-connected to the control device.

[0014] In some embodiments, the magnetic member is fixedly connected to a second servo at one end close to the upper leg, and the upper leg is fixedly connected to the rotation output end of the second servo, and the rotation output end of the second servo can rotate around a second axis. The second servo is connected to the control device signal, and the second axis is perpendicular to the first axis.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The present invention provides a leg device for a space operation robot. The walking legs can be fixedly connected to a working device, and a driving device can drive the walking legs to move, thereby driving the working device to move. An electromagnet and a liquid storage tank are connected to the walking legs. The electromagnet is energized and can be magnetically adsorbed on an adsorption surface. When the electromagnet is adsorbed on an aircraft or a satellite, the contact surface of the electromagnet and the aircraft or the satellite forms an adsorption surface. The electromagnet is powered off and the liquid storage tank sprays magnetic fluid toward the adsorption surface of the electromagnet on the aircraft, which can enable the walking legs to detach from the aircraft and fly away from the aircraft, thereby driving the working device to move together. At the same time, the electromagnet is energized to enable the walking legs to be adsorbed on the satellite. The control device can control the walking legs to drive the working device to walk on the satellite, so that the working device can work on the satellite, so that the leg device of the space operation robot can complete convenient conversion between fixed mode and mobile mode in a microgravity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic structural diagram of a leg device of a space operation robot according to an embodiment of the present invention;

[0019] Figure 2 A cross-sectional view of a leg assembly of a space operation robot according to an embodiment of the present invention;

[0020] In the figure: 1-upper leg, 2-lower leg, 3-control device, 4-magnetic member, 5-foot, 6-first laser rangefinder, 7-valve, 8-nozzle, 9-transmission rod, 10-elastic member, 11-electromagnetic coil, 12-second laser rangefinder, 13-vibration device, 14-iron core, 15-box, 16-first servo, 17-air source, 18-nozzle. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] The purpose of the present invention is to provide a space operation robot leg device to solve the problems existing in the above-mentioned prior art and to facilitate the conversion between fixed and mobile modes in a microgravity environment.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] The present invention provides a leg device for a space operation robot, which is characterized by comprising: walking legs, a driving device and a control device 3, wherein the control device 3 is fixedly connected to the walking legs, the driving device can drive the walking legs to move to drive the working equipment to move, the walking legs can be fixedly connected to the working equipment, the walking legs are connected to electromagnets, the electromagnets can be energized to be magnetically adsorbed on an adsorption surface, the walking legs are also connected to a liquid storage tank, and the magnetic fluid ejected from the liquid storage tank can drive the walking legs to fly away from the adsorption surface, and the liquid storage tank is connected to the control device 3 by signal. By making the walking legs fixedly connected to the working equipment, the driving device can drive the walking legs to move, thereby driving the working equipment to move, the walking legs are connected to an electromagnet and a fluid storage tank, the electromagnet is energized to be magnetically adsorbed on the adsorption surface, when the electromagnet is adsorbed on the aircraft or satellite, the contact surface of the electromagnet and the aircraft or satellite forms an adsorption surface, the electromagnet is powered off and the fluid storage tank sprays magnetic fluid toward the adsorption surface of the electromagnet on the aircraft, which can make the walking legs detach from the aircraft and fly away from the aircraft, so that the walking legs drive the working equipment to move together, at the same time, the electromagnet is energized to make the walking legs adsorbed on the satellite, the control device 3 can control the walking legs to drive the working equipment to move on the satellite, so that the working equipment can work on the satellite, so that the leg device of the space operation robot can complete the convenient conversion between fixed mode and mobile mode in a microgravity environment, the magnetic fluid is sprayed from the magnetic fluid channel to the adsorption surface to drive the walking legs to fly away from the adsorption surface, and using magnetic fluid as a propulsion power can be more efficient and environmentally friendly. Preferably, the magnetic particles are iron oxide particles and the carrier liquid is polyalphaolefin.

[0025] When in use, the electromagnet is energized and adsorbed on the aircraft, and the leg device of the space operation robot and the working equipment fixedly connected to the leg device of the space operation robot reach the designated satellite, thereby improving the efficiency of long-distance operations. After arriving at the designated satellite, the electromagnet is powered off and the liquid storage tank sprays magnetic fluid toward the adsorption surface of the electromagnet on the aircraft, which can enable the walking legs to detach from the aircraft and move away from the aircraft and fly toward the designated satellite. At the same time, the control device 3 controls the movement of the walking legs until the walking legs land smoothly on the working surface of the designated satellite. The electromagnet is energized and adsorbed on the satellite, and the control device 3 continues to control the walking legs to drive the working equipment to move on the working surface of the satellite to perform space operations, so that the leg device of the space operation robot can easily switch between fixed and mobile modes in a microgravity environment, thereby improving the efficiency of space operations.

[0026] In another embodiment of this embodiment, the liquid storage tank includes a housing 15 and a vibrating device 13. The housing 15 can accommodate a mixed solution of magnetic particles and a carrier liquid. The vibrating device 13 has a magnetic fluid channel that is connected to the housing 15. The vibrating device 13 can vibrate to generate ultrasonic waves to evenly mix the magnetic particles ejected from the housing 15 with the carrier liquid to form a magnetic fluid. The magnetic fluid can then be ejected from the magnetic fluid channel toward the adsorption surface. This can ensure a more even mixing of the magnetic particles and the carrier liquid, thereby improving the stability of the magnetic fluid.

[0027] In another implementation of this embodiment, the vibration device 13 is a piezoelectric ceramic piece. The piezoelectric ceramic piece can vibrate after being energized to generate ultrasonic waves, and the magnetic fluid channel is opened on the piezoelectric ceramic piece.

[0028] It should be noted that the vibration device 13 of the leg device of the space operation robot provided by the present invention is not limited to the structure in the above embodiment. The vibration device 13 can also adopt a piezoelectric single crystal, which can vibrate to generate ultrasonic waves.

[0029] In another embodiment of this embodiment, the electromagnet includes an electromagnetic coil 11 and an iron core 14. The walking leg has an opening and a first cavity. The first cavity is connected to the opening, and the opening is connected to the outside. The electromagnetic coil 11 is sleeved on the outside of the iron core 14 and fixedly connected to the first cavity. The iron core 14 is connected to the first cavity. When the electromagnetic coil 11 is energized, the iron core 14 can be magnetically attracted to the adsorption surface and the walking leg can be fixed relative to the adsorption surface. When the electromagnetic coil 11 is energized, it generates a magnetic field, causing the iron core 14 to be attracted to the adsorption surface through the opening.

[0030] In another embodiment of this embodiment, an elastic member 10 is further connected to the first cavity, one end of the elastic member 10 is fixedly connected to the inner wall of the end of the first cavity away from the opening, and the other end of the elastic member 10 is fixedly connected to the iron core 14. The electromagnetic coil 11 is sleeved on the outside of the iron core 14 and the elastic member 10, and the box body 15 is fixedly connected to the inner wall of the end of the first cavity away from the opening. The iron core 14 is annular, and the elastic member 10 and the iron core 14 are sleeved on the outside of the liquid storage tank. The vibration device 13 is connected to the end of the box body 15 facing the opening, and the magnetic fluid channel is connected to the opening. When the amount of electricity supplied to the electromagnetic coil 11 is greater than or equal to I1, it can drive the iron core 14 to move to the opening and be magnetically adsorbed on the adsorption surface. When the electromagnetic coil 11 is de-energized or the amount of electricity supplied is less than I1, the elastic member 10 resets and can drive the iron core 14 to detach and move away from the adsorption surface. The amount of electricity supplied to the electromagnetic coil 11 is I2, which can drive the magnetic fluid to be ejected from the opening at an accelerated speed, and I2 is greater than 0 and less than I1. The box body 15 is provided with a flow hole connected to the box body, and a regulating valve is fixedly connected to the box body 15. Opening or closing the regulating valve can block the communication between the flow hole and the magnetic fluid channel. By controlling the amount of power received by the electromagnetic coil 11, the leg device of the space operation robot can be easily switched between fixed and mobile modes in a microgravity environment. When the iron core 14 needs to be adsorbed on the adsorption surface, the amount of power received by the electromagnetic coil 11 is greater than or equal to I1, and the regulating valve is closed. The magnetic field generated by the electromagnetic coil 11 can drive the iron core 14 to move to the opening for magnetic attraction. Attached to the adsorption surface, the iron core 14 is adsorbed on the adsorption surface and the walking legs are fixed relative to the adsorption surface. When the iron core 14 needs to be detached from the adsorption surface and the walking legs fly away from the adsorption surface, the amount of electricity supplied to the electromagnetic coil 11 is I2, which is greater than 0 and less than I1. The regulating valve is opened, and the flow hole is connected to the magnetic fluid channel. The magnetic field generated by the electromagnetic coil 11 is not enough to drive the iron core 14 to move, but it can accelerate the magnetic fluid ejected from the magnetic fluid channel, enhancing the propulsion power of the magnetic fluid on the walking legs, improving flight efficiency, and making the structure simpler and more convenient to use. Preferably, the elastic member 10 is a spring and the iron core 14 is a magnet.

[0031] In another embodiment of this embodiment, a protective cover is also connected to the first cavity, and the protective cover is connected between the electromagnetic coil 11 and the iron core 14 and the elastic member 10. The protective cover is arranged around the outside of the liquid storage tank, and the length of the protective cover is greater than the length of the magnetic coil 11. The protective cover can block the magnetic fluid from being sprayed on the electromagnetic coil 11, thereby preventing the magnetic properties of the electromagnetic coil 11 from decreasing due to contamination.

[0032] In another embodiment of this embodiment, the walking leg includes an upper leg 1 and a lower leg 2. The lower leg 2 is connected to the upper leg 1 by rotating around a first axis. The end of the upper leg 1 away from the lower leg 2 is used for fixed connection with the working equipment. The lower leg 2 has an opening and a first cavity. The upper leg 1 is fixedly connected to a gas source 17. The gas source 17 is fixedly connected to a nozzle 8. The nozzle is fixedly connected to the upper leg 1, and the nozzle 8 can spray air in a direction away from the connection end of the upper leg 1 and the working equipment. The walking leg is set as the upper leg 1 and the lower leg 2. The gas ejected from the nozzle 8 can drive the walking leg to move away from the direction of the gas ejected from the nozzle 8, which can make the walking leg more flexible. Preferably, the gas in the gas source 17 is argon.

[0033] In another embodiment of this embodiment, a magnetic member 4 is fixedly connected to the end of the upper leg 1 away from the lower leg 2. The upper leg 1 can be magnetically attached to the working equipment via the magnetic member 4. The upper leg 1 has a second cavity therein, and the air source 17 and the nozzle 8 are fixedly connected to the inner wall of the upper leg 1 within the second cavity. The upper leg 1 has a nozzle 18 formed at the end away from the magnetic member 4, which is connected to the nozzle 8. By providing the magnetic member 4, the magnetic member 4 can be magnetically attached to the working equipment, which can facilitate the assembly and disassembly of the space operation robot leg device from the working equipment. The fixed connection of the air source 17 and the nozzle 8 to the inner wall of the upper leg 1 within the cavity can reduce the size of the device and protect the air source 17 and the nozzle 8. Preferably, the magnetic member 4 is a magnet.

[0034] In another implementation of this embodiment, the lower leg 2 has a foot 5 at one end away from the upper leg 1, and the opening is opened on the foot 5. When the iron core 14 is adsorbed on the adsorption surface, the foot 5 contacts the adsorption surface.

[0035] In another embodiment of this embodiment, a valve 7 is connected between the gas source 17 and the nozzle 8. Opening and closing the valve 7 can connect or block the gas source 17 and the nozzle 8. The valve 7 is connected to the control device 3 by signal. The flow rate and flow rate of the ejected gas are controlled by the valve 7, achieving more refined control.

[0036] In another embodiment of this embodiment, the drive device includes a first servo 16 and a transmission rod. The first servo 16 is fixedly connected to the end of the upper leg 1 near the lower leg 2. The rotation output end of the first servo 16 can rotate about a first axis. The first servo 16 is in signal communication with the control device 3. One end of the transmission rod 9 is fixedly connected to the rotation output end of the first servo 16, and the other end is fixedly connected to the end of the lower leg 2 near the upper leg 1. Rotation of the rotation output end of the first servo 16 drives the transmission rod 9 to rotate about the first axis, thereby driving the lower leg 2 to rotate about the first axis, thereby changing the relative angle between the lower leg 2 and the upper leg 1. The provision of the transmission rod 9 allows the lower leg 2 to avoid the nozzle 18, reducing the path length of the gas ejected from the nozzle 18 and reducing the size of the device.

[0037] In another embodiment of this embodiment, a first laser rangefinder 6 is connected to the upper leg 1, and the first laser rangefinder 6 is connected to the control device 3 by signal. The first laser rangefinder 6 can measure the distance between the connection end of the upper leg 1 and the lower leg 2 and the obstacle, and the first laser rangefinder 6 is connected to the control device 3 by signal; and / or, a second laser rangefinder 12 is connected to the lower leg 2, and the second laser rangefinder 12 is connected to the control device 3 by signal. The second laser rangefinder 12 can measure the distance between the lower leg 2 and the adsorption surface, and the first laser rangefinder 6 is connected to the control device 3 by signal. The distance can be fed back to the control device 3 through the first laser rangefinder 6, and the control device 3 controls the flow rate and flow velocity of the gas ejected from the nozzle 18. When the laser rangefinder 15 detects that the distance to the obstacle is less than the preset distance, the control device 3 controls the nozzle 18 close to the obstacle to increase the flow rate and flow velocity of the ejected gas, and controls the nozzle 18 away from the obstacle to reduce the flow rate and flow velocity of the ejected gas, or stop ejecting gas to avoid the obstacle; the distance is fed back to the control device 3 through the second laser rangefinder 12, and the laser rangefinder 15 detects that the closer the distance to the adsorption surface is, the smaller the power received by the electromagnetic coil 11 is controlled by the control device 3, and the amount of magnetic particles and carrier liquid ejected from the box 15 is reduced to reduce the flight speed of the walking legs, so that the walking legs can be stably adsorbed on the aircraft or satellite without causing damage to the adsorption surface on the aircraft or satellite.

[0038] In another embodiment of this invention, a second servo is fixedly connected to the end of the magnetic member 4 near the upper leg 1. The upper leg 1 is fixedly connected to the rotation output end of the second servo, which is capable of rotating about a second axis. The second servo is signal-connected to the control device 3, and the second axis is perpendicular to the first axis. This makes the walking leg more flexible and convenient to use, and better adaptable to the complex environment of space.

[0039] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A space operation robot leg device, characterized by: include: A walking leg, a driving device and a control device (3), wherein the control device (3) is fixedly connected to the walking leg, the driving device can drive the walking leg to move so as to drive the working equipment to move, the walking leg can be fixedly connected to the working equipment, the walking leg is connected to an electromagnet, the electromagnet can be magnetically adsorbed on an adsorption surface when energized, the walking leg is also connected to a liquid storage tank, the magnetic fluid ejected from the liquid storage tank can drive the walking leg to fly away from the adsorption surface, and the liquid storage tank is signal-connected to the control device (3).

2. The space operation robot leg device according to claim 1, characterized in that: The liquid storage tank comprises a box body (15) and a vibration device (13), wherein the box body (15) can accommodate a mixed solution of magnetic particles and a carrier liquid, and the vibration device (13) is provided with a magnetic fluid channel, wherein the magnetic fluid channel can be connected to the box body (15), and the vibration device (13) can vibrate to generate ultrasonic waves to uniformly mix the magnetic particles ejected from the box body (15) with the carrier liquid to form the magnetic fluid, and the magnetic fluid can be ejected from the magnetic fluid channel toward the adsorption surface.

3. The space operation robot leg device according to claim 2, characterized in that: The electromagnet comprises an electromagnetic coil (11) and an iron core (14); the walking leg has an opening and a first cavity; the first cavity is connected to the opening; the opening is connected to the outside; the electromagnetic coil (11) is sleeved on the outside of the iron core (14) and fixedly connected to the first cavity; the iron core (14) is connected to the first cavity; when the electromagnetic coil (11) is energized, the iron core (14) can be magnetically adsorbed on an adsorption surface and the walking leg can be fixed relative to the adsorption surface.

4. The space operation robot leg device according to claim 3, characterized in that: An elastic member (10) is also connected to the first cavity, one end of the elastic member (10) is fixedly connected to the inner wall of the first cavity away from the opening, the other end of the elastic member (10) is fixedly connected to the iron core 14, the electromagnetic coil (11) is sleeved on the outside of the iron core (14) and the elastic member (10), the box (15) is fixedly connected to the inner wall of the first cavity away from the opening, the iron core 14 is annular, the elastic member (10) and the iron core (14) are sleeved on the outside of the liquid storage tank, and the vibration device (13) is connected to the inner wall of the first cavity away from the opening. The magnetic fluid channel is connected to the box (15) at one end facing the opening. When the amount of electricity received by the electromagnetic coil (11) is greater than or equal to I1, the iron core (14) can be driven to move to the opening and be magnetically adsorbed on the adsorption surface. When the electromagnetic coil (11) is powered off or the amount of electricity received is less than I1, the elastic member (10) is reset to drive the iron core (14) to detach and move away from the adsorption surface. When the amount of electricity received by the electromagnetic coil (11) is I2, the magnetic fluid can be driven to be ejected from the opening at an accelerated speed. The I2 is greater than 0 and less than I1.

5. The space operation robot leg device according to claim 3, characterized in that: The walking leg comprises an upper leg (1) and a lower leg (2), the lower leg (2) being connected to the upper leg (1) by rotating around a first axis, the end of the upper leg (1) away from the lower leg (2) being used for fixed connection with the working equipment, the lower leg (2) having the opening and the first cavity, the upper leg (1) being fixedly connected to an air source (17), the air source (17) being fixedly connected to a nozzle (8), and the nozzle (8) being capable of spraying air in a direction away from the connection end of the upper leg (1) and the working equipment.

6. The space operation robot leg device according to claim 5, characterized in that: The end of the upper leg (1) away from the lower leg (2) is fixedly connected to a magnetic part (4), and the upper leg (1) can be magnetically adsorbed on the working equipment through the magnetic part (4). The upper leg (1) has a second cavity inside, and the air source (17) and the nozzle (8) are fixedly connected to the inner wall of the second cavity. The end of the upper leg (1) away from the magnetic part (4) is provided with a nozzle (18), and the nozzle (18) is connected to the nozzle (8).

7. The space operation robot leg device according to claim 6, characterized in that: A valve (7) is connected between the gas source (17) and the nozzle (8). Opening and closing the valve (7) can connect or block the gas source (17) and the nozzle (8). The valve (7) is connected to the control device (3) for signal transmission.

8. The space operation robot leg device according to claim 5, characterized in that: The driving device comprises a first steering gear (16) and a transmission rod (9), wherein the first steering gear (16) is fixedly connected to one end of the upper leg (1) close to the lower leg (2), the rotation output end of the first steering gear (16) can rotate around the first axis, the first steering gear (16) is signal-connected to the control device (3), one end of the transmission rod (9) is fixedly connected to the rotation output end of the first steering gear (16), and the other end is fixedly connected to one end of the lower leg (2) close to the upper leg (1), the rotation of the rotation output end of the first steering gear (16) can drive the transmission rod (9) to rotate around the first axis, thereby driving the lower leg (2) to rotate around the first axis, thereby changing the relative angle between the lower leg (2) and the upper leg (1).

9. The space operation robot leg device according to claim 5, characterized in that: The upper leg (1) is connected to a first laser rangefinder (6), the first laser rangefinder (6) is connected to the control device (3) by signal, the first laser rangefinder (6) is capable of measuring the distance of the connection end of the upper leg (1) and the lower leg (2) relative to an obstacle, the first laser rangefinder (6) is connected to the control device (3) by signal; and / or, the lower leg (2) is connected to a second laser rangefinder (12), the second laser rangefinder (12) is connected to the control device (3) by signal, the second laser rangefinder (12) is capable of measuring the distance of the lower leg (2) away from the adsorption surface, the first laser rangefinder (6) is connected to the control device (3) by signal.

10. The space operation robot leg device according to claim 8, characterized in that: One end of the magnetic member (4) close to the upper leg (1) is fixedly connected to a second steering gear, and the upper leg (1) is fixedly connected to the rotation output end of the second steering gear, and the rotation output end of the second steering gear can rotate around a second axis. The second steering gear is connected to the control device (3) by signal, and the second axis is perpendicular to the first axis.

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