Leg attachment for space operation robots

Abstract

This invention discloses a leg device for a space operation robot, relating to the field of space and cosmic exploration technology. It includes: multiple walking legs, a drive device, and a control device. The control device is fixedly connected to the walking legs. The drive device can drive the walking legs to move, thereby moving the working equipment. The walking legs are fixedly connected to the working equipment. Electromagnets are connected to the walking legs; when energized, the electromagnets magnetically adhere to the adsorption surface. A liquid storage tank is also connected to the walking legs. Magnetic fluid ejected from the liquid storage tank can drive the walking legs to fly away from the adsorption surface. By fixing the walking legs to the working equipment, the working equipment can be moved. When the electromagnets are energized, they magnetically adhere to the adsorption surface and can detach from the adsorption surface and fly away via the magnetic fluid ejected from the liquid storage tank. This allows the working equipment to operate on satellites and enables the space operation robot leg device to easily switch between fixed and mobile modes in a microgravity environment.

Description

Technical Field

[0001] This invention relates to the field of space and cosmic exploration technology, and in particular to a leg device for a space operation robot. Background Technology

[0002] For a long time, space operations have mostly relied on manual handheld equipment. While astronauts have high dexterity, this approach also has many drawbacks. When working outside the space station, astronauts are constantly at risk due to the harsh space environment. Furthermore, the workload on the space station is enormous, and extravehicular activities are complex and delicate. Astronauts are prone to fatigue, which can lead to irreversible accidents. With the continuous development of robotics technology, the needs of the aerospace field have been met in terms of both technology and trend. This not only protects astronauts from the harsh space environment but also improves the efficiency of space operations. However, existing ordinary robots are not convenient for switching between fixed and mobile modes in microgravity environments. Summary of the Invention

[0003] The purpose of this invention is to provide a leg device for a space operation robot to solve the problems existing in the prior art, and to facilitate the switching between fixed and mobile modes in a microgravity environment.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a leg device for a space operation robot, comprising: a walking leg, a drive device, and a control device. The control device is fixedly connected to the walking leg. The drive device can drive the walking leg to move and move the working equipment. The walking leg can be fixedly connected to the working equipment. An electromagnet is connected to the walking leg. When energized, the electromagnet can magnetically attract to an adsorption surface. A liquid storage tank is also connected to the walking leg. Magnetofluid ejected from the liquid storage tank can drive the walking leg to fly away from the adsorption surface. The liquid storage tank is signal-connected to the control device.

[0006] In some embodiments, the storage tank includes a tank body and a vibration device. The tank body is capable of containing a mixed solution of magnetic particles and a carrier liquid. The vibration device has a magnetic fluid channel that is connected to the tank body. The vibration device can vibrate to generate ultrasonic waves, which mix the magnetic particles ejected from the tank body with the carrier liquid to form the magnetic fluid. 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 being in communication with the opening, the opening being in communication with the outside. 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. When the electromagnetic coil is energized, the iron core is magnetically attracted to the attraction surface, and the walking leg is fixed relative to the attraction surface.

[0008] In some embodiments, an elastic element is also connected inside the first cavity. One end of the elastic element is fixedly connected to the inner wall of the first cavity at the end away from the opening, and the other end of the elastic element is fixedly connected to the iron core. The electromagnetic coil is sleeved on the outside of the iron core and the elastic element. The housing is fixedly connected to the inner wall of the first cavity at the end away from the opening. The iron core is annular. The elastic element and the iron core are sleeved on the outside of the liquid storage tank. The vibration device is connected to the end of the housing facing the opening. The magnetic fluid channel communicates with the opening. When the electromagnetic coil is energized with a charge greater than or equal to I, it can drive the iron core to move to the opening and magnetically adsorb onto the adsorption surface. When the electromagnetic coil is de-energized or the energized charge is less than I, the elastic element resets and can drive the iron core to detach and move away from the adsorption surface. When the electromagnetic coil is energized with a charge of I, it can drive the magnetic fluid to accelerate out of the opening. The charge of 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 being rotatably connected to the upper leg about a first axis, the end of the upper leg away from the lower leg being fixedly connected to the working device, the lower leg having the opening and the first cavity, an air source being fixedly connected to the upper leg, a nozzle being fixedly connected to the air source, the nozzle being fixedly connected to the upper leg, and the nozzle being capable of spraying air in a direction away from the connection end between the upper leg and the working device.

[0010] In some embodiments, a magnetic element is fixedly connected to the end of the upper leg away from the lower leg, and the upper leg can be magnetically adsorbed onto the working device by the magnetic element. The upper leg has a second cavity, 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 opened at the end of the upper leg away from the magnetic element, and the nozzle communicates with the nozzle.

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

[0012] In some embodiments, the drive device includes a first servo motor and a transmission rod. The first servo motor is fixedly connected to the end of the upper leg near the lower leg. The rotation output end of the first servo motor is rotatable around the first axis. The first servo motor 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 motor, and the other end is fixedly connected to the end of the lower leg near the upper leg. Rotation of the rotation output end of the first servo motor can drive the transmission rod to rotate around the first axis, thereby driving the lower leg to rotate around the first axis and 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 and 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 is signal-connected to the control device. And / or, a second laser rangefinder is connected to the lower leg and 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 is signal-connected to the control device.

[0014] In some embodiments, a second servo motor is fixedly connected to one end of the magnetic component near the upper leg, the upper leg is fixedly connected to the rotation output end of the second servo motor, the rotation output end of the second servo motor is capable of rotating around a second axis, the second servo motor is signal-connected to the control device, and the second axis is perpendicular to the first axis.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] This invention provides a leg device for a space operation robot. The walking leg is fixedly connected to a working device, and a drive device can move the walking leg, thereby moving the working device. An electromagnet and a liquid reservoir are connected to the walking leg. When the electromagnet is energized, it magnetically attracts to an adsorption surface. When the electromagnet is adsorbed onto a spacecraft or satellite, the contact surface between the electromagnet and the spacecraft or satellite forms an adsorption surface. When the electromagnet is de-energized, the liquid reservoir sprays magnetic fluid towards the adsorption surface of the electromagnet on the spacecraft, allowing the walking leg to detach from the spacecraft and fly away from it. Thus, the walking leg moves the working device together. Simultaneously, when the electromagnet is energized, the walking leg can adsorb onto a satellite, and a control device can control the walking leg to move the working device on the satellite, enabling the working device to perform operations on the satellite. This allows the space operation robot's leg device to easily switch between fixed and mobile modes in a microgravity environment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0020] In the diagram: 1-Upper leg, 2-Lower leg, 3-Control device, 4-Magnetic component, 5-Foot, 6-First laser rangefinder, 7-Valve, 8-Nozzle, 9-Transmission rod, 10-Elastic component, 11-Electromagnetic coil, 12-Second laser rangefinder, 13-Vibration device, 14-Iron core, 15-Box, 16-First servo motor, 17-Air source, 18-Nozzle. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The purpose of this invention is to provide a leg device for a space operation robot to solve the problems existing in the prior art, and to facilitate the switching between fixed and mobile modes in a microgravity environment.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] This invention provides a leg device for a space operation robot, characterized in that it includes: a walking leg, a drive device, and a control device 3. The control device 3 is fixedly connected to the walking leg. The drive device can drive the walking leg to move and move the working equipment. The walking leg can be fixedly connected to the working equipment. An electromagnet is connected to the walking leg. When the electromagnet is energized, it can magnetically attract to the adsorption surface. A liquid storage tank is also connected to the walking leg. The magnetic fluid sprayed from the liquid storage tank can drive the walking leg to fly away from the adsorption surface. The liquid storage tank is signal connected to the control device 3. By fixing the walking legs to the working equipment, the drive device can drive the walking legs to move, thereby moving the working equipment. An electromagnet and a liquid tank are connected to the walking legs. When the electromagnet is energized, it magnetically attracts to the adsorption surface. When the electromagnet is adsorbed onto a spacecraft or satellite, the contact surface between the electromagnet and the spacecraft or satellite forms an adsorption surface. When the electromagnet is de-energized, the liquid tank sprays magnetic fluid towards the adsorption surface of the electromagnet on the spacecraft, allowing the walking legs to detach from the spacecraft and fly away from it, thus moving the walking legs and the working equipment together. Simultaneously, when the electromagnet is energized, the walking legs can adhere to the satellite. The control device 3 can control the walking legs to move the working equipment on the satellite, enabling the working equipment to operate on the satellite. This allows the leg device of the space robot to easily switch between fixed and mobile modes in a microgravity environment. The magnetic fluid sprayed from the magnetic fluid channel onto the adsorption surface drives the walking legs away from the adsorption surface, making magnetic fluid a more efficient and environmentally friendly propulsion method. Preferably, the magnetic particles are iron oxide particles, and the carrier liquid is polyalphaolefin.

[0025] In use, the electromagnet is energized and adsorbed onto the spacecraft. The leg device of the space operation robot and the working equipment fixedly connected to the leg device reach the designated satellite, improving the efficiency of long-distance operations. After reaching the designated satellite, the electromagnet is de-energized and the liquid tank sprays magnetic fluid toward the adsorption surface of the electromagnet on the spacecraft, which enables the walking leg to detach from the spacecraft and move away from the spacecraft toward the designated satellite. At the same time, the control device 3 controls the movement of the walking leg until the walking leg lands smoothly on the working surface of the designated satellite. The electromagnet is then energized and adsorbed onto the satellite. The control device 3 continues to control the walking leg to drive the working equipment to move on the working surface of the satellite to carry out space operations. This allows the leg device of the space operation robot to easily switch between fixed and moving modes in a microgravity environment, improving the efficiency of space operations.

[0026] In another embodiment of this invention, the storage tank includes a tank body 15 and a vibration device 13. The tank body 15 can contain a mixed solution of magnetic particles and a carrier liquid. The vibration device 13 has a magnetic fluid channel that communicates with the interior of the tank body 15. The vibration device 13 can vibrate to generate ultrasonic waves, which mix the magnetic particles ejected from the tank body 15 with the carrier liquid to form a magnetic fluid. The magnetic fluid can be sprayed from the magnetic fluid channel onto the adsorption surface. This allows for a more uniform mixing of the magnetic particles and the carrier liquid, improving the stability of the magnetic fluid.

[0027] In another embodiment of this invention, the vibration device 13 is a piezoelectric ceramic sheet. When the piezoelectric ceramic sheet is energized, it can vibrate to generate ultrasonic waves, and a magnetohydrodynamic channel is formed on the piezoelectric ceramic sheet.

[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 embodiments. The vibration device 13 can also be a piezoelectric single crystal, which can vibrate to generate ultrasonic waves.

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

[0030] In another embodiment of this example, an elastic element 10 is also connected inside the first cavity. One end of the elastic element 10 is fixedly connected to the inner wall of the first cavity away from the opening, and the other end of the elastic element 10 is fixedly connected to the iron core 14. An electromagnetic coil 11 is sleeved on the outside of the iron core 14 and the elastic element 10. A housing 15 is fixedly connected to the inner wall of the first cavity away from the opening. The iron core 14 is annular. The elastic element 10 and the iron core 14 are sleeved on the outside of the liquid storage tank. A vibration device 13 is connected to the end of the housing 15 facing the opening. The magnetic fluid channel is connected to the opening. When the electromagnetic coil 11 is energized with a charge greater than or equal to I1, it can drive the iron core 14 to move to the opening and magnetically adsorb onto the adsorption surface. When the electromagnetic coil 11 is de-energized or the energized charge is less than I1, the elastic element 10 resets and can drive the iron core 14 to detach and move away from the adsorption surface. When the electromagnetic coil 11 is energized with a charge of I2, it can drive the magnetic fluid to accelerate out of the opening. I2 is greater than 0 and less than I1. The housing 15 has a flow hole communicating with the interior of the housing. A regulating valve is also fixedly connected to the housing 15. Opening or closing the regulating valve can seal the flow hole from the magnetofluid channel. By controlling the amount of electricity energized in the electromagnetic coil 11, the leg device of the space robot can easily switch between fixed and moving modes in a microgravity environment. When it is necessary to attach the iron core 14 to the adsorption surface, the amount of electricity energized in 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 the opening for magnetic attraction. The iron core 14 is attached to the adsorption surface, fixing the walking leg relative to the adsorption surface. When it is necessary to detach the iron core 14 from the adsorption surface and simultaneously move the walking leg away from the adsorption surface, the electromagnetic coil 11 is energized with a charge I2, which is greater than 0 and less than I1. This opens the regulating valve, connecting the flow hole to the magnetofluid channel. The magnetic field generated by the electromagnetic coil 11 is insufficient to drive the iron core 14, but it can accelerate the magnetofluid ejected from the magnetofluid channel, enhancing the propulsion power of the magnetofluid on the walking leg, improving flight efficiency, simplifying the structure, and making it more convenient to use. Preferably, the elastic element 10 is a spring, and the iron core 14 is a magnet.

[0031] In another embodiment of this invention, a protective cover is also connected inside the first cavity. 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 prevent the magnetic fluid from being sprayed onto the electromagnetic coil 11, thus preventing the electromagnetic coil 11 from becoming less magnetic due to contamination.

[0032] In another embodiment of this invention, the walking leg includes an upper leg 1 and a lower leg 2. The lower leg 2 is rotatably connected to the upper leg 1 about a first axis. The end of the upper leg 1 away from the lower leg 2 is fixedly connected to the working device. The lower leg 2 has an opening and a first cavity. An air source 17 is fixedly connected to the upper leg 1, and a nozzle 8 is fixedly connected to the air source 17. 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 between the upper leg 1 and the working device. By configuring the walking leg as an upper leg 1 and a lower leg 2, the gas sprayed from the nozzle 8 can drive the walking leg to move away from the direction of the gas sprayed from the nozzle 8, making the walking leg move more flexibly. Preferably, the gas in the air source 17 is argon.

[0033] In another embodiment of this invention, a magnetic component 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 adsorbed onto the working device via the magnetic component 4. The upper leg 1 has a second cavity inside, and the air source 17 and nozzle 8 are fixedly connected to the inner wall of the upper leg 1 within the second cavity. A nozzle 18 is provided at the end of the upper leg 1 away from the magnetic component 4, and the nozzle 18 communicates with the nozzle 8. By providing the magnetic component 4, it can be magnetically adsorbed onto the working device, which facilitates the assembly and disassembly of the leg device of the space operation robot from the working device. Fixing the air source 17 and 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 nozzle 8. Preferably, the magnetic component 4 is a magnet.

[0034] In another embodiment of this example, the lower leg 2 has a foot 5 at the end away from the upper leg 1, and the opening is formed on the foot 5. When the iron core 14 is adsorbed onto the adsorption surface, the foot 5 is in contact with the adsorption surface.

[0035] In another embodiment of this invention, a valve 7 is connected between the gas source 17 and the nozzle 8. Opening and closing the valve 7 allows the gas source 17 and the nozzle 8 to be connected or disconnected. The valve 7 is signal-connected to the control device 3. The flow rate and velocity of the ejected gas are controlled by the valve 7, achieving more precise control.

[0036] In another embodiment of this invention, the driving device includes a first servo motor 16 and a transmission rod 9. The first servo motor 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 motor 16 can rotate around a first axis. The first servo motor 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 servo motor 16, and the other end is fixedly connected to the end of the lower leg 2 near the upper leg 1. The rotation of the rotation output end of the first servo motor 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 and changing the relative angle between the lower leg 2 and the upper leg 1. By setting the transmission rod 9, the lower leg 2 can 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 invention, a first laser rangefinder 6 is connected to the upper leg 1. The first laser rangefinder 6 is signal-connected to the control device 3. 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. The first laser rangefinder 6 is signal-connected to the control device 3. And / or, a second laser rangefinder 12 is connected to the lower leg 2. The second laser rangefinder 12 is signal-connected to the control device 3. The second laser rangefinder 12 can measure the distance of the lower leg 2 away from the adsorption surface. The first laser rangefinder 6 is signal-connected to the control device 3. The distance can be fed back to the control device 3 via the first laser rangefinder 6. The control device 3 controls the flow rate and velocity of the gas ejected from the nozzle 18. When the laser rangefinder 15 detects that the distance to the obstacle is less than a preset distance, the control device 3 controls the nozzle 18 closer to the obstacle to increase the flow rate and velocity of the ejected gas, and controls the nozzle 18 farther from the obstacle to decrease the flow rate and velocity of the ejected gas, or stop ejecting gas, in order to avoid the obstacle. The distance can also be fed back to the control device 3 via the second laser rangefinder 12. When the laser rangefinder 15 detects that the closer the distance to the adsorption surface, the smaller the energized charge of the electromagnetic coil 11, the less magnetic particles and carrier liquid are ejected from the box 15, so as to reduce the flight speed of the walking leg, so that the walking leg can be stably adsorbed on the aircraft or satellite without damaging the adsorption surface on the aircraft or satellite.

[0038] In another embodiment of this invention, a second servo motor is fixedly connected to one end of the magnetic component 4 near the upper leg 1. The upper leg 1 is fixedly connected to the rotation output end of the second servo motor, which can rotate around a second axis. The second servo motor is signal-connected to the control device 3, and the second axis is perpendicular to the first axis. This design allows the walking leg to move more flexibly, be more convenient to use, and better adapt to the complex environment of space.

[0039] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A leg device for a space operation robot, characterized in that: include: The system includes a walking leg, a drive device, and a control device (3). The control device (3) is fixedly connected to the walking leg. The drive device can drive the walking leg to move and move the working equipment. The walking leg can be fixedly connected to the working equipment. An electromagnet is connected to the walking leg. When the electromagnet is energized, it can magnetically attract to the adsorption surface. A liquid storage tank is also connected to the walking leg. The magnetic fluid sprayed from the liquid storage tank can drive the walking leg to fly away from the adsorption surface. The liquid storage tank is signal-connected to the control device (3). The liquid storage tank includes a box body (15) and a vibration device (13). The box body (15) can contain a mixture of magnetic particles and carrier liquid. The solution, the vibration device (13) has a magnetic fluid channel, the magnetic fluid channel can communicate with the inside of the box (15), the vibration device (13) can vibrate to generate ultrasonic waves to mix the magnetic particles ejected from the box (15) with the carrier liquid to form the magnetic fluid, the magnetic fluid can be sprayed from the magnetic fluid channel to the adsorption surface; 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 communicates with the opening, the opening communicates with the outside, the electromagnetic coil (11) is sleeved on the outside of the iron core (14) and fixedly connected in the first cavity, the iron core (14) 4) Connected within the first cavity, the electromagnetic coil (11) is energized to magnetically attract the iron core (14) to the adsorption surface and fix the walking leg relative to the adsorption surface; an elastic element (10) is also connected within the first cavity, one end of the elastic element (10) is fixedly connected to the inner wall of the first cavity away from the opening, and the other end of the elastic element (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 element (10), the housing (15) is fixedly connected to the inner wall of the first cavity away from the opening, the iron core 14 is annular, and the elastic element (10) and The iron core (14) is 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. The magnetic fluid channel is connected to the opening. When the electric charge of the electromagnetic coil (11) is greater than or equal to I1, it can drive the iron core (14) to move to the opening and magnetically adsorb on the adsorption surface. When the electromagnetic coil (11) is de-energized or the electric charge is less than I1, the elastic element (10) resets and can drive the iron core (14) to detach and move away from the adsorption surface. When the electric charge of the electromagnetic coil (11) is I2, it can drive the magnetic fluid to accelerate out of the opening. The I2 is greater than 0 and less than I1.

2. The leg device for a space operation robot according to claim 1, characterized in that: The walking leg includes an upper leg (1) and a lower leg (2). The lower leg (2) is rotatably connected to the upper leg (1) around a first axis. The end of the upper leg (1) away from the lower leg (2) is used to be fixedly connected to the working device. The lower leg (2) has the opening and the first cavity. An air source (17) is fixedly connected to the upper leg (1). A nozzle (8) is fixedly connected to the air source (17). The nozzle (8) can spray air in a direction away from the connection end between the upper leg (1) and the working device.

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

4. The leg device for a space operation robot according to claim 3, 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 signal-connected to the control device (3).

5. The leg device for a space operation robot according to claim 4, characterized in that: The drive device includes a first servo motor (16) and a transmission rod (9). The first servo motor (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 motor (16) can rotate around the first axis. The first servo motor (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 servo motor (16), and the other end is fixedly connected to the end of the lower leg (2) near the upper leg (1). The rotation of the rotation output end of the first servo motor (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 and changing the relative angle between the lower leg (2) and the upper leg (1).

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

7. The leg device for a space operation robot according to claim 5, characterized in that: The magnetic component (4) is fixedly connected to a second servo motor at one end near the upper leg (1). The upper leg (1) is fixedly connected to the rotation output end of the second servo motor. The rotation output end of the second servo motor can rotate around a second axis. The second servo motor is signal connected to the control device (3). The second axis is perpendicular to the first axis.

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