Space crawling robot surface and microgravity simulation system

Abstract

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

Description

Technical Field

[0001] This invention relates to the field of ground testing technology for space robots, and in particular to a surface and microgravity simulation system for a space crawling robot. Background Technology

[0002] With the increasing demand for on-orbit maintenance of spacecraft and critical satellites in recent years, various types of space crawling robots have emerged, possessing excellent functional performance adaptable to different application scenarios. However, whether the functional performance of space crawling robot products meets design specifications under microgravity conditions requires ground verification through a microgravity simulation testing system. Traditional microgravity simulation testing systems unload gravity while the robot is crawling horizontally on the ground, which cannot completely cancel out the gravity of the crawling feet. Therefore, the simulation of the adhesion of the crawling feet under microgravity is significantly distorted. Thus, there is an urgent need for a space crawling robot surface and microgravity simulation system that can achieve vertical and adjustable angle cancellation of the crawling robot's gravity, while also simulating the crawling surface, to meet the new requirements for the functional performance parameters of space crawling robots in ground testing. Summary of the Invention

[0003] This invention addresses the problems of low efficiency and poor adaptability of existing ground testing devices for the functional performance of space crawling robots when unloading microgravity at the foot end. It provides a surface and microgravity simulation system for space crawling robots. By combining surface simulation components, gravity balancing components, and inclined plane adjustment components, the system enables space crawling robots to crawl on simulated satellite and spacecraft surfaces under microgravity conditions. This allows for ground testing of the crawling robot's motion performance under microgravity, solving the problem of difficult ground testing of space crawling robots.

[0004] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0005] This invention provides a surface and microgravity simulation system for a space crawling robot, comprising a surface simulation component, an inclined plane adjustment component, and a gravity balancing component. The surface simulation component is disposed on the inclined plane adjustment component, which is used to adjust the tilt angle of the surface simulation component. The gravity balancing component is disposed above the surface simulation component and is used to connect with the space crawling robot to be tested. When the space crawling robot moves on the surface simulation component according to a predetermined trajectory, the gravity balancing component can passively adapt to the movement trajectory of the space crawling robot, completing the simulated climbing motion on the surface of a satellite in a microgravity environment.

[0006] The surface simulation component includes a solar cell module, a multi-layer module, a mounting plate, and an overall frame. The mounting plate is mounted on the overall frame, and the solar cell module and the multi-layer module are respectively mounted on the left and right sides of the mounting plate. The solar cell module is used to simulate the solar array structure on the satellite surface, and the multi-layer module is used to simulate the thermal control multi-layer structure on the satellite surface.

[0007] The solar cell module uses multiple square or rectangular gallium arsenide or monocrystalline silicon solar cells, which are arranged in multiple rows and then fixed to the left side of the mounting plate by a detachable double-sided adhesive.

[0008] The multi-layer module is a low-temperature thermal insulation multi-layer module for simulating satellites. It is composed of multiple layers of double-sided aluminized polyester film and polyester mesh, which are alternately stacked. The sides and inside are fixed with nylon thread, and the back is fixed to the right side of the mounting plate by a detachable double-sided adhesive.

[0009] The mounting plate is a carbon fiber aluminum honeycomb substrate with threaded mounting holes around its perimeter, enabling it to be fixed and disassembled with the overall frame; the overall frame is welded from aluminum alloy profiles.

[0010] The inclined plane adjustment assembly includes a three-degree-of-freedom telescopic mechanism, omnidirectional casters, and a base. The base has multiple omnidirectional casters at its bottom and two sets of three-degree-of-freedom telescopic mechanisms at each end. The bottom of the surface simulation assembly is hinged to the base via a hinge, and the side of the surface simulation assembly is connected to the two sets of three-degree-of-freedom telescopic mechanisms. The two sets of three-degree-of-freedom telescopic mechanisms are used to drive the surface simulation assembly to rotate around the hinge.

[0011] The three-degree-of-freedom telescopic mechanism includes an upper hinge seat, an electro-hydraulic actuator, a lower hinge seat, and pins. The upper hinge seat is fixedly connected to the surface simulation component, and the lower hinge seat is fixedly connected to the base. The first and last ends of the electro-hydraulic actuator are hinged to the upper and lower hinge seats respectively via pins. Through the linear motion of the electro-hydraulic actuator and the rotational motion of the two end pins, the surface simulation component can achieve an angle adjustment of ±30° around the hinge.

[0012] The base is welded in an I-shape from square carbon steel, with omnidirectional casters arranged at its four corners, and the height of the omnidirectional casters is adjustable; power supply modules and counterweight modules are provided on both sides of the base. The power supply modules are used for wireless or wired charging of the space crawling robot; the counterweight modules ensure that the center of gravity of the entire device falls within the rectangle formed by the four omnidirectional casters when the surface simulation components are adjusted within a range of ±30°.

[0013] The gravity balancing assembly includes an automatic telescopic balancing reel, limit blocks, a linear guide rail, a linear slider, a telescopic steel wire rope, a moving trolley, fixed pulleys, and a connecting robot end effector. The linear guide rail is fixed to the top of the surface simulation assembly. The moving trolley slides with the linear guide rail via the linear slider. The bottom of the moving trolley is equipped with two fixed pulleys. Limit blocks and automatic telescopic balancing reels are provided at both ends of the linear guide rail. The telescopic steel wire ropes led out by the two automatic telescopic balancing reels are turned by the two fixed pulleys and then connected to the connecting robot end effector.

[0014] The mobile trolley has two waist-shaped holes along a direction perpendicular to the linear guide rail. The two fixed pulleys are connected to the two waist-shaped holes respectively. The center of gravity of the connecting robot end is adjusted to be consistent with that of the space crawling robot through the waist-shaped holes.

[0015] The end effector of the connecting robot includes a fixed end of a steel wire rope, a U-shaped connecting buckle, a free steel wire rope, an end screw, a connector, a joint bearing, and a detachable screw. The fixed end of the steel wire rope is connected to two telescopic steel wire ropes. The U-shaped connecting buckle is located at the bottom of the fixed end of the steel wire rope. One end of the free steel wire rope is connected to the U-shaped connecting buckle, and the other end is connected to the joint bearing through the end screw. The joint bearing is connected to the connector through the detachable screw. The connector is connected to the space crawling robot, thereby forming a three-axis free-rotating rope system that can passively adapt to the pitch, yaw, and turning movements of the space crawling robot.

[0016] The present invention has the following beneficial effects and advantages:

[0017] 1. Excellent responsiveness: After the space crawling robot completes the standby test and is ready to crawl, it can crawl on the surface simulation components. The gravity during straight-line movement and turning is balanced by the automatic telescopic balance reel and the pulley of the moving trolley, thereby ensuring low resistance during the crawling process of the space crawling robot and thus achieving low power consumption.

[0018] 2. High adaptability: The inclined plane adjustment component can adjust and lock the surface simulation component and the gravity balancing component arbitrarily within a range of ±30 degrees with the vertical state as the reference, so it can test the relevant performance of the space crawling robot under different microgravity levels.

[0019] 3. Excellent mobility: This system has four movable and lockable casters, making it easy to transport within the laboratory.

[0020] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 This is an isometric view of the surface of a space crawling robot and a microgravity simulation system according to the present invention.

[0024] Figure 2 This is a right view of the surface of a space crawling robot and a microgravity simulation system according to the present invention;

[0025] Figure 3 This is a front isometric view of the surface simulation component in this invention;

[0026] Figure 4 This is a rear isometric view of the surface simulation component in this invention;

[0027] Figure 5 This is an isometric view of the inclined plane adjustment component in this invention;

[0028] Figure 6 This is a right view of the inclined plane adjustment component in this invention;

[0029] Figure 7 This is an isometric view of the gravity balancing assembly in this invention;

[0030] Figure 8 This is an isometric view of the end effector of the robot in this invention;

[0031] Figure 9 This is a schematic diagram of the adjustment angle of the surface of a space crawling robot and a microgravity simulation system according to the present invention;

[0032] Figure 10 This is a schematic diagram of the movement of the space crawling robot in an embodiment of the present invention.

[0033] In the diagram: 1 is the surface simulation component, 2 is the inclined plane adjustment component, 3 is the gravity balancing component, 101 is the battery cell module, 102 is the multi-layer module, 103 is the mounting plate, 104 is the overall frame, 201 is the upper hinge seat, 202 is the hinge, 203 is the swivel caster, 204 is the power supply module, 205 is the electro-hydraulic actuator, 206 is the lower hinge seat, 207 is the counterweight module, 208 is the base, 209 is the pin, and 301 is the automatic extension... The components are: a retractable balance reel, a limit block (302), a linear guide rail (303), a linear slider (304), a telescopic steel wire rope (305), a moving trolley (306), a fixed pulley (307), a connecting end of the robot (308), a fixed end of the steel wire rope (401), a U-shaped connecting buckle (402), a free steel wire rope (403), an end screw (404), a connector (405), a joint bearing (406), a detachable screw (407), and a space crawling robot (50). Detailed Implementation

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0036] See Figure 1 and Figure 2 As shown, the present invention provides a surface and microgravity simulation system for a space crawling robot, including a surface simulation component 1, an inclined plane adjustment component 2, and a gravity balancing component 3. The surface simulation component 1 is disposed on the inclined plane adjustment component 2, which is used to adjust the tilt angle of the surface simulation component 1. The gravity balancing component 3 is disposed above the surface simulation component 1 and is used to connect with the space crawling robot 50 to be tested. The gravity balancing component 3 can accurately counteract the gravity of the space crawling robot 50. When the space crawling robot 50 moves forward, backward, turns, and climbs on the surface simulation component 1 according to a predetermined trajectory, the gravity balancing component 3 can passively adapt to the movement trajectory of the space crawling robot 50, thus simulating the climbing motion of a satellite surface in a microgravity environment.

[0037] See Figure 3 and Figure 4As shown, in an embodiment of the present invention, the surface simulation component 1 includes a battery cell module 101, a multi-layer module 102, a mounting plate 103, and an overall frame 104. The mounting plate 103 is disposed on the overall frame 104, and the battery cell module 101 and the multi-layer module 102 are respectively disposed on the left and right sides of the mounting plate 103. The battery cell module 101 is used to simulate the solar panel structure on the surface of a satellite, and the multi-layer module 102 is used to simulate the thermal control multi-layer structure on the surface of a satellite.

[0038] Specifically, the solar cell module 101 uses multiple square or rectangular gallium arsenide or monocrystalline silicon solar cells, arranged in multiple rows and fixed to the left side of the mounting plate 103 by detachable double-sided adhesive. The multilayer module 102 is a simulated low-temperature thermal insulation multilayer for satellites, composed of multiple layers of double-sided aluminized polyester film and polyester mesh, which are alternately stacked and fixed with nylon thread on all sides and inside. The back is fixed to the right side of the mounting plate 103 by detachable double-sided adhesive. The simulated surface layer can be arranged according to the actual characteristics of the surface crawling by space robots, such as the typical thermal control multilayer and smooth solar panels on a satellite surface.

[0039] Specifically, the mounting plate 103 is a carbon fiber aluminum honeycomb substrate with threaded mounting holes around its perimeter, which can be fixed and disassembled with the overall frame 104; the overall frame 104 is welded from aluminum alloy profiles and has high rigidity and lightweight characteristics.

[0040] See Figure 5 and Figure 6 As shown in the embodiment of the present invention, the inclined plane adjustment component 2 includes a three-degree-of-freedom telescopic mechanism, omnidirectional casters 203, and a base 208. The base 208 has multiple omnidirectional casters 203 at its bottom, which can realize indoor movement and fixation of the test position. Two sets of three-degree-of-freedom telescopic mechanisms are respectively provided at both ends of the base 208. The bottom of the surface simulation component 1 is hinged to the base 208 through a hinge 202. The side of the surface simulation component 1 is connected to the two sets of three-degree-of-freedom telescopic mechanisms. The two sets of three-degree-of-freedom telescopic mechanisms are used to drive the surface simulation component 1 to rotate around the hinge 202.

[0041] In an embodiment of the present invention, the three-degree-of-freedom telescopic mechanism includes an upper hinge seat 201, an electro-hydraulic actuator 205, a lower hinge seat 206, and a pin 209. The upper hinge seat 201 is fixedly connected to the surface simulation component 1, and the lower hinge seat 206 is fixedly connected to the base 208. The first and last ends of the electro-hydraulic actuator 205 are hinged to the upper hinge seat 201 and the lower hinge seat 206 respectively via the pin 209. Through the linear motion of the electro-hydraulic actuator 205 and the rotational motion of the two end pins 209, the surface simulation component 1 can achieve an angle adjustment of ±30° around the hinge 202.

[0042] Specifically, the base 208 is welded from square carbon steel in an I-shape, with omnidirectional casters 203 arranged at its four corners, and the height of the omnidirectional casters 203 is adjustable; the base 208 has a power supply module 204 and a counterweight module 207 on both sides. The power supply module 204 is used for wireless or wired charging of the space crawling robot 50; the counterweight module 207 ensures that when the surface simulation component 1 is adjusted within a range of ±30°, the center of gravity of the entire device falls within the rectangle formed by the four omnidirectional casters 203. See [reference needed]. Figure 9 As shown in (1)-(2).

[0043] See Figure 7 As shown, in an embodiment of the present invention, the gravity balancing assembly 3 includes an automatic telescopic balancing reel 301, a limiting block 302, a linear guide rail 303, a linear slider 304, a telescopic steel wire rope 305, a moving trolley 306, fixed pulleys 307, and a connecting robot end 308. The linear guide rail 303 is fixed to the top of the surface simulation assembly 1. The moving trolley 306 slides with the linear guide rail 303 through the linear slider 304. The bottom of the moving trolley 306 is provided with two fixed pulleys 307. Both ends of the linear guide rail 303 are provided with limiting blocks 302 and automatic telescopic balancing reels 301. The telescopic steel wire ropes 305 led out by the two automatic telescopic balancing reels 301 are turned by the two fixed pulleys 307 and then connected to the connecting robot end 308. This allows the robot to passively adapt to the X-axis movement of the space crawling robot 50 and also to counteract the robot's gravity. The linear slider 304, the fixedly connected mobile trolley 306, the fixed pulley 307, the telescopic steel wire rope 305, and the robot end 308 can all slide freely on the linear guide rail 303, thus passively adapting to the Y-axis movement of the space crawling robot 50.

[0044] Furthermore, the mobile trolley 306 has two waist-shaped holes along the direction perpendicular to the linear guide rail 303, and two fixed pulleys 307 are connected to the two waist-shaped holes respectively. They can be manually adjusted according to the center of gravity height of the space crawling robot 50 being tested, so as to ensure that the end of the connecting robot 308 is consistent with the center of gravity of the space crawling robot 50.

[0045] See Figure 8As shown, in an embodiment of the present invention, the end effector 308 of the connecting robot includes a wire rope fixed end 401, a U-shaped connecting buckle 402, a free wire rope 403, an end screw 404, a connector 405, a joint bearing 406, and a detachable screw 407. The wire rope fixed end 401 is connected to two telescopic wire ropes 305. The U-shaped connecting buckle 402 is disposed at the bottom of the wire rope fixed end 401. One end of the free wire rope 403 is connected to the U-shaped connecting buckle 402, and the other end is connected to the joint bearing 406 through the end screw 404. The joint bearing 406 is connected to the connector 405 through the detachable screw 407. The connector 405 is connected to the space crawling robot 50, thereby forming a three-axis free-rotating rope system that can passively adapt to the pitch, yaw, and turning movements of the space crawling robot 50.

[0046] This invention provides a surface and microgravity simulation system for a space crawling robot. Its main function is to support ground testing of a space crawling robot 50. The main workflow is as follows:

[0047] See Figure 10 As shown, firstly, the space crawling robot 50 to be tested is installed onto the end of the connecting robot 308 via connector 405. Then, by observing whether the telescopic steel cable 305 elongates in an unsupported state, it is determined whether the gravity of the space crawling robot 50 is balanced. If it is not balanced, the gravity of the space crawling robot 50 and the difference in tension provided by the two automatic telescopic balancing reels 301 need to be remeasured, and the tension of the automatic telescopic balancing reels 301 needs to be adjusted to achieve balance. Next, the feet of the space crawling robot 50 can complete surface attachment, fixation, and climbing and walking in different states on the battery module 101 and the multi-layer module 102. Furthermore, the functional components of the simulation system will passively follow the trajectory of the space crawling robot 50, realizing three-axis translational freedom and three-axis rotational freedom within a specific range.

[0048] Typical operating condition 1: When the space crawling robot 50 moves up and down, the linear slider 304 and the fixedly connected moving trolley 306 remain stationary. The telescopic steel cable 305, supported by the automatic telescopic balance reel 301 and the fixed pulley 307, extends or retracts to connect to the robot's end 308, thereby enabling the crawling robot to move up and down under microgravity conditions. (See [link]). Figure 10 As shown in (1).

[0049] Typical operating condition 2: When the space crawling robot 50 moves left and right, the sliding pair between the linear slider 304 and the linear guide rail 303 allows the moving carriage 306, fixed pulley 307, telescopic steel cable 305, and robot end effector 308, all fixed to the linear slider 304, to slide freely on the linear guide rail 303, thereby enabling the crawling robot to move left and right under microgravity conditions. See [link to relevant documentation]. Figure 10As shown in (2)-(3).

[0050] Typical working condition 3: When the space crawling robot 50 turns in a plane, the full range of rotational degrees of freedom in the plane provided by the joint bearing 406 can passively adapt to the turning motion of the space crawling robot 50.

[0051] Typical working condition 4: When the space crawling robot overcomes obstacles, the three-axis free rotation rope system composed of U-shaped connecting buckle 402, free steel wire rope 403, end screw 404 and joint bearing 406 can passively adapt to the pitch and yaw motion of the space crawling robot 50.

[0052] In some operating conditions, the surface simulation component 1 and the gravity balancing component 3 are not required to be in the vertical plane. Therefore, the inclined plane adjustment component 2 needs to be adjusted and locked. The specific process is as follows: Two upper hinge seats 201, an electro-hydraulic actuator 205, a lower hinge seat 206, and four pins 209 form two sets of three-degree-of-freedom telescopic mechanisms, symmetrically distributed on the left and right sides. The upper hinge seat 201 is screwed to the overall frame 104, and the lower hinge seat 206 is screwed to the base 208. Through the linear motion of the electro-hydraulic actuator 205 and the rotational motion of the two end pins 209, the surface simulation component 1 and the inclined plane adjustment component 3 can achieve an angle adjustment of ±30° around the hinge 202. After the angle adjustment is completed, the electro-hydraulic actuator 205 is de-energized to achieve mechanical locking. Simultaneously, the weight of the counterweight module 207 is adjusted to ensure that the overall center of gravity of the simulation system falls within the rectangle formed by the four omnidirectional casters 203, thus ensuring crawling stability while achieving angle adjustment.

[0053] This invention provides a surface and microgravity simulation system for a space crawling robot. It simulates the space attachment surface of the robot through surface simulation components, innovatively creates a microgravity environment for crawling through gravity balancing components arranged in a vertical plane, and enables the simulated microgravity system to pitch up or down by 30 degrees using inclined plane adjustment components. This adapts to the needs of space crawling robots at different microgravity levels, enabling performance testing of the microgravity crawling function of the space crawling robot in a ground environment. This improves the reliability and credibility of the on-orbit performance parameters of the space crawling robot product during ground testing, while also shortening the development cycle of the space crawling robot.

[0054] This invention combines a surface simulation component, a gravity balancing component, and an inclined plane adjustment component to realize the simulated crawling surface and microgravity environment required for the ground movement of a space crawling robot, thereby enabling ground testing of the on-orbit crawling function and performance parameters of the space robot.

[0055] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A surface and microgravity simulation system for a space crawling robot, characterized in that, The device includes a surface simulation component (1), an inclined plane adjustment component (2), and a gravity balancing component (3). The surface simulation component (1) is mounted on the inclined plane adjustment component (2), which is used to adjust the tilt angle of the surface simulation component (1). The gravity balancing component (3) is mounted above the surface simulation component (1) and is used to connect with the space crawling robot (50) to be tested. When the space crawling robot (50) moves on the surface simulation component (1) according to a predetermined trajectory, the gravity balancing component (3) can passively adapt to the movement trajectory of the space crawling robot (50) and complete the simulated satellite surface climbing movement in the microgravity environment of space.

2. The space crawling robot surface and microgravity simulation system according to claim 1, characterized in that, The surface simulation component (1) includes a battery cell module (101), a multi-layer module (102), a mounting plate (103), and an overall frame (104). The mounting plate (103) is mounted on the overall frame (104), and the battery cell module (101) and the multi-layer module (102) are respectively mounted on the left and right sides of the mounting plate (103). The battery cell module (101) is used to simulate the solar array structure on the surface of a satellite, and the multi-layer module (102) is used to simulate the thermal control multi-layer structure on the surface of a satellite.

3. The space crawling robot surface and microgravity simulation system according to claim 2, characterized in that, The solar cell module (101) uses multiple square or rectangular gallium arsenide or monocrystalline silicon solar cells, which are arranged in multiple rows and then fixed to the left side of the mounting plate (103) by a detachable double-sided adhesive. The multi-layer module (102) is a low-temperature heat insulation multi-layer for simulating satellites. It is composed of multiple layers of double-sided aluminum-coated polyester film and polyester mesh, which are alternately stacked. The sides and interior are fixed with nylon thread, and the back is fixed to the right side of the mounting plate (103) by a detachable double-sided adhesive.

4. The space crawling robot surface and microgravity simulation system according to claim 2, characterized in that, The mounting plate (103) is a carbon fiber aluminum honeycomb substrate with threaded mounting holes around its perimeter, which can be fixed and disassembled with the overall frame (104); the overall frame (104) is welded from aluminum alloy profiles.

5. The space crawling robot surface and microgravity simulation system according to claim 1, characterized in that, The inclined plane adjustment component (2) includes a three-degree-of-freedom telescopic mechanism, omnidirectional casters (203) and a base (208). The base (208) has multiple omnidirectional casters (203) at its bottom and two sets of three-degree-of-freedom telescopic mechanisms at its two ends. The bottom of the surface simulation component (1) is hinged to the base (208) via a hinge (202). The side of the surface simulation component (1) is connected to the two sets of three-degree-of-freedom telescopic mechanisms. The two sets of three-degree-of-freedom telescopic mechanisms are used to drive the surface simulation component (1) to rotate around the hinge (202).

6. The space crawling robot surface and microgravity simulation system according to claim 5, characterized in that, The three-degree-of-freedom telescopic mechanism includes an upper hinge seat (201), an electro-hydraulic actuator (205), a lower hinge seat (206), and a pin (209). The upper hinge seat (201) is fixedly connected to the surface simulation component (1), and the lower hinge seat (206) is fixedly connected to the base (208). The first and last ends of the electro-hydraulic actuator (205) are hinged to the upper hinge seat (201) and the lower hinge seat (206) respectively through the pin (209). Through the linear motion of the electro-hydraulic actuator (205) and the rotational motion of the two end pins (209), the surface simulation component (1) can achieve an angle adjustment of ±30° around the hinge (202).

7. The space crawling robot surface and microgravity simulation system according to claim 6, characterized in that, The base (208) is made of square carbon steel welded in an I-shape, with the universal casters (203) arranged at its four corners, and the height of the universal casters (203) is adjustable; the base (208) is provided with a power supply module (204) and a counterweight module (207) on both sides. The power supply module (204) is used for wireless or wired charging of the space crawling robot (50); the counterweight module (207) ensures that the center of gravity of the entire device falls inside the rectangle formed by the four universal casters (203) when the surface simulation component (1) is adjusted within a range of ±30°.

8. The space crawling robot surface and microgravity simulation system according to claim 1, characterized in that, The gravity balancing assembly (3) includes an automatic telescopic balancing reel (301), a limiting block (302), a linear guide rail (303), a linear slider (304), a telescopic steel wire rope (305), a moving trolley (306), a fixed pulley (307), and a connecting robot end (308). The linear guide rail (303) is fixed to the top of the surface simulation assembly (1). The moving trolley (306) slides with the linear guide rail (303) through the linear slider (304). The bottom of the moving trolley (306) is provided with two fixed pulleys (307). Both ends of the linear guide rail (303) are provided with a limiting block (302) and an automatic telescopic balancing reel (301). The telescopic steel wire rope (305) led out by the two automatic telescopic balancing reels (301) is turned by the two fixed pulleys (307) and then connected to the connecting robot end (308).

9. The space crawling robot surface and microgravity simulation system according to claim 8, characterized in that, The mobile trolley (306) has two waist-shaped holes along a direction perpendicular to the linear guide rail (303). The two fixed pulleys (307) are connected to the two waist-shaped holes respectively. The center of gravity of the connecting robot end (308) and the space crawling robot (50) is adjusted to be consistent through the waist-shaped holes.

10. The space crawling robot surface and microgravity simulation system according to claim 8, characterized in that, The connecting robot end (308) includes a wire rope fixed end (401), a U-shaped connecting buckle (402), a free wire rope (403), an end screw (404), a connector (405), a joint bearing (406), and a detachable screw (407). The wire rope fixed end (401) is connected to two telescopic wire ropes (305). The U-shaped connecting buckle (402) is located at the bottom of the wire rope fixed end (401). One end of the free wire rope (403) is connected to the U-shaped connecting buckle (402), and the other end is connected to the joint bearing (406) through the end screw (404). The joint bearing (406) is connected to the connector (405) through the detachable screw (407). The connector (405) is connected to the space crawling robot (50), thereby forming a three-axis free-rotating rope system that can passively adapt to the pitch, yaw, and turning movements of the space crawling robot (50).

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