Shape memory alloy driving-based Krasserian origami bionic adhesion crawling robot

Abstract

The invention discloses a shape memory alloy driving-based Krasserian origami bionic adhesion crawling robot which is mainly applied to space on-orbit target surface detection and maintenance. The robot comprises a body part and an advancing part, the body part comprises a head visual perception module, a body movement module, a main control module and an energy supply module, and the advancing part comprises a leg movement module and a dry adhesion module. The robot adopts a Krassin origami structure and a shape memory alloy wire driving system, and a shape memory alloy wire is driven by current to generate phase change, so that bionic motion is realized. The energy supply module provides power needed by the robot through the solar cell panel and the battery module, and long-term stable operation of the robot is supported. The robot is designed to be light and small, so that the robot has high flexibility and adaptability when being deployed on the surface of a target to perform tasks, and is particularly suitable for maintenance of space on-orbit targets.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a Cresslin origami-inspired adhesive crawling robot driven by shape memory alloy. Background Technology

[0002] With the continuous development of robotics technology, biomimetic crawling robots have broad application prospects in fields such as industrial inspection, disaster relief, and environmental exploration due to their ability to adapt to complex terrain and complete special tasks. Existing crawling robots mostly use electric motors, hydraulic systems, or pneumatic drives, which have problems such as complex structures, large weight, high energy consumption, and limited terrain adaptability, especially lacking flexibility in special environments such as narrow spaces and complex curved surfaces.

[0003] Shape memory alloys, as smart materials with shape memory effect and superelasticity, can undergo a phase transition and recover a preset shape after being heated by electricity. They feature fast response speed, high driving precision, and compact structure, providing new ideas for the development of miniaturized and lightweight biomimetic robots. The Kreslin origami mechanism, with its advantages of foldability, strong deformability, and lightweight structure, can be combined with shape memory alloy actuators to effectively simplify the robot's motion structure. Meanwhile, to improve the robot's crawling stability on complex curved surfaces (such as walls and pipe inner walls), a reliable adhesion device is required.

[0004] While on-orbit maintenance technology is gradually developing, existing maintenance systems rely on large robots or expensive dedicated satellites, which are typically bulky. Furthermore, traditional space target maintenance tasks are usually costly and have limited operational capabilities under multiple satellites or long-term monitoring. There are also potential damage issues encountered during traditional on-orbit operations, such as space debris impacts. When on-orbit target functionality fails, traditional large-scale repair solutions are not only costly but also carry certain risks during on-orbit operations. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a shape memory alloy-driven Kreslin origami-inspired biomimetic adhesive crawling robot for on-orbit target surface repair in space.

[0006] To achieve the above objectives, the present invention provides a Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy, characterized in that it comprises: The main body includes a head vision perception module disposed at the front end of the main body, a main control and communication module disposed in the middle of the main body, and an energy supply module disposed at the rear end of the main body. The head vision perception module and the main control and communication module, and the main control and communication module and the energy supply module are all connected to each other through at least one main body motion module. The traveling unit includes several leg movement modules and an adhesive module. The adhesive module is disposed at the bottom of the leg movement module, and several leg movement modules are symmetrically disposed on the left and right sides of the main body. The main control and communication module provides separate electrical signals to the main body motion module and the traveling unit to realize the forward or left and right turning posture of the main body.

[0007] Preferably, the body motion module includes several wound first shape memory alloy wires, with a first tension spring passing through the middle of each first shape memory alloy wire, and both the first shape memory alloy wires and the first tension springs are horizontally arranged.

[0008] Preferably, the leg movement module includes several wound second shape memory alloy wires, with a second tension spring passing through the middle of each second shape memory alloy wire, and both the second shape memory alloy wire and the second tension spring are vertically arranged.

[0009] Preferably, both the body motion module and the leg motion module are electrically connected to the main control and communication module. The main control and communication module is used to provide the first shape memory alloy wire and the second shape memory alloy wire with one of an activation signal, a heating signal, and a stationary signal. Both the body motion module and the leg motion module adopt a Creslin origami mechanism.

[0010] Preferably, the adhesion module and the leg movement module work together, the adhesion module is electrically connected to the main control and communication module, and the adhesion module switches between two working conditions: detaching from the current contact surface and attaching to the current contact surface, so as to realize the forward or left and right turning posture of the body.

[0011] Preferably, the head vision perception module includes a visible light depth camera, a head cover, and a solar panel. The solar panel is disposed on the outer periphery of the head vision perception module, the head cover is disposed at the front end of the head vision perception module, and the visible light depth camera is disposed in the middle of the head vision perception module. The visible light depth camera is used to perceive the surrounding environment in real time and perform three-dimensional modeling, providing the robot with surface damage detection and environmental perception capabilities.

[0012] Preferably, the main control and communication module includes a control board, an antenna, and the solar panel. The control board is equipped with a shape memory alloy driving system, which is used to heat the first shape memory alloy wire and the second shape memory alloy wire with electrical energy to achieve phase change, thereby dragging the extension and contraction of the body motion module and the leg motion module. The control board is also used for global motion control, data processing, path planning, and communication with cooperative targets.

[0013] Preferably, the energy supply module includes the solar panel, the battery module, and the power management system. The battery module is located in the middle of the energy supply module and is used to store and release the electrical energy generated by the solar panel.

[0014] Preferably, the power management system is located within the energy supply module and is electrically connected to the solar panel, battery module, and main control and communication module. It is used to rectify and regulate the solar input, manage the charging and discharging of the battery module and provide overcharge and over-discharge protection, while providing regulated power to the main control and communication module and each execution / sensing load, and monitoring the battery power status and providing low power warnings.

[0015] Preferably, the adhesive module is made of polydimethylsiloxane material and is attached to the bottom of the leg movement module.

[0016] Compared with existing technologies, the technical solution proposed in this application has the following beneficial effects: The robot of this invention has a lightweight and compact design, enabling flexible operation within a limited space. This design allows the robot to perform damage detection and repair tasks on the surface of a target in space. Its small size and light weight ensure that its impact on the target is minimized during task execution, thereby guaranteeing the reliability and stability of the target. The robot can flexibly adapt to complex surface morphologies, performing surface damage detection, cleaning, and simple repair operations; Specifically: Compact and lightweight: The Creslin origami mechanism is used as the basic structure for the body motion module and the leg motion module. Combined with shape memory alloy drive, the motion structure is greatly simplified compared with traditional motor drive, reducing the overall weight and volume of the robot and making it easier to operate in narrow spaces. Flexible movement: The main control and communication modules control the main body motion module and the travel unit with separate electrical signals, enabling the robot to move forward, turn left and right, and other postures. Combined with the rapid phase change response of the shape memory alloy, the flexibility and accuracy of the movement are improved. Strong adaptability to complex terrain: The adhesive module at the bottom of the leg movement module is made of polydimethylsiloxane material, which has good adhesion properties, enabling the robot to crawl stably on complex curved surfaces such as walls and pipe inner walls, thus expanding its application scenarios. Excellent battery life: By setting solar panels in the head vision perception module and main control and communication module, and in conjunction with the battery module and power management system of the energy supply module, the collection, storage and rational distribution of solar power are realized, which improves the robot's battery life. Strong environmental perception capability: The visible light depth camera in the head vision perception module can perceive the surrounding environment in real time and perform 3D modeling, providing the robot with surface damage detection and environmental perception capabilities, which facilitates the robot to perform path planning and operations in complex environments. Attached Figure Description

[0017] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the present invention.

[0018] Figure 2 This is the upper and lower isometric projection of the present invention patent.

[0019] Figure 3 These are the left and right isometric views of the motion module of the main body of this invention.

[0020] Figure 4 This is an isometric view of the head visual perception module of this invention.

[0021] Figure 5 This is a rear view of the head vision perception module of this invention.

[0022] Figure 6 This is an isometric view of the main control module of this invention.

[0023] Figure 7 This is an isometric view of the energy supply module of this invention.

[0024] Figure 8 This is an isometric view of the upper and lower isometric projections of the leg module of this invention.

[0025] Figure 9 This is a front view of the dry adhesion module of this invention.

[0026] In the diagram: 101. Head visual perception module, 201. Body motion module, 301. Main control and communication module, 401. Power supply module, 501. Leg motion module, 601. Adhesion module, 102. First shape memory alloy wire, 202. First tension spring, 103. Solar panel, 203. Head cover, 303. Visible light depth camera, 204. Control board, 304. Antenna, 205. Battery module, 106. Second shape memory alloy wire, 206. Second tension spring, 107. Polydimethylsiloxane material. Detailed Implementation

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described and discussed below with reference to the accompanying drawings. Obviously, what is described here is only a part of the examples of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0028] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] See Figures 1 to 9 This embodiment provides a Cresslin origami-inspired adhesive crawling robot driven by shape memory alloy, including a body and a traveling unit.

[0031] The main body includes a head visual perception module 101, a main control and communication module 301, an energy supply module 401, and a main body motion module 201.

[0032] The head vision perception module 101 is located at the front of the robot body and includes a visible light depth camera 303, a head cover 203, and a solar panel 103. The solar panel 103 is attached to the outer periphery of the head vision perception module 101 to collect solar energy and convert it into electrical energy. The head cover 203 is made of transparent polycarbonate material and is located at the front of the head vision perception module 101 to protect the internal visible light depth camera 303. The visible light depth camera 303 is fixed in the middle of the head vision perception module 101, with its lens facing outward. It is electrically connected to the main control and communication module 301 and can collect image information of the surrounding environment in real time and perform 3D modeling. It transmits the collected data to the main control and communication module 301, providing the robot with surface damage detection and environmental perception capabilities.

[0033] The main control and communication module 301 is located in the middle of the main body and includes a control board 204, an antenna (not shown in the figure), and a solar panel 103. The control board 204 uses a PCB circuit board and integrates a shape memory alloy driving system, a microprocessor, and a communication module. The shape memory alloy driving system is electrically connected to the first shape memory alloy wire 102 and the second shape memory alloy wire 106, and is used to heat the first shape memory alloy wire 102 and the second shape memory alloy wire 106 with electrical energy, causing them to undergo a phase change, thereby dragging the extension and retraction of the main body motion module 201 and the leg motion module 501. The microprocessor is used to realize global motion control, data processing, and path planning. Specifically, it receives environmental data transmitted by the head vision perception module 101, performs path planning in combination with a preset algorithm, generates control signals, and sends them to the main body motion module 201 and the traveling unit. The communication module realizes wireless communication with external cooperative targets (such as a remote control console) through the antenna, and can receive external control commands and provide feedback on the robot's working status data. The solar panel 103 is located on the upper surface of the main control and communication module 301 to assist in collecting solar energy.

[0034] The energy supply module 401 is located at the rear of the main body and includes a solar panel 103, a battery module 205, and a power management system. The battery module 205 uses a lithium-ion battery and is located in the middle of the energy supply module 401 to store the electrical energy generated by the solar panel 103. The power management system is located inside the energy supply module and is electrically connected to the solar panel, the battery module, and the main control and communication module. It is used to rectify and regulate the solar input, manage the charging and discharging of the battery module and provide overcharge and over-discharge protection, provide regulated power to the main control and communication module and various execution / sensing loads, and monitor the battery status and provide low battery warnings. The power management system is located inside the energy supply module 401, near the left side of the battery module 205. It is electrically connected to the solar panel 103, battery module 205, and main control and communication module 301. Its functions include: stabilizing and rectifying the power generated by the solar panel 103 to ensure it meets the charging requirements of the battery module 205; controlling the charging and discharging process of the battery module 205 to prevent overcharging or over-discharging damage; and monitoring the battery module 205's charge level in real time. When the battery module 205's charge level falls below a preset threshold (e.g., 20%), a warning signal is sent to the main control and communication module 301, which can then relay the warning information to an external control console via the communication module. The solar panel 103 is located on the upper surface of the energy supply module 401 and is connected in parallel with the solar panels 103 of the head vision perception module 101 and the main control and communication module 301 to improve solar energy collection efficiency.

[0035] The main body motion module 201 employs a Kreslin origami mechanism and has two units, respectively connecting the head vision perception module 101 to the main control and communication module 301 and the main control and communication module 301 to the power supply module 401. Each main body motion module 201 includes several wound first shape memory alloy wires 102. The first shape memory alloy wires 102 are made of Ti-Ni shape memory alloy, with a first tension spring 202 passing through their middle. Both the first shape memory alloy wires 102 and the first tension springs 202 are horizontally arranged. The two ends of the first shape memory alloy wires 102 are respectively fixed to the connection end faces of two adjacent modules (such as the head vision perception module 101 and the main control and communication module 301), and the first tension springs 202 are in a naturally extended state. When the shape memory alloy drive system of the main control and communication module 301 sends a heating signal to the first shape memory alloy wire 102, the first shape memory alloy wire 102 is energized and heated to undergo a phase change, shrinking in length and causing the Creslin origami mechanism to shrink, thereby pulling the two adjacent modules closer to each other; when a stationary signal is sent, the first shape memory alloy wire 102 is de-energized and cooled, and under the elastic restoring force of the first tension spring 202, the Creslin origami mechanism returns to its extended state, and the two adjacent modules move away from each other, realizing the telescopic movement of the body.

[0036] The travel unit includes six leg movement modules 501 and six adhesion modules 601 (each leg movement module 501 corresponds to one adhesion module 601). The six leg movement modules 501 are symmetrically arranged on the left and right sides of the main body, with three on each side, respectively close to the connection parts of the head vision perception module 101, the main control and communication module 301, and the two sides of the energy supply module 401.

[0037] The leg movement module 501 employs a Creslin origami mechanism, comprising four wound second shape memory alloy wires 106, also made of Ti-Ni shape memory alloy, with a second tension spring 206 running through their center. Both the second shape memory alloy wires 106 and the second tension spring 206 are vertically arranged. The upper end of the second shape memory alloy wire 106 is fixed to the side of the main body, and the lower end is connected to the adhesion module 601. The second tension spring 206 is in a naturally extended state. The leg movement module 501 is electrically connected to the shape memory alloy drive system of the main control and communication module 301. When a heating signal is received, the second shape memory alloy wire 106 is energized and undergoes a phase change, shrinking in length and causing the Creslin origami mechanism to contract, thus lifting the adhesion module 601 upward. When a stationary signal is received, the second shape memory alloy wire 106 is de-energized and cooled. Under the elastic restoring force of the second tension spring 206, the Creslin origami mechanism extends, and the adhesion module 601 downward adheres to the contact surface.

[0038] The adhesion module 601 is attached to the bottom of the leg movement module 501 using polydimethylsiloxane material 207. The polydimethylsiloxane material is vulcanized and has a micro-nano-level protrusion structure on its surface, which enhances the friction and adhesion with the contact surface. The adhesion module 601 is electrically connected to the main control and communication module 301. Under the control of the main control and communication module 301, it switches between two working states: when the leg movement module 501 lifts the adhesion module 601 upwards, the main control and communication module 301 controls the adhesion module 601 to detach from the current contact surface; when the leg movement module 501 moves the adhesion module 601 downwards to adhere to the contact surface, it controls the adhesion module 601 to adhere to the current contact surface.

[0039] The specific work process is as follows: Forward Progress When the robot needs to move forward, it achieves this through the coordinated action of its six leg motion modules 501. Specifically, the motion pattern involves simultaneously activating the shape memory alloy wires 102 in each of the six leg motion modules, and then heating them to induce a phase change in the wires. This causes the robot body to rise through the axial extension of the body motion module 201. During this process, the adhesion module 601 in the head vision perception module 101 detaches from the target surface. After the body motion module 201 at the front of the robot body achieves axial extension through thermal excitation, the legs connected to the head vision perception module 101 re-adhere to the target surface, completing the first step of the robot's forward movement.

[0040] As the robot continues to move forward, it will retract the motion module 201 at the rear of its body and repeat the detachment and attachment process of the leg adhesion module 601, thereby achieving continuous forward movement.

[0041] Body turning When the robot needs to turn left or right, it is first supported and detached by the leg adhesion module 601. Subsequently, the body motion module 201 controls the robot body motion module 201 to undergo antagonistic deformation by asymmetrically stimulating the shape memory alloy wire 102. Specifically, the outer shape memory alloy wire is heated and elongated, while the inner shape memory alloy wire remains stationary, causing the robot body to bend and deform, thereby achieving the turning movement to the left or right.

[0042] Surface damage detection and star table repair instructions During task execution, the visible light depth camera 303 in the head vision perception module 101 perceives the environment of the target surface in real time, generates three-dimensional image data, and identifies surface damage areas. When multiple robots work together, the image data acquired by each robot through the head vision perception module 101 are aggregated and fused to reconstruct the entire target surface contour.

[0043] When a damaged area is detected, the robot uses the satellite's communication antenna via the communication module 304 of the main control and communication module 301 to send the damage location and coordinates to a nearby satellite surface repair robot. This operation ensures efficient scheduling of satellite repair tasks, avoids manual intervention, and provides a precise maintenance solution.

[0044] Multi-robot collaborative work The robot of this invention features a compact design, enabling it to perform efficient inspection and maintenance work on target surfaces. Multiple robots can be deployed simultaneously to the target surface to collaboratively complete the task. In this scenario, the coordinated operation of multiple caterpillar-like robots reduces the load-carrying workload of a single satellite surface maintenance robot with maintenance capabilities, thereby improving the efficiency of satellite surface maintenance.

[0045] This multi-robot collaborative working method enables the completion of surface inspection and repair tasks over a larger area in a shorter time, greatly improving satellite operation and maintenance efficiency and reducing reliance on a single robot system.

[0046] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, nor to combinations thereof. Those skilled in the art can make various changes, modifications, or combinations within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A Cresslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy, characterized in that, include: The main body includes a head vision perception module disposed at the front end of the main body, a main control and communication module disposed in the middle of the main body, and an energy supply module disposed at the rear end of the main body. The head vision perception module and the main control and communication module, and the main control and communication module and the energy supply module are all connected to each other through at least one main body motion module. The traveling unit includes several leg movement modules and an adhesive module. The adhesive module is disposed at the bottom of the leg movement module, and several leg movement modules are symmetrically disposed on the left and right sides of the main body. The main control and communication module provides separate electrical signals to the main body motion module and the traveling unit to realize the forward or left and right turning posture of the main body.

2. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 1, characterized in that, The main body motion module includes several wound first shape memory alloy wires, with a first tension spring passing through the middle of each first shape memory alloy wire. Both the first shape memory alloy wires and the first tension spring are horizontally arranged.

3. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 2, characterized in that, The leg movement module includes several wound second shape memory alloy wires, with a second tension spring passing through the middle of each second shape memory alloy wire. Both the second shape memory alloy wire and the second tension spring are vertically arranged.

4. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 3, characterized in that, Both the body motion module and the leg motion module are electrically connected to the main control and communication module. The main control and communication module is used to provide the first shape memory alloy wire and the second shape memory alloy wire with one of the following: activation signal, heating signal, and stationary signal. Both the body motion module and the leg motion module adopt the Kreslin origami mechanism.

5. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 4, characterized in that, The adhesion module and the leg movement module work together. The adhesion module is electrically connected to the main control and communication module. The adhesion module switches between two working conditions: detaching from the current contact surface and attaching to the current contact surface, so as to realize the forward or left and right turning posture of the body.

6. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 1, characterized in that, The head vision perception module includes a visible light depth camera, a head cover, and a solar panel. The solar panel is disposed on the outer periphery of the head vision perception module, the head cover is disposed at the front end of the head vision perception module, and the visible light depth camera is disposed in the middle of the head vision perception module. The visible light depth camera is used to perceive the surrounding environment in real time and perform three-dimensional modeling, providing the robot with surface damage detection and environmental perception capabilities.

7. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 5, characterized in that, The main control and communication module includes a control board, an antenna, and the solar panel. The control board is equipped with a shape memory alloy driving system, which is used to heat the first shape memory alloy wire and the second shape memory alloy wire with electrical energy to achieve phase change, thereby dragging the extension and contraction of the body motion module and the leg motion module. The control board is also used for global motion control, data processing, path planning, and communication with cooperative targets.

8. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 1, characterized in that, The energy supply module includes the solar panel, the battery module, and the power management system. The battery module is located in the middle of the energy supply module and is used to store and release the electrical energy generated by the solar panel.

9. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 1, characterized in that, The power management system is located within the energy supply module and is electrically connected to the solar panel, battery module, main control and communication module. It is used to rectify and regulate the solar input, manage the charging and discharging of the battery module and provide overcharge and over-discharge protection, while providing regulated power to the main control and communication module and various execution / sensing loads, and monitoring the battery power status and providing low power warnings.

10. The Kreslin origami-inspired biomimetic adhesive crawling robot driven by shape memory alloy according to claim 1, characterized in that, The adhesive module is attached to the bottom of the leg movement module using polydimethylsiloxane material.

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