Robotic system for internal maintenance of space orbital station

Abstract

FIELD: space technology.SUBSTANCE: invention relates to robotic systems for internal maintenance of a space orbital station. The system comprises a robot with upper limbs and a built-in battery, a rail on the module's ceiling, and a platform with drive wheels. The platform is connected to the robot via a manipulator, inside which there are circuits for charging the battery from a charger at the end of the rail. To enable movement between modules, the platform is equipped with a wheel retraction device and a lock for gripping the coupling handrail located at the exit of the module.EFFECT: workload on the cosmonaut is reduced.1 cl, 10 dwg

Description

[0001] The invention relates to the field of space technology and serves to support or replace the functions of the crew of an orbital station when performing work inside the sealed volume of the station.

[0002] The anthropomorphic (human-like) robot Robonaut 2 (https: / / ru.wikipedia.org / wiki / Робонавт, accessed October 1, 2025) is known to have undergone testing on the International Space Station. The robot has an anthropomorphic figure with upper and lower limbs that are multi-stage manipulators. The upper limbs are designed to perform various tasks. The lower limbs are equipped with devices for gripping handrails, allowing the robot to move around the module. During testing, Robonaut 2 successfully demonstrated the feasibility and feasibility of using anthropomorphic robots to support the activities of the orbital station crew.

[0003] Robonaut-2 has some significant drawbacks in terms of performing orbital station maintenance tasks. Because the robot navigates via handrails located at specific locations within the module, part of the module's interior remains out of its reach. The process of grasping the handrails is slow, requiring the robot to perform a series of movements to grasp the handrails and navigate through the space. In this case, the robot is unable to quickly respond to an emergency (such as an emergency) requiring its immediate presence in a designated area of ​​the module. Since the robot has an autonomous power supply, and its operational life depends on the discharge time of its battery, the robot is unable to perform its functions while the battery is being recharged or replaced.When a robot and an astronaut work together, their comfortable mutual arrangement in space is not always ensured. For example, if there are no handrails in a given area of ​​the module, the robot will not be able to take a position convenient for working together.

[0004] The closest in technical essence to the claimed invention is the robotic system according to patent CN 213262973 (U), IPC: B25J 11 / 00 (2006.01), B25J 5 / 02 (2006.01), B64G 1 / 16 (2006.01), published 05 / 25 / 2021, taken as a prototype, consisting of an anthropomorphic robot placed on a platform that can move along a rail inside a space capsule. The robot is fixed on the platform using a connecting and fixing device that uses electromagnetic fixation and clamps to fix the lower limbs. The connecting and fixing device includes a rotating part that ensures rotation of the robot relative to the platform.

[0005] This device has the following disadvantages:

[0006] - since the robot is fixed on the platform (only rotation around the vertical axis is provided), its scope of action is limited to the space around the trolley, while part of the internal space of the module may remain out of the robot’s reach;

[0007] - the robot moves along a rail located on the floor of the space capsule, but the rail may interfere with the placement of cargo and equipment in the floor area, hinder the work of astronauts and cause emergency situations;

[0008] - the robot is not designed to move between modules; this robotic system is not designed for use in an orbital station consisting of several modules;

[0009] - The robot has no electrical interface with the platform and, therefore, must have an independent power supply. In this case, its operational life depends on the discharge time of its own battery. While the battery is being recharged or replaced, the robot is unable to perform its functions;

[0010] - The robot's design is not optimal for use in zero-gravity conditions. Its lower limbs do not perform the functions they would under gravity;

[0011] - When a robot and an astronaut are working together, their mutual positioning in space is not always ensured. The robot's spatial orientation will always be limited by the platform's position.

[0012] The technical problem that the invention is aimed at solving is the creation of a robotic system that provides support or complete replacement of the activities of the crew of a space orbital station.

[0013] The technical result of the invention is to reduce the workload on the astronaut by creating a robotic system with increased operating efficiency due to the expansion of its functional capabilities.

[0014] The specified technical result is achieved in that in the robotic system for internal maintenance of a space orbital station, containing a robot with upper limbs and a battery, a rail, a platform with the ability to move along the rail, there is additionally a manipulator intended for changing the position of the robot in space, which is fixedly connected at one end through a fastening unit to the platform in its lower part, and at the other end is fixedly connected to the robot by means of a fastening unit located on its back, wherein the battery built into the robot is made with the ability to be recharged from a charger located at the end of the rail opposite the exit from the module of the orbital station, and the electrical interface of the battery, responsive to the electrical interface of the charger, is located on the end surfaces of the platform and is connected to the battery of the robot through electrical circuits,passing inside the manipulator, wherein the rail is fixedly secured to the ceiling of the orbital station module along its longitudinal axis, and is additionally equipped with a handrail for re-coupling, which is located at the end of the rail closest to the exit from the module and, together with the nearby handrails from the interior of the module, serves to move the robot between modules, wherein the platform is equipped with at least four powered wheels, arranged in pairs and symmetrically relative to the longitudinal plane of symmetry of the platform and in contact with the rail, and each of the powered wheels is equipped with a retraction device for uncoupling the platform from the rail when the robot moves between modules, wherein the platform is additionally equipped with a locking device with grips for fixing the platform on the handrail for re-coupling when the robot moves between modules.

[0015] The essence of the invention is explained by figures 1-10, where:

[0016] Fig. 1 - diagram of the robotic internal maintenance system (RIMS) of the space orbital station (side view);

[0017] Fig. 2 - RSVO diagram (front view);

[0018] in Fig. 3 - the platform is engaged with the rail;

[0019] in Fig. 4 - the position of the RSVO elements during preparation for re-coupling;

[0020] in Fig. 5 - the position of the platform elements relative to the rail in preparation for re-coupling;

[0021] in Fig. 6 - the position of the RSVO elements during re-coupling;

[0022] in Fig. 7 - the position of the platform elements relative to the rail during re-coupling;

[0023] in Fig. 8 - the position of the RSVO elements upon completion of the re-coupling;

[0024] in Fig. 9 - the position of the RSVO elements when recharging the battery in the first module;

[0025] in Fig. 10 - the position of the RSVO elements when recharging the battery in the second module.

[0026] The following designations are introduced:

[0027] 1 - robot;

[0028] 2 - upper limbs;

[0029] 3 - battery;

[0030] 4 - rail;

[0031] 5 - platform;

[0032] 6 - manipulator;

[0033] 7 - manipulator mounting unit to the platform;

[0034] 8 - mounting unit for the manipulator to the robot;

[0035] 9 - charger;

[0036] 10 - Battery electrical interfaces;

[0037] 11 - charger electrical interface;

[0038] 12 - module ceiling;

[0039] 13 - handrail for re-hitching;

[0040] 14 - interior handrails;

[0041] 15 - wheels with drive;

[0042] 16 - wheel deflection devices with drive;

[0043] 17 - fixing device;

[0044] 18 - captures.

[0045] The internal service robotic system (ISR) of the space orbital station (Fig. 1) contains a robot 1 with upper limbs 2 and a battery 3, as well as a rail 4 and a platform 5 with the ability to move along the rail 4.

[0046] Robot 1 could be, for example, a modification of the domestic anthropomorphic robot "FEDOR" (Skybot F-850), which successfully completed test flights aboard the Russian Segment of the International Space Station in 2019. To perform orbital station maintenance, robot 1 requires only its upper limbs 2 (functionally analogous to human arms), which are also used in the RSVO for moving robot 1 between modules. Robot 1 also uses its upper limbs 2 to grip handrails 14, which are part of the module's interior and are designed to secure cosmonauts as they move within the station's sealed space.

[0047] The robotic system also contains a manipulator 6, designed to change the position of the robot 1 in space, which is fixedly connected at one end through a fastening unit 7 to the platform 5 in its lower part, and at the other end is fixedly connected to the robot 1 through a fastening unit 8 located on its back.

[0048] Manipulator 6 has several links movably connected to each other via single-axis hinges. Each hinge axis has its own electric drive (not shown in the figure), which enables the links to move relative to each other. The design of manipulator 6 is similar to that of industrial robotic manipulators widely used in the national economy.

[0049] Battery 3, integrated into robot 1, can be recharged from charger 9, which is located at the end of rail 4 opposite the exit of the orbital station module. If the orbital station consists of multiple modules, chargers 9 are installed only in modules with a single exit.

[0050] To recharge the battery 3, the platform 5 is equipped with two electrical interfaces of the battery 10, located on its end surfaces symmetrically relative to its transverse plane of symmetry. Interfaces 10 are mating with interface 11 of the charger 9, which, depending on the location of the module, can be located on one side or the other relative to the platform 5. Interfaces 10 are connected to the battery 3 through electrical circuits passing inside the manipulator 6.

[0051] Rail 4, rigidly attached to the ceiling of module 12 of the orbital station along its longitudinal axis, additionally includes a grab handle 13, which is located at the end of the rail closest to the module's exit and, together with two adjacent grab handles 14 from the module's interior, serves to move the robot between modules. For the purposes of standardization, the design and dimensions of grab handle 13, for example, may correspond to the design and dimensions of the interior grab handles 14.

[0052] For movement along the rail 4, the platform 5 is equipped with at least four wheels with a drive 15, arranged in pairs and symmetrically relative to the longitudinal plane of symmetry of the platform and in contact with the rail 4. In this case, each wheel with a drive 15 is equipped with a retraction device 16 (Fig. 3), designed to uncouple the platform 5 from the rail 4 when the robot 1 moves between modules.

[0053] The retraction device 16 (Fig. 3) is, for example, a U-shaped bracket rotated by 90°. A wheel with a drive 15 is attached to the end of the upper horizontal part of the bracket. The lower horizontal part of the bracket is attached to the platform 5 with the ability to slide out of the platform 5 and retract into it. To perform these movements, the retraction device 16 is equipped with, for example, an electric drive with a toothed or worm gear (not shown in the figure).

[0054] Platform 5 is additionally equipped with a fixing device 17 with grips 18 (Fig. 3), designed to fix platform 5 on the handrail for coupling 13 when moving robot 1 between modules.

[0055] The locking device 17 is an electromechanical device equipped with two symmetrically arranged clamps 18, e.g., prismatic in shape. The clamps are adjustable to move apart and together, gripping the handrail 13 for reattachment. For this purpose, the clamps 18 have cutouts on the inside for the handrail 13, e.g., rectangular in shape. When closed, the clamps 18 provide a tight grip on the handrail 13.

[0056] RSVO works as follows.

[0057] Upon a command from Earth, platform 5 (Fig. 1) begins to move along rail 4, which is rigidly attached to the ceiling of module 12, using wheels with drive 15. Platform 5, moving along rail 4, ensures the joint movement of manipulator 6, attached to it, with robot 1 along the module. Manipulator 6, by activating its own drives, located along the axes of its single-axis hinges, assigns robot 1 a predetermined position in space. Thus, the combination of movements of platform 5 and manipulator 6 ensures that robot 1 is brought to a predetermined zone of the space orbital station module with a predetermined position in space.

[0058] To move the robot 1 between the modules of the orbital station, the platform 5 is coupled between the rails 4 located in adjacent modules, for example, in the first and second modules (Fig. 4).

[0059] When preparing for re-coupling (Fig. 4), platform 5 moves to the exit from the first module and stops under the re-coupling handrail 13. Upper limbs 2 of robot 1 grip any two nearby interior handrails 14 to fix robot 1 before re-coupling. After this, platform 5 is uncoupled from rail 4 (Fig. 5). Grips 18 of locking device 17 grip re-coupling handrail 13 to fix platform 5. Then, wheels with drive 15 are moved apart using retraction devices 16. After this, grips 18 of locking device 17 release re-coupling handrail 13. Platform 5 disengages from rail 4 and is ready for re-coupling.

[0060] When re-coupling (Fig. 6), manipulator 6 transfers platform 5 from the first module to the second and places it near rail 4 in the second module so that it is under handrail for re-coupling 13. After this, platform 5 is coupled to rail 4 (Fig. 7). Clamps 18 of locking device 17 grip handrail for re-coupling 13 to fix platform 5. Then wheels with drive 15 are brought together using retraction devices 16. After this, clamps 18 of locking device 17 release handrail for re-coupling 13. Platform 5 is ready to move along rail 4 of the second module.

[0061] When the transfer is completed (Fig. 8), the upper limbs 2 of robot 1 release the interior handrails 14 of the first module, and manipulator 6 transfers robot 1 from the first module to the second. After this, the RSVO is ready for operation in the second module.

[0062] When recharging (Fig. 9) the battery 3 of the robot 1, the platform 5 moves to the charger 9. Then the platform 5 is connected by the electrical interface 10 to the electrical interface of the charger 11. The docking and undocking of the electrical interfaces is carried out by the platform 5 itself without the use of additional devices.

[0063] Recharging in the first (Fig. 9) and second (Fig. 10) modules is carried out in the same way. Platform 5 is connected to the interface of the charging device 11 via the interface 10 closest to it.

[0064] As a result of the invention, the efficiency of the robot is improved by expanding its functional capabilities:

[0065] - ensures the robot’s movement along the module for its access to any specified area of ​​the module;

[0066] - it is possible to bring the robot to a given position in space to carry out work in a specific area of ​​the module within a given zone;

[0067] - provides the ability to move the robot between modules to service the entire space orbital station as a whole;

[0068] - provides fast recharging of the robot's battery, thereby reducing the time during which the robot cannot perform station maintenance work.

[0069] Thus, the workload on the cosmonaut is reduced and the ease of use of the RSVO is improved.

Claims

A robotic system for internal servicing of a space orbital station, comprising a robot with upper limbs and a battery, a rail, a platform with the ability to move along the rail, characterized in that the robotic system further comprises a manipulator designed to change the position of the robot in space, which is fixedly connected at one end through a fastening unit to the platform in its lower part, and at the other end is fixedly connected to the robot by means of a fastening unit located on its back, wherein the battery built into the robot is designed with the ability to be recharged from a charger located at the end of the rail opposite the exit from the orbital station module, wherein the electrical interface of the battery, responsive to the electrical interface of the charger, is located on the end surfaces of the platform and is connected to the battery of the robot through electrical circuits,passing inside the manipulator, wherein the rail, fixedly secured to the ceiling of the orbital station module along its longitudinal axis, additionally comprises a handrail for re-coupling, which is located at the end of the rail closest to the exit from the module, and together with the nearby handrails from the interior of the module serves to move the robot between modules, wherein the platform is provided with at least four wheels with a drive, arranged in pairs and symmetrically relative to the longitudinal plane of symmetry of the platform and in contact with the rail, each of which is equipped with a device for releasing the platform from the rail when the robot moves between modules, wherein the platform is additionally equipped with a locking device with grips for fixing the platform on the handrail for re-coupling when the robot moves between modules.

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