CN112124641B - Space landing capture robot - Google Patents
Space landing capture robot Download PDFInfo
- Publication number
- CN112124641B CN112124641B CN202011045929.8A CN202011045929A CN112124641B CN 112124641 B CN112124641 B CN 112124641B CN 202011045929 A CN202011045929 A CN 202011045929A CN 112124641 B CN112124641 B CN 112124641B
- Authority
- CN
- China
- Prior art keywords
- joint
- spine
- component
- landing
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
The embodiment of the invention discloses a space landing capture robot, which comprises: a robot body; the double-joint spine mechanism component comprises a spine front section, a spine joint and a spine rear section; the spine front section is fixedly connected to the robot body, the spine rear section is connected with the spine front section through the spine joint, and the spine joint is driven by two motors respectively to drive the spine rear section to rotate and swing relative to the spine front section; the landing leg mechanism comprises a hip joint, a femur component, a knee joint, a tibia component and a claw joint, wherein the hip joint is arranged on the front section or the rear section of the spine, one end of the femur component is pivoted with the hip joint, the other end of the femur component and one end of the tibia component are both pivoted with the knee joint, and the other end of the tibia component is pivoted with the claw joint; and the catching mechanism is arranged on the claw joint, and the catching assembly can stretch and retract.
Description
Technical Field
The embodiment of the application relates to an aircraft capture technology, and relates to but is not limited to a space landing capture robot.
Background
The satellite on-orbit failure or invalidation can cause huge waste of space assets, capture the space assets and carry out maintenance or off-orbit and other on-orbit service operations, so that the loading task capacity of the failed satellite can be continued, or important orbit resources are released, and very important economic and social benefits can be obtained. The acquisition of the satellite is a precondition for implementing the on-orbit service operation on the satellite, and the design of the capturing robot is the core of the acquisition of the satellite and is one of important factors influencing whether the normal on-orbit service operation can be carried out on the satellite.
Aiming at the capture butt joint of the satellite, no related technology is available for reference in research at home and abroad at present.
Disclosure of Invention
In view of this, the embodiment of the present application provides a space landing capture robot.
The application provides a robot is arrested in space landing, includes:
the robot body is at least provided with a depth camera module, a distance measuring module, a detection module, a posture control module, a track control module, a propulsion system, a navigation module, a communication unit, a joint action control module, a landing capture control module, a power supply unit and a main control unit; the attitude control module, the track control module, the navigation module, the communication unit, the joint action control module and the landing capture control module are all electrically connected with the main control unit;
the double-joint spine mechanism component comprises a spine front section, a spine joint and a spine rear section; the spine front section is fixedly connected to the robot body, the spine rear section is connected with the spine front section through the spine joint, and the spine joint is driven by two motors respectively to drive the spine rear section to rotate and swing relative to the spine front section;
at least four landing leg mechanisms, at least two landing leg mechanisms are respectively arranged at different positions of the front spine section, and at least two landing leg mechanisms are respectively arranged at different positions of the rear spine section; the landing leg mechanism comprises a hip joint, a femur component, a knee joint, a tibia component and a claw joint, the hip joint is arranged on the front section or the rear section of the spine, one end of the femur component is pivoted with the hip joint, the other end of the femur component and one end of the tibia component are both pivoted with the knee joint, and the other end of the tibia component is pivoted with the claw joint; the hip joint is connected with a power output end of a first driving motor, and can move under the driving of the first driving motor so as to drive the femoral component to move; the knee joint is connected with a power output end of a second driving motor, and can move under the driving of the second driving motor so as to drive the tibia assembly to move relative to the femur assembly;
the catching mechanism is arranged on the claw joint; the device comprises a supporting component, a transmission component, a push disc, a sliding plate, at least two catching components, a spring and a locking and releasing component, wherein the transmission component and the locking and releasing component are arranged on a supporting platform of the supporting component, and the sliding plate is sleeved on a supporting column of the supporting component and can slide along the supporting column; the at least two catching assemblies are respectively arranged on the periphery of the sliding plate and are respectively connected with the sliding plate and the supporting columns through connecting rod structures; the spring is sleeved on the supporting column and is abutted against a part of a connecting rod structure of the catching component, the pushing disc is connected to the sliding plate, the pushing disc and the sliding plate are connected with the transmission component through a connecting rod, the transmission component drives the sliding plate to push the pushing disc to compress the spring, the catching component can be opened, and the sliding plate pushes the pushing disc to move along the reverse direction of releasing the spring, and the catching component can be contracted.
In some embodiments, the joint motion control module is respectively electrically connected with the two motors of the spinal joint, the first driving motor, the second driving motor and the transmission assembly, and is used for controlling at least one of the spinal joint, the hip joint and the knee joint to adjust the relative position relationship between the capture mechanism and the object to be captured according to the shape and the pose of the object to be captured and the position relative relationship between the object to be captured and the capture mechanism;
the joint action control module also controls the transmission assembly to adjust the opening and tightening states of the catching mechanism, so that the object to be caught is caught.
In some embodiments, the main control unit acquires an object through the detection module, adjusts the poses of the depth camera module and the ranging module based on the detected object, identifies the object, and determines whether the object is an object to be captured;
acquiring the shape and distance information of an object to be captured based on a depth camera module, and acquiring the position information of the object to be captured based on a distance measurement module; the driving propulsion system adjusts the distance between the robot body and the object to be caught, and the double-joint spine mechanism assembly, the at least four landing leg mechanisms and the catching mechanism are driven to catch the object to be caught based on the joint action control module.
In some embodiments, the robot further comprises:
and the angle sensor is electrically connected with the main control unit, is arranged at the joint between the capturing mechanism and the claw joint and is used for detecting the angle between the capturing mechanism and the claw joint.
In some embodiments, the robot further comprises:
the solar cell array is arranged on the robot body and is provided with a folding structure, the folding structure is connected with the driving end of a third motor, the third motor is connected with the main control unit, and the folding structure can be extended and contracted under the control of the third motor, so that the solar cell array can be unfolded and folded;
the solar cell array is used for providing a working power supply for the power supply unit, and the power supply unit provides the working power supply for the depth camera module, the distance measurement module, the detection module, the attitude control module, the track control module, the propulsion system, the navigation module, the communication unit, the joint action control module, the landing capture control module and the main control unit respectively.
The invention has the following effects:
the ground test method of the satellite-based augmentation system directly obtains real-time resolved augmentation information from a satellite-based augmentation system (SBAS) ground data processing center server, converts the augmentation information into an intermediate frequency signal through a baseband processor, converts the intermediate frequency signal into a global navigation system (GNSS) L frequency band signal through an up-converter, combines the intermediate frequency signal with a GNSS antenna actual reception signal and sends the combined signal to a GNSS/SBAS receiver, and can complete the test of the positioning performance of the satellite-based augmentation system (SBAS) terminal in real time without a GEO satellite transponder.
Therefore, compared with the traditional technology, the invention has the following beneficial effects:
the embodiment of the invention provides a space landing capture robot capable of capturing and releasing and separating the surface of a general satellite structure, which can detect and identify a landing target under the action of a self-contained measuring system, search a proper landing surface and adjust the flight attitude so as to reach a certain proper contact state, and trigger a claw thorn to minimally invasively penetrate into the surface of the target to realize landing capture. After landing capture is finished, the landing capture device can be separated from the target, and release and separation from the landing target are realized.
The capturing robot provided by the embodiment of the invention does not need to provide cooperative capturing characteristic parts, is suitable for various spacecrafts, and has strong universality and wide application range.
The embodiment of the invention can repeatedly and effectively separate the landing capture connection and the release, thereby improving the adaptability to various tasks.
The landing leg mechanism provided by the embodiment of the invention has three degrees of freedom, the double-joint spine mechanism component has two degrees of freedom, the self configuration can be flexibly adjusted, and the landing capture is realized by adopting a mode of directly landing and attaching to a plane under the condition that the landing plane has enough landing area. If the normal direction of the landing plane has more convex objects and does not have a flat landing area enough, the landing plane can be caught by adopting a ridge or corner landing mode, so that the landing adaptability to the landing plane is greatly improved.
Drawings
Fig. 1 is a schematic diagram of an unfolding state of a space landing capture robot suitable for a spacecraft general structure surface according to an embodiment of the invention;
fig. 2 is a schematic drawing of a furled state of a space landing capture robot suitable for a spacecraft universal structure surface according to an embodiment of the invention;
FIG. 3 is a schematic view of a landing leg mechanism provided in an embodiment of the present invention;
FIG. 4 is a schematic view of a dual joint spinal mechanism assembly provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the posterior segment of the drive spine rotating and wiggling relative to the anterior segment of the spine in a dual joint spinal mechanism assembly provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a minimally invasive claw capture mechanism according to an embodiment of the present invention;
fig. 7 is a schematic view of a space landing capture robot provided in an embodiment of the present invention capturing a spacecraft general structure surface by landing in an edge or corner landing manner.
Detailed Description
The embodiment of the invention provides a space landing capture robot suitable for a spacecraft general structure surface, which is suitable for landing, capturing and releasing the surface of an on-orbit satellite surface general structure and supporting the landing capture connection and release separation operation of a service aircraft on a target satellite in a space control task. Fig. 1 is a schematic view of an expanded state of a space landing capture robot suitable for a spacecraft general structure surface according to an embodiment of the present invention, and fig. 2 is a schematic view of a collapsed state of a space landing capture robot suitable for a spacecraft general structure surface according to an embodiment of the present invention, as shown in fig. 1 and fig. 2, the space landing capture robot according to an embodiment of the present invention includes an expanded solar cell array 1, a robot body 2, a landing leg mechanism 3, a double-joint spinal mechanism assembly 4, and a minimally invasive claw capture mechanism 5. The unfolding type solar cell array 1 can be folded and folded towards the upper surface of the robot body 2, is unfolded when in orbit work, and supplies power for the space landing capture robot.
The robot body 2 is an equipment mounting support and force bearing structure and can be used for mounting functional modules such as a camera module, a laser ranging module, a detection information processing module, a posture control module, a track control module, a propulsion system, a navigation module, a communication unit, a joint action control module, a landing capture control module, a power supply unit and a main control unit.
The solar cell array 1 provided by the embodiment of the invention is arranged on the robot body 2 and is provided with a folding structure, the folding structure is connected with a driving end of a third motor, the third motor is connected with the main control unit, and the folding structure can be extended and contracted under the control of the third motor, so that the solar cell array can be unfolded and folded; the solar cell array 1 is used for providing a working power supply for a power supply unit, and the power supply unit respectively provides the working power supply for the depth camera module, the distance measurement module, the detection module, the attitude control module, the track control module, the propulsion system, the navigation module, the communication unit, the joint action control module, the landing capture control module and the main control unit.
Fig. 3 is a schematic view of a landing leg mechanism provided in an embodiment of the present invention, as shown in fig. 3, four sets of landing leg mechanisms 3 are identical, each set of landing leg mechanism 3 includes a hip joint 6, a femur component 7, a knee joint 8, a tibia component 9, a claw joint 10, and the like, the hip joint 6 is disposed on the anterior segment 11 of the spine or the posterior segment 13 of the spine, one end of the femur component 7 is pivotally connected to the hip joint 6, the other end of the femur component 7 and one end of the tibia component 9 are both pivotally connected to the knee joint 8, and the other end of the tibia component 7 is pivotally connected to the claw joint 10; the hip joint 6 is connected with a power output end of a first driving motor, and the hip joint 6 can move under the driving of the first driving motor so as to drive the femoral component 7 to move; the knee joint 8 is connected with a power output end of a second driving motor, and the knee joint 8 can move under the driving of the second driving motor so as to drive the tibia component 9 to move relative to the femur component 7. As shown in fig. 3, in the embodiment of the present invention, the hip joint 6 and the knee joint 8 are active joints, the paw joint 10 is a passive joint, the active joint has a certain joint flexibility to realize active controllable buffering, the passive joint adapts to configuration change through a torsion spring to realize passive buffering, each set of landing leg mechanism 3 drives two active joints by two motors respectively, the active joint actively buffers, the passive joint passively buffers, and an angle sensor is arranged at the passive joint to realize angle measurement for the whole buffering process.
In the embodiment of the invention, the implementation structures of the hip joint 6, the femur component 7, the knee joint 8, the tibia component 9 and the claw joint 10 can be designed by referring to the structure of the corresponding part of the human body, and the motion conversion from the extension state shown in fig. 1 to the contraction state shown in fig. 2 can be realized by driving the hip joint 6 and the knee joint 8 through the motor, so that the extension and the contraction of the landing leg mechanism can be realized, and the capture of the object to be captured can be completed.
Fig. 4 is a schematic view of a double-joint spinal mechanism assembly according to an embodiment of the present invention, fig. 5 is a schematic view of a double-joint spinal mechanism assembly according to an embodiment of the present invention, in which a posterior segment of a spinal column is driven to rotate and swing with respect to an anterior segment of the spinal column, and as shown in fig. 4 and 5, the double-joint spinal mechanism assembly 4 according to an embodiment of the present invention includes three portions, namely an anterior segment of the spinal column 11, a two-degree-of-freedom spinal joint 12, and a posterior segment of the spinal column 13. Backbone anterior segment 11 links firmly as an organic whole with robot 2, and backbone back end 13 is connected with backbone anterior segment 11 through two degree of freedom backbone joints 12 (can bend and twist), and backbone joint 12 is driven respectively by two motors, and the relative backbone anterior segment 11 of drive backbone back end 13 rotates and twists reverse pendulum. As shown in fig. 4 and 5, the upper plate of the anterior segment of the spine 11 is fixed to the lower part of the robot body 2, the lower plate of the anterior segment of the spine 11 is used for mounting the hip joint 6 of the landing leg mechanism 3, and correspondingly, the hip joint 6 of the landing leg mechanism 3 is also mounted on the posterior segment of the spine 13.
Fig. 6 is a schematic view of a minimally invasive claw type capturing mechanism provided in an embodiment of the present invention, and as shown in fig. 6, four sets of minimally invasive claw type capturing mechanisms 5 shown in the present invention are of an isomorphic structure, each set of minimally invasive claw type capturing mechanism 5 includes a supporting component 14, a transmission component 15, a push tray 16, a sliding plate 17, a capturing component 18, a spring 19, a locking and releasing component 20, and the like, the transmission component 15 and the locking and releasing component 20 are disposed on a supporting platform of the supporting component 14, and the sliding plate 17 is sleeved on a supporting column of the supporting component 14 and can slide along the supporting column; the catching assemblies 18 are respectively arranged on the periphery of the sliding plate and are respectively connected with the sliding plate 17 and the supporting columns through connecting rod structures; the connecting rod arrangement shown in fig. 6 is a five-link arrangement by means of which it can be achieved that the catch hooks of the catch assembly 18 can be opened and closed in order to claw the object to be caught such that it is completely held by the catch assembly 18. The spring 19 is sleeved on the supporting column and is abutted against a part of a connecting rod structure of the catching component 18, the push disc 16 is connected to the sliding plate 17, the push disc 16 and the sliding plate 17 are connected with the transmission component 15 through connecting rods, when the transmission component 15 drives the sliding plate 17 to push the push disc 16 to compress the spring 19, the claws of the catching component 18 are in an open state, and the catching component 18 can be maintained in a current state by the transmission locking of the transmission component 15 through the locking and releasing component 20; and when the sliding plate 17 pushes the push tray 16 in the reverse direction releasing the spring 19, the catch assembly 18 can be retracted and the catch hook can be hooked into the object to be caught. When the minimally invasive claw type capturing mechanism provided by the embodiment of the invention lands on the general surface of the spacecraft, the claw pricks of the capturing component 18 are triggered to minimally invasively penetrate into the target surface so as to realize landing capturing. And under the action of a motor in the transmission assembly 15, the claws of the catching assembly 18 are expanded outwards, so that the minimally invasive claw type catching mechanism 5 is separated from the landing catching target.
The capture mechanism 5 of the embodiment of the present invention may refer to a mechanical capture structure, which is implemented in a manner similar to an industrial mechanical capture structure.
The landing capture robot suitable for the spacecraft general structure surface provided by the embodiment of the invention can realize landing capture connection and release separation of aluminum honeycomb plates, edges or edges of most areas of the spacecraft surface. The space landing capture robot provided by the embodiment of the invention detects and identifies a landing target under the action of a measuring system arranged in the robot body 2, searches for a proper landing surface, and adjusts the flight attitude by means of a propulsion system in the robot body 2, each joint of the landing leg mechanism 3 and each joint of the double-joint spine mechanism assembly 4. So as to reach a certain proper landing initial state, and the posture is continuously adjusted so as to reach a certain proper contact state, at the moment, the claw pricks of the trigger catching component 18 in the minimally invasive claw type catching mechanism 5 contacting the landing target are triggered, and the claw pricks of the trigger catching component 18 minimally invasively prick the target surface to realize landing catching. The triggering surface of the minimally invasive claw type capturing mechanism 5 and the target landing surface have certain angle tolerance, the posture is adjusted to enable the triggering surface of the minimally invasive claw type capturing mechanism 5 to collide with the landing surface, and the included angle between the two surfaces can be triggered within the angle tolerance. After landing capture is completed, under the action of a motor in the transmission assembly 15, the minimally invasive claw type capture mechanism 5 enables claw spines of the capture assembly 18 to be outwards opened, so that the minimally invasive claw type capture mechanism 5 is separated from a landing capture target, and when four sets of minimally invasive claw type capture mechanisms 5 are uniformly separated from the landing capture target, the landing capture robot is released and separated from the landing target.
The space landing capture robot provided by the invention searches for a proper landing surface by detecting and identifying the landing target, and adopts a mode of directly landing and capturing the landing surface under the condition of a landing plane with enough landing area. If the plane normal direction protruding objects are higher and have insufficient flat landing area, the landing capture is carried out by adopting a ridge or corner landing mode. As shown in fig. 7, the space landing capture robot provided by the embodiment of the present invention adopts a schematic diagram of landing capture of a surface of a spacecraft general structure in a ridge or corner landing manner.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are only illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (5)
1. A space-landing capture robot, the robot comprising:
the robot body is at least provided with a depth camera module, a distance measuring module, a detection module, a posture control module, a track control module, a propulsion system, a navigation module, a communication unit, a joint action control module, a landing capture control module, a power supply unit and a main control unit; the attitude control module, the track control module, the navigation module, the communication unit, the joint action control module and the landing capture control module are all electrically connected with the main control unit;
the double-joint spine mechanism component comprises a spine front section, a spine joint and a spine rear section; the spine front section is fixedly connected to the robot body, the spine rear section is connected with the spine front section through the spine joint, and the spine joint is driven by two motors respectively to drive the spine rear section to rotate and swing relative to the spine front section;
at least four landing leg mechanisms, at least two landing leg mechanisms are respectively arranged at different positions of the front spine section, and at least two landing leg mechanisms are respectively arranged at different positions of the rear spine section; the landing leg mechanism comprises a hip joint, a femur component, a knee joint, a tibia component and a claw joint, the hip joint is arranged on the front section or the rear section of the spine, one end of the femur component is pivoted with the hip joint, the other end of the femur component and one end of the tibia component are both pivoted with the knee joint, and the other end of the tibia component is pivoted with the claw joint; the hip joint is connected with a power output end of a first driving motor, and can move under the driving of the first driving motor so as to drive the femoral component to move; the knee joint is connected with a power output end of a second driving motor, and can move under the driving of the second driving motor so as to drive the tibia assembly to move relative to the femur assembly;
the catching mechanism is arranged on the claw joint; the device comprises a supporting component, a transmission component, a push disc, a sliding plate, at least two catching components, a spring and a locking and releasing component, wherein the transmission component and the locking and releasing component are arranged on a supporting platform of the supporting component, and the sliding plate is sleeved on a supporting column of the supporting component and can slide along the supporting column; the at least two catching assemblies are respectively arranged on the periphery of the sliding plate and are respectively connected with the sliding plate and the supporting columns through connecting rod structures; the spring is sleeved on the supporting column and is abutted against a part of a connecting rod structure of the catching component, the pushing disc is connected to the sliding plate, the pushing disc and the sliding plate are connected with the transmission component through a connecting rod, the transmission component drives the sliding plate to push the pushing disc to compress the spring, the catching component can be opened, and the sliding plate pushes the pushing disc to move along the reverse direction of releasing the spring, and the catching component can be contracted.
2. The robot of claim 1, wherein the joint motion control module is electrically connected with the two motors of the spine joint, the first drive motor, the second drive motor and the transmission assembly respectively, and is used for controlling at least one of the spine joint, the hip joint and the knee joint to adjust the relative position relationship between the capture mechanism and the object to be captured according to the shape and the pose of the object to be captured and the relative position relationship between the object to be captured and the capture mechanism;
the joint action control module also controls the transmission assembly to adjust the opening and tightening states of the catching mechanism, so that the object to be caught is caught.
3. The robot of claim 1, wherein the main control unit acquires an object through the detection module, adjusts the poses of the depth camera module and the ranging module based on the detected object, identifies the object, and determines whether the object is to be captured;
acquiring the shape and distance information of an object to be captured based on a depth camera module, and acquiring the position information of the object to be captured based on a distance measurement module; the driving propulsion system adjusts the distance between the robot body and the object to be caught, and the double-joint spine mechanism assembly, the at least four landing leg mechanisms and the catching mechanism are driven to catch the object to be caught based on the joint action control module.
4. The robot of claim 1, further comprising:
and the angle sensor is electrically connected with the main control unit, is arranged at the joint between the capturing mechanism and the claw joint and is used for detecting the angle between the capturing mechanism and the claw joint.
5. A robot as claimed in any of claims 1 to 4, characterized in that the robot further comprises:
the solar cell array is arranged on the robot body and is provided with a folding structure, the folding structure is connected with the driving end of a third motor, the third motor is connected with the main control unit, and the folding structure can be extended and contracted under the control of the third motor, so that the solar cell array can be unfolded and folded;
the solar cell array is used for providing a working power supply for the power supply unit, and the power supply unit provides the working power supply for the depth camera module, the distance measurement module, the detection module, the attitude control module, the track control module, the propulsion system, the navigation module, the communication unit, the joint action control module, the landing capture control module and the main control unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011045929.8A CN112124641B (en) | 2020-09-28 | 2020-09-28 | Space landing capture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011045929.8A CN112124641B (en) | 2020-09-28 | 2020-09-28 | Space landing capture robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112124641A CN112124641A (en) | 2020-12-25 |
| CN112124641B true CN112124641B (en) | 2022-03-18 |
Family
ID=73844552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011045929.8A Active CN112124641B (en) | 2020-09-28 | 2020-09-28 | Space landing capture robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112124641B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002805B (en) * | 2021-02-08 | 2022-09-27 | 北京交通大学 | Multi-mode space capturing mechanism |
| CN113104240B (en) * | 2021-02-24 | 2023-02-17 | 北京空间飞行器总体设计部 | Device and method suitable for transferring articles on orbit of spacecraft |
| CN113147946B (en) * | 2021-03-23 | 2022-10-14 | 北京空间飞行器总体设计部 | Foot end mechanism |
| CN116278553B (en) * | 2023-05-12 | 2023-08-04 | 崂山国家实验室 | Amphibious driving device and amphibious motion control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069502A (en) * | 2011-01-24 | 2011-05-25 | 北京邮电大学 | Space robot gripper mechanism |
| CN102530120A (en) * | 2011-12-28 | 2012-07-04 | 燕山大学 | Six-user requirement specification (URS) six-foot walking robot |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
-
2020
- 2020-09-28 CN CN202011045929.8A patent/CN112124641B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069502A (en) * | 2011-01-24 | 2011-05-25 | 北京邮电大学 | Space robot gripper mechanism |
| CN102530120A (en) * | 2011-12-28 | 2012-07-04 | 燕山大学 | Six-user requirement specification (URS) six-foot walking robot |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112124641A (en) | 2020-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112124641B (en) | Space landing capture robot | |
| JP6550073B2 (en) | Radar satellite and radar satellite system using the same | |
| US9573702B1 (en) | Deployed radar panel for space situational awareness | |
| CN108438254B (en) | Spacecraft system and deployment method | |
| WO2016130797A1 (en) | Pod cover system for a vertical take-off and landing (vtol) unmanned aerial vehicle (uav) | |
| CN106055901B (en) | A kind of opportunity of free-floating space robot capture Tum bling Target determines method | |
| JP2020528029A (en) | Cell-based system with articulated, reconfigurable, reconfigurable, reshapable nested ring structures | |
| EP2860115A1 (en) | Method for modifying a position of uncontrolled objects in space and spacecraft for realizing the method | |
| US20230415923A1 (en) | Capture system adapted to capture space objects, in particular for recovery or deorbiting purposes | |
| JPH11157497A (en) | Spacecraft and orbital service system therewith | |
| CN111098650A (en) | Dual-purpose robot of world | |
| CN113716075A (en) | Space rubbish intelligent cleaning system based on robot formation | |
| CN107128514A (en) | The in-orbit assembly system of space truss and method of a kind of use robot for space | |
| CN110140444B (en) | A kind of passive developing antenna mechanism | |
| CN109991680B (en) | Active and passive combined space debris self-sensing system and method and satellite system | |
| CN114013686A (en) | Large-scale parabolic truss structure on-orbit construction system | |
| Nanjangud et al. | Robotic architectures for the on-orbit assembly of large space telescopes | |
| Arnold et al. | QbX-the CubeSat experiment | |
| Doubleday et al. | Autonomy for remote sensing—Experiences from the IPEX CubeSat | |
| CN112518795A (en) | Space capture robot and capture mechanism thereof | |
| McCormick et al. | REMORA CubeSat for large debris rendezvous, attachment, tracking, and collision avoidance | |
| CN112847359B (en) | Multi-independent super-redundant mechanical arm cooperative catching method for large-scale fault spacecraft | |
| WO2023026308A1 (en) | Uav docking system for autonomous landing and docking | |
| Nishida et al. | Lightweight robot arm for capturing large space debris | |
| Forshaw et al. | An in-orbit active debris removal mission-REMOVEDEBRIS: Pre-Launch update |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |