CN113188591A - Self-powered multi-mode sensing method for space environment - Google Patents
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Abstract
The application discloses a self-powered multi-mode sensing method facing to a space environment.A robot on-orbit assembling machine is used for assembling a truss rod-spherical structure, and the truss rod is inserted into an insertion hole of the spherical structure, so that the truss rod is prolonged; the leg (4) and the clamping end of the crawling robot are provided with a slip sensation integrated sensor (5), and whether the leg and the clamping end of the crawling robot are in contact with the truss rod or not and whether the crawling robot slips or not can be detected through the slip sensation integrated sensor; and adjusting the posture of the crawling robot according to the detection result. The application aims to provide a self-powered multi-mode perception method facing to a space environment, tactile and smooth feedback information is provided for the motion posture and assembly operation of a robot, meanwhile, a novel detection method for the truss rod-ball assembly process and completion of the assembly task of the robot is provided, and the method has important significance for researching a self-powered tactile sensor aiming at the space environment.
Description
Technical Field
The application relates to the field of space assembly robots, in particular to a self-powered multi-mode perception method for a space environment.
Background
In order to meet the requirements of large-scale spacecrafts and space structures represented by space stations, large-caliber antennas and the like on-orbit assembly, a novel part-level assembly mode of a crawling moving assembly robot is generally proposed at home and abroad, and the construction efficiency of a large-scale space truss is greatly improved. However, how to simply, efficiently and inexpensively sense the motion state of the mobile robot and the truss ball-rod assembly state in an extreme space environment (vacuum, high and low temperature and irradiation) is an important problem to be solved urgently in the level assembly of space large-scale truss structural parts.
For sensing application of space robots, the countries such as Canada and Germany install a touch and force sensor based on resistance strain type at teleoperation mechanical arm systems and special smart mechanical arm joints developed for international space stations. The Japan space exploration agency is equipped with 1 six-dimensional force/torque sensor based on resistance strain type on an experimental cabin mechanical arm system developed for the international space station. The Dutch space center is provided with two resistance strain type force/torque sensors on a space mechanical arm developed by the European Bureau, and an infrared camera is arranged at the tail end of the mechanical arm, and the mechanical arm is mainly used for assembling and maintaining a Russian cabin section of an international space station. China's manned space engineering is at the leading position internationally, and the units of space five colleges, space eight colleges, Harbin industry university (CN1807032A, CN106571097A), Beijing aerospace university (CN106313031A), southeast university, Beijing control engineering research institute, fertilizer-combined intelligent mechanical research institute and the like successively develop research works related to space mechanical arms, including research works related to the application of space six-dimensional force/torque sensors.
Conventional touch sensors include piezoresistive, capacitive, photoelectric, electromagnetic and other types, but in combination with extreme spatial environments, such sensors generally have the defects of being susceptible to interference, complex structure, difficult signal transmission and the like, and especially such devices are easily affected by high and low temperatures, and are subjected to various particle and ray irradiation to generate charging phenomena, which cause changes in material properties, especially surface properties, and even damage to the devices. In addition, the touch sensor requires external power, which increases the complexity and power consumption of the sensor system.
Disclosure of Invention
The present application aims to address the above-mentioned deficiencies of the prior art and provide a self-powered multi-modal perception method oriented to a spatial environment.
The technical scheme of the application is as follows:
a self-powered multi-mode perception method facing to a space on-track assembly robot is characterized in that the on-track assembly robot is used for assembling a truss rod-spherical structure, and the truss rod is inserted into an insertion hole of the spherical structure, so that the truss rod is prolonged;
the on-orbit assembly robot is a crawling robot, and comprises: a leg part (4), a clamping end and a touch and slide integrated sensor (5); the leg (4) and the clamping end of the crawling robot are provided with a slip sensation integrated sensor (5), and whether the leg and the clamping end of the crawling robot are in contact with the truss rod or not and whether the crawling robot slips or not can be detected through the slip sensation integrated sensor;
when the situation that whether the legs, the clamping ends and the truss rods of the crawling robot slide or not is detected, the sliding size and the sliding direction can be detected;
and adjusting the posture of the crawling robot according to the detection result.
Further, the truss rods are metal rods; a pulse electric signal receiving device is arranged at the clamping end of the crawling robot;
three side wall copper electrodes (10) are arranged on the side wall of the jack of the spherical structure (9), and a bottom surface copper electrode (11) is arranged on the bottom surface of the jack; three side wall copper electrodes (10) are respectively arranged at different depths of the side walls of the jacks of the spherical structure (9); radial contact electrodes (12) are arranged at the end parts of the truss rods in the radial direction, and bottom contact electrodes (13) are arranged on the end surface;
the above design can realize the detection of the assembly process and the assembly in place:
when the metal truss rod (2) is inserted into the jack of the spherical structure (9), the three copper electrodes sequentially contact and rub with a radial contact electrode (12) (PDMS friction electrode) on the outer side of the lower end of the truss rod to output three pulse signals;
when the truss rod 2 reaches the bottommost part (namely the deepest part) of the jack, the bottom contact electrode (13) is contacted with the bottom copper electrode (11), and a pulse signal is output to indicate that the assembly is completed smoothly; .
The pulse signal is directly transmitted to the robot clamping end receiving device through the truss rod.
A self-powered multi-modal sensing device facing a space on-orbit assembly robot, wherein the on-orbit assembly robot is a crawling robot, and the device comprises: a leg part (4), a clamping end and a touch and slide integrated sensor (5);
wherein the tactile-slip sense integrated sensor (5) comprises: a sliding sense module (7) and a tactile sense module (6);
a haptic module (6) comprising: the device comprises an upper PMMA substrate (6-1), a lower PMMA substrate (6-2), a top copper electrode (6-3), a bottom copper electrode (6-4), a friction layer (6-5) and a spring (6-6); the underside of the upper PMMA substrate is plated with a layer of copper electrode, called the top copper electrode (6-3), which serves as both an electrode and a friction layer;
a layer of copper electrode is plated on the upper side of a partial area of the lower PMMA substrate, and the copper electrode is called as a bottom copper electrode (6-4); a PDMS friction layer (6-5) is spin-coated on the upper side of the bottom copper electrode (6-4), and the upper PMMA substrate and the lower PMMA substrate are connected together through a spring; in an initial state, an air gap is formed between the top copper electrode (6-3) and the friction layer (6-5);
the slip sensation module (7) includes: the device comprises a PDMS silica gel sliding module (7-1), a displacement direction and displacement detection electrode (7-2); the PDMS silica gel sliding module (7-1) is arranged on the upper side of the displacement direction and displacement detection electrode in a sliding manner;
the partial area of the lower PMMA substrate (6-2) is not plated with copper, and the displacement direction and displacement amount detection electrode is arranged on the area which is not plated with copper and is arranged on the partial lower side of the lower PMMA substrate.
Further, the displacement azimuth and displacement amount detection electrode (7-2) includes: : base and three electrodes, all design three electrodes in four azimuths of base lower part: the first electrode (8-1), the second electrode (8-2) and the third electrode (8-3) can judge the displacement of the sliding according to three grades of sliding detection and according to three graded electric signals:
when sliding occurs, the silica gel sliding module is firstly contacted with the first electrode (8-1) and generates an electric signal; with the increase of the sliding displacement, the first electrode (8-2) and the third electrode (8-3) are sequentially contacted to generate corresponding electric signals; when the first electrode or the first and second electrodes have signal output, the sliding trend is considered as a safety range; when a signal is output from the third electrode, the relative movement can occur to cause gait instability, and at the moment, the crawling robot needs to be readjusted to carry out secondary holding;
the displacement direction and displacement amount detection electrode can also detect the direction of sliding:
when the silica gel sliding module slides towards each direction, the corresponding electrodes generate corresponding electric signals, so that the direction of the crawling robot separating from the truss is judged, and the posture of the robot is adjusted again.
Furthermore, a fine structure is etched on the surface of the friction layer (6-5).
Furthermore, the number of the springs (6-6) is more than 4.
The beneficial effect of this application lies in:
firstly, a multimode self-powered sensing method based on nano friction power generation is provided for the space on-orbit assembly requirement characteristics, and a self-powered sensing signal conversion mechanism under the coupling of space multi-environment fields such as vacuum, high and low temperature, irradiation and the like is disclosed.
Secondly, a novel multi-modal sensor signal detection method suitable for spatial extreme conditions is proposed. More particularly, it is proposed that an applicable sensor (which may be sold as a separate item of merchandise, and therefore, another application for protection of technical solutions for sensors) has the advantages of stable performance in extreme environments, simple structure, easy integration, and passive self-powering.
Thirdly, the provided slip sensation integrated type friction electric sensor can accurately detect the contact state of the robot and can detect the specific direction and displacement when the robot slides through an innovative slip sensation module part.
Fourthly, based on a triboelectric mechanism, a novel detection method for truss ball-rod assembly (shaft hole fit) is provided. Has the advantages of simple structure and no need of external lead.
Drawings
The present application will be described in further detail with reference to the following examples, which are not intended to limit the scope of the present application.
Fig. 1 is an on-orbit crawling posture diagram of a robot.
Fig. 2 is a structural view of the crawling robot.
Fig. 3 is a schematic three-dimensional design of a tactile-slip integrated sensor.
Fig. 4 is a sectional view of the structural design of the tactile-slip sense integrated sensor.
Fig. 5 is a schematic diagram of the operation of the slider module.
FIG. 6 is a schematic top view of the eight-azimuth slip detection.
Fig. 7 is a schematic view of the detection principle of the assembly process.
The reference numerals of fig. 1-7 illustrate the following:
the robot comprises a robot 1, a truss rod 2, a steering engine 3, a leg part 4, a sensor 5, a foot end 6, a machine body 7 and a joint 8;
the device comprises an upper PMMA substrate 6-1, a lower PMMA substrate 6-2, a top copper electrode 6-3, a bottom copper electrode 6-4, a friction layer 6-5 and a spring 6-6;
PDMS silica gel slip module 7-1, displacement position and displacement detection electrode 7-2;
a first electrode 8-1, a second electrode 8-2, a third electrode 8-3;
a spherical structure 9;
a sidewall copper electrode 10;
a bottom copper electrode 11;
a radial contact electrode 12;
the bottom end contacts the electrode 13.
Detailed Description
Example 1: the application researches a self-powered multi-mode sensing device and method for a space on-orbit assembly robot.
FIG. 1 shows a schematic diagram of an on-orbit task of a space crawling assembly robot: the robot is provided with a truss rod 2, and the truss rod 2 is connected with the truss rod 2 through a spherical structure 9; be provided with the jack on the globular structure 9, truss rod 2 inserts in the jack of globular structure 9, realizes both fixed.
Fig. 2 shows the structure of the crawling robot, which comprises a steering engine 3, legs 4, a slip sensation integrated sensor 5, foot ends 6, a machine body 7 and joints 8 of the robot;
the integrated sensor for tactile and sliding sensation 5 is provided on the leg portion 4 and the foot end 6.
For the crawling robot, multipoint multi-modal sensing signals are realized through the touch and slide sense integrated sensor 5, and after the signals are collected, the signals are analyzed to provide accurate feedback information so as to realize motion control of the on-orbit assembly robot.
The sensor part is designed into a nanometer friction power generation device based on the friction power generation principle, and can convert mechanical energy into electric energy. According to the characteristic that charges are transferred due to friction of different electric polarity materials, the electrical characteristics of the structural interface of the nano friction power generation self-powered sensor under the space extreme environment are given below.
Fig. 3 shows a design of the slip sensation integration sensor 5, the slip sensation integration sensor 5 including: a sliding sense module 7, a haptic module 6;
fig. 4 shows a specific construction design of the two modules.
The haptic module 6 is constructed as follows:
the method comprises the following steps: the device comprises an upper PMMA substrate 6-1, a lower PMMA substrate 6-2, a top copper electrode 6-3, a bottom copper electrode 6-4, a friction layer 6-5 and a spring 6-6;
the underside of the upper PMMA base is plated with a layer of copper electrode, referred to as the top copper electrode 6-3 (the top copper electrode acts as both electrode and friction layer);
a layer of copper electrode is plated on the upper side of the part of the lower PMMA substrate 6-2 (part of the area of the lower PMMA substrate 6-2 is plated with copper, and the other part of the area is not plated with copper), and the copper electrode is called as a bottom copper electrode 6-4;
a Polydimethylsiloxane (PDMS) friction layer 6-5 is spin-coated on the upper side of the bottom copper electrode 6-4, the upper PMMA substrate and the lower PMMA substrate are connected together through 4 springs (namely, the upper PMMA substrate and the lower PMMA substrate are connected into a whole), so that an air gap is formed between the top copper electrode 6-3 and the friction layer 6-5, and the deformation is recovered after the contact;
further illustrated design details are: and a fine structure is etched on the surface of the friction layer 6-5, so that the friction area during contact is increased, and the signal output intensity can be increased.
Further illustrated design details are: the number of the springs 6-6 is more than 4.
The working principle of the haptic module 6: when the rubbing layer 6-5 is in contact with/separated from the top copper electrode 6-3, a corresponding rubbing electrical signal is generated.
The configuration of the slip sensation module 7 is as follows:
the slip sensation module 7 includes: the device comprises a PDMS silica gel sliding module 7-1 (a negative friction electrode), a displacement direction and displacement detection electrode (a positive friction electrode) 7-2; the PDMS silica gel sliding module 7-1 (a negative friction electrode) is arranged on the upper side of the displacement direction and displacement detection electrode (a positive friction electrode) 7-2 in a sliding manner;
a displacement azimuth and displacement amount detection electrode (positive friction electrode) is provided on a part of the lower side of the lower PMMA substrate on the plate of area not plated with copper.
The principle of operation of the slip sensation module 7 is as follows: when the PDMS silica gel sliding module 7-1 deflects and contacts or separates with the displacement direction and displacement detection electrodes (i.e. the positive electrode and the negative electrode contact or separate), corresponding electric signals are generated.
Further illustrated design details are: the displacement azimuth and displacement amount detection electrode (positive friction electrode) 7-2 includes: base and three electrodes (four position all are provided with three electrodes), all design three electrodes (the different position sets up the electrode, can detect the displacement position) in four positions of base lower part: the first electrode 8-1, the second electrode 8-2 and the third electrode 8-3 correspond to three levels of slide detection, and the displacement of the slide can be judged according to three graded electric signals.
When the sliding is generated, the silica gel sliding module is firstly contacted with the first electrode 8-1 and generates an electric signal. With the increase of the sliding displacement, the second electrode 8-2 and the third electrode 8-3 are sequentially contacted to generate corresponding electric signals.
When the first electrode or the first and second electrodes have signal output, the sliding tendency is considered as a safety range. When a signal is output from the third electrode, the relative movement occurs to cause gait instability, and at the moment, the robot needs to readjust the foot mechanism to carry out secondary holding.
Further illustrated design details are: the PDMS silica gel sliding module 7-1 is bowl-shaped, and the base is also bowl-shaped.
The structure of the slippery sensation module 7 can also accurately judge the sliding direction of the robot, and fig. 6 is a schematic diagram of the slippery sensation orientation detection, where E1 represents north, E2 represents east, E3 represents south, and E4 represents west. The northeast direction is denoted by E1+ E2, the southeast direction by E1+ E3, the southwest direction by E3+ E4, and the northwest direction by E1+ E4. When the silica gel sliding module slides towards each direction, the corresponding electrodes generate corresponding electric signals, so that the direction of the crawling robot separating from the truss is judged, and the posture of the robot is adjusted again.
In order to realize multi-mode perception of truss rod-ball assembly effect of the robot in the truss assembly process and better collect multi-channel sensing signals, a position detection function based on touch perception is added on the outer side of a truss rod and the inner cavity of a truss ball, and the movement and assembly operation control of the crawling robot is better completed.
Fig. 7 shows a schematic diagram of the detection principle of the assembly process, which is significant in judging whether the assembly is in place.
As shown in fig. 1, a spherical structure 9 is connected to the end of the truss rod, three side wall copper electrodes 10 are arranged on the side walls of the insertion holes of the spherical structure 9, and one bottom surface copper electrode 11 is arranged on the bottom surface of the insertion holes; the three side wall copper electrodes 10 are respectively arranged at different depths of the side walls of the jacks of the spherical structure 9, and the design can realize the detection of the assembling process and the assembling in place.
When the metal truss rod 2 is inserted into the process, the three copper electrodes sequentially contact and rub with the PDMS friction electrode on the outer side of the lower end of the rod to output three pulse signals, and when the truss rod 2 reaches the bottommost part of the jack (namely the deepest part), one pulse signal is output, so that the assembly is smoothly completed.
Wherein, the truss pole is the metal pole, and pulse signal directly transmits the robot centre gripping end receiving arrangement by the truss pole (the metal pole both acted as the metal electrode of sensor this moment, and the while is as the wire spreads the signal of telecommunication again), simultaneously according to nanometer friction electricity generation mechanism, four inside electrodes of spheroid all need not the wire to draw forth, have consequently simplified the structure of sensor greatly, have improved stability and reliability. The detection mode has certain universal applicability and can be used for various shaft hole assembly detection models.
The above-mentioned embodiments are merely preferred embodiments of the present application, which are not intended to limit the present application in any way, and it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present application.
Claims (6)
1. A self-powered multi-mode perception method facing a space on-track assembly robot is characterized in that the on-track assembly robot is used for assembling a truss rod-spherical structure, and the truss rod is inserted into an insertion hole of the spherical structure, so that the truss rod is prolonged;
the on-orbit assembly robot is a crawling robot, and comprises: a leg part (4), a clamping end and a touch and slide integrated sensor (5); the leg (4) and the clamping end of the crawling robot are provided with a slip sensation integrated sensor (5), and whether the leg and the clamping end of the crawling robot are in contact with the truss rod or not and whether the crawling robot slips or not can be detected through the slip sensation integrated sensor;
when the situation that whether the legs, the clamping ends and the truss rods of the crawling robot slide or not is detected, the sliding size and the sliding direction can be detected;
and adjusting the posture of the crawling robot according to the detection result.
2. The self-powered multi-modal perception method facing the space on-orbit assembly robot as recited in claim 1, wherein the truss rods are metal rods; a pulse electric signal receiving device is arranged at the clamping end of the crawling robot;
three side wall copper electrodes (10) are arranged on the side wall of the jack of the spherical structure (9), and a bottom surface copper electrode (11) is arranged on the bottom surface of the jack; three side wall copper electrodes (10) are respectively arranged at different depths of the side walls of the jacks of the spherical structure (9); radial contact electrodes (12) are arranged at the end parts of the truss rods in the radial direction, and bottom contact electrodes (13) are arranged on the end surface;
the above design can realize the detection of the assembly process and the assembly in place:
when the metal truss rod (2) is inserted into the jack of the spherical structure (9), the three copper electrodes sequentially contact and rub with a radial contact electrode (12) (PDMS friction electrode) on the outer side of the lower end of the truss rod to output three pulse signals;
when the truss rod 2 reaches the bottommost part (namely the deepest part) of the jack, the bottom contact electrode (13) is contacted with the bottom copper electrode (11), and a pulse signal is output to indicate that the assembly is completed smoothly; .
The pulse signal is directly transmitted to the robot clamping end receiving device through the truss rod.
3. A self-powered multi-modal sensing device facing a space on-orbit assembly robot is characterized in that the on-orbit assembly robot is a crawling robot and comprises: a leg part (4), a clamping end and a touch and slide integrated sensor (5);
wherein the tactile-slip sense integrated sensor (5) comprises: a sliding sense module (7) and a tactile sense module (6);
a haptic module (6) comprising: the device comprises an upper PMMA substrate (6-1), a lower PMMA substrate (6-2), a top copper electrode (6-3), a bottom copper electrode (6-4), a friction layer (6-5) and a spring (6-6); the underside of the upper PMMA substrate is plated with a layer of copper electrode, called the top copper electrode (6-3), which serves as both an electrode and a friction layer;
a layer of copper electrode is plated on the upper side of a partial area of the lower PMMA substrate, and the copper electrode is called as a bottom copper electrode (6-4); a PDMS friction layer (6-5) is spin-coated on the upper side of the bottom copper electrode (6-4), and the upper PMMA substrate and the lower PMMA substrate are connected together through a spring; in an initial state, an air gap is formed between the top copper electrode (6-3) and the friction layer (6-5);
the slip sensation module (7) includes: the device comprises a PDMS silica gel sliding module (7-1), a displacement direction and displacement detection electrode (7-2); the PDMS silica gel sliding module (7-1) is arranged on the upper side of the displacement direction and displacement detection electrode in a sliding manner;
the partial area of the lower PMMA substrate (6-2) is not plated with copper, and the displacement direction and displacement amount detection electrode is arranged on the area which is not plated with copper and is arranged on the partial lower side of the lower PMMA substrate.
4. The self-powered multi-modal sensor for the spatial in-orbit assembly robot of claim 3, wherein the displacement direction and amount detection electrode (7-2) comprises: : base and three electrodes, all design three electrodes in four azimuths of base lower part: the first electrode (8-1), the second electrode (8-2) and the third electrode (8-3) can judge the displacement of the sliding according to three grades of sliding detection and according to three graded electric signals:
when sliding occurs, the silica gel sliding module is firstly contacted with the first electrode (8-1) and generates an electric signal; with the increase of the sliding displacement, the first electrode (8-2) and the third electrode (8-3) are sequentially contacted to generate corresponding electric signals; when the first electrode or the first and second electrodes have signal output, the sliding trend is considered as a safety range; when a signal is output from the third electrode, the relative movement can occur to cause gait instability, and at the moment, the crawling robot needs to be readjusted to carry out secondary holding;
the displacement direction and displacement amount detection electrode can also detect the direction of sliding:
when the silica gel sliding module slides towards each direction, the corresponding electrodes generate corresponding electric signals, so that the direction of the crawling robot separating from the truss is judged, and the posture of the robot is adjusted again.
5. The self-powered multi-modal sensing device facing the space on-orbit assembly robot is characterized in that a fine structure is etched on the surface of the friction layer (6-5).
6. The self-powered multi-modal sensor for the space-oriented on-orbit assembly robot as recited in claim 3, wherein the number of the springs (6-6) is more than 4.
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| PCT/CN2021/132342 WO2022213614A1 (en) | 2021-04-09 | 2021-11-23 | Space-environment-oriented self-powered multi-mode sensing method |
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