WO2022213614A1

WO2022213614A1 - Space-environment-oriented self-powered multi-mode sensing method

Info

Publication number: WO2022213614A1
Application number: PCT/CN2021/132342
Authority: WO
Inventors: 陈涛; 侯绪研; 李龙; 刘会聪; 杨湛; 王凤霞; 孙立宁
Original assignee: 苏州大学
Priority date: 2021-04-09
Filing date: 2021-11-23
Publication date: 2022-10-13
Also published as: CN113188591A; CN113188591B

Abstract

A space-environment-oriented self-powered multi-mode sensing method, comprising: using an on-orbit assembly robot (1) for assembling a truss-rod-spherical structure, wherein a truss rod (2) is inserted into an insertion hole of a spherical structure (9), such that the truss rod (2) is extended; installing sliding sense integrated sensors (5) on legs (4) and a clamping end (6) of a crawling robot, and checking, by means of the sliding sense integrated sensors (5), whether the legs (4) and the clamping end (6) of the crawling robot come into contact with the truss rod (2) and whether sliding occurs; and adjusting a posture of the crawling robot based on a detection result. Further provided is a space-oriented self-powered multi-mode sensing device of the on-orbit assembly robot (1).

Description

A self-powered multimodal perception method for space environment

technical field

The present application relates to the field of space assembly robots, and more particularly, to a self-powered multimodal perception method oriented to a space environment.

Background technique

Facing the on-orbit assembly requirements of large spacecraft and space structures represented by space stations and large-diameter antennas, a new part-level assembly method using crawling mobile assembly robots has been widely proposed at home and abroad, which greatly improves the construction efficiency of large space trusses. However, in the extreme environment of space (vacuum, high and low temperature, irradiation), how to perceive the motion state of the mobile robot and the assembly state of the truss ball-rod in a simple, efficient and low-cost way is an urgent need for the part-level assembly of large-scale truss structures in space. important issues to solve.

For the sensing application of space robots, Canada, Germany and other countries have installed tactile and force sensors based on resistance strain on the teleoperated robotic arm systems and dedicated dexterous robotic arm joints developed for the International Space Station. The Japan Space Exploration Agency is equipped with a six-dimensional force/torque sensor based on resistance strain on the experimental cabin manipulator system developed for the International Space Station. The Netherlands Space Center installed two resistance strain force/torque sensors on the space manipulator developed for ESA, and installed an infrared camera at the end of the manipulator. The manipulator is mainly used for the Russian module of the International Space Station. assembly and maintenance. my country's manned spaceflight engineering is in the leading position in the world, the fifth institute of aerospace, the eighth institute of aerospace, Harbin Institute of Technology (CN1807032A, CN106571097A), Beijing University of Aeronautics and Astronautics (CN106313031A), Southeast University, Beijing Institute of Control Engineering, Hefei Intelligent Machinery The institute and other units have successively carried out research work related to space manipulators, including research work related to the application of space six-dimensional force/torque sensors.

Conventional tactile sensors include piezoresistive, capacitive, optoelectronic, electromagnetic and other types, but combined with the extreme environment of space, such sensors generally have defects such as being susceptible to interference, complex structure, and difficult signal transmission. It is easily affected by high and low temperature, as well as being irradiated by various particles and rays, resulting in electrification, causing changes in material properties, especially surface properties, and even damage to devices. In addition, the above-mentioned tactile sensor needs to use external power supply, which increases the complexity and energy consumption of the sensor system.

SUMMARY OF THE INVENTION

The purpose of the present application is to provide a self-powered multi-modal perception method oriented to the space environment in view of the above-mentioned deficiencies of the prior art.

The technical solution of this application is as follows:

A self-powered multimodal perception method for a space-oriented on-orbit assembly robot, the on-orbit assembly robot is used to assemble a truss rod-spherical structure, and the truss rod is inserted into the insertion hole of the spherical structure, thereby extending the truss rod;

The on-rail assembly robot is a crawling robot, which comprises: legs (4), a clamping end, and a tactile and sliding sensor (5); and a tactile and sliding sensor is installed on the legs (4) and the clamping end of the crawling robot A sensor (5), which can detect whether the legs and the clamping end of the crawling robot are in contact with the truss rod and whether there is slippage through the tactile-slip integrated sensor;

Among them, when it is detected whether the legs and clamping ends of the crawling robot slip from the truss rod, the magnitude and direction of the slip can be detected;

According to the above detection results, the crawling robot adjusts its posture.

Further, the truss rod is a metal rod; a pulse electric signal receiving device is provided at the clamping end of the crawling robot;

Three sidewall copper electrodes (10) are arranged on the sidewall of the socket of the spherical structure (9), and a bottom copper electrode (11) is arranged on the bottom surface of the socket; the three sidewall copper electrodes (10) are respectively provided with At different depths of the side walls of the sockets of the spherical structure (9); radial contact electrodes (12) are arranged radially at the ends of the truss rods, and bottom contact electrodes (13) are arranged on the end faces. ;

The above design can realize the detection of the assembly process and assembly in place:

When the metal truss rod (2) is inserted into the socket of the spherical structure (9), the three copper electrodes contact and rub in turn with the radial contact electrode (12) (PDMS friction electrode) on the outer side of the lower end of the truss rod, and output three pulses Signal;

When the truss rod 2 reaches the bottom of the jack (ie the deepest), the bottom contact electrode (13) contacts with the bottom copper electrode (11), and a pulse signal is output, indicating that the assembly is successfully completed;

The above-mentioned pulse signal is directly transmitted from the truss rod to the receiving device of the gripping end of the robot.

A self-powered multimodal sensing device for a space on-orbit assembly robot, wherein the on-orbit assembly robot is a crawling robot, comprising: a leg (4), a clamping end, and a tactile and slippery integrated sensor (5);

Wherein, the tactile and slippery integrated sensor (5) includes: a slippery module (7) and a tactile module (6);

A haptic module (6), comprising: an upper PMMA substrate (6-1), a lower PMMA substrate (6-2), a top copper electrode (6-3), a bottom copper electrode (6-4), and a friction layer (6-5) ), springs (6-6); a layer of copper electrode is plated on the lower side of the upper PMMA substrate, called the top copper electrode (6-3), which is used as an electrode and a friction layer at the same time;

A layer of copper electrode is plated on the upper side of the partial area of the lower PMMA substrate, which is called the bottom copper electrode (6-4); a layer of 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 by springs; in the initial state, there is an air gap between the top copper electrode (6-3) and the friction layer (6-5);

The sliding module (7) includes: a PDMS silica gel sliding module (7-1), a displacement orientation and displacement amount detection electrode (7-2); the PDMS silica gel sliding module (7-1) is slidably arranged in the displacement orientation and displacement The upper side of the quantity detection electrode;

Part of the lower PMMA substrate (6-2) is not plated with copper, and the displacement orientation and displacement detection electrodes are arranged on the part of the lower side of the lower PMMA substrate that is not plated with copper.

Further, the displacement orientation and displacement detection electrodes (7-2) include: a base and three electrodes, and three electrodes are designed on the four orientations of the lower part of the base: a first electrode (8-1), a second electrode (8-2), the third electrode (8-3) corresponds to the three levels of slip detection, and the displacement of the slip can be determined according to the three levels of electrical signals:

When sliding occurs, the silica gel sliding module first contacts the first electrode (8-1), and generates an electrical signal; with the increase of the sliding displacement, it contacts the second electrode (8-2) and the third electrode in turn. (8-3) The corresponding electrical signals are generated by successive contact; when the first electrode or the first and second electrodes have signal output, the sliding trend is considered to be a safe range; when the third electrode has signal output, it will occur. The relative movement causes the gait to become unstable. At this time, the crawling robot needs to be re-adjusted for secondary gripping;

The displacement azimuth and displacement detection electrodes can also detect the sliding direction:

When the silicone sliding module slides in all directions, the corresponding electrodes generate corresponding electrical signals, thereby judging the direction in which the crawling robot leaves the truss, so that the robot can readjust its posture.

Further, the microstructure is etched on the surface of the friction layer (6-5).

Further, the number of springs (6-6) is four or more.

The beneficial effects of this application are:

First, based on the characteristics of space on-orbit assembly requirements, a multi-modal self-powered sensing method based on nano-triboelectric power generation is proposed, and its self-powered sensing signals under the coupling of multiple environmental fields such as vacuum, high and low temperature, and irradiation are revealed. transformation mechanism.

Second, a novel multimodal sensor signal detection method suitable for spatial extreme conditions is proposed. More specifically, a suitable sensor (sensors can be sold as separate commodities, therefore, a separate application for the protection of the technical solution of the sensor) is proposed, which has the advantages of stable performance in extreme environments, simple structure and easy integration, and no self-powered power supply.

Third, the proposed tactile-slip-integrated triboelectric sensor can not only accurately detect the contact state of the robot, but also detect the specific direction and displacement of the robot when sliding through the innovative sliding-sense module.

Fourth, based on the triboelectric mechanism, a new detection method for truss ball-rod assembly (shaft-hole fit) is proposed. It has the advantages of simple structure and no need for external leads.

Description of drawings

The present application will be further described in detail below with reference to the embodiments in the accompanying drawings, but it does not constitute any limitation to the present application.

Figure 1 is the robot crawling attitude diagram on the track.

Figure 2 is a structural diagram of a crawling robot.

FIG. 3 is a schematic diagram of a three-dimensional design of a tactile and slippery integrated sensor.

FIG. 4 is a cross-sectional view of the structural design of the tactile and sliding integrated sensor.

Figure 5 is a working principle diagram of the sliding module.

FIG. 6 is a top view of the principle of eight-azimuth slip detection.

FIG. 7 is a schematic diagram of the detection principle of the assembly process.

The reference numerals in Figures 1-7 are explained as follows:

Robot 1, truss rod 2, steering gear 3, leg 4, sensor 5, foot end 6, body 7, joint 8;

Upper PMMA substrate 6-1, lower PMMA substrate 6-2, top copper electrode 6-3, bottom copper electrode 6-4, friction layer 6-5, spring 6-6;

PDMS silica gel slip module 7-1, displacement azimuth and displacement detection electrode 7-2;

The first electrode 8-1, the second electrode 8-2, the third electrode 8-3;

spherical structure 9;

sidewall copper electrodes 10;

Bottom copper electrode 11;

radial contact electrode 12;

The bottom end contacts the electrode 13 .

Detailed ways

Example 1: This application studies a self-powered multimodal perception method oriented to a space environment.

Figure 1 shows a schematic diagram of the on-orbit task of the space crawling assembly robot: the robot assembles the truss rod 2, and the truss rod 2 and the truss rod 2 are connected by a spherical structure 9; the spherical structure 9 is provided with a socket, and the truss rod 2 is inserted into the spherical In the jack of structure 9, the two are fixed.

Figure 2 shows the structure of the crawling robot, including the robot's steering gear 3, legs 4, integrated tactile and slippery sensors 5, foot ends 6, body 7, and joints 8;

The tactile and sliding integrated sensor 5 is arranged on the leg 4 and the foot end 6 .

For the crawling robot, multi-point and multi-modal sensing signals are realized through the integrated tactile and slippery sensor 5. After the above-mentioned signals are collected, they are then analyzed to provide accurate feedback information to realize the motion control of the on-orbit assembly robot.

The design of the sensor part is a nano-triboelectric power generation device based on the principle of triboelectric power generation, which can convert mechanical energy into electrical energy. According to the characteristics of charge transfer generated by friction of different electric polar materials, the interface electrical characteristics of nano-triboelectric self-powered sensor structures in extreme space environment are given below.

FIG. 3 shows the design of the tactile and slippery integrated sensor 5. The tactile and slippery integrated sensor 5 includes: a slippery module 7 and a tactile module 6;

Figure 4 shows the specific structural design of the above two modules.

The structure of the haptic module 6 is as follows:

Including: upper PMMA substrate 6-1, lower PMMA substrate 6-2, top copper electrode 6-3, bottom copper electrode 6-4, friction layer 6-5, spring 6-6;

On the underside of the upper PMMA substrate, a layer of copper electrodes is plated, called the top copper electrode 6-3 (the top copper electrode serves as both electrode and friction layer);

A layer of copper electrode is plated on a part of the upper side of the lower PMMA substrate 6-2 (a part of the lower PMMA substrate 6-2 is plated with copper, and a part of the lower PMMA substrate 6-2 is not plated with copper), which is called the bottom copper electrode 6-4;

A layer of polydimethylsiloxane (PDMS) friction layer 6-5 is spin-coated on the top side of the bottom copper electrode 6-4, and the upper PMMA substrate and the lower PMMA substrate are connected together by 4 springs (the upper PMMA substrate, The lower PMMA is connected as a whole), so that there is a layer of air gap between the top copper electrode 6-3 and the friction layer 6-5, which is convenient for recovery of deformation after contact;

The design details further explained are: etching the microstructure on the surface of the friction layer 6-5 to increase the friction area during contact, thereby increasing the signal output intensity.

The design details further explained are: the number of springs 6-6 is more than 4.

The working principle of the haptic module 6: when the friction layer 6-5 contacts/separates from the top copper electrode 6-3, a corresponding triboelectric signal is generated.

The structure of the sliding module 7 is as follows:

The sliding module 7 includes: a PDMS silica gel sliding module 7-1 (negative friction electrode), a displacement orientation and displacement amount detection electrode (positive friction electrode) 7-2; the PDMS silica gel sliding module 7-1 (negative friction electrode) ) is slidably arranged on the upper side of the displacement orientation and displacement detection electrode (positive friction electrode) 7-2;

The displacement azimuth and displacement amount detection electrodes (positive friction electrodes) are disposed on the uncoated area on the lower side of the lower PMMA substrate.

The working principle of the sliding module 7 is as follows: when the PDMS silica gel sliding module 7-1 is in contact with or separated from the displacement azimuth and displacement detection electrodes (that is, the positive and negative electrodes are in contact or separated), there is a corresponding electrical signal. produce.

The design details further explained are: the displacement orientation and displacement amount detection electrode (positive friction electrode) 7-2 includes: a base and three electrodes (three electrodes are provided in all four orientations), and all four orientations on the lower part of the base are provided. Three electrodes are designed (electrodes are set in different orientations, which can detect the displacement orientation): the first electrode 8-1, the second electrode 8-2, and the third electrode 8-3, corresponding to the three levels of slip detection, according to the three This kind of graded electrical signal can judge the displacement of the sliding.

When a slip occurs, the silicone slip module first contacts the first electrode 8-1, and generates an electrical signal. As the sliding displacement increases, it contacts the second electrode 8-2 and the third electrode 8-3 in sequence to generate corresponding electrical signals.

When the first or the first and second electrodes have signal output, the sliding trend is considered to be a safe range. When the third electrode has a signal output, the relative movement will cause the gait to become unstable. At this time, the robot needs to readjust the foot mechanism for a second grip.

The design details further explained are: the PDMS silica gel sliding module 7-1 is bowl-shaped, and the base is also bowl-shaped.

The structure of the sliding module 7 can also accurately determine the sliding direction of the robot. Figure 6 is a schematic diagram of the orientation detection of the sliding sense. E1 means north, E2 means east, E3 means south, and E4 means west. The northeast direction is represented by E1+E2, the southeast direction is represented by E1+E3, the southwest direction is represented by E3+E4, and the northwest direction is represented by E1+E4. When the silicone sliding module slides in all directions, the corresponding electrodes generate corresponding electrical signals, thereby judging the direction in which the crawling robot leaves the truss, so that the robot can readjust its posture.

In order to realize the multi-modal perception of the truss rod-ball assembly effect of the robot in the truss assembly process, and to better collect multi-channel sensing signals, it is proposed to increase the position detection function based on tactile perception in the design of the outer side of the truss rod and the inner cavity of the truss ball. Better complete the control of crawling robot motion and assembly operations.

Figure 7 shows a schematic diagram of the detection principle of the assembly process, the significance of which is to judge whether the assembly is in place.

As shown in FIG. 1 , the end of the truss rod is connected with a spherical structure 9, three pieces of side wall copper electrodes 10 are arranged on the side wall of the socket of the spherical structure 9, and a bottom surface copper electrode 11 is arranged on the bottom surface of the socket; The three sidewall copper electrodes 10 are respectively arranged at different depths of the sidewall of the socket of the spherical structure 9, and the above design can realize the assembly process and the detection of the assembly in place.

When the metal truss rod 2 is inserted, the three copper electrodes contact and rub against the PDMS friction electrode on the outer side of the lower end of the rod in turn, and output three pulse signals. When the truss rod 2 reaches the bottom of the jack (ie the deepest), a A pulse signal indicates that the assembly is successfully completed.

Among them, the truss rod is a metal rod, and the pulse signal is directly transmitted by the truss rod to the receiving device of the robot clamping end (at this time, the metal rod acts as the metal electrode of the sensor, and at the same time, it is used as a wire to transmit electrical signals), and according to the nanometer Triboelectric mechanism, the four electrodes inside the sphere do not need to be led out by wires, so the structure of the sensor is greatly simplified, and the stability and reliability are improved. This detection method has certain universal applicability and can be used in various models of shaft hole assembly detection.

The above-mentioned examples are the preferred embodiments of the present application, and are only used to facilitate the description of the present application, and are not intended to limit the present application in any form. Within the scope of the technical features, equivalent embodiments with partial changes or modifications made using the technical contents disclosed in the present application, and without departing from the technical features of the present application, still fall within the scope of the technical features of the present application.

Claims

A self-powered multimodal perception method for a space-oriented on-orbit assembly robot, characterized in that the on-orbit assembly robot is used to assemble a truss rod-spherical structure, and the truss rod is inserted into the insertion hole of the spherical structure, thereby extending the truss rod;

The on-rail assembly robot is a crawling robot, which comprises: legs (4), a clamping end, and a tactile and sliding sensor (5); and a tactile and sliding sensor is installed on the legs (4) and the clamping end of the crawling robot A sensor (5), which can detect whether the legs and the clamping end of the crawling robot are in contact with the truss rod and whether there is slippage through the tactile-slip integrated sensor;

Among them, when it is detected whether the legs and clamping ends of the crawling robot slip from the truss rod, the magnitude and direction of the slip can be detected;

According to the above detection results, the crawling robot adjusts its posture.
The self-powered multi-modal sensing method for a space-oriented on-orbit assembly robot according to claim 1, wherein the truss rod is a metal rod; a pulse electrical signal receiving device is provided at the clamping end of the crawling robot;

Three sidewall copper electrodes (10) are arranged on the sidewall of the socket of the spherical structure (9), and a bottom copper electrode (11) is arranged on the bottom surface of the socket; the three sidewall copper electrodes (10) are respectively provided with At different depths of the side walls of the sockets of the spherical structure (9); radial contact electrodes (12) are arranged radially at the ends of the truss rods, and bottom contact electrodes (13) are arranged on the end faces. ;

The above design can realize the detection of the assembly process and assembly in place:

When the metal truss rod (2) is inserted into the socket of the spherical structure (9), the three copper electrodes contact and rub in turn with the radial contact electrode (12) (PDMS friction electrode) on the outer side of the lower end of the truss rod, and output three pulses Signal;

When the truss rod 2 reaches the bottom of the jack (ie the deepest), the bottom contact electrode (13) contacts with the bottom copper electrode (11), and a pulse signal is output, indicating that the assembly is successfully completed;

The above-mentioned pulse signal is directly transmitted from the truss rod to the receiving device of the gripping end of the robot.
A self-powered multi-modal sensing device for a space on-orbit assembly robot, characterized in that the on-orbit assembly robot is a crawling robot, which comprises: a leg (4), a clamping end, a tactile and slippery integrated sensor ( 5);

Wherein, the tactile and slippery integrated sensor (5) includes: a slippery module (7) and a tactile module (6);

A haptic module (6), comprising: an upper PMMA substrate (6-1), a lower PMMA substrate (6-2), a top copper electrode (6-3), a bottom copper electrode (6-4), and a friction layer (6-5) ), springs (6-6); a layer of copper electrode is plated on the lower side of the upper PMMA substrate, called the top copper electrode (6-3), which is used as an electrode and a friction layer at the same time;

A layer of copper electrode is plated on the upper side of the partial area of the lower PMMA substrate, which is called the bottom copper electrode (6-4); a layer of 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 by springs; in the initial state, there is an air gap between the top copper electrode (6-3) and the friction layer (6-5);

The sliding module (7) includes: a PDMS silica gel sliding module (7-1), a displacement orientation and displacement amount detection electrode (7-2); the PDMS silica gel sliding module (7-1) is slidably arranged in the displacement orientation and displacement The upper side of the quantity detection electrode;

Part of the lower PMMA substrate (6-2) is not plated with copper, and the displacement orientation and displacement detection electrodes are arranged on the part of the lower side of the lower PMMA substrate that is not plated with copper.
The self-powered multi-modal sensing device for a space-on-orbit assembly robot according to claim 3, wherein the displacement orientation and displacement detection electrodes (7-2) comprise: a base and three electrodes, Three electrodes are designed in four directions on the lower part of the base: the first electrode (8-1), the second electrode (8-2), and the third electrode (8-3), corresponding to the three levels of slip detection , the displacement of the sliding can be judged according to three graded electrical signals:

When sliding occurs, the silica gel sliding module first contacts the first electrode (8-1), and generates an electrical signal; with the increase of the sliding displacement, it contacts the second electrode (8-2) and the third electrode in turn. (8-3) The corresponding electrical signals are generated by successive contact; when the first electrode or the first and second electrodes have signal output, the sliding trend is considered to be a safe range; when the third electrode has signal output, it will occur. The relative movement causes the gait to become unstable. At this time, the crawling robot needs to be re-adjusted for secondary gripping;

The displacement azimuth and displacement detection electrodes can also detect the sliding direction:

When the silicone sliding module slides in all directions, the corresponding electrodes generate corresponding electrical signals, thereby judging the direction in which the crawling robot leaves the truss, so that the robot can readjust its posture.
The self-powered multi-modal sensing device for a space-on-orbit assembly robot according to claim 3, characterized in that the microstructure is etched on the surface of the friction layer (6-5).
The self-powered multi-modal sensing device for a space-oriented on-orbit assembly robot according to claim 3, characterized in that the number of springs (6-6) is four or more.