CN113059548B - A space tree network robot - Google Patents

Abstract

The invention provides a spatial tree network robot, and belongs to the field of spatial on-orbit service robots. The problems of small size, poor flexibility and poor rigidity of the on-orbit service mechanism are solved. The multi-arm robot comprises a plurality of space multi-arm robots, wherein the space multi-arm robots are matched and connected, each space multi-arm robot comprises a base and a plurality of mechanical arms, the mechanical arms are arranged along the circumferential direction of the base, each mechanical arm comprises three universal joints, two arm rods and two translation joints, one end of each arm rod is connected through one universal joint, the other two universal joints are respectively arranged at the other end of each arm rod, each arm rod is provided with one translation joint, an interface end of each mechanical arm is connected with the base through a quick-change interface, and a connecting end of each mechanical arm is connected with a multi-head quick-change tool. The robot is mainly used for a space on-orbit service robot.

Description

A Space Tree Network Robot

technical field

The invention belongs to the field of space on-orbit service robots, in particular to a space tree network robot.

Background technique

The capture schemes of the existing space manipulators are usually single-arm capture or double-arm cooperative capture, which can complete the capture tasks of small targets or targets with cooperative interfaces. However, due to the large size and mass of super-large targets, targets without cooperation interfaces cannot be docked. Therefore, the existing capture mechanism and capture scheme cannot complete the capture or derotation tasks for these two kinds of space targets.

Contents of the invention

In order to solve the problems in the prior art, the present invention proposes a space tree network robot.

To achieve the above object, the present invention adopts the following technical solutions: a space tree network robot, which includes a plurality of space multi-arm robots, a plurality of space multi-arm robots are matched and connected, and each space multi-arm robot includes a base and a multi-arm robot. A mechanical arm, a plurality of mechanical arms are arranged along the circumferential direction of the base, the mechanical arm includes three universal joints, two arm levers and two translational joints, one end of the two arm levers passes through a universal joint The remaining two universal joints are respectively installed on the other ends of the two arms, and each arm is provided with a translational joint. The interface end of the mechanical arm is connected to the base through a quick-change interface. The connecting end of the mechanical arm is connected with the multi-head quick change tool.

Furthermore, the multi-head quick change tool is connected with a grabbing mechanism to form a climbing robot, and the climbing robot realizes climbing the wall through the grabbing mechanism.

Furthermore, the plurality of mechanical arms are folded inward to form a grasping posture to form a capture robot, and the capture robot can capture the target.

Furthermore, the mechanical arms of the plurality of space multi-armed robots are all spread out to form a planar robot structure, and the angular symmetry of the mechanical arms of each robot forms robot cells, and the multiple robot cells are connected in sequence through the mechanical arms to form a network. space robot.

Furthermore, the connection end of one of the robotic arms of the space multi-arm robot is connected to the interface end of the other robotic arm through a multi-head quick change tool.

Furthermore, the interface ends of the two robotic arms in the space multi-arm robot are disconnected from the quick-change interface, and the connection ends of the two robotic arms are connected to the connection end of the other mechanical arm through a multi-head quick-change tool.

Furthermore, the connection ends of the three non-adjacent mechanical arms in the space multi-arm robot are connected by a multi-head quick change tool.

Furthermore, the connecting ends of the three non-adjacent mechanical arms in the space multi-arm robot are connected by a multi-head quick change tool, and after the connection, the interface end of one of the mechanical arms is disconnected from the quick change interface.

Furthermore, the number of space multi-arm robots is three, and each space multi-arm robot selects three non-adjacent mechanical arms, and the three non-adjacent mechanical arms in the three space multi-arm robots are sequentially Connect the connecting ends of the robotic arms with a multi-head quick change tool.

Furthermore, the number of mechanical arms of each spatial multi-armed robot is six, the flywheel and the nozzle are installed on the base, and the universal joints and translational joints are driven by motors.

Compared with the prior art, the beneficial effect of the present invention is that the present invention solves the problems of small size, poor flexibility and poor rigidity of the on-orbit service mechanism. The invention has the characteristics of self-assembly and reconfiguration, and can realize the composition of infinite configurations, so it has the characteristics of large size span, high redundancy, good rigidity, and autonomous intelligence. It can be used for a variety of mission scenarios, such as the capture of non-cooperative targets with unknown size and status, the handling of super-large space structures, the climbing of large space targets or planetary surfaces, etc.

The mechanical arm of the space multi-arm robot used in the present invention can be disassembled and assembled, and the end is equipped with a multi-head quick-change tool, which can make more configurations and more flexible assembly process; a single space multi-arm robot can be applied as a space climbing robot , Climbing on large space surfaces and planetary surfaces improves stability and flexibility; proposes a tree/net combination scheme for space robots, which can capture and repair non-cooperative targets and super-large targets, improving the working scale, Flexibility and stiffness.

Description of drawings

Fig. 1 is a schematic structural diagram of a space multi-arm robot according to the present invention;

Fig. 2 is a structural schematic diagram of a climbing robot according to the present invention;

Fig. 3 is the structure schematic diagram of arresting robot described in the present invention;

Fig. 4 is a schematic structural diagram of a networked space robot according to the present invention;

Fig. 5 is a schematic structural diagram of the arm body extending tree-like space robot according to the present invention;

Fig. 6 is a schematic structural diagram of a tree-forked space robot according to the present invention;

Fig. 7 is a schematic structural diagram of a self-parallel tree space robot according to the present invention;

Fig. 8 is a schematic structural diagram of a serial-parallel hybrid tree space robot according to the present invention;

Fig. 9 is a schematic structural diagram of a closed-frame tree-like space robot according to the present invention.

1-base, 2-quick change interface, 3-universal joint, 4-multi-head quick change tool, 5-arm lever, 6-translational joint, 7-grabbing mechanism, 8-wall, 9-capture robot, 10 - target, 11 - robot cell.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

Referring to Figures 1-9 to illustrate this embodiment, a spatial tree-network robot includes a plurality of spatial multi-arm robots, which are coordinated and connected, and each spatial multi-arm robot includes a base 1 and a plurality of spatial multi-arm robots. A mechanical arm, a plurality of mechanical arms are arranged along the circumferential direction of the base 1, the mechanical arm includes three universal joints 3, two arm bars 5 and two translational joints 6, one end of the two arm bars 5 passes through One universal joint 3 is connected, and the remaining two universal joints 3 are respectively installed on the other ends of the two arms 5, and each arm 5 is provided with a translational joint 6, and the interface end of the mechanical arm passes through the fast The changing interface 2 is connected with the base 1 , and the connecting end of the mechanical arm is connected with the multi-head quick changing tool 4 .

The inter-tree network robot in this embodiment is composed of multiple spatial multi-arm robots. The configuration of a single multi-arm robot is shown in Figure 1, and several detachable robotic arms are evenly distributed on the characteristic plane of the base. Each robotic arm is a redundant robotic arm with eight degrees of freedom. There are many degrees of freedom in a single space multi-arm robot, so the degree of flexibility is relatively large. Each mechanical arm can be disassembled and assembled, and the interface end close to the base 1 can be docked with the connection end. The connecting end of the mechanical arm has several multi-head quick change tools 4, which can allow the connecting ends of the mechanical arm to be docked with each other.

Each robotic arm can be disassembled and reassembled separately to achieve variable configuration and self-parallel connection, which enhances the rigidity of the system and improves positioning accuracy. The empty robotic arm can be disassembled and assembled to extend, expand the working range or form a tree fork structure for dual-arm capture and cooperative operation, and can also be reconfigured into a serial-parallel hybrid system to achieve task-oriented drive optimization and adaptation. A combination of multiple spatial multi-arm robots can be combined into a small robot tree to achieve collaborative control and improve the driving ability and stiffness of the system; it can also be combined into a large mesh robot to capture super-large targets or perform collaborative operations on super-large structures. When multiple space multi-arm robots are assembled into a tree fork system, it is necessary to dock the interface end of the robot arm close to the base 1 with the connection end of other robot arms, and connect the connection end of the robot arm with the connection end of other robot arms. When a plurality of spatial multi-arm robots are assembled into a mesh robot assembly, it is necessary to connect the connection ends of the robot arms with the connection ends of other robot arms.

As shown in Figure 2, the multi-head quick change tool 4 is connected with the grasping mechanism 7 to form a climbing robot. The climbing robot can stay on the climbing surface stably through the grasping mechanism 7, realize climbing the wall 8, and then climb The robot moves as a whole.

As shown in Figure 3, multiple robotic arms are folded inward to form a grasping posture, forming a capture robot 9, which captures the target 10, and performs strong grasping imitating the dexterous hand of a robot through a space multi-arm robot 1. The way of grasping is to embrace the non-cooperative target 10 to be captured. In this embodiment, the target is a satellite.

As shown in Figure 4, the mechanical arms of multiple spatial multi-armed robots are all spread out to form a planar robot structure, and the angular symmetry of the mechanical arms of each robot forms a robot cell 11, and multiple robot cells 11 are connected sequentially through the mechanical arms. Forming a net-like space robot, can be laid into a net.

As shown in Figure 5, the connection end of one of the robotic arms of the space multi-arm robot is connected to the interface end of the other mechanical arm through the multi-head quick change tool 4, and the mechanical arm is extended. The extended mechanical arm connection end is still provided with Multi-head quick change tool4.

As shown in Figure 6, the interface ends of the two manipulators in the space multi-arm robot are disconnected from the quick-change interface 2, and the connection ends of the two manipulators are connected to the connection end of the other manipulator through the multi-head quick-change tool 4 , in order to achieve ultra-long-distance dual-arm cooperative operation.

As shown in FIG. 7 , the connection ends of three non-adjacent mechanical arms in the space multi-arm robot are connected through a multi-head quick change tool 4 to realize self-parallel operation.

As shown in FIG. 8 , the connection ends of three non-adjacent mechanical arms in the space multi-arm robot are connected through the multi-head quick-change tool 4 , and the interface end of one of the mechanical arms is disconnected from the quick-change interface 2 after connection.

As shown in Figure 9, the number of space multi-arm robots is three, and each space multi-arm robot selects three non-adjacent manipulators, and the three non-adjacent manipulators in the three space multi-arm robots are in order Connect the connection end of the mechanical arm through the multi-head quick change tool 4. Select three non-adjacent robotic arms on each of the three spatial multi-arm robots, and select a robotic arm on each of the three spatial multi-arm robots in a certain order, and connect the three spatial multi-arm robots, taking care not to cause cross.

In the above-mentioned embodiment, the number of mechanical arms of each space multi-arm robot is six, the flywheel and nozzle are installed on the base 1, and the universal joint 3 and the translational joint 6 are driven by motors.

Above, a kind of space tree network robot provided by the present invention has been introduced in detail. In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the present invention. method and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. Invention Limitations.

Claims (10)

1. A space tree net type robot is characterized in that: it comprises a plurality of space multi-arm robots, and a plurality of space multi-arm robots cooperate to be connected, and each space multi-arm robot all comprises base (1) and a plurality of mechanical arms , a plurality of mechanical arms are arranged along the circumferential direction of the base (1), and the mechanical arms include three universal joints (3), two arm levers (5) and two translational joints (6), the two One end of the boom (5) is connected through a universal joint (3), and the other two universal joints (3) are respectively installed on the other ends of the two booms (5), and each boom (5) is provided with There is a translational joint (6), the interface end of the mechanical arm is connected with the base (1) through the quick change interface (2), the connecting end of the mechanical arm is connected with the multi-head quick change tool (4), the The number of mechanical arms of each spatial multi-arm robot is six. 2. A space tree network robot according to claim 1, characterized in that: the multi-head quick change tool (4) is connected with the grabbing mechanism (7) to form a climbing robot, and the climbing robot passes through The grabbing mechanism (7) realizes climbing the wall (8). 3. A kind of space tree net type robot according to claim 1, is characterized in that: described a plurality of manipulator arms draw inwards and are grasping attitude, form the catching robot (9), described catching robot (9) ) to capture the target (10). 4. A kind of space tree net type robot according to claim 1, is characterized in that: the mechanical arms of described a plurality of space multi-armed robots are all spread out to be plane robot structure, and the mechanical arm angle of each robot is symmetrical, forms A robot cell (11), wherein a plurality of robot cells (11) are sequentially connected through mechanical arms to form a net-like space robot. 5. A space tree network robot according to claim 1, characterized in that: the connection end of one of the mechanical arms of the space multi-arm robot is connected to the interface end of the other mechanical arm through a multi-head quick change tool (4) connected. 6. A kind of space tree network type robot according to claim 1, it is characterized in that: the interface ends of two mechanical arms in the described space multi-arm robot are disconnected from the quick-change interface (2), and the two mechanical The connecting end of the arm is connected with the connecting end of another mechanical arm through a multi-head quick change tool (4). 7. A space tree network robot according to claim 1, characterized in that: the connection ends of three non-adjacent mechanical arms in the space multi-arm robot are connected by a multi-head quick change tool (4). 8. A kind of space tree net type robot according to claim 1, it is characterized in that: the connection ends of three non-adjacent mechanical arms in the space multi-arm robot are connected by multi-head quick change tools (4), and the connection Then disconnect the interface end of one of the mechanical arms from the quick change interface (2). 9. A space tree network robot according to claim 1, characterized in that: the number of space multi-arm robots is three, and each space multi-arm robot selects three non-adjacent mechanical arms, three Three non-adjacent mechanical arms in a space multi-armed robot connect the connection ends of the mechanical arms sequentially through a multi-head quick change tool (4). 10. A space tree network robot according to any one of claims 1-9, characterized in that: a flywheel and a nozzle are installed on the base (1), and the universal joint (3) Both the translational joints (6) are driven by motors.

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