CN113059548B - Spatial tree net type robot - Google Patents
Spatial tree net type robot Download PDFInfo
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- CN113059548B CN113059548B CN202110279482.9A CN202110279482A CN113059548B CN 113059548 B CN113059548 B CN 113059548B CN 202110279482 A CN202110279482 A CN 202110279482A CN 113059548 B CN113059548 B CN 113059548B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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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
Technical Field
The invention belongs to the field of space on-orbit service robots, and particularly relates to a space tree network robot.
Background
The existing catching scheme of the space manipulator is generally single-arm catching or double-arm cooperative catching, and can complete the catching task of a small target or a target with a cooperative interface. However, due to the fact that the size and the mass of the ultra-large target are large, targets without cooperative interfaces cannot be in butt joint, and therefore the existing capture mechanism and capture scheme cannot complete capture or despin tasks aiming at the two space targets.
Disclosure of Invention
The invention provides a spatial tree net type robot for solving the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a space tree net type robot, it includes a plurality of space multi-arm robots, and a plurality of space multi-arm robots cooperation links to each other, and every space multi-arm robot all includes base and a plurality of arm, and a plurality of arm are arranged along the base circumferencial direction, the arm includes three universal joint, two armed levers and two translation joints, the one end of two armed levers links to each other through a universal joint, and other two universal joints are installed respectively at the other end of two armed levers, all are provided with a translation joint on every armed lever, the interface end of arm links to each other with the base through the quick change interface, the link of arm links to each other with bull quick change instrument.
Furthermore, bull quick change instrument links to each other with snatching the mechanism, forms the climbing robot, the climbing robot realizes climbing the wall through snatching the mechanism.
Furthermore, the mechanical arms are folded inwards to form a gripping gesture, so that the catching robot is formed, and the catching robot catches the target.
Furthermore, the mechanical arms of the space multi-arm robots are all spread out to form a planar robot structure, the mechanical arm angles of each robot are symmetrical to form robot cells, and the robot cells are sequentially connected through the mechanical arms to form the net-shaped space robot.
Furthermore, the connecting end of one mechanical arm of the space multi-arm robot is connected with the interface end of the other mechanical arm through a multi-head quick-change tool.
Furthermore, the interface ends of two mechanical arms in the space dobby robot are disconnected with the quick-change interface, and the connecting ends of the two mechanical arms are connected with the connecting end of the other mechanical arm through a multi-head quick-change tool.
Furthermore, the connecting ends of three non-adjacent mechanical arms in the space dobby robot are connected through a multi-head quick-change tool.
Furthermore, the connecting ends of three non-adjacent mechanical arms in the spatial multi-arm robot are connected through a multi-head quick-change tool, and after connection, the interface end of one mechanical arm is disconnected with the quick-change interface.
Furthermore, the number of the spatial multi-arm robots is three, each spatial multi-arm robot selects three nonadjacent mechanical arms, and the three nonadjacent mechanical arms in the three spatial multi-arm robots sequentially connect the connecting ends of the mechanical arms through a multi-head quick-change tool.
Furthermore, the number of the mechanical arms of each space multi-arm robot is six, the base is provided with a flywheel and a spray pipe, and the universal joint and the translational joint are driven by a motor.
Compared with the prior art, the invention has the beneficial effects that: the 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 reconstruction, can realize the composition of infinite configurations, and has the characteristics of large size span, high redundancy, good rigidity and autonomous intelligence. The method can be used for various task scenes, such as the capture of non-cooperative targets with unknown sizes and states, the handling of ultra-large space structures, the climbing of large space targets or planetary surfaces and the like.
The mechanical arms of the space multi-arm robot used by the invention can be assembled in a detachable way, and the tail end of the mechanical arm is provided with a multi-head quick change tool, so that the structure is more, and the assembly process is more flexible; the single space multi-arm robot can be applied as a space climbing robot, climbing is carried out on a large-scale space surface and a planet surface, and stability and flexibility are improved; the tree/network combination scheme of the space robot is provided, capturing and maintaining can be performed on non-cooperative targets and oversized targets, and the working scale, flexibility and rigidity are improved.
Drawings
FIG. 1 is a schematic structural diagram of a spatial multi-arm robot according to the present invention;
FIG. 2 is a schematic structural view of a climbing robot according to the present invention;
FIG. 3 is a schematic structural diagram of a capture robot according to the present invention;
FIG. 4 is a schematic view of a spatial robot network according to the present invention;
FIG. 5 is a schematic structural view of an arm extension tree space robot according to the present invention;
FIG. 6 is a schematic structural diagram of the spatial robot with tree-like shape 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-like space robot according to the present invention;
fig. 9 is a schematic structural view of a closed frame tree space robot according to the present invention.
The method comprises the following steps of 1-base, 2-quick-change interface, 3-universal joint, 4-multi-head quick-change tool, 5-arm rod, 6-translational joint, 7-grabbing mechanism, 8-wall surface, 9-grabbing robot, 10-target and 11-robot cell.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1-9 for explaining the present embodiment, a spatial tree net type robot includes a plurality of spatial multi-arm robots, the plurality of spatial multi-arm robots are cooperatively connected, each spatial multi-arm robot includes a base 1 and a plurality of mechanical arms, the plurality of mechanical arms are arranged along the circumferential direction of the base 1, each mechanical arm includes three universal joints 3, two arm levers 5 and two translational joints 6, one end of each of the two arm levers 5 is connected through one universal joint 3, the other two universal joints 3 are respectively mounted at the other ends of the two arm levers 5, each arm lever 5 is provided with one translational joint 6, the interface end of each mechanical arm is connected with the base 1 through a quick-change interface 2, and the connection end of each mechanical arm is connected with a multi-head quick-change tool 4.
The tree net type robot comprises a plurality of space multi-arm robots between the embodiment, the configuration of a single multi-arm robot is as shown in figure 1, and a plurality of detachable mechanical arms are uniformly distributed on a characteristic plane of a base. Each robot arm is a redundant robot arm with eight degrees of freedom. The single space multi-arm robot has very many degrees of freedom, so the flexibility is higher. Each mechanical arm can be disassembled and assembled, and the interface end close to the base 1 can be butted with the connecting end. The connecting end of the mechanical arm is provided with a plurality of multi-head quick-change tools 4, which can allow the connecting ends of the mechanical arm to be mutually butted.
Each mechanical arm can be independently disassembled and reassembled to realize the metamorphism and the self-parallel connection, the system rigidity is enhanced, and the positioning precision is improved. The empty mechanical arm can be disassembled, assembled and prolonged, the working range is expanded or a tree fork structure is formed, double-arm capture and cooperative operation are carried out, and the empty mechanical arm can be reconstructed into a serial-parallel hybrid system to realize task-oriented drive optimization adaptation. The combination body formed by a plurality of spatial multi-arm robots can be combined into a small robot tree, so that cooperative control is realized, and the driving capability and rigidity of the system are improved; and the robot can be combined into a large-scale mesh robot to capture a super-large target or perform cooperative operation aiming at a super-large structure. When a plurality of spatial multi-arm robots are assembled into a tree fork system, the interface end of the mechanical arm close to the base 1 needs to be in butt joint with the connecting ends of other mechanical arms, and the connecting ends of the mechanical arm need to be in butt joint with the connecting ends of other mechanical arms. When a plurality of space multi-arm robots are assembled into a net-shaped robot assembly, the connecting ends of the mechanical arms need to be in butt joint with the connecting ends of other mechanical arms.
As shown in fig. 2, bull quick change instrument 4 links to each other with snatching mechanism 7, forms the climbing robot, and the climbing robot realizes climbing wall 8 through snatching the stop that mechanism 7 can be stable in the climbing surface, later climbs the whole removal of robot.
As shown in fig. 3, the plurality of mechanical arms are folded inwards to form a gripping posture, so as to form a capturing robot 9, the capturing robot 9 captures a target 10, the non-cooperative target 10 to be captured is captured in a manner of strong grabbing and gripping of a robot-simulated dexterous hand by the space multi-arm robot, and the target in this embodiment is a satellite.
As shown in fig. 4, the robot arms of the plurality of spatial multi-arm robots are spread out to form a planar robot structure, the robot arms of each robot are symmetrical in angle to form robot cells 11, and the plurality of robot cells 11 are connected in sequence through the robot arms to form a mesh-shaped spatial robot, which can be laid into a net.
As shown in fig. 5, the connecting end of one mechanical arm of the spatial multi-arm robot is connected with the interface end of another mechanical arm through the multi-head quick-change tool 4, so as to extend the mechanical arm, and the extended mechanical arm connecting end is still provided with the multi-head quick-change tool 4.
As shown in fig. 6, the interface ends of two mechanical arms in the space dobby robot are disconnected from the quick-change interface 2, and the connecting ends of the two mechanical arms are connected with the connecting end of the other mechanical arm through the multi-head quick-change tool 4, so that the ultra-long-distance double-arm cooperative operation is realized.
As shown in fig. 7, the connecting ends of three non-adjacent mechanical arms in the space dobby robot are connected through a multi-head quick-change tool 4, so as to realize self-parallel operation.
As shown in fig. 8, the connecting ends of three non-adjacent mechanical arms in the spatial multi-arm robot are connected through a multi-head quick-change tool 4, and after connection, the interface end of one of the mechanical arms is disconnected from the quick-change interface 2.
As shown in fig. 9, the number of the spatial multi-arm robots is three, each spatial multi-arm robot selects three non-adjacent mechanical arms, and the three non-adjacent mechanical arms in the three spatial multi-arm robots sequentially connect the connecting ends of the mechanical arms through the multi-head quick-change tool 4. Three nonadjacent mechanical arms are selected on the three space multi-arm robots, one mechanical arm is selected on each of the three space multi-arm robots according to a certain sequence, the three space multi-arm robots are connected, and the phenomenon that intersection cannot be caused is noticed.
In the embodiment, the number of the mechanical arms of each space multi-arm robot is six, the flywheel and the spray pipe are arranged on the base 1, and the universal joint 3 and the translational joint 6 are driven by the motor.
The spatial tree network robot provided by the invention is described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A spatial tree net type robot, its characterized in that: the multi-arm robot comprises a plurality of space multi-arm robots, the space multi-arm robots are matched and connected, each space multi-arm robot comprises a base (1) and a plurality of mechanical arms, the mechanical arms are arranged along the circumferential direction of the base (1), each mechanical arm comprises three universal joints (3), two arm rods (5) and two translational joints (6), one ends of the two arm rods (5) are connected through one universal joint (3), the other two universal joints (3) are respectively installed at the other ends of the two arm rods (5), each arm rod (5) is provided with one translational joint (6), the interface end of each mechanical arm is connected with the base (1) through a quick-change interface (2), the connecting end of each mechanical arm is connected with a multi-head tool (4), and the number of the mechanical arms of each space multi-arm robot is six.
2. The spatial tree net robot as claimed in claim 1, wherein: bull quick change instrument (4) link to each other with snatching mechanism (7), form the climbing robot, the climbing robot realizes climbing wall (8) through snatching mechanism (7).
3. The spatial tree network robot of claim 1, wherein: the mechanical arms are folded inwards to form a gripping gesture, so that the catching robot (9) is formed, and the catching robot (9) catches the target (10).
4. The spatial tree network robot of claim 1, wherein: the mechanical arms of the space multi-arm robots are all spread out to form a planar robot structure, the mechanical arm angles of each robot are symmetrical to form robot cells (11), and the robot cells (11) are sequentially connected through the mechanical arms to form the reticular space robot.
5. The spatial tree network robot of claim 1, wherein: the connecting end of one mechanical arm of the space multi-arm robot is connected with the interface end of the other mechanical arm through a multi-head quick-change tool (4).
6. The spatial tree network robot of claim 1, wherein: the interface ends of two mechanical arms in the space dobby robot are disconnected with the quick-change interface (2), and the connecting ends of the two mechanical arms are connected with the connecting end of the other mechanical arm through a multi-head quick-change tool (4).
7. The spatial tree network robot of claim 1, wherein: the connecting ends of three non-adjacent mechanical arms in the spatial multi-arm robot are connected through a multi-head quick-change tool (4).
8. The spatial tree network robot of claim 1, wherein: the connecting ends of three non-adjacent mechanical arms in the spatial multi-arm robot are connected through a multi-head quick-change tool (4), and after connection, the interface end of one mechanical arm is disconnected with the quick-change interface (2).
9. The spatial tree network robot of claim 1, wherein: the number of the spatial multi-arm robots is three, each spatial multi-arm robot selects three nonadjacent mechanical arms, and the three nonadjacent mechanical arms in the three spatial multi-arm robots sequentially connect the connecting ends of the mechanical arms through a multi-head quick-change tool (4).
10. The spatial tree net robot according to any one of claims 1-9, wherein: the base (1) is provided with a flywheel and a spray pipe, and the universal joint (3) and the translational joint (6) are driven by a motor.
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| CN202110279482.9A CN113059548B (en) | 2021-03-16 | 2021-03-16 | Spatial tree net type robot |
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| CN202110279482.9A CN113059548B (en) | 2021-03-16 | 2021-03-16 | Spatial tree net type robot |
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| CN115072011B (en) * | 2022-06-28 | 2023-04-14 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
| CN115416874B (en) * | 2022-08-22 | 2023-09-29 | 哈尔滨工业大学（深圳） | Modularized reconfigurable multi-arm spacecraft and reconstruction method thereof |
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