CN115465479A - Spatial multi-limb reconfigurable robot - Google Patents
Spatial multi-limb reconfigurable robot Download PDFInfo
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- CN115465479A CN115465479A CN202211060128.8A CN202211060128A CN115465479A CN 115465479 A CN115465479 A CN 115465479A CN 202211060128 A CN202211060128 A CN 202211060128A CN 115465479 A CN115465479 A CN 115465479A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a space multi-limb reconfigurable robot, and belongs to the field of space on-orbit reconfigurable robots. The problem of to space task demands such as current large-scale spacecraft platform in-orbit equipment, maintenance, how to satisfy low-cost, easily arrange, easy maintenance, increase flexibility, the variable structure nature of robot, intelligent, function expansibility is solved. The space multi-limb variable robot comprises a base body, a plurality of mechanical arms, a quick-assembly and quick-change device and a terminal tool, wherein the base body is connected with the mechanical arms, the terminal tool is installed on each mechanical arm, and the quick-assembly and quick-change device is arranged between each mechanical arm and the base body, between each mechanical arm and each mechanical arm, and between each mechanical arm and each terminal tool, and is used for completing quick connection between structures. The invention has the capabilities of flexible topology change, flexible movement, multifunctional operation, multi-arm cooperative operation, networking cooperation and the like, and can be used for complex tasks of capturing, butting, assembling, maintaining and the like of various targets in the future space.
Description
Technical Field
The invention belongs to the technical field of space on-orbit reconfigurable robots, and particularly relates to a space multi-limb reconfigurable robot.
Background
With the development of aerospace technology, the development of spacecraft platforms presents a large-scale trend, large-scale spacecraft comprises a large-scale space station, a space solar power station, a large-scale space telescope, a space resource transfer station and the like in the future, the scale of the large-scale spacecraft can reach kilometer magnitude, the whole volume and weight of the spacecraft can far exceed the carrying capacity of the existing carrier rocket, and the spacecraft is difficult to adopt a single-launch mode for one-time orbit entry.
The existing effective solution is to modularize and disassemble the large spacecraft, adopt a mode of multiple launching to enter the orbit in batches, perform modular assembly and development on the orbit, and simultaneously require flexible assembly mode, high efficiency and strong reliability.
At present, space manipulators are mainly adopted for carrying out auxiliary butt joint, assembly, module transfer and the like (such as those of an international space station) on a large-scale spacecraft platform, but the traditional single service manipulator has the problems of low moving speed, limited working range, low rigidity, low assembly efficiency, single function, high manufacturing cost and the like, and can not meet the on-orbit assembly requirements of the future large-scale spacecraft. Therefore, aiming at increasingly complex space task requirements of on-orbit assembly, maintenance and the like of a future large-scale spacecraft platform, the flexibility, the variable structurability, the intellectualization and the function expansibility of the robot are increased while the requirements of low cost, easy deployment and easy maintenance are met, and the development trend of the future space service robot is shown.
Disclosure of Invention
In view of the above, the present invention is directed to a spatial multi-limb reconfigurable robot, so as to solve the above-mentioned problems in the background art. The space multi-limb variable-structure robot has the capabilities of flexible topology change, flexible movement, multifunctional operation, multi-arm cooperative operation, networking cooperation and the like, and can be used for complex tasks of capturing, butting, assembling, maintaining and the like of various targets in the future space.
In order to achieve the purpose, the invention adopts the following technical scheme: a space multi-limb reconfigurable robot comprises a base body, a plurality of mechanical arms, a quick-assembly and quick-change device and a tail end tool, wherein the base body is connected with the mechanical arms, each mechanical arm is provided with the tail end tool,
and quick-mounting and quick-changing devices are arranged between the mechanical arm and the base body, between the mechanical arm and between the mechanical arm and the end tool and used for completing quick connection between structures.
Furthermore, the tail end tool is stored in a tail end tool storage groove when the tail end tool is idle, and a proper tool is taken out from the groove by the quick-mounting and quick-changing device during working, wherein the tail end tool set comprises a clamping jaw, a skillful hand, a screwdriver tool, a shearing pliers tool, a spray pipe tool, a hammer head tool and a saw cutter tool.
Furthermore, the quick-assembly and quick-change device comprises an active connecting mechanism and a passive connecting mechanism, wherein the active connecting mechanism is connected with the passive connecting mechanism or the active connecting mechanism is connected with the active connecting mechanism;
the active connecting mechanism comprises a motor supporting sleeve, an upper connecting disc, a driving motor, a locking detection switch bracket, an active locking mechanism lower disc, a first guide groove, a plurality of quick-mounting quick-change clamping jaws, an active locking mechanism upper disc, a plurality of T-shaped connecting nuts, a threaded lead screw, a plurality of clamping jaw driving sliding blocks, a plurality of sliding rods and an upper disc clamping groove;
a driving motor is arranged in the motor supporting sleeve and used for driving a threaded lead screw at the rear end to rotate, the threaded lead screw rotates to drive a T-shaped connecting nut matched with the threaded lead screw to move up and down in a translation mode, the T-shaped connecting nut is fixedly connected with a clamping jaw driving sliding block through a screw so as to drive a clamping jaw driving sliding block to move up and down in a translation mode on a sliding rod, the clamping jaw driving sliding block is hinged to a quick-assembly quick-change clamping jaw and further drives the quick-assembly quick-change clamping jaw to contract and open, and the motor supporting sleeve is connected with a lower disc of an active locking mechanism through an upper connecting disc; the quick-assembly and quick-change clamping jaw is used for interacting with the passive connecting mechanism to realize the functions of clamping, grabbing and butting.
Furthermore, the locking detection switch is used for detecting the stroke of the threaded screw rod, when the threaded screw rod rotates and the quick-assembly quick-change clamping jaw is closed, the clamping jaw driving sliding block is driven to move downwards and reaches the bottom of the guide rail sliding rod, the metal contact piece on the clamping jaw driving sliding block is contacted with the locking detection switch to generate an electric signal which is transmitted to the driving motor, and the driving motor stops rotating and is locked.
Furthermore, the passive connecting mechanism comprises a second guide groove, a passive connecting mechanism electrical interface, a passive connecting mechanism positioning groove, a passive connecting mechanism positioning pin and a passive connecting mechanism flange; the active locking mechanism hanging wall is the part which is in direct contact with the butted object during butt joint, an active connecting mechanism locating pin and an active connecting mechanism locating slot are arranged on the active locking mechanism hanging wall and correspond to the passive connecting mechanism locating slot and the passive connecting mechanism locating pin, and an active connecting mechanism electrical interface and a passive connecting mechanism electrical interface are mainly used for connection of an electrical path in the butt joint process.
Furthermore, the active connecting mechanism is carried at the tail end of the space manipulator and takes the functions of active grabbing and butt joint; the active connecting mechanism is fixedly connected with the tail end of the space manipulator through a bottom flange of the active connecting mechanism.
Furthermore, the three quick-mounting and quick-changing clamping jaws move in a parallel connection mode, the quick-mounting and quick-changing clamping jaws move in the clamping jaw sliding grooves, and the clamping jaw sliding grooves are hinged with the clamping jaw supports, so that the translational motion of the clamping jaw driving sliding blocks is converted into the opening and closing motion of the quick-mounting and quick-changing clamping jaws.
Furthermore, the pre-tightening spring is positioned behind the clamping jaw driving slide block and used for improving the clamping stress and reducing the contact rigidity, so that the mechanism is prevented from being damaged by extrusion deformation due to direct contact.
Furthermore, the base body is of a regular hexagon geometry and is internally provided with an aluminum alloy frame structure.
Furthermore, a control system, a circuit system, a communication system, a thermal control system, a measuring system and a tool storage tank are installed in the base body, when a tool is selected, the mechanical arm carries the quick-mounting and quick-changing device to clamp the tool storage tank, and a proper tail end tool is selected.
Compared with the prior art, the spatial multi-limb reconfigurable robot has the beneficial effects that:
1. the space multi-limb reconfigurable robot adopts a cooperative operation mode of a plurality of mechanical arms, has more output ports compared with the traditional single mechanical arm, and has good adaptability to various complex space tasks in the future.
2. The space multi-limb variable-configuration robot has the capability of variable topology, can realize serial/parallel change of configuration by utilizing the quick-mounting and quick-changing module, greatly expands the working space and improves the driving capability and rigidity of a system.
3. The space multi-limb variable-configuration robot is composed of a free floating base body, a plurality of mechanical arms which are detachably assembled and various on-rail tail end operating tools, wherein the mechanical arms are connected with the base body, the mechanical arms are connected with the mechanical arms, the mechanical arms are connected with the tail end operating tools through quick-mounting and quick-changing devices, and the space multi-limb variable-configuration robot has various capabilities of topology change, cooperative networking, space flexible movement, multifunctional assembly and the like.
4. The quick-assembly and quick-change module provided by the invention has the advantages of machinery, a power supply and a communication interface, so that the space multi-limb variable-structure robot has the characteristics of modularization, variable topology, multiple functions and the like, and is suitable for various on-orbit tasks of a future spacecraft.
5. The quick-mounting and quick-changing device adopts a parallel three-jaw locking mechanism design, has a simple structure and high reliability, and is suitable for an extreme space working environment.
6. The quick-mounting and quick-changing device adopts a V-shaped guide groove design, can guide the movement of the clamping jaw in the butt joint process, realizes the posture correction between the two butt joint devices, meets the requirement of more accurate butt joint precision, and is suitable for space butt joint tasks under the conditions of low visual degree and high control time delay.
7. The quick-mounting and quick-changing device adopts a 'isomorphic design', not only can realize the butt joint of the driving end and the driven end, but also supports the mutual butt joint of the two driving ends, and the design can lead the space mechanical arm with the quick-mounting and quick-changing device carried at the tail end to realize the functions of 'multi-arm cooperation', 'flexible structure change' and the like.
8. The quick-mounting and quick-changing device is additionally provided with a pre-tightening mechanism, namely a pre-tightening spring mechanism, the mechanism can realize soft contact in the butt joint collision process, the buffer is increased, the damage of rigid collision to the mechanism is avoided, and larger pre-tightening force can be exerted by using a spring, so that the butt joint is firmer and more stable.
9. The quick-mounting and quick-changing device has the characteristics of high mechanical connection reliability, fast-plugging-supporting electrical interfaces, strong self-correcting capability under the condition of large interference, high expansibility of modular design, isomorphic structural design of variant bodies and the like, and is suitable for the task requirement of unmanned on-orbit operation of a future spacecraft.
10. The quick-assembling and quick-changing device is used as an on-orbit connecting device, has unique mechanical interfaces and electrical interfaces, can stably and quickly connect various on-orbit space modules together to form a whole with electromechanical integration, such as between the tail end of an on-orbit mechanical arm and the tail end of another mechanical arm, between the tail end of the mechanical arm and various on-orbit tools, between the tail end of the mechanical arm and a target star, between two butted small spacecrafts and the like.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an overall device of a spatial multi-limb reconfigurable robot;
FIG. 2 is a spatial multi-limb reconfigurable robot tip toolset;
FIG. 3 is a schematic view of the working principle of the quick-mounting and quick-changing device of the space multi-limb reconfigurable robot;
fig. 4 is a first schematic diagram of an explosion structure of a fast-assembling and fast-replacing device facing a space on-track service;
fig. 5 is a schematic diagram of an explosion structure of a fast-assembling and fast-replacing device facing space on-orbit service;
fig. 6 is a front sectional view and a top view of the quick-mounting and quick-changing device in an opened and closed state, wherein (a) shows the front sectional view in the opened state, (b) shows the top view in the opened state, (c) shows the front sectional view in the closed state, and (d) shows the top view in the closed state;
FIG. 7 is a schematic view of a state in which the driving ends of two quick-mounting and quick-changing devices are butted with each other;
FIG. 8 is a schematic diagram showing a state of the quick-mounting and quick-change device in which the active end and the passive end (tool end) are completely butted against each other;
FIG. 9 is a diagram illustrating the on-orbit operation of a satellite using a quick-mounting and quick-change device to connect a terminal tool;
FIG. 10 illustrates the in-orbit docking of two satellites using a quick-mounting and quick-changing device;
FIG. 11 is a schematic view of a space multi-limb reconfigurable robot carrying satellite platform;
FIG. 12 is a schematic diagram of a multi-camera-based target three-dimensional measurement and reconstruction of a spatial multi-limb reconfigurable robot;
fig. 13 is a schematic diagram of a space multi-limb variable robot embracing transfer target satellite;
FIG. 14 is a first schematic diagram illustrating a space multi-limb reconfigurable robot grabbing in a topology-changing manner;
FIG. 15 is a schematic diagram of a space multi-limb variable robot variable-topology grabbing;
FIG. 16 is a schematic diagram of the cooperative operation of a spatial multi-limb reconfigurable robot;
FIG. 17 is a schematic diagram of the crawling movement of a spatial multi-limb reconfigurable robot;
FIG. 18 is a schematic view of the assembly operation of the spatial multi-limb reconfigurable robot;
FIG. 19 is a schematic diagram of the collaborative networking of a multi-space multi-limb reconfigurable robot
Reference numerals: 1-a space multi-limb reconfigurable robot, 101-a base body, 102-a mechanical arm, 103-a vision measuring system, 104-a quick-mounting quick-change clamping jaw, 105-a quick-mounting quick-change interface, 106-a terminal tool and 107-a terminal tool storage tank; 2-end tool set, 201-first clamping jaw, 202-dexterous hand, 203-screwdriver tool, 204-shearing pliers tool, 205-nozzle tool, 206-hammer head tool, 207-saw tool; 3-fast-assembly and quick-change device, 1-1-active connecting mechanism bottom flange; 1-2-motor support sleeve; 1-3-upper connecting disc; 1-4-driving the motor; 1-5-locking the detection switch; 1-6-locking a detection switch bracket; 1-7-lower disc of active locking mechanism; 1-8-a guide groove; 1-10-jaw sliding grooves; 1-11-jaw holder; 1-12-an upper plate of an active locking mechanism; 1-13-threaded lead screw bearing; 1-14-T type connecting nut; 1-15-threaded lead screw; 1-16-jaw drive slide; 1-17-a slide bar; 1-18-pre-tightening the spring; 1-19-upper disk card slot; 1-20-active connection mechanism electrical interface; 1-21-positioning pins of the active connection mechanism; 1-22-positioning groove of active connecting mechanism; 2-1-second guide groove; 2-2-passive connection mechanism electrical interface; 2-3-passive connecting mechanism positioning groove; 2-4-passive connection mechanism positioning pin; 2-5-passive connection mechanism flange; 4-camera.
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. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
1. First embodiment, referring to fig. 1 to 19 to illustrate the present embodiment, a space multi-limb reconfigurable robot comprises a base 101, a plurality of robot arms 102, a quick-change device and an end tool 106, wherein the base 101 is connected with the plurality of robot arms 102, each robot arm 102 is provided with the end tool 106,
the quick-mounting and quick-changing device 3 is arranged between the mechanical arm 102 and the base body 101, between the mechanical arm 102 and between the mechanical arm 102 and the end tool 106, and is used for completing quick connection between structures.
The end tools 106 are stored in end tool storage slots 107 at idle and the appropriate tools are retrieved from the slots by the quick change tool changer 104 during operation.
The tip kit 2 includes a first jaw 201, dexterous hand 202, screwdriver tool 203, shear-pliers tool 204, nozzle tool 205, hammer head tool 206, and saw blade tool 207..
The base body 101 is a regular hexagon geometric body and is internally provided with an aluminum alloy frame structure.
The end toolset includes: 1) Clamping jaw device: through the design of staggered clamping teeth, the device can adaptively grab cylindrical trusses with different diameters so as to realize crawling on the trusses and grabbing and transferring of various objects; 2) Dexterous hand device: through the structural design of the bionic hand, the bionic hand has 15 degrees of freedom and can operate various tools delicately and finely; 3) Screwdriver tool means: by carrying various types of cutters, the screw on a space target can be screwed and released, and the maintenance and the disassembly are convenient; 4) Nozzle tooling apparatus: the pressure container tank connected to the base can spray gas to drive the robot to float via reaction force; 5) Cutting pliers instrument, tup instrument, saw sword tool device: and carrying out various corresponding operations on the target.
The base body 101 of the space multi-limb variable-structure robot is a regular hexagon geometric body with the side length of 0.3m and the height of 0.2m, is internally provided with an aluminum alloy frame structure, and has good structural strength and light weight. As a 'trunk' of the space multi-limb reconfigurable robot, each surface of the base body 101 is provided with a quick-assembly quick-change module interface, 6 interfaces are distributed, 6 mechanical arm branches can be connected at most, and the space multi-limb reconfigurable robot has motion flexibility and function expansibility due to abundant interface arrangement.
Meanwhile, the base body 101 is also used as the brain of the space multi-limb reconfigurable robot, is the operation core of the space multi-limb reconfigurable robot, and is loaded with a control system, a circuit system, a communication system, a thermal control system, a measurement system, a tool storage base 107 and the like, when a tool is selected, the mechanical arm is loaded with a quick-mounting and quick-changing device 104 to clamp the tool from a tool storage tank 107, and a proper end tool is selected.
The control system is mainly responsible for generating decision and control signals based on a designed control algorithm according to superior control instructions and issuing control instructions to a plurality of spatial mechanical arm systems carried by the control system so as to execute various spatial tasks. The circuit system is responsible for providing power distribution and supply when the space multi-limb reconfigurable robot runs, the solar wing can greatly compress the working space of the mechanical arm, and the space multi-limb reconfigurable robot adopts a rechargeable power supply, so that before power is exhausted, the space multi-limb reconfigurable robot can be supplemented with electric energy through a power station moved to a base space station to realize long-time on-orbit work. The thermal control system is responsible for adjusting the working temperature of the robot during operation and ensuring the normal work of the space multi-limb reconfigurable robot unit in the space extreme environment. The communication system is responsible for receiving and transmitting various signals in the operation process of the robot, and comprises internal data transmission of the space multi-limb variable robot unit, communication between the space multi-limb variable robot unit and a superior system (a foundation control platform, a space-based control platform and the like), and communication between the space multi-limb variable robot units. The measuring system is used for collecting data of mechanisms such as a data sensor, a collector and the like arranged on the space multi-limb variable-structure robot and transmitting the data to the control system for calculation and analysis through the communication system.
The movable tool storage 107 is a tool storage for storing various on-orbit operation modules, such as tools like a paw, a screw and a pair of scissors, which is carried on the spatial multi-limb reconfigurable robot unit, and is convenient for executing various spatial operation tasks.
The detachable robotic arm 102 is comprised of several redundant robotic arms with seven degrees of freedom. The head section and the tail end are connected with the robot base body 101 or the tail end tool 106 through the fast-assembling and fast-changing device, and meanwhile, the robot base body has the characteristic of isomorphism between the head and the tail, and good configuration expansibility is guaranteed. The single detachable mechanical arm 102 has an extension length of 2m, has seven rotary joints, each joint is driven by a servo motor, has good precision and dynamic performance, and ensures flexibility and precision of space control.
The monocular cameras 4 are respectively arranged at the head end and the tail end of the space multi-limb variable robot mechanical arm system, and the eye-in0hand mode is adopted, and the functions of three-dimensional shape feature reconstruction, pose estimation and the like of various space targets (such as a space truss to be assembled, a star to be captured, a target to be maintained and the like) are realized by utilizing a plurality of groups of monocular cameras.
The quick-mounting and quick-changing device 3 comprises an active connecting mechanism and a passive connecting mechanism, wherein the active connecting mechanism is connected with the passive connecting mechanism or the active connecting mechanism is connected with the active connecting mechanism;
the active connecting mechanism comprises a motor supporting sleeve 1-2, an upper connecting disc 1-3, a driving motor 1-4, a locking detection switch 1-5, a locking detection switch bracket 1-6, an active locking mechanism lower disc 1-7, a first guide groove 1-8, a plurality of clamping jaws 104, an active locking mechanism upper disc 1-12, a plurality of T-shaped connecting nuts 1-14, a threaded screw rod 1-15, a plurality of clamping jaw driving sliding blocks 1-16, a plurality of sliding rods 1-17 and an upper disc clamping groove 1-19;
a driving motor 1-4 is arranged in the motor supporting sleeve 1-2 and used for driving a threaded lead screw 1-15 at the rear end to rotate, the threaded lead screw 1-15 rotates to drive a T-shaped connecting nut 1-14 matched with the threaded lead screw to move up and down in a translation manner, the T-shaped connecting nut 1-14 is fixedly connected with a clamping jaw driving sliding block 1-16 through a screw, so that the clamping jaw driving sliding block 1-16 is driven to move up and down in a translation manner on a sliding rod 1-17, the clamping jaw driving sliding block 1-16 is hinged to a clamping jaw 104 to further drive the clamping jaw 104 to contract and open, and the motor supporting sleeve 1-2 is connected with a lower disc 1-7 of an active locking mechanism through an upper connecting disc 1-3; the clamping jaw 104 is used for interacting with a passive connecting mechanism to realize the functions of clamping, grabbing and butting.
The locking detection switch 1-5 is used for detecting the stroke of the threaded lead screw 1-15, when the threaded lead screw 1-15 rotates and the clamping jaw 104 is closed, the clamping jaw is driven to drive the sliding block 1-16 to move downwards and reach the bottom of the guide rail sliding rod 1-17, the metal contact pieces on the sliding block 1-16 are driven by the clamping jaw to be in contact with the locking detection switch 1-5 to generate electric signals which are transmitted to the driving motor 1-4, and the driving motor 1-4 stops rotating and is locked.
The passive connecting mechanism comprises a second guide groove 2-1, a passive connecting mechanism electrical interface 2-2, a passive connecting mechanism positioning groove 2-3, a passive connecting mechanism positioning pin 2-4 and a passive connecting mechanism flange 2-5; the upper disc 1-12 of the active locking mechanism is a part which is directly contacted with an object to be butted in the butting process, an active connecting mechanism positioning pin 1-21 and an active connecting mechanism positioning groove 1-22 are arranged on the upper disc 1-12 and correspond to a passive connecting mechanism positioning groove 2-3 and a passive connecting mechanism positioning pin 2-4, an active connecting mechanism electrical interface 1-20 and a passive connecting mechanism electrical interface 2-2 are mainly used for connecting an electrical path in the butting process, and control signals and data of a motor and a sensor can be transmitted between the active connecting mechanism and the passive connecting mechanism through the connection of serial ports, so that the replacement and control of different tools at the tail end of the space manipulator and the transformation and control of the manipulator configuration can be realized.
The active connecting mechanism is carried at the tail end of the space mechanical arm and takes on the functions of active grabbing and butt joint; the active connecting mechanism is fixedly connected with the tail end of the space manipulator through a bottom flange 1-1 of the active connecting mechanism.
The three clamping jaws 104 move in a parallel mode, the clamping jaws 104 move in the clamping jaw sliding grooves 1-10, and the clamping jaw sliding grooves 1-10 are hinged with the clamping jaw supports 1-11, so that the translational motion of the clamping jaw driving sliding blocks 1-16 is converted into the opening and closing motion of the clamping jaws 104.
The pre-tightening springs 1-18 are arranged behind the clamping jaw driving sliding blocks 1-16 and used for improving clamping stress and reducing contact rigidity, so that the mechanism is prevented from being damaged by direct contact and extrusion deformation.
The driving motors 1-4 are stepping motors or servo motors.
The lower plate 1-7 of the active locking mechanism is connected with the clamping jaw support 1-11, the sliding rod 1-17 and the upper connecting plate 1-3.
An upper plate 1-12 of the active locking mechanism is connected with a clamping jaw support 1-11, a sliding rod 1-17 and a threaded lead screw bearing 1-13.
The upper disc concave clamping grooves 1-19 are positioned at the back of the upper disc 1-12 of the active locking mechanism, and when the active locking mechanism is used for butt joint, the clamping jaws 1-9 can fasten the grooves, so that the butt joint stability and reliability are improved.
The active connecting mechanism of the quick-assembly and quick-change device for space on-orbit service is isomorphic, namely the active connecting mechanism and the passive connecting mechanism are not divided into a male connecting mechanism and a female connecting mechanism, so that the active connecting mechanism and the passive connecting mechanism can be butted, the two active connecting mechanisms can also be butted with each other (as shown in figure 7), and the space manipulator is convenient to deform and expand tasks.
The passive connecting mechanism comprises a second guide groove 2-1, a passive connecting mechanism electrical interface 2-2, a passive connecting mechanism positioning groove 2-3, a passive connecting mechanism positioning pin 2-4 and a passive connecting mechanism flange 2-5. A first guide groove 1-8 is a V-shaped aluminum alloy plate, is positioned between a lower plate 1-7 of an active locking mechanism and an upper plate 1-12 of the active locking mechanism, and is fixed with a clamping jaw support 1-11, a second guide groove 2-1 has the same action with the first guide groove 1-8 and is used for helping a clamping jaw 1-9 to be positioned more accurately in a butt joint clamping process, the V-shaped design can be used for guiding the clamping jaw 1-9 to a narrower bottom groove when the clamping jaw 1-9 is contacted, accurate positioning butt joint is realized through posture correction, and the design is suitable for complex space working conditions with poor visual conditions and large control delay, and the reliability and the accuracy of butt joint are improved.
The upper disc 1-12 of the active locking mechanism is a part which is directly contacted with an object to be butted in the butt joint process, is provided with active connecting mechanism positioning pins 1-21 and active connecting mechanism positioning slots 1-22 which correspond to the passive connecting mechanism positioning slots 2-3 and the passive connecting mechanism positioning pins 2-4 and are mutually assembled in the butt joint process to play a role in limiting. Meanwhile, the conical design of the positioning groove and the positioning pin can guide the butt joint process, so that the butt joint is more reliable and accurate.
The active connecting mechanism electrical interface 1-20 and the passive connecting mechanism electrical interface 2-2 are mainly used for connecting electrical paths in a butt joint process, control signals and data of a motor and a sensor can be transmitted between an active end and a passive end through the connection of serial ports, and replacement and control of different tools at the tail end of the space manipulator and transformation and control of the configuration of the manipulator can be realized.
In this way, by locking and releasing the electrical interface of the quick-mounting and quick-changing device and the quick-mounting and quick-changing clamping jaws 104, the quick-mounting and quick-changing functions between the mechanical arm 102 and the mechanical arm 101, between the mechanical arm 102 and the mechanical arm 102, between the mechanical arm 102 and the end tool 106, and the like, which are detachably assembled, can be realized.
The quick-mounting and quick-changing device is provided with a circuit and a communication interface simultaneously so as to realize the connection of a power supply and communication between two devices. The quick-mounting and quick-change module enables the space multi-limb robot to have the capabilities of random reconfiguration, networking expansion and multifunctional operation, and is a unique core part of the space multi-limb reconfigurable robot.
The space multi-limb variable robot can realize group intelligence among multiple intelligent agents and has the characteristic that a plurality of space multi-limb variable robots cooperatively network to carry out space task work.
The space multi-limb variable robot is mainly applied to various tasks in a space environment, such as assembly, capture, butt joint, maintenance, attack, transfer and the like, and can also be applied to similar tasks in a gravitational environment (the earth and other planets and the like).
The space multi-limb variable robot is designed according to the bionics principle and referring to the structural characteristics, the motion mode, the behavior organization mode and the like of multi-limb animals such as ants, spiders and the like in nature. The space multi-limb reconfigurable robot comprises a robot base body, a plurality of detachable mechanical arms, a quick-assembly and quick-change module, a multifunctional space operation tool set and the like.
The embodiment discloses a space multi-limb variable-configuration robot, which is shown in the figure.
Fig. 1 is a system schematic diagram of a spatial multi-limb reconfigurable robot, which comprises a robot base body, six groups of seven-degree-of-freedom mechanical arms, a quick-assembling and quick-replacing device and a terminal space operation tool set.
Fig. 2 is a schematic diagram of a space operation tool set, which mainly comprises a screwdriver, a pair of scissors, an air injection nozzle, a hammer head, a saw blade, a clamping jaw, a dexterous hand and the like, and is used for various space tasks such as maintenance, capture, disassembly, assembly, transportation and the like.
Fig. 3 is a schematic diagram of the working principle of the quick-assembly and quick-change device of the spatial multi-limb reconfigurable robot, wherein the quick-assembly and quick-change device drives a screw rod by a tail end motor to drive three clamping jaws to realize the functions of opening and closing. The interface module is composed of three sliding grooves and a groove positioned at the bottom, and the clamping jaw slides into the groove at the bottom through the sliding grooves to realize firm locking between the clamping jaw and the interface. Furthermore, the sliding groove is designed into a V shape, the clamping jaw can be guided to slide into the groove, even if the posture of the clamping jaw and the interface has certain deviation, locking can be achieved, and certain self-calibration capability is achieved.
Fig. 11 is a schematic diagram of a space multi-limb reconfigurable robot carrying a satellite platform, wherein the robot can be "parasitized" on a conventional satellite platform, and uses a power supply, an inflation tank and the like of the satellite platform as an execution mechanism of the satellite to complete various tasks such as transfer, assembly and the like in cooperation with the satellite.
Fig. 12 is a schematic diagram of three-dimensional measurement and reconstruction of a target of the space multi-limb reconfigurable robot based on multiple cameras, and after approaching the target, multiple visual cameras mounted at the tail end of a mechanical arm perform all-around scanning on the target, so as to realize functions of three-dimensional feature reconstruction, pose estimation and the like of various space targets.
Fig. 14 is a schematic diagram of a space multi-limb variable-structure robot embracing and transferring a target satellite, wherein three mechanical arms are used for embracing a target satellite, and then the mechanical arms of which the tail ends are provided with air injection nozzle modules are used for carrying out attitude adjustment and track transfer. The air injection actuator module is carried at the tail end of the mechanical arm, and compared with the air injection actuator module arranged on a star body, the air injection actuator module has the advantages that larger attitude adjusting torque can be generated under the same condition, and the direction and the angle can be adjusted more flexibly.
Fig. 15 is a schematic diagram of a variable-topology grabbing of a spatial multi-limb reconfigurable robot, because the working space of a traditional mechanical arm is limited greatly and cannot be used in some complex spatial operation tasks, for example, special situations such as target proximity failure and excessive obstacles cannot be met, the spatial multi-limb reconfigurable robot can greatly expand the working space of the mechanical arm by adopting a variable-topology mode through a fast-assembly quick-change module, and can more flexibly execute various tasks.
Fig. 16 is a schematic diagram of cooperative operation of a spatial multi-limb reconfigurable robot, and by using a fast-assembling and fast-replacing device, the robot can arbitrarily form a serial/parallel topology structure, and by combining a designed control strategy and algorithm, cooperative control among multiple arms can be realized, and the driving capability and rigidity of a system are improved.
Fig. 17 is a schematic diagram of crawling movement of a space multi-limb reconfigurable robot, wherein a truss is clamped by using a tail clamping jaw, and meanwhile, flexible movement on the space truss is realized by matching several groups of mechanical arms with alternative movement.
Fig. 18 is a schematic diagram of the assembly operation of the space multi-limb reconfigurable robot, and the on-orbit splicing and assembly of the large spacecraft structure can be realized by using the terminal space operation tool.
Fig. 19 is a schematic diagram of the cooperative networking operation of a plurality of spatial multi-limb reconfigurable robots. In the assembly process of a large-scale structure, the large-scale structure is large in size and generally has large flexibility, vibration and even damage can be caused easily in the operation process, a target can be operated by the aid of the cooperation of a plurality of space multi-limb variable structure robots, and working efficiency, operation safety and precision can be greatly improved.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. A space multi-limb reconfigurable robot is characterized in that: comprises a base body (101), a plurality of mechanical arms (102), a quick-mounting and quick-changing device and a terminal tool (106), wherein the base body (101) is connected with the mechanical arms (102), each mechanical arm (102) is provided with the terminal tool (106),
and quick-mounting and quick-changing devices (3) are arranged between the mechanical arm (102) and the base body (101), between the mechanical arm (102) and between the mechanical arm (102) and the end tool (106) and used for completing quick connection between structures.
2. The space multi-limb reconfigurable robot of claim 1, wherein: the end tools (106) are stored in end tool storage slots (107) from which the appropriate tools are removed by the quick change (3) during operation.
3. The space multi-limb reconfigurable robot of claim 1, wherein: the tail end tool set (2) comprises a first clamping jaw (201), a dexterous hand (202), a screwdriver tool (203), a shearing pliers tool (204), a spray pipe tool (205), a hammer head tool (206) and a saw blade tool (207).
4. The space multi-limb reconfigurable robot of claim 1, wherein: the quick-mounting and quick-changing device (3) comprises an active connecting mechanism and a passive connecting mechanism, wherein the active connecting mechanism is connected with the passive connecting mechanism or the active connecting mechanism is connected with the active connecting mechanism;
the active connecting mechanism comprises a motor supporting sleeve (1-2), an upper connecting disc (1-3), a driving motor (1-4), a locking detection switch (1-5), an active locking mechanism lower disc (1-7), a first guide groove (1-8), a plurality of quick-mounting quick-change clamping jaws (104), an active locking mechanism upper disc (1-12), a plurality of T-shaped connecting nuts (1-14), a threaded lead screw (1-15), a plurality of clamping jaw driving sliding blocks (1-16), a plurality of sliding rods (1-17) and an upper disc clamping groove (1-19);
a driving motor (1-4) is arranged in the motor supporting sleeve (1-2) and used for driving a threaded lead screw (1-15) at the rear end to rotate, the threaded lead screw (1-15) rotates to drive a T-shaped connecting nut (1-14) matched with the threaded lead screw to move up and down in a translation manner, the T-shaped connecting nut (1-14) is fixedly connected with a clamping jaw driving sliding block (1-16) through a screw, so that the clamping jaw driving sliding block (1-16) is driven to move up and down in a translation manner on a sliding rod (1-17), the clamping jaw driving sliding block (1-16) is hinged with a quick-change clamping jaw (104) to drive the quick-change clamping jaw (104) to contract and open, and the motor supporting sleeve (1-2) is connected with a lower disc (1-7) of an active locking mechanism through an upper connecting disc (1-3); the quick-mounting and quick-change clamping jaw (104) is used for interacting with a passive connecting mechanism to realize the functions of clamping, grabbing and butting.
5. The space multi-limb reconfigurable robot of claim 4, wherein: the locking detection switch (1-5) is used for detecting the stroke of the threaded lead screw (1-15), when the threaded lead screw (1-15) rotates and the quick-assembly quick-change clamping jaw (104) is closed, the clamping jaw is driven to drive the sliding block (1-16) to move downwards and reach the bottom of the guide rail sliding rod (1-17), the metal contact piece on the clamping jaw driving sliding block (1-16) is contacted with the locking detection switch (1-5) to generate an electric signal which is transmitted to the driving motor (1-4), and the driving motor (1-4) stops rotating and is locked.
6. The space multi-limb reconfigurable robot of claim 4, wherein: the passive connecting mechanism comprises a second guide groove (2-1), a passive connecting mechanism electrical interface (2-2), a passive connecting mechanism positioning groove (2-3), a passive connecting mechanism positioning pin (2-4) and a passive connecting mechanism flange (2-5); the upper plate (1-12) of the active locking mechanism is a part which is directly contacted with an object to be butted in the butting process, an active connecting mechanism positioning pin (1-21) and an active connecting mechanism positioning groove (1-22) are arranged on the upper plate and correspond to a passive connecting mechanism positioning groove (2-3) and a passive connecting mechanism positioning pin (2-4), an active connecting mechanism electrical interface (1-20) and a passive connecting mechanism electrical interface (2-2) are used for connecting an electrical path in the butting process, and control signals and data of a motor and a sensor can be transmitted between the active connecting mechanism and the passive connecting mechanism through the connection of serial ports, so that the replacement and control of different tools at the tail end of the space manipulator and the transformation and control of the configuration of the manipulator can be realized.
7. The space multi-limb reconfigurable robot of claim 4, wherein: the active connecting mechanism is carried at the tail end of the space mechanical arm and takes on the functions of active grabbing and butt joint; the active connecting mechanism is fixedly connected with the tail end of the space manipulator through a bottom flange (1-1) of the active connecting mechanism.
8. The space multi-limb reconfigurable robot of claim 4, wherein: the three quick-mounting and quick-changing clamping jaws (104) move in a parallel connection mode, the quick-mounting and quick-changing clamping jaws (104) move in the clamping jaw sliding grooves (1-10), and the clamping jaw sliding grooves (1-10) are hinged with the clamping jaw supports (1-11), so that the translational motion of the clamping jaw driving sliding blocks (1-16) is converted into the opening and closing motion of the quick-mounting and quick-changing clamping jaws (104).
9. The space multi-limb reconfigurable robot of claim 4, wherein: the pre-tightening springs (1-18) are positioned behind the clamping jaw driving sliding blocks (1-16) and are used for improving the clamping stress and reducing the contact rigidity, so that the mechanism is prevented from being damaged by extrusion deformation due to direct contact.
10. A spatial multi-limb reconfigurable robot according to claim 1, wherein: the base body (101) is a regular hexagon geometric body and is internally provided with an aluminum alloy frame structure.
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