Reconfigurable rigid-flexible coupling space on-orbit assembly robot

Abstract

The invention relates to the technical field of space on-orbit robots, in particular to a reconfigurable rigid-flexible coupling space on-orbit assembly robot which comprises a spacecraft cluster, a lifting type parallel robot, a flexible cable system, a flexible cable driving platform, a mechanical arm module and a bistable self-adaptive clamping jaw module. A spacecraft cluster is used as a base, and the modular reconfigurable characteristic is achieved; the lifting type parallel robot located at the bottom of the spacecraft cluster executes position and posture fine adjustment of the spacecrafts by dynamically adjusting the position and posture of a movable platform of the lifting type parallel robot, when an assembly task is executed, the spacecraft cluster reaches a designated position, the relative position and posture between the spacecrafts in the spacecraft cluster are adjusted according to the requirement of the assembly task, and reconstruction of the robot is achieved; the multi-stage and multi-task on-orbit operation adaptive capacity is achieved, on-orbit operation of a variable-size and unstructured space target can be effectively executed, and the operation stability and robustness in the unstable space environment are remarkably enhanced.

Description

Technical Field

[0001] This invention relates to the field of space on-orbit robot technology, and specifically to a reconfigurable rigid-flexible coupled space on-orbit assembly robot. Background Technology

[0002] As human space exploration continues to expand and mission complexity increases, space-based operational equipment is facing higher-level and broader-dimensional technical challenges and performance requirements. Due to the payload volume limitations of launch vehicles, large-volume space operations cannot be pre-completed on the ground, thus giving rise to a variety of on-orbit auxiliary robots.

[0003] Current space-based robots can be divided into two categories, both primarily rigid robots. One category consists of robotic arms installed on spacecraft or space stations. These robotic arms typically use the space station or spacecraft as a base and complete on-orbit operations through single-arm movement or multi-arm collaboration. This approach is limited by the on-orbit movement of the base, making it unsuitable for large-scale, large-space operations. For on-orbit assembly tasks, rigid robots perform well in small-to-medium scale, high-rigidity, and deterministic environments, but they suffer from limited workspace, high collision risk, low fault tolerance, and significant disturbance to the base, hindering their efficient completion of on-orbit assembly tasks. The other category consists of attached climbing or wheeled robots. These robots are generally composed of reconfigurable modular components and connect to the target through standardized interfaces. They are highly mobile, easy to operate, and can complete the manufacturing and assembly tasks of targets in large spaces. However, these robots can only perform specific tasks and can only move within a specific range, making them unsuitable for various on-orbit operations.

[0004] Although the Chinese invention patent application with publication number CN117184462A provides a space station truss construction device and method based on on-orbit construction, which can manufacture and assemble truss structures of varying cross-sections and lengths on-orbit, is simple, efficient, highly automated, and can complete diversified truss assembly tasks, its own mechanism is complex, it needs to be attached to the experimental module, the system lacks flexibility, the device frame is large in volume, the actuator has little space for movement and little degree of freedom, making it difficult to achieve autonomous deployment in open unstructured scenarios.

[0005] Chinese invention application CN202510061600.7 provides an attached variable-configuration robot for on-orbit assembly, which can realize the configuration transformation of the manipulator arm in orbit to meet the configuration requirements of different tasks. It uses electromagnetic adsorption to fix the spacecraft and the robot, which is highly flexible and adaptable. However, the working space of the manipulator arm is limited by its own body. The electromagnetic chuck is only suitable for ferromagnetic spacecraft surfaces. When the four manipulator arms work together in a confined space, they are prone to collision. The structure is relatively complex and is not suitable for large-scale, high-precision on-orbit assembly tasks.

[0006] In conclusion, researching a space-based on-orbit assembly robot with a large workspace, high operational efficiency, strong task adaptability, and the ability to independently complete on-orbit operations is of significant practical value for various complex on-orbit missions. Summary of the Invention

[0007] The purpose of this invention is to provide a reconfigurable rigid-flexible coupled space on-orbit assembly robot, which improves the working range and efficiency of space on-orbit robots. This robot system features rigid-flexible coupling, modular reconfigurability, and high flexibility of the end effector, and can solve the technical problems of insufficient flexibility in the execution of current space on-orbit tasks and small working range.

[0008] The solution of the present invention to the above-mentioned technical problems is as follows: A reconfigurable rigid-flexible coupled space on-orbit assembly robot includes a spacecraft cluster, a lifting parallel robot, a flexible cable system, a flexible cable drive platform, a robotic arm module, and a bistable adaptive gripper module. The spacecraft cluster is positioned around the flexible cable drive platform, which is connected to the spacecraft cluster via a flexible cable system. The robotic arm module is mounted on the flexible cable drive platform, and the bistable adaptive gripper module is mounted below the spacecraft cluster via a lifting parallel robot to adjust and stabilize the attitude of the spacecraft cluster.

[0009] Further defining the spacecraft cluster, the spacecraft cluster comprises four spacecraft located on the same plane. The four spacecraft are arrayed around the periphery of the cable-driven platform. The spacecraft are all connected to the cable-driven platform via a cable system. An inertial measurement unit is installed on the left side of each spacecraft.

[0010] Further defined, the lifting parallel robot includes a lifting drive unit, a parallel robot, a spacecraft connector, and a lifting platform. The fixed end of the lifting drive unit is connected to the bottom of the spacecraft cluster through the spacecraft connector. The movable end of the lifting drive unit drives the lifting platform to move up and down. The lifting platform is connected to the parallel robot. The lifting drive unit is used to adjust the parallel robot to move closer to or further away from the spacecraft cluster.

[0011] Further defined, the lifting drive unit includes a servo motor, a transmission rod, a first support plate, a second support plate, and a synchronous transmission mechanism, wherein the synchronous transmission mechanism includes a driving wheel, a driven wheel, a first ball screw, and a first deep groove ball bearing; The servo motor is mounted on the spacecraft connector, which is connected to the first support plate. The first support plate is located above and connected to the second support plate. The transmission rod is connected between the first support plate and the second support plate and is rotatably connected to the first support plate and the second support plate respectively. The servo motor is connected to the upper part of the transmission rod. The drive wheel is sleeved on the transmission rod and is located between the first support plate and the second support plate. The lifting platform is located below the second support plate. The first ball screw is threadedly connected to the lifting platform through a first deep groove ball bearing. The top end of the first ball screw is rotatably connected to the second support plate. The driven wheel is sleeved on the first ball screw and is located above the second support plate. The drive wheel and the driven wheel are connected by a transmission. The rotation of the first ball screw drives the lifting platform to rise and fall along its axial direction.

[0012] Further specifying, the parallel robot includes a static platform, an active arm, a driven arm, a moving platform, a movable slider, and a space camera; The static platform is connected to the lifting platform, the drive end of the active arm is connected to the static platform, the connecting end of the active arm is hinged to the upper surface of the moving platform through the driven arm, a circular slide rail is provided on the periphery of the moving platform, the movable slider cooperates with the circular slide rail, and the bistable adaptive gripper module is movably connected to the moving platform through the movable slider. The space camera is connected to the bottom of the moving platform via a central plate. The space camera is also signal-connected to a movable slider, which is used to adjust the gripper position of the bistable adaptive gripper module according to the external environment.

[0013] Further defined, the bistable adaptive gripper module includes a gripper holding mechanism, a gripper unit, a gripper recovery spring, a gripper housing, and a gripper rotation drive. The gripper rotation drive is connected between the gripper housing and the lifting parallel robot, and the gripper rotation drive drives the gripper housing to rotate. The gripper housing is sleeved on the outside of the gripper holding mechanism. The gripper holding mechanism includes a gripper drive, a second ball screw, a connecting plate, a connecting diagonal bar, a connecting slide plate, and a connecting slide rail; The connecting slide rail is disposed inside the gripper housing. There are two connecting slant rods and two connecting slide plates. The two connecting slide plates are disposed at the corresponding ends of the connecting slide rail and are slidably connected to the connecting slide rail. The connecting slant rod is connected between the end of the connecting plate and the corresponding connecting slide plate. The connecting slant rod is rotatably connected to the corresponding end of the connecting plate. The bottom end of the second ball screw is connected to the connecting plate through a second deep groove ball bearing. The top end of the second ball screw is connected to the output end of the gripper drive. The fixed end of the gripper drive is connected to the gripper housing. The gripper unit includes a gripper body, an elastic beam, and a strain gauge. The elastic beam is located below the connecting slide rail, and the end of the elastic beam is hinged to the corresponding connecting slide plate. There are two gripper bodies, and the two gripper bodies are respectively connected to the ends of the corresponding elastic beams. The strain gauges are disposed on the elastic beams and are used to detect the deformation of the elastic beams. One end of the gripper return spring is connected to the outside of the gripper body, and the other end of the gripper return spring is connected to the corresponding end of the outside of the gripper housing.

[0014] Further specifying, the flexible cable system includes a torsion cable deployment and recovery device and a parallel cable deployment and recovery device, and the spacecraft is provided with an inner cavity and an outer cavity; The torsion cable winding and unwinding device includes a torsion winding and unwinding drive, a torsion cable reel, a torsion cable tension sensor, a torsion cable force sensor, and a torsion cable. The torsion winding and unwinding drive is connected to the torsion cable reel via a torsion cable coupling. One end of the torsion cable is connected to the flexible cable drive platform, and the other end of the torsion cable passes through the torsion cable force sensor and the torsion cable tension sensor in sequence before being connected to the torsion cable reel. The torsion winding and unwinding drive, the torsion cable reel, the torsion cable tension sensor, and the torsion cable force sensor are all located on the side wall of the outer cavity. The parallel cable winding and unwinding device includes a parallel winding and unwinding drive and two adjacent parallel cable winding and unwinding mechanisms. The two parallel cable winding and unwinding mechanisms are arranged vertically at intervals, and the parallel cable winding and unwinding device is located on the side wall of the inner cavity. Each parallel cable winding and unwinding mechanism includes a parallel cable reel, a parallel cable tension sensor, a parallel cable tension sensor, and a parallel cable. One end of the parallel cable is connected to the flexible cable drive platform, and the other end of the parallel cable passes through the parallel cable tension sensor and the parallel cable tension sensor in sequence before connecting to the parallel cable reel. The parallel winding and unwinding drive is driven by the parallel cable reel through a parallel cable coupling, and two adjacent parallel cable reels are driven by the parallel cable coupling.

[0015] Further specifying, the flexible cable drive platform includes a torsion platform, a platform frame, a transmission, and a robotic arm connector; The torsional platform includes an upper torsional platform, a middle torsional platform, a lower torsional platform, and a torsional support column. The upper, middle, and lower torsional platforms are all sleeved on the outside of the torsional support column and connected to it. The lower torsional platform is rotatably connected to the torsional support column. The torsional support column is connected to the robotic arm via a gearbox. An inertial measurement unit for the moving platform is installed at the upper end of the upper torsional platform. The middle torsional platform is located between the upper and lower torsional platforms. Two upper torsional rods are provided on the upper torsional platform, each with an upper torsional lifting ring. The two upper torsional rods are positioned at opposite ends of any diameter of the upper torsional platform, and are located outside the middle torsional platform. Two middle torsional rods are provided on the middle torsional platform, each with a middle torsional lifting ring. The two middle torsional rods are positioned at opposite ends of any diameter of the middle torsional platform, and the upper torsional lifting ring is located below the middle torsional lifting ring. The torsional cable is connected to the corresponding upper or middle torsional lifting ring. The platform frame is fitted onto the outside of the torsional platform. The upper torsional platform is connected to the top of the platform frame via an upper torsional rod, and the lower torsional platform is connected to the bottom of the platform frame via a gearbox frame. The lower torsional platform covers the top of the gearbox frame. Parallel lifting rings are provided at the top corners of the top and bottom of the platform frame, and the parallel cables are connected to the corresponding parallel lifting rings.

[0016] Further defined, the transmission includes a ring gear, a central gear, and multiple planetary gears; the ring gear is disposed on the inner sidewall of the transmission frame, the multiple planetary gears are arranged in a circumferential array between the central gear and the ring gear, and the bottom of the torsion support column passes through the torsion lower platform and is connected to the central gear; The robotic arm connector includes a connecting plate and multiple connecting columns, which are connected between the connecting plate and the transmission.

[0017] Further defining the robotic arm module, it includes a four-degree-of-freedom robotic arm, a two-finger gripper, and a robotic arm base; the actuator of the four-degree-of-freedom robotic arm is connected to the two-finger gripper via a six-dimensional force sensor, and an end-effector camera is provided on the actuator of the four-degree-of-freedom robotic arm, with the end-effector camera facing the two-finger gripper; the fixed end of the four-degree-of-freedom robotic arm is connected to the bottom of the flexible cable drive platform via the robotic arm base. The beneficial effects of this invention are as follows: 1. This invention uses a spacecraft cluster as a base and features modularity and reconfigurability. The lifting parallel robot located at the bottom of the spacecraft cluster performs fine-tuning of the spacecraft's attitude by dynamically adjusting the attitude of its moving platform. When performing assembly tasks, the spacecraft cluster reaches the designated position and adjusts the relative attitudes between the spacecraft in the cluster according to the requirements of the assembly task, thereby realizing the reconfiguration of the robot. It has the ability to adapt to multi-stage and multi-task on-orbit operations and can effectively perform on-orbit operations on variable-size and unstructured space targets, significantly enhancing the operational stability and robustness in the unstable space environment.

[0018] 2. This invention constructs a cable-driven parallel robot through a cable system and a cable-driven platform, enabling tension control of the cable in the microgravity environment of space. The upper and middle torsional platforms are two hinged sub-platforms, each connected to two torsional cables. Winding the torsional cables drives the two sub-platforms to generate relative torsional motion, which is amplified by a reducer to achieve large-scale rotation of the robotic arm connector. The robotic arm connector is connected to the four-degree-of-freedom robotic arm, forming a rigid-flexible coupling system. Compared with traditional on-orbit robots, this system has the advantages of a large working space and high efficiency when performing on-orbit operations, enabling large-space position adjustment and rapid deployment. Combined with the high motion accuracy of the robotic arm module, it achieves precise assembly operations and has a stronger adaptability to the extremely complex working environment of space. It combines the high-speed motion capability in the large space scale of on-orbit with the high-precision operation performance required for precision assembly.

[0019] 3. This invention installs a bistable adaptive gripper module below a lifting parallel robot. The gripper holding mechanism adjusts the curvature of the elastic beam and closes the gripper body. When the elastic beam contacts an object, it jumps, causing the gripper body to close. The gripper then drives the second ball screw to adjust the curvature of the elastic beam, further stabilizing the grip. Simultaneously, a gripper return spring provides the return torque, allowing the gripper to automatically return to its open state after releasing the object. The overall structure is compact, with fast gripping response and stable gripping. Furthermore, the bistable adaptive gripper module is connected to the parallel robot via a sliding slider, and its position is adjusted using a space camera, achieving flexible and precise gripping. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the operation of the reconfigurable rigid-flexible coupled space on-orbit assembly robot of the present invention; Figure 2 This is a schematic diagram of the connection structure between the lifting parallel robot and the bistable adaptive gripper module of the present invention; Figure 3 This is a structural diagram of the synchronous transmission mechanism of the present invention; Figure 4 This is a structural diagram of the spacecraft connector of the present invention; Figure 5 This is a schematic diagram showing the connection state between the lifting parallel robot of the present invention and a spacecraft; Figure 6 This is a structural diagram of the parallel robot of the present invention; Figure 7 This is a structural diagram of the bistable adaptive gripper module of the present invention; Figure 8 This is a structural diagram of the gripper unit of the present invention; Figure 9 This is a diagram showing the internal structure of the gripper unit of the present invention; Figure 10 This is a schematic diagram of the connection between the spacecraft and the flexible cable system of the present invention; Figure 11 This is a structural diagram of the torsion cable take-up and release device of the present invention; Figure 12 This is a structural diagram of the parallel cable take-up and release device of the present invention; Figure 13 This is a structural diagram of the flexible cable drive platform of the present invention; Figure 14 This is an exploded view of the flexible cable drive platform of the present invention; Figure 15 This is a structural diagram of the torsional platform of the present invention; Figure 16 This is a schematic diagram showing the connection between the flexible cable drive platform and the robotic arm module of the present invention; Figure 17 This is a schematic diagram of the reconfigurable rigid-flexible coupled on-orbit assembly robot operation method of the present invention.

[0021] In the diagram: 100-Spacecraft; 110-Inner cavity; 120-Outer cavity; 130-Spacecraft inertial measurement unit; 200-Lifting parallel robot; 201-Lifting drive unit; 202-Parallel robot; 203-Spacecraft connector; 204-Lifting platform; 210-Servo motor; 211-Transmission rod; 212-First support plate; 213-Second support plate; 220-Synchronous transmission mechanism; 221-Driving wheel; 222-Driven wheel; 223-First ball screw; 224-First deep groove ball bearing; 230-Static platform; 231-Driving arm; 232-Driven arm; 240-Moving platform; 241-Moving slide Block; 242-Spherical hinge connection structure; 250-Space camera; 251-Center plate; 260-Vertical plate; 261-Horizontal plate; 262-Rib plate; 300-Flexible cable system; 310-Torsion cable take-up and release device; 311-Torsion take-up and release drive; 312-Torsion cable reel; 313-Torsion cable tension sensor; 314-Torsion cable tension sensor; 315-Torsion cable coupling; 316-Torsion cable; 320-Parallel cable take-up and release device; 321-Parallel take-up and release drive; 322-Parallel cable reel; 323-Parallel cable tension sensor; 324-Parallel cable tension sensor; 325-Parallel cable coupling; 326- Parallel cable; 400-Flexible cable drive platform; 410-Torsion moving platform; 411-Upper torsion platform; 412-Middle torsion platform; 413-Lower torsion platform; 414-Torsion support column; 415-Upper torsion bar; 416-Upper torsion ring; 417-Middle torsion bar; 418-Middle torsion ring; 420-Platform frame; 421-Gearbox frame; 422-Parallel ring; 430-Gearbox; 431-Ring gear; 432-Center wheel; 433-Planet gear; 440-Machine arm connector; 441-Connecting plate; 442-Connecting column; 450-Moving platform inertial measurement unit; 500-Machine arm module; 510-Four-autonomous... 511-End-of-arm robotic arm; 512-Camera bracket; 520-Two-finger gripper; 521-Six-dimensional force sensor; 530-Robotic arm base; 600-Bistable adaptive gripper module; 610-Gripper holding mechanism; 611-Gripper drive; 612-Second ball screw; 613-Connecting plate; 614-Connecting diagonal bar; 615-Connecting slide plate; 616-Connecting slide rail; 617-Second deep groove ball bearing; 620-Gripper unit; 621-Gripper body; 622-Elastic beam; 630-Gripper return spring; 640-Gripper housing; 650-Gripper rotation drive; 700-Truss; 710-Truss rod. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Example 1 refer to Figure 1 The present invention provides a reconfigurable rigid-flexible coupled space on-orbit assembly robot, including a spacecraft cluster, a lifting parallel robot 200, a flexible cable system 300, a flexible cable drive platform 400, a robotic arm module 500, and a bistable adaptive gripper module 600.

[0027] The spacecraft cluster is positioned around the flexible cable-driven platform 400, which is connected to the spacecraft cluster via a flexible cable system 300. Using the spacecraft cluster as a base, the platform can move and adjust its position in space, increasing its overall operational range. A robotic arm module 500 is attached to the flexible cable-driven platform 400. The spacecraft cluster, in conjunction with the flexible cable system 300, can adjust the position of the robotic arm module 500 at its current location, further increasing its operational range. A bistable adaptive gripper module 600 is connected to the spacecraft cluster below via a lifting parallel robot 200. Connected to support points, the bistable adaptive gripper module 600 provides stable control over the attitude and orientation of the spacecraft cluster, improving its stability and the accuracy of the flexible cable-driven platform 400's range control, ensuring high-quality and efficient completion of on-orbit operations.

[0028] Taking truss assembly as an example, the reconfigurable rigid-flexible coupled space on-orbit assembly robot uses truss construction as an example. In this case, the bistable adaptive gripper module 600 is clamped on the previously constructed partial truss 700 or clamped at a fixed position on the periphery, while the robotic arm module 500 clamps the corresponding truss rod 710 to perform subsequent assembly operations. Specifically, the spacecraft cluster includes four spacecraft 100, which are located on the same plane and arranged in a square. The four spacecraft 100 are distributed around the flexible cable drive platform 400. In the initial state, the flexible cable drive platform 400 is located in the center. Each spacecraft 100 is connected to the flexible cable drive platform 400 through a flexible cable system 300, so that when the position of the spacecraft 100 is fixed, the position of the flexible cable system 300 at different positions can be adjusted by extending and retracting. At the same time, each spacecraft 100 is connected to the bistable adaptive gripper module 600 through a lifting parallel robot 200.

[0029] Example 2 refer to Figures 2-7 Based on the reconfigurable rigid-flexible coupled space on-orbit assembly robot described in Embodiment 1, the lifting parallel robot 200 provided in this embodiment includes a lifting drive unit 201, a parallel robot 202, a spacecraft connector 203, and a lifting platform 204. The fixed end of the lifting drive unit 201 is connected to the bottom of the spacecraft 100 through the spacecraft connector 203. The movable end of the lifting drive unit 201 drives the lifting platform 204 to move up and down. The lifting platform 204 is connected to the parallel robot 202. The lifting drive unit 201 is used to adjust the parallel robot 202 to move closer to or further away from the spacecraft 100, thereby driving the bistable adaptive gripper module 600 to rise or fall, avoiding contact and collision between the spacecraft 100 and the structure below during the movement, and ensuring safe and reliable operation.

[0030] Specifically, the lifting drive unit 201 includes a servo motor 210, a transmission rod 211, a first support plate 212, a second support plate 213, and a synchronous transmission mechanism 220, wherein the synchronous transmission mechanism 220 includes a driving wheel 221, a driven wheel 222, a first ball screw 223, and a first deep groove ball bearing 224.

[0031] refer to Figure 3 The servo motor 210 is mounted on the spacecraft connector 203, which is connected to the first support plate 212 to ensure stable connection of the servo motor 210 and stable connection of the lifting drive unit 201 to the spacecraft 100. The first support plate 212 is located above and connected to the second support plate 213. The transmission rod 211 is connected between the first support plate 212 and the second support plate 213 and is rotatably connected to the first support plate 212 and the second support plate 213 respectively. The top of the transmission rod 211 extends above the first support plate 212, at which time the servo motor 210 is connected to the top of the transmission rod 211. Preferably, the output end of the servo motor 210 meshes with the top of the transmission rod 211 through a bevel gear set to realize the rotation control of the transmission rod 211.

[0032] At this time, the lifting platform 204 is located below the second support plate 213. The first ball screw 223 is threadedly connected to the lifting platform 204 through the first deep groove ball bearing 224. The top end of the first ball screw 223 is rotatably connected to the second support plate 213. The driven wheel 222 is sleeved on the first ball screw 223. The top end of the first ball screw 223 extends through the second support plate 213 to the bottom of the first support plate 212. The driven wheel 222 is located above the second support plate 213. The driving wheel 221 is sleeved on... On the transmission rod 211, the drive wheel 221 is located between the first support plate 212 and the second support plate 213. The drive wheel 221 is connected to the driven wheel 222 through transmission. Thus, the rotation of the transmission rod 211 synchronously drives the rotation of the drive wheel 221, which in turn drives the rotation of the first ball screw 223 through the rotation of the driven wheel 222. This causes the lifting platform 204, which is threadedly connected to the first ball screw 223, to move up and down, thereby making it easier and more efficient to adjust the height of the bistable adaptive gripper module 600.

[0033] Preferably, to ensure stable and reliable lifting control, there are two synchronous transmission mechanisms 220. Each synchronous transmission mechanism 220 includes one driving wheel 221, two driven wheels 222, two first ball screws 223, and two first deep groove ball bearings 224. In this case, the four first ball screws 223 are arranged in a circle at equal intervals around the axis of the transmission rod 211, and the two driving wheels 221 are arranged vertically at intervals. The driving wheel 221 and the corresponding two driven wheels 222 are at the same height, and the driving wheel 221 and the corresponding two driven wheels 222 are arranged in an isosceles triangle. The driving wheel 221 and the driven wheels 222 can be connected by a synchronous belt drive to ensure reliable transmission.

[0034] refer to Figure 4 and Figure 5 The spacecraft connector 203 is circular and has a vertical plate 260, a horizontal plate 261, and multiple ribs 262. The vertical plate 260 is located near the end of the horizontal plate 261. The tail of the servo motor 210 is connected to the vertical plate 260, and the side end face of the servo motor 210 is in contact with the horizontal plate 261. The other end of the horizontal plate 261 is connected to the first support plate 212. There are six ribs 262 arranged in a circumferential array for connecting to the inner wall of the bottom of the spacecraft 100.

[0035] refer to Figure 6 and Figure 7 To further explain, the parallel robot 202 includes a static platform 230, an active arm 231, a driven arm 232, a moving platform 240, a moving slider 241, and a space camera 250. The top of the static platform 230 is connected to the bottom of the lifting platform 204.

[0036] The number of both the active arm 231 and the driven arm 232 is three, as an example. The driving end of the active arm 231 is connected to the stationary platform 230 for transmission. The stationary platform 230 can drive the rotation of the active arm 231, thereby causing the active arm 231 to move closer to or away from the axis of the stationary platform 230. The connecting end of the active arm 231 is hinged to the upper end face of the moving platform 240 through the driven arm 232. The driven arm 232 can be selected to be hinged to the upper end face of the moving platform 240 through a ball joint connection structure 242.

[0037] A circular slide rail 242 is provided around the periphery of the moving platform 240. The movable slider 241 cooperates with the circular slide rail 242, and the movable slider 241 can move circumferentially around the axis of the moving platform 240 along the circular slide rail 242. The bistable adaptive gripper module 600 is movably connected to the moving platform 240 through the movable slider 241. Preferably, the outer diameter of the circular slide rail 242 is larger than the installation radius of the ball joint connection structure 242 to improve the gripping space range and avoid interference between multiple bistable adaptive gripper modules 600.

[0038] Preferably, the space camera 250 is connected to the bottom of the moving platform 240 via the center plate 251, and the space camera 250 is signal-connected to the moving slider 241. The space camera 250 perceives the surrounding environment information through images, determines the grasping posture, and adjusts the gripper position of the bistable adaptive gripper module 600 by moving the slider 241.

[0039] Example 3 refer to Figures 7-9 Based on the reconfigurable rigid-flexible coupled space on-orbit assembly robot provided in Embodiment 2, the bistable adaptive gripper module 600 provided in this embodiment includes a gripper holding mechanism 610, a gripper unit 620, a gripper recovery spring 630, a gripper housing 640, and a gripper rotation drive 650. The space camera 250 is signal connected to the gripper holding mechanism 610 and the gripper rotation drive 650 respectively.

[0040] Specifically, the gripper rotation drive 650 is connected between the gripper housing 640 and the lifting parallel robot 200. The gripper rotation drive 650 drives the gripper housing 640 to rotate, so that the bistable adaptive gripper module 600 can rotate around its own axis as needed to adapt to different gripping environments. The gripper housing 640 is sleeved on the outside of the gripper holding mechanism 610. The gripper holding mechanism 610 includes a gripper drive 611, a second ball screw 612, a connecting plate 613, a connecting diagonal bar 614, a connecting slide plate 615, and a connecting slide rail 616.

[0041] The connecting slide rail 616 is disposed within the gripper housing 640. There are two connecting diagonal rods 614 and two connecting slide plates 615. The two connecting slide plates 615 are disposed at corresponding ends of the connecting slide rail 616 and are slidably connected to the connecting slide rail 616. The connecting diagonal rod 614 is connected between the end of the connecting plate 613 and the corresponding connecting slide plate 615. The connecting diagonal rod 614 is rotatably connected to the corresponding end of the connecting plate 613, so that when the connecting plate 613 moves away from the connecting slide rail 616, the connecting diagonal rod 614 drives the two connecting slide plates 615 to move relative to the connecting slide rail 616. As the connecting plate 613 slides closer to the connecting slide rail 616, the connecting diagonal rod 614 increases the distance between the two connecting slide plates 615. The bottom end of the second ball screw 612 is connected to the connecting plate 613 via the second deep groove ball bearing 617. The top end of the second ball screw 612 is connected to the output end of the gripper drive 611. The gripper drive 611 controls the rotation of the second ball screw 612, thereby causing the connecting plate 613 to move closer to or away from the connecting slide rail 616. The fixed end of the gripper drive 611 is connected to the gripper housing 640.

[0042] The gripper unit 620 includes gripper bodies 621, elastic beams 622, and strain gauges. There are two gripper bodies 621, which are connected to the left and right ends of the elastic beams 622 respectively. The strain gauges are set on the elastic beams 622, which are located below the connecting slide rails 616. The ends of the elastic beams 622 are hinged to the corresponding connecting slide plates 615. The elastic beams 622 bend downward in the initial state. When the lifting drive unit 201 drives the bistable adaptive gripper module 600 to move downward, the downward-bending elastic beams 622 bend inward after contacting and pressing with the truss rod 710. The two gripper bodies 621 initially close. The strain gauges are used to detect the deformation of the elastic beams 622. When the deformation of the elastic beams 622 stabilizes, the gripper drive 611 brings the two connecting slide plates 615 closer together. While bending the elastic beams 622, the two gripper bodies 621 close together to stably clamp the truss rod 710.

[0043] In order to enable the elastic beam 622 to return to its downward bending state when the two gripper bodies 621 return to the released state, it is preferable that one end of the gripper return spring 630 is connected to the outside of the gripper body 621, and the other end of the gripper return spring 630 is connected to the corresponding end of the gripper housing 640. When the gripper drive 611 rotates in the opposite direction to move the two gripper bodies 621 away from each other, it reduces the deformation of the elastic beam 622. Under the traction of the gripper return spring 630, the gripper body 621 flips outward, thereby causing the elastic beam 622 to bend downward.

[0044] Example 4 refer to Figures 10-16 Based on the reconfigurable rigid-flexible coupled space on-orbit assembly robot described in Embodiment 3, the flexible cable system 300 provided in this embodiment includes a torsion cable deployment device 310 and a parallel cable deployment device 320. The spacecraft 100 has an inner cavity 110 and an outer cavity 120. The distinction between inner and outer cavities is based on whether the spacecraft cluster observation space is closer to the inner side of the cluster or on the outer side of the formation. Both the inner cavity 110 and the outer cavity 120 are located at the tail of the spacecraft 100. The torsion cable deployment device 310 is located on the right side wall of the outer cavity 120, and the parallel cable deployment device 320 is located on the right side wall of the inner cavity 110. An inertial measurement unit 130 is installed on the left end of the spacecraft 100 to detect changes in the spacecraft's attitude. The following description uses a second spacecraft as an example. Figure 10 As shown.

[0045] refer to Figure 11Specifically, the torsion cable winding and unwinding device 310 includes a torsion cable winding and unwinding drive 311, a torsion cable reel 312, a torsion cable tension displacement sensor 313, a torsion cable tension sensor 314, and a torsion cable 316. The torsion cable winding and unwinding drive 311 is connected to the torsion cable reel 312 via a torsion cable coupling 315. One end of the torsion cable 316 is connected to the flexible cable drive platform 400, and the other end of the torsion cable 316 is connected to the torsion cable reel 312 after passing through the torsion cable tension sensor 314 and the torsion cable tension sensor 313 in sequence. This allows the torsion cable winding and unwinding drive 311 to tighten the torsion cable 316, which in turn drives the robotic arm module 500 to rotate via the flexible cable drive platform 400. The torsion cable tension displacement sensor 313 can acquire the displacement of the torsion cable 316, and the torsion cable tension sensor 314 can acquire the tension of the torsion cable 316.

[0046] refer to Figure 12 The parallel cable winding and unwinding device 320 includes a parallel cable winding and unwinding drive 321 and two adjacent parallel cable winding and unwinding mechanisms. The two parallel cable winding and unwinding mechanisms are arranged in the same direction and are spaced apart vertically on the side wall of the outer cavity 120. The parallel cable winding and unwinding mechanism includes a parallel cable drum 322, a parallel cable tension displacement sensor 323, a parallel cable tension sensor 324, and a parallel cable 326. One end of the parallel cable 326 is connected to the flexible cable drive platform 400, and the other end of the parallel cable 326 passes through the parallel cable tension sensor 324 and then connects to the parallel cable drum 322. The parallel cable winding and unwinding drive 321 is connected to the parallel cable drum 322 via a parallel cable coupling 325. Two adjacent parallel cable drums 322 are connected via a parallel cable coupling 325. At this time, the two parallel cables 326 are connected at the upper and lower corners on the same side of the flexible cable drive platform 400, and the torsion cable 316 is located between the two parallel cables 326.

[0047] refer to Figure 13 To further explain, the flexible cable drive platform 400 includes a torsional platform 410, a platform frame 420, a gearbox 430, and a robotic arm connecting seat 440. The torsional platform 410 is rotatably connected to the platform frame 420, the robotic arm connecting seat 440 is connected to the platform frame 420, the parallel cable 326 is connected to the platform frame 420 to facilitate its position adjustment, and the torsional cable 316 is connected to the torsional platform 410 to facilitate its rotation.

[0048] refer to Figure 14 and Figure 15 Specifically, the torsion platform 410 includes an upper torsion platform 411, a middle torsion platform 412, a lower torsion platform 413, and a torsion support column 414.

[0049] The upper torsion platform 411, the middle torsion platform 412, and the lower torsion platform 413 are all sleeved on the outside of the torsion support column 414. The upper torsion platform 411 and the middle torsion platform 412 are both fastened to the torsion support column 414 so that they can drive the torsion support column 414 to rotate synchronously when they rotate. The middle torsion platform 412 is located between the upper torsion platform 411 and the lower torsion platform 413. The lower torsion platform 413 is rotatably connected to the torsion support column 414 to provide support for the torsion support column 414 and ensure that the torsion support column 414 can rotate stably. The upper end 411 of the upper torsion platform is equipped with a moving platform inertial measurement unit 450, which is used to detect the position and attitude changes of the flexible cable driven moving platform 400.

[0050] Specifically, the upper torsion platform 411 is provided with two upper torsion rods 415, and an upper torsion lifting ring 416 is provided on the upper torsion rod 415. The two upper torsion rods 415 are located at opposite ends of any diameter of the upper torsion platform 411. The upper torsion rods 415 are vertically arranged and located outside the middle torsion platform 412. The middle torsion platform 412 is provided with two middle torsion rods 417, and a middle torsion lifting ring 418 is provided on the middle torsion rod 417. The two middle torsion rods 417 are located at opposite ends of any diameter of the middle torsion platform 412. The upper torsion lifting ring 416 is located below the middle torsion lifting ring 418. In the initial state, the included angle between adjacent upper torsion rods 415 and middle torsion rods 417 is 90°.

[0051] The platform frame 420 is fitted on the outside of the torsional platform 410. The torsional lower platform 413 is fixedly connected to the bottom of the platform frame 420 through the transmission frame 421. The torsional lower platform 413 covers the top of the transmission frame 421. Parallel lifting rings 422 are provided on the four apex corners of the top and the four apex corners of the bottom of the platform frame 420.

[0052] To further explain, the four spacecraft 100 are, in clockwise order, the first spacecraft, the second spacecraft, the third spacecraft, and the fourth spacecraft. Taking the first spacecraft located at the upper left corner of the spacecraft cluster as an example, the parallel cables 326 on the four spacecraft 100 are respectively connected to the corresponding parallel lifting rings 422 on the top corner of the platform frame 420, and the included angle between the parallel cables 326 on two adjacent spacecraft 100 is 90°.

[0053] The torsion cables 316 on the first and third spacecraft are connected to the corresponding upper torsion rings 416, and the torsion cables 316 on the second and fourth spacecraft are connected to the corresponding middle torsion rings 418. At the same time, the straight line between the two middle torsion rings 418 is in the same direction as the straight line on the first and third spacecraft. Thus, the four spacecraft 100 control the rotation of the robotic arm connecting seat 440 by controlling the release and retraction of their respective torsion cables 316, and further control the rotation of the robotic arm connecting seat 440.

[0054] Since the rotation angle of the torsion platform 412 does not exceed 90°, in order to increase the rotation angle of the robotic arm connecting seat 440, the transmission 430 includes a gear ring 431, a central gear 432, and multiple planetary gears 433. The gear ring 431 is located on the inner side wall of the transmission frame 421, and the multiple planetary gears 433 are arranged in a circular array between the central gear 432 and the gear ring 431. Taking three planetary gears 433 as an example, the bottom of the torsion support column 414 passes through the torsion lower platform 413 and is connected to the central gear 432. The robotic arm connecting seat 440 is connected to the central gear 432 and / or the planetary gears 433. Thus, while the torsion support column 414 rotates with the torsion platform 412, the robotic arm connecting seat 440 rotates. The transmission 430 can be selected as a planetary gear system with a transmission ratio of 1:4.25.

[0055] The robotic arm connector 440 includes a connecting plate 441 and multiple connecting columns 442. The multiple connecting columns 442 are connected between the connecting plate 441 and the gearbox 430. When the connecting column 442 is connected to the planetary gear 433, the connecting column 442 is rotatably connected to the connecting plate 441. When the connecting column 442 is connected to the center wheel 432, the connecting column 442 is fixedly connected to the connecting plate 441. When the connecting column 442 is connected to both the planetary gear 433 and the center wheel 432, the connecting column 442 is rotatably connected to the connecting plate 441.

[0056] refer to Figure 16 To further explain, the robotic arm module 500 includes a four-degree-of-freedom robotic arm 510, a two-finger gripper 520, and a robotic arm base 530. The execution end of the four-degree-of-freedom robotic arm 510 is connected to the two-finger gripper 520 via a six-dimensional force sensor 521. An end-effector camera 511 is installed on the execution end of the four-degree-of-freedom robotic arm 510. The end-effector camera 511 is connected to the execution end of the four-degree-of-freedom robotic arm 510 via a camera bracket 512, and the end-effector camera 511 faces the two-finger gripper 520. The fixed end of the four-degree-of-freedom robotic arm 510 is connected to the bottom of the flexible cable drive platform 400 via the robotic arm base 530. During operation, the end-effector camera 511 can be used to achieve coarse alignment between multiple truss rods 710. Combined with the force feedback from the six-dimensional force sensor 521, the splicing and assembly of multiple truss rods 710 can be achieved to meet the operational requirements.

[0057] Example 5 refer to Figure 17 Based on the reconfigurable rigid-flexible coupled space on-orbit assembly robot provided in any of Embodiments 1 to 4, this embodiment provides a method for operating the reconfigurable rigid-flexible coupled space on-orbit assembly robot, including the following steps: S1. Determine the work requirements and work location; S2. The spacecraft cluster moves to the working position and adjusts its orientation and attitude, providing support for the cable-driven platform 400 through the cable system 300; S3, the lifting parallel robot 200 drives the bistable adaptive gripper module 600 to stably grip the support point below, which is used to stabilize the attitude of the spacecraft cluster. S4. The flexible cable system 300 adjusts the working range of the robotic arm module 500 through the flexible cable drive platform 400. S5. Control the robotic arm module 500 to perform the corresponding work actions to complete the current work task according to the work requirements and work range; S6. Determine whether the current task is completed. If not, continue execution. If yes, determine whether the task requirements are met. If yes, end the process. If not, determine the new task location and then execute step S7. S7. The bistable adaptive gripper module 600 releases the lower support point, and the lifting parallel robot 200 drives the bistable adaptive gripper module 600 to rise, and then executes steps S2~S6.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0059] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A reconfigurable rigid-flexible coupling space on-orbit assembly robot, characterized in that, The spacecraft cluster, the lifting parallel robot (200), the cable system (300), the cable-driven platform (400), the mechanical arm module (500) and the bistable adaptive gripper module (600) are included. The spacecraft cluster is arranged on the periphery of the cable-driven platform (400), the cable-driven platform (400) is connected with the spacecraft cluster through the cable system (300), the mechanical arm module (500) is installed on the cable-driven platform (400), and the bistable adaptive gripper module (600) is installed below the spacecraft cluster through the lifting parallel robot (200) and is used for adjusting and stabilizing the attitude of the spacecraft cluster.

2. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 1, characterized in that, The spacecraft cluster includes four spacecrafts (100), the four spacecrafts (100) are located on the same plane, the four spacecrafts (100) are arrayed on the periphery of the cable-driven platform (400), the spacecrafts (100) are drivingly connected with the cable-driven platform (400) through the cable system (300), and the left side of each spacecraft (100) is provided with an inertial measurement unit (130).

3. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 1, characterized in that, The lifting parallel robot (200) includes a lifting driving unit (201), a parallel robot (202), a spacecraft connector (203) and a lifting platform (204), the fixed end of the lifting driving unit (201) is connected with the bottom of the spacecraft cluster through the spacecraft connector (203), the movable end of the lifting driving unit (201) drives the lifting platform (204) to move up and down, the lifting platform (204) is connected with the parallel robot (202), and the lifting driving unit (201) is used for adjusting the parallel robot (202) to be close to or away from the spacecraft cluster.

4. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 3, characterized in that, The lifting driving unit (201) includes a servo motor (210), a transmission rod (211), a first support plate (212), a second support plate (213) and a synchronous transmission mechanism (220), the synchronous transmission mechanism (220) includes a driving wheel (221), a driven wheel (222), a first ball screw (223) and a first deep groove ball bearing (224); The servo motor (210) is arranged on the spacecraft connector (203), the spacecraft connector (203) is connected with the first support plate (212), the first support plate (212) is located above the second support plate (213) and is connected with the second support plate (213), the transmission rod (211) is connected between the first support plate (212) and the second support plate (213) and is rotatably connected with the first support plate (212) and the second support plate (213) respectively, and the servo motor (210) is drivingly connected with the upper portion of the transmission rod (211). The driving wheel (221) is sleeved on the transmission rod (211), the driving wheel (221) is located between the first support plate (212) and the second support plate (213), the lifting platform (204) is located below the second support plate (213), the first ball screw (223) is threadedly connected with the lifting platform (204) through the first deep groove ball bearing (224), the top end of the first ball screw (223) is rotatably connected with the second support plate (213), the driven wheel (222) is sleeved on the first ball screw (223), the driven wheel (222) is located above the second support plate (213), the driving wheel (221) is in transmission connection with the driven wheel (222), and the first ball screw (223) drives the lifting platform (204) to ascend and descend along the axis direction.

5. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 3, wherein, The parallel robot (202) comprises a static platform (230), a driving arm (231), a driven arm (232), a moving platform (240), a moving slider (241) and a space camera (250); The static platform (230) is connected with the lifting platform (204), the driving end of the driving arm (231) is in transmission connection with the static platform (230), the connecting end of the driving arm (231) is hingedly connected with the upper end face of the moving platform (240) through the driven arm (232), the moving platform (240) is provided with a circular slide rail (242) on the side, the moving slider (241) is matched with the circular slide rail (242), and the bistable adaptive gripper module (600) is movably connected with the moving platform (240) through the moving slider (241). The space camera (250) is connected with the bottom of the moving platform (240) through a center plate (251), the space camera (250) is in signal connection with the moving slider (241), and the space camera (250) is used for adjusting the gripper position of the bistable adaptive gripper module (600) through the moving slider (241) according to an external environment.

6. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 1, characterized in that, The bistable adaptive gripper module (600) comprises a gripper clamping mechanism (610), a gripper unit (620), a gripper recovery spring (630), a gripper shell (640) and a gripper rotation drive (650), the gripper rotation drive (650) is connected between the gripper shell (640) and the lifting parallel robot (200), the gripper rotation drive (650) drives the gripper shell (640) to rotate, and the gripper shell (640) is sleeved outside the gripper clamping mechanism (610); The gripper clamping mechanism (610) comprises a gripper drive (611), a second ball screw (612), a connecting flat plate (613), a connecting inclined rod (614), a connecting sliding plate (615) and a connecting slide rail (616). The connecting slide rail (616) is arranged in the clamping jaw shell (640), the connecting inclined rod (614) and the connecting slide plate (615) are both two, the two connecting slide plates (615) are arranged at the corresponding ends of the connecting slide rail (616) and are in sliding connection with the connecting slide rail (616), the connecting inclined rod (614) is connected between the end of the connecting flat plate (613) and the corresponding connecting slide plate (615), the connecting inclined rod (614) is in rotary connection with the corresponding end of the connecting flat plate (613), the bottom end of the second ball screw (612) is in driving connection with the connecting flat plate (613) through the second deep groove ball bearing (617), the top end of the second ball screw (612) is connected with the output end of the clamping jaw drive (611), and the fixed end of the clamping jaw drive (611) is connected with the clamping jaw shell (640); The clamping jaw unit (620) comprises a clamping jaw body (621), an elastic beam (622) and a strain gauge, the elastic beam (622) is located below the connecting slide rail (616), the end of the elastic beam (622) is hinged to the corresponding connecting slide plate (615), the number of the clamping jaw body (621) is two, the two clamping jaw bodies (621) are respectively connected with the ends of the corresponding elastic beams (622), and the strain gauge is arranged on the elastic beam (622) and used for detecting the deformation of the elastic beam (622); One end of the clamping jaw restoring spring (630) is connected with the outside of the clamping jaw body (621), and the other end of the clamping jaw restoring spring (630) is connected with the corresponding end of the outside of the clamping jaw shell (640).

7. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 2, characterized in that, The flexible cable system (300) comprises a torsion cable winding and unwinding device (310) and a parallel cable winding and unwinding device (320), and the spacecraft (100) is provided with an inner cavity (110) and an outer cavity (120); The torsion cable winding and unwinding device (310) comprises a torsion winding and unwinding drive (311), a torsion cable winding drum (312), a torsion cable tension displacement sensor (313), a torsion cable tension sensor (314) and a torsion cable (316), the torsion winding and unwinding drive (311) is in driving connection with the torsion cable winding drum (312) through a torsion cable shaft coupling (315), one end of the torsion cable (316) is connected with the flexible cable driving platform (400), the other end of the torsion cable (316) is sequentially connected with the torsion cable winding drum (312) through the torsion cable tension sensor (314) and the torsion cable tension displacement sensor (313), and the torsion winding and unwinding drive (311), the torsion cable winding drum (312), the torsion cable tension displacement sensor (313) and the torsion cable tension sensor (314) are arranged on the side wall of the outer cavity (120). The parallel cable winding and unwinding device (320) comprises a parallel cable winding and unwinding drive (321) and two adjacent parallel cable winding and unwinding mechanisms, the two parallel cable winding and unwinding mechanisms are arranged in an upper and lower spaced manner, and the parallel cable winding and unwinding device (320) is arranged on the side wall of the inner side cavity (110); the parallel cable winding and unwinding mechanism comprises a parallel cable winding drum (322), a parallel cable tension displacement sensor (323), a parallel cable tension sensor (324) and a parallel cable (326); one end of the parallel cable (326) is connected with the flexible cable driving platform (400), the other end of the parallel cable (326) is sequentially connected with the parallel cable winding drum (322) after passing through the parallel cable tension sensor (324) and the parallel cable tension sensor (324), the parallel cable winding and unwinding drive (321) is in driving connection with the parallel cable winding drum (322) through a parallel cable shaft coupling (325), and the two adjacent parallel cable winding drums (322) are in driving connection through the parallel cable shaft coupling (325).

8. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 7, characterized in that, The flexible cable driving platform (400) comprises a torsion driving platform (410), a platform frame (420), a transmission (430) and a mechanical arm connecting seat (440); The torsion driving platform (410) comprises a torsion upper platform (411), a torsion middle platform (412), a torsion lower platform (413) and a torsion support column (414), the torsion upper platform (411), the torsion middle platform (412) and the torsion lower platform (413) are all arranged on the outer side of the torsion support column (414) and connected with the torsion support column (414), the torsion lower platform (413) is in rotary connection with the torsion support column (414), the torsion support column (414) is connected with the mechanical arm connecting seat (440) through the transmission (430), the torsion upper platform (410) is provided with a driving platform inertial measurement unit (450), the torsion middle platform (412) is located between the torsion upper platform (411) and the torsion lower platform (413), the torsion upper platform (411) is provided with two upper torsion rods (415), the upper torsion rods (415) are provided with upper torsion rings (416), the two upper torsion rods (415) are arranged at opposite ends of any diameter of the torsion upper platform (411), and the upper torsion rods (415) are located on the outer side of the torsion middle platform (412); the torsion middle platform (412) is provided with two middle torsion rods (417), the middle torsion rods (417) are provided with middle torsion rings (418), the two middle torsion rods (417) are arranged at opposite ends of any diameter of the torsion middle platform (412), the upper torsion rings (416) are located below the middle torsion rings (418), and the torsion cables (316) are connected with the corresponding upper torsion rings (416) or middle torsion rings (418). The platform frame (420) is arranged outside the torsion moving platform (410), the torsion upper platform (411) is connected with the top of the platform frame (420) through the upper torsion rod (415), the torsion lower platform (413) is connected with the bottom of the platform frame (420) through the transmission frame (421), the torsion lower platform (413) covers the top of the transmission frame (421), the top corner of the top of the platform frame (420) and the top corner of the bottom of the platform frame (420) are both provided with parallel lifting rings (422), and the parallel cables (326) are connected with the corresponding parallel lifting rings (422) respectively.

9. The reconfigurable rigid-flexible coupling space on-orbit assembly robot according to claim 8, characterized in that, The transmission (430) comprises a ring gear (431), a center wheel (432) and a plurality of planetary gears (433); the ring gear (431) is arranged on the inner side wall of the transmission frame (421), a plurality of the planetary gears (433) are circumferentially arranged between the center wheel (432) and the ring gear (431), and the bottom of the torsion supporting column (414) passes through the torsion lower platform (413) and is connected with the center wheel (432); The mechanical arm connecting seat (440) comprises a connecting plate (441) and a plurality of connecting columns (442), and the plurality of connecting columns (442) are connected between the connecting plate (441) and the transmission (430).

10. The reconfigurable rigid-flexible coupling space in-orbit assembly robot according to claim 1, characterized in that, The mechanical arm module (500) comprises a four-degree-of-freedom mechanical arm (510), a two-finger gripper (520) and a mechanical arm base (530); the execution end of the four-degree-of-freedom mechanical arm (510) is connected with the two-finger gripper (520) through a six-dimensional force sensor (521), an end camera (511) is arranged on the execution end of the four-degree-of-freedom mechanical arm (510), the end camera (511) faces the two-finger gripper (520), and the fixed end of the four-degree-of-freedom mechanical arm (510) is connected with the bottom of the flexible cable driving platform (400) through the mechanical arm base (530).

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