A novel three-branch relative robot for assembly of discrete modular structures

Abstract

The present invention discloses a novel three-branch relative robot for assembly of discrete module structures, comprising a trunk and three branch mechanisms, wherein the three branch mechanisms are rotationally symmetrically distributed around the trunk with the central axis of the trunk as the center, the branch mechanism has an arm and an end tool, a first electric joint is arranged between the arm and the trunk, the first electric joint is configured to drive the arm to rotate, and the steering axis of the first electric joint is parallel to the central axis of the trunk; a second electric joint is arranged between the arm and the end tool, the second electric joint is configured to drive the end tool to rotate, and the steering axis of the second electric joint is parallel to the steering axis of the first electric joint; the novel three-branch relative robot for assembly of discrete module structures has three branches with the same structure, which can play a role of redundant backup on the one hand, and the working content of each branch can be replaced by any other branch.

Description

Technical Field

[0001] The invention relates to the field of robot technology, and in particular to a novel three-branch relative robot for discrete module structure assembly. Background Art

[0002] Different from traditional robots, the working base of relative robots can be moved and not fixed. They have the advantages of high flexibility and large working range. They can expand a sufficiently large working space within the scope of the working platform, and have important application value in the fields of large-scale space structure construction, on-orbit equipment inspection and maintenance. The relative robot for discrete module structure is a kind of robot that can be attached to the discrete module structure for movement and assembly operations, and is connected to the discrete module through a standardized interface. Since the robot is rigidly connected to the assembly during the entire assembly process, it has the advantages of high reliability, strong scalability and simple operation, and is currently the most promising on-orbit assembly solution.

[0003] In the prior art, the relative robots for discrete module structures are all dual-branch. Although the structure and control are simple and the number of drive motors is small, the redundancy of the corresponding robots will be reduced and the functions are relatively few. When completing complex tasks, multiple dual-branch robots are required to cooperate. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a new three-branch relative robot for discrete module structure assembly, which has three branches with the same structure. On the one hand, it can play the role of redundant backup, and the work content of each branch can be replaced by any other branch.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] A novel three-branch relative robot for discrete module structure assembly includes a control device, a trunk and three branch mechanisms. The three branch mechanisms are rotationally symmetrically distributed around the trunk with the trunk center axis as the center; wherein the branch mechanism has an arm and an end tool, a first electric joint is provided between the arm and the trunk, the first electric joint is configured to drive the arm to swing around a first swing axis, and the first swing axis is parallel to the trunk center axis; wherein a second electric joint is provided between the arm and the end tool, the second electric joint is configured to drive the end tool to swing around a second swing axis, and the second swing axis is parallel to the first swing axis; wherein an electric rotation mechanism is provided on the end tool, the electric rotation mechanism is configured to drive the end tool to rotate around a rotation axis, and the rotation axis is perpendicular to the second swing axis.

[0007] In the novel three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure, the end tool includes: a retaining frame, a first servo motor and a driven gear.

[0008] The retaining frame has a connecting screw hole, and the electric rotating mechanism is fixedly arranged on the retaining frame. The electric rotating mechanism has good stability when working.

[0009] The first steering gear has a driving gear, and the first steering gear is fixedly arranged in the retaining frame.

[0010] The driven gear has a connecting screw, which is used to connect with the discrete module. The connecting screw is screwed into the connecting screw hole. The driven gear and the connecting screw are integrally arranged. The driven gear and the connecting screw have good integrity and good stability.

[0011] Among them, the driven gear is meshed with the driving gear, the connecting screw is linked with the first steering gear through the driving gear and the driven gear, and a protruding cylinder for docking with a discrete module structure is provided at the bottom of the retaining frame. There are more than one protruding cylinders, and the protruding cylinders are distributed around the connecting screw.

[0012] In the novel three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure: a first connecting frame and a second connecting frame are respectively provided on the first electric joint and the second electric joint, the first connecting frame is fixedly connected to the torso, the second connecting frame is fixedly connected to the output end of the electric rotation mechanism, and the output ends of the first electric joint and the second electric joint are both fixedly connected to the arm.

[0013] In at least one embodiment of the present disclosure, in a novel three-branch relative robot for discrete module structure assembly, the end tool further comprises: a second steering gear and a hexagonal shaft. The second steering gear is used to drive the hexagonal shaft to be used for transmission with the internal gear of the discrete module, and the hexagonal shaft is configured to rotatably pass through one of the protruding cylinders.

[0014] In a new three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure: a limit member is arranged in the retaining frame, and the limit member is located directly above the driven gear. By configuring the limit member, the driven gear can be limited, thereby preventing the connecting screw from being completely disengaged from the connecting screw hole due to operational errors.

[0015] At least one embodiment of the present disclosure provides a new three-branch relative robot for discrete module structure assembly: a transmission sleeve is fixedly arranged on the output shaft of the second servo, and the transmission sleeve has a guide hole matched with the hexagonal shaft, a spring body is arranged in the guide hole, and the hexagonal shaft is inserted into the guide hole. The hexagonal shaft cooperates with the protruding cylinder to realize the locking connection between the end tool and the discrete module.

[0016] Moreover, there is a spring inside the transmission sleeve, which allows the hexagonal shaft to stretch up and down. If it is not connected to the corresponding hole of the discrete module, the hexagonal shaft can be retracted into the transmission sleeve to avoid interference with the connection of the discrete module. At the same time, the transmission sleeve can be rotated by the second servo, and then the transmission sleeve drives the hexagonal shaft to rotate.

[0017] In at least one embodiment of the present disclosure, in a novel three-branch relative robot for discrete module structure assembly, a rotation support mechanism is provided between the second connecting frame and the electric rotation mechanism, and the rotation support mechanism is fixedly connected to the retaining frame. By configuring the rotation support mechanism, the force stability between the second connecting frame and the electric rotation mechanism can be improved.

[0018] In the novel three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure: the retaining frame includes: a top plate, a middle plate and a bottom plate.

[0019] A first support column and a second support column are respectively arranged on the top surface and the bottom surface of the middle plate, and two ends of the first support column are respectively fixedly connected to the top plate and the middle plate; two ends of the second support column are respectively fixedly connected to the middle plate and the bottom plate; wherein the electric rotating mechanism, the first steering gear and the second steering gear are all located between the top plate and the middle plate, the first steering gear and the second steering gear are both fixedly connected to the middle plate, and the electric rotating mechanism is fixedly connected to the top plate.

[0020] At least one embodiment of the present disclosure provides a new three-branch relative robot for discrete module structure assembly: a positioning groove is provided on the top surface of the intermediate plate, and one side of the electric rotating mechanism is inserted into the positioning groove. By configuring a positioning groove matching the electric rotating mechanism on the intermediate plate, the stability of the electric rotating mechanism can be effectively improved.

[0021] In the novel three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure: the limiting member is fixedly connected to the middle plate, and the limiting member has good stability and is not easy to fall off.

[0022] In the new three-branch relative robot for discrete module structure assembly provided by at least one embodiment of the present disclosure: the driven gear, the driving gear and the transmission sleeve are all located between the middle plate and the bottom plate, and the retaining frame adopts a layered design, and different components are assembled into different layers respectively, which is convenient for maintenance and repair.

[0023] The beneficial effects of the present invention are as follows: the three branches with the same structure can play the role of redundant backup on the one hand, and the work content of each branch can be replaced by any other branch. If one branch fails, the whole robot can still use the other two branches to complete part of the functions of the robot; on the other hand, it can play the role of working and moving at the same time, and any two branches can be used for moving, and the other branch can be used for working, so that the robot can carry materials and even assemble while moving. In addition, three branches have more flexibility than two branches. For example, there can be two postures of creeping and rolling when moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 The present invention discloses a schematic diagram of the overall structure of a new three-branch relative robot for discrete module structure assembly.

[0026] Figure 2 It is a three-dimensional diagram of a branch mechanism in at least one embodiment of the present disclosure.

[0027] Figure 3 It is a stereoscopic view of an end tool in at least one embodiment of the present disclosure.

[0028] Figure 4 A view of an end tool in at least one embodiment of the present disclosure.

[0029] Figure 5 The figure is a schematic diagram of the distribution of the first support column and the second support column in at least one embodiment of the present disclosure.

[0030] Figure 6 The figure is a schematic diagram of the distribution of connecting screw holes in at least one embodiment of the present disclosure.

[0031] Figure 7 It is a cross-sectional view of a hexagonal shaft assembled to a transmission sleeve in at least one embodiment of the present disclosure.

[0032] In the figure:

[0033] 10. Trunk;

[0034] 20. Branch mechanism; 21. Arm; 22. End tool; 24. First servo; 25. Driven gear; 26. Second servo; 27. Hexagonal shaft; 28. Stopper; 231. Connecting screw hole; 241. Driving gear; 251. Connecting screw; 232. Protruding cylinder; 262. Guide hole; 263. Spring body; 233. Top plate; 234. Middle plate; 235. Bottom plate; 236. First support column; 237. Second support column; 238. Positioning groove;

[0035] 30. First electric joint; 31. First connecting frame; 32. Second connecting frame;

[0036] 40. Second electric joint;

[0037] 50. Electric rotating mechanism;

[0038] 60. Rotation support mechanism; 61. Positioning sleeve; 62. Bearing. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0040] In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left end", "above", "back", "middle", etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] In addition, in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms such as installation, connection and connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In order to solve the problem of the limited functions of the double-branch robot, the solution of the present invention is to have a central body and another branch between the joints connected by the double branches. Each branch has the same appearance and function and is independently controlled. A new three-branch relative robot for on-track assembly of discrete modular structures is designed.

[0043] Example

[0044] like Figures 1 to 7 As shown, a novel three-branch relative robot for discrete module structure assembly includes a control device (not shown), a trunk 10 and three branch mechanisms 20.

[0045] The three branch mechanisms 20 are rotationally symmetrically distributed around the trunk 10 with the central axis of the trunk 10 as the center; wherein the branch mechanism 20 has an arm 21 and an end tool 22, a first electric joint 30 is arranged between the arm 21 and the trunk 10, the first electric joint 30 is configured to drive the arm 21 to swing around a first swing axis, and the first swing axis is parallel to the central axis of the trunk 10; wherein a second electric joint 40 is arranged between the arm 21 and the end tool 22, the second electric joint 40 is configured to drive the end tool 22 to swing around a second swing axis, and the second swing axis is parallel to the first swing axis; wherein an electric rotating mechanism 50 is arranged on the end tool 22, the electric rotating mechanism 50 is configured to drive the end tool 22 to rotate around a rotation axis, the rotation axis is perpendicular to the second swing axis, and the first electric joint 30, the second electric joint 40 and the electric rotating mechanism 50 are all electrically connected to the control device.

[0046] In this embodiment, the end tool 22 includes: a holder, a first servo 24 and a driven gear 25. The holder has a connecting screw hole 231, and the electric rotating mechanism 50 is fixedly arranged on the holder. The electric rotating mechanism 50 has good stability when working. A driving gear 241 is arranged on the output shaft of the first servo 24, and the first servo 24 is fixedly arranged in the holder. The middle part of the driven gear 25 has a connecting screw 251, and the connecting screw 251 is used to connect with the discrete module. The connecting screw 251 is screwed into the connecting screw hole 231. The driven gear 25 and the connecting screw 251 are integrally arranged. The driven gear 25 and the connecting screw 251 have good integrity and good stability. Among them, the driven gear 25 is meshed with the driving gear 241, the connecting screw 251 and the first servo 24 are linked through the driving gear 241 and the driven gear 25, and a protruding cylinder 232 for docking with the discrete module structure is provided at the bottom of the retaining frame. Four protruding cylinders 232 are provided, and the four protruding cylinders 232 are distributed around the connecting screw 251.

[0047] In this embodiment, the first electric joint 30 and the second electric joint 40 are respectively provided with a first connecting frame 31 and a second connecting frame 32. The first connecting frame 31 is fixedly connected to the torso 10, and the second connecting frame 32 is fixedly connected to the output end of the electric rotation mechanism 50. The output ends of the first electric joint 30 and the second electric joint 40 are both fixedly connected to the arm 21. By way of example, the first electric joint and the second electric joint both use servos.

[0048] In this embodiment, the end tool 22 further includes: a second servo 26 and a hexagonal shaft 27. The second servo 26 is used to drive the hexagonal shaft 27 and the internal gear transmission of the discrete module. The hexagonal shaft 27 is configured to rotatably pass through one of the protruding cylinders 232, and the hexagonal shaft 27 is linked to the second servo 26.

[0049] In this embodiment, a limit member 28 is provided in the retaining frame, and the limit member 28 is located directly above the driven gear 25. By configuring the limit member 28, the driven gear 25 can be limited, thereby preventing the connecting screw 251 from completely disengaging from the connecting screw hole 231 due to operational errors.

[0050] In this embodiment, a transmission sleeve is fixedly arranged on the output shaft of the second servo 26. The transmission sleeve has a guide hole 262 matched with the hexagonal shaft 27. A spring body 263 is arranged in the guide hole 262. The hexagonal shaft 27 is inserted into the guide hole. One end of the spring body 263 is fixedly connected to the hexagonal shaft 27, and the other end of the spring body 263 is fixedly connected to the transmission sleeve. The hexagonal shaft 27 cooperates with the protruding cylinder 232 to achieve the locking connection between the end tool 22 and the discrete module. Moreover, there is a spring body 263 inside the transmission sleeve, so that the hexagonal shaft 27 can be extended and retracted up and down. If it is not connected to the hole corresponding to the discrete module, the hexagonal shaft 27 can be retracted back into the transmission sleeve to avoid interference with the docking of the discrete module. At the same time, the transmission sleeve can be rotated by the second servo 26, and then the hexagonal shaft 27 is driven to rotate by the transmission sleeve.

[0051] In this embodiment, a rotation support mechanism 60 is provided between the second connecting frame 32 and the electric rotating mechanism 50, and the rotation support mechanism 60 is fixedly connected to the retaining frame. By configuring the rotation support mechanism 60, the force stability between the second connecting frame 32 and the electric rotating mechanism 50 can be improved.

[0052] In this embodiment, the retaining frame includes: a top plate 233, an intermediate plate 234 and a bottom plate 235. A first support column 236 and a second support column 237 are respectively arranged on the top surface and the bottom surface of the intermediate plate 234, and the two ends of the first support column 236 are respectively fixedly connected to the top plate 233 and the intermediate plate 234; the two ends of the second support column 237 are respectively fixedly connected to the intermediate plate 234 and the bottom plate 235; wherein the electric rotating mechanism 50, the first steering gear 24 and the second steering gear 26 are all located between the top plate 233 and the intermediate plate 234, the first steering gear 24 and the second steering gear 26 are both fixedly connected to the intermediate plate 234, and the electric rotating mechanism 50 is fixedly connected to the top plate 233.

[0053] In this embodiment, a positioning groove 238 is provided on the top surface of the middle plate 234, and one side of the electric rotating mechanism 50 is inserted into the positioning groove 238. By configuring a positioning groove 238 matching the electric rotating mechanism 50 on the middle plate 234, the stability of the electric rotating mechanism 50 can be effectively improved.

[0054] In this embodiment, the limiting member 28 is fixedly connected to the middle plate 234 , and the limiting member 28 has good stability and is not easy to fall off.

[0055] In this embodiment, the driven gear 25, the driving gear 241 and the transmission sleeve are all located between the middle plate 234 and the bottom plate 235. The retaining frame adopts a layered design, and different components are assembled into different layers, which is convenient for maintenance and repair.

[0056] like Figure 3 As shown, in some embodiments, the rotation support mechanism 60 includes a positioning sleeve 61 and a bearing 62, the top plate 233 and the outer ring of the bearing 62 are fixedly connected to the positioning sleeve 61, and the inner ring of the bearing 62 is fixedly connected to the second connecting frame 32. By way of example, the electric rotation mechanism 50 also adopts a steering gear, and the bearing adopts a turntable bearing. The positioning sleeve 61 has a notch and is arranged in a C shape. A part of the steering gear passes through the notch and passes out of the positioning sleeve. Since the positioning sleeve 61 has a notch and is arranged in a C shape, it is conducive to the use of a larger steering gear, while ensuring the volume of the entire rotation support mechanism 60, thereby avoiding the situation where the volume of the slewing support mechanism is too large due to the use of a larger steering gear.

[0057] In another embodiment not shown, the control device is installed in the torso, and a battery is also arranged in the torso. The control device, the first electric joint, the second electric joint and the electric rotation mechanism are all electrically connected to the battery.

[0058] In the description of this specification, the description with reference to the terms "this embodiment", "some embodiments", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0059] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. A novel three-branch relative robot for discrete module structure assembly, comprising a control device, characterized in that: Also includes: trunk; as well as At least three branch mechanisms are rotationally symmetrically distributed around the trunk with the central axis of the trunk as the center; The at least three branches have an arm and an end tool, a first electric joint is provided between the arm and the trunk, the first electric joint is configured to drive the arm to swing around a first swing axis, and the first swing axis is parallel to the central axis of the trunk; Wherein, a second electric joint is provided between the arm and the end tool, and the second electric joint is configured to drive the end tool to swing around a second swing axis, and the second swing axis is parallel to the first swing axis; Wherein, the end tool is provided with an electric rotating mechanism, and the electric rotating mechanism is configured to drive the end tool to rotate around a rotation axis, and the rotation axis is perpendicular to the second swing axis; The end tool comprises: A retaining frame having a connecting screw hole, and the electric rotating mechanism is fixedly arranged on the retaining frame; A first steering gear having a driving gear, wherein the first steering gear is fixedly disposed in the retaining frame; and A driven gear having a connecting screw, the connecting screw being used to connect with the discrete module, the connecting screw being screwed into the connecting screw hole; The driven gear is meshed with the driving gear, the connecting screw is linked with the first steering gear through the driving gear and the driven gear, and a protruding cylinder for docking with a discrete module structure is provided at the bottom of the retaining frame, and more than one protruding cylinder is provided, and the protruding cylinders are distributed around the connecting screw; The end tool also includes: Hexagonal shaft; and The second steering gear is used to drive the hexagonal shaft to be linked with the internal gear of the discrete module, and the hexagonal shaft is configured to rotatably pass through one of the protruding cylinders.

2. A novel three-branch relative robot for discrete module structure assembly according to claim 1, characterized in that: The first electric joint and the second electric joint are respectively provided with a first connecting frame and a second connecting frame, the first connecting frame is fixedly connected to the torso, the second connecting frame is fixedly connected to the output end of the electric rotation mechanism, and the output ends of the first electric joint and the second electric joint are both fixedly connected to the arm.

3. A novel three-branch relative robot for discrete module structure assembly according to claim 1, characterized in that: A limiting member is arranged in the retaining frame, and the limiting member is located just above the driven gear.

4. A novel three-branch relative robot for discrete module structure assembly according to claim 1, characterized in that: A transmission sleeve is fixedly arranged on the output shaft of the second steering gear, and the transmission sleeve has a guide hole matched with the hexagonal shaft, a spring body is arranged in the guide hole, and the hexagonal shaft is inserted into the guide hole.

5. A novel three-branch relative robot for discrete module structure assembly according to claim 2, characterized in that: A rotation support mechanism is provided between the second connecting frame and the electric rotation mechanism, and the rotation support mechanism is fixedly connected to the retaining frame.

6. A novel three-branch relative robot for discrete module structure assembly according to claim 3, characterized in that: The retaining frame comprises: roof; An intermediate plate, wherein a first support column and a second support column are respectively arranged on the top surface and the bottom surface of the intermediate plate, and two ends of the first support column are respectively fixedly connected to the top plate and the intermediate plate; as well as The bottom plate, the two ends of the second support column are respectively fixedly connected to the middle plate and the bottom plate; The electric rotating mechanism, the first steering gear and the second steering gear are all located between the top plate and the middle plate, the first steering gear and the second steering gear are both fixedly connected to the middle plate, and the electric rotating mechanism is fixedly connected to the top plate.

7. A novel three-branch relative robot for discrete module structure assembly according to claim 6, characterized in that: A positioning groove is arranged on the top surface of the middle plate, and one side of the electric rotating mechanism is inserted into the positioning groove.

8. The novel three-branch relative robot for discrete module structure assembly according to claim 6, characterized in that: The limiting member is fixedly connected to the middle plate.

Images