A cascaded combined dual mechanical arm for space use and a cascade method

Abstract

A cascaded combined dual robotic arm for space and a cascade method, two independent multi-degree-of-freedom robotic arms and a dual-arm combined adapter; the two independent multi-degree-of-freedom robotic arms have different volumes and are respectively recorded as a large arm and a small arm; the dual-arm combined adapter comprises a large arm end and a small arm end, which are used to provide mechanical, electrical and thermal interfaces for the cascade of the large arm and the small arm; after the cascade, the large arm supplies power to the small arm; when the small arm moves, the large arm is in a standby braking state and serves as a floating base for the small arm, and when the large arm moves, the small arm is in a standby braking state; the large arm is used for large-scale spatial transfer, and the small arm is used for small-scale movement, posture adjustment and end operation.

Description

Technical Field

[0001] The patent of this invention relates to a cascade combination method applied to a space dual robotic arm or multi-robotic arm combination. Background Art

[0002] The space manipulators currently in orbit involve different tasks and operational purposes. Their number of degrees of freedom generally does not exceed 7, and they have relatively fixed operational capabilities, which greatly limits their range of motion, operating space, and precision. Limited by space resources and transportation costs, too many manipulators cannot be launched to complete various tasks. In order to achieve the requirements of large-scale, large-load, and high-precision end operations of space manipulators, it is necessary to use the least configured manipulators to meet the needs of various tasks. Summary of the invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the existing different space robot arms in terms of length and single functional use, and to provide a dual robot arm cascade combination method for expanding the motion range and operation tasks of the space robot arm.

[0004] The technical solution of the present invention is: a cascaded combined dual robotic arm for space, two independent multi-degree-of-freedom robotic arms and a dual-arm combined adapter; the two independent multi-degree-of-freedom robotic arms have different volumes and are respectively recorded as a large arm and a small arm; the dual-arm combined adapter includes a large arm end and a small arm end, which are used to provide mechanical, electrical and thermal interfaces for the cascade of the large arm and the small arm; after the cascade, the large arm supplies power to the small arm; when the small arm moves, the large arm is in a standby braking state and serves as a floating base for the small arm, and when the large arm moves, the small arm is in a standby braking state; the large arm is used for spatial position transfer, and the small arm is used for end operation.

[0005] Preferably, the upper arm and the lower arm have 6-7 degrees of freedom.

[0006] Preferably, both ends of the upper arm are end effectors, and the end effectors are connected by joints, two arm rods and a central controller; a camera is installed on the end effector; and the central controller is used to realize upper arm path planning and motion control.

[0007] Preferably, both ends of the forearm are end effectors, and the end effectors are connected by joints, two arm rods and a central controller; a camera is installed on the end effector; and the central controller is used to achieve the movement space and position adjustment of the forearm and the end manipulation control.

[0008] Preferably, the arm end of the double-arm combination adapter includes a base, a cam, a visual target, a cover plate, an end gear plate, a capture rod, and an electrical connector; wherein the visual target at the arm end is used to perform initial image positioning with the arm, the capture rod realizes initial mechanical capture, the cam, the cover plate and the end gear plate cooperate with the arm to realize precise mechanical positioning, and finally the electrical connector realizes electrical connection with the arm.

[0009] Preferably, the forearm end of the double-arm combination adapter includes a main body, a visual mark, an end gear plate and an electrical connector; wherein the visual mark at the forearm end is used for initial positioning with the forearm image, the main body and the end gear plate cooperate with each other to achieve precise mechanical positioning with the forearm, and finally the electrical connector realizes electrical connection with the forearm.

[0010] A space cascade combined dual-manipulator separation method, comprising:

[0011] An end effector of the forearm is connected to a base adapter on the cabin;

[0012] The big arm moves to the base adapter near the small arm by crawling and connects, and the end effector at the other end of the big arm grabs the big arm end of the double-arm combination adapter and completes the mechanical connection, alignment and locking, and then the big arm carries the double-arm combination adapter and moves to the vicinity of the small arm;

[0013] The forearm uses a free-end end effector to capture the forearm end of the double-arm combination adapter and realize the mechanical connection, alignment and locking of the two parts;

[0014] The end effector electrical connector of the forearm and the base adapter are powered off; the main arm powers the forearm through the double-arm combination adapter, sends commands and receives telemetry signals;

[0015] After the correctness check and confirmation of the electrical connection status between the boom and the forearm is completed, the forearm end effector releases the base adapter to become a free end, thereby completing the combined cascade of the boom and the forearm.

[0016] A space dual-manipulator cascade combination method, comprising:

[0017] The big arm sends the small arm back to its initial position on the base adapter on the cabin, and the end effector of the small arm is mechanically connected with the captured base adapter;

[0018] The electrical connector of the arm supplying power to the forearm is powered off, and then the electrical connector of the forearm end effector and the base adapter are powered on; after the correctness of the electrical connection between the forearm and the base adapter is checked and confirmed, the forearm end effector and the forearm end of the double-arm combination adapter are released and separated;

[0019] The path planning of the big arm moves to the placement point of the double-arm combination adapter, releasing and separating the big arm end of the double-arm combination adapter; at this time, the big arm and the forearm are separated and can work independently on the track.

[0020] The beneficial effects of the present invention compared with the prior art are:

[0021] (1) At present, domestic space manipulators mainly adopt a single-arm design or a dual-arm design. However, the dual manipulators can complete the work independently. The tasks and functions they target are often different. They can work together, but they cannot make the best use of their strengths and avoid their weaknesses. They cannot simultaneously meet the requirements of large-scale, large-load and high-precision end-operation. In order to address the above problems and to make up for the shortcomings of the existing space manipulators in terms of length, load capacity and precision, the present invention proposes a dual-manipulator cascade combination method. By cascading a large arm with a small arm, it is possible to complete large-scale and large-load tasks and realize high-precision end-operation functions.

[0022] (2) Canada uses a folding arm form to improve the operational capability of the space manipulator, but the manipulator's uplink mission can only be achieved through on-orbit assembly and operation by astronauts. In response to the above problems, the present invention proposes a dual-manipulator cascade combination method, which solves the above problems by cascading a large arm with a small arm. It requires few resources and has strong flexibility. The two arms can work independently or in coordination and cascade. The large arm is responsible for large-scale and large-load tasks and can be completed independently; at the same time, the large arm and the small arm can be cascaded to achieve large-scale and high-precision operation functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional appearance diagram of the dual mechanical arms of the present invention after cascading;

[0024] Figure 2 This is a three-dimensional appearance diagram of a large mechanical arm which is one of the components of the present invention;

[0025] Figure 3 This is a three-dimensional appearance diagram of a small mechanical arm which is one of the components of the present invention;

[0026] Figure 4 This is a three-dimensional appearance diagram of a double-arm assembly adapter which is one of the components of the present invention;

[0027] Figure 5 It is a schematic diagram of the composition of the large arm end of the double-arm assembly adapter of the present invention;

[0028] Figure 6 It is a schematic diagram of the forearm end composition of the double-arm assembly adapter of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the embodiments.

[0030] The robotic arms in the cascaded combination method of dual robotic arms for space of the present invention include two independent robotic arms, each of which generally has 6 to 7 degrees of freedom; and a dual-arm combination adapter. The two robotic arms are divided into a large arm and a small arm in terms of volume; the large arm and the small arm capture the large arm end and the small arm end of the dual-arm combination adapter respectively, and the connection and transmission of mechanical, electrical, information and images between the large arm and the small arm are realized through the dual-arm combination adapter; after cascading, the large arm supplies power to the small arm and serves as a floating base for the small arm when the small arm moves. After cascading, the two robotic arms work in time-sharing mode, the large arm is responsible for large-scale transfer, and the central controller of the large arm is responsible for path planning; the small arm is responsible for high-precision terminal operation, spatial movement and configuration adjustment within a small range, and the central controller of the small arm is responsible for path planning.

[0031] Figure 1 An example of a cascade combined robot arm of the present invention is given, which mainly includes a 7-DOF serial robot arm 10 (referred to as the upper arm), a double-arm combined adapter 20, and a 7-DOF serial robot arm 30 (referred to as the lower arm). The upper arm 10 includes 7 joints 11, 2 end effectors 12, 2 arm rods 13, 1 central controller 14, and two wrist cameras 15; the lower arm 20 includes 7 joints 31, 2 end effectors 32, 2 arm rods 33, 1 central controller 34, and two end cameras 35. The seven joints 11 of the upper arm 10 include a shoulder swivel joint 111, a shoulder yaw joint 112, a shoulder pitch joint 113, an elbow joint 114, a wrist swivel joint 115, a wrist yaw joint 116 and a wrist pitch joint 117, and the two end effectors include a shoulder end effector 121 and a wrist end effector 122; the double-arm combination adapter includes a double-arm combination adapter upper arm end 21 and a double-arm combination adapter forearm end 22; the seven joints 31 of the forearm 30 include a shoulder swivel joint 311, a shoulder yaw joint 312, a shoulder pitch joint 313, an elbow joint 314, a wrist swivel joint 315, a wrist yaw joint 316 and a wrist pitch joint 317, and the two end effectors include a shoulder end effector 321 and a wrist end effector 322.

[0032] like Figure 2 As shown, the two arm bars in the above-mentioned boom are connected through the elbow pitch joint and the central controller, and the other ends of the two arm bars are respectively connected to the wrist pitch joint and the shoulder pitch joint, and the wrist pitch joint is connected to the wrist end effector through the wrist yaw joint and the wrist swivel joint in turn; the above-mentioned shoulder pitch joint is connected to the shoulder end effector through the shoulder yaw joint and the shoulder swivel joint in turn, and the shoulder end effector is used to connect with the boom base adapter. Wrist cameras are respectively installed on the two end effectors.

[0033] like Figure 3As shown, the two arm bars in the forearm are connected through the elbow pitch joint and the central controller, and the other ends of the two arm bars are respectively connected to the wrist pitch joint and the shoulder pitch joint, and the wrist pitch joint is connected to the wrist end effector through the wrist yaw joint and the wrist swivel joint in turn; the shoulder pitch joint is connected to the shoulder end effector through the shoulder yaw joint and the shoulder swivel joint in turn, and the shoulder end effector is used to connect with the forearm base adapter. End cameras are respectively installed on the two end effectors.

[0034] Figure 4-6 A schematic diagram of the double-arm assembly adapter of the present invention is given. The double-arm assembly adapter of the present invention includes a large arm end 21 and a small arm end 22. The large arm end includes a base 217, a cam 213, a visual target 216, a cover plate 211, an end gear plate 214, a capture rod 212, an electrical connector 215, and an astronaut armrest 218;

[0035] The double-arm combination adapter is combined with the boom. First, the boom uses its own visual camera to track and approach the visual target 216 on the boom end 21. Then, the capture rod 212 on the boom end 21 is grabbed by the end of the boom to capture and drag. After the cam 213 is used for guidance and positioning, the end gear disc 214 is used to mesh with the end gear disc of the boom end. In this way, the double-arm combination adapter and the boom can be mechanically connected. Finally, the electrical connector at the end of the boom is docked with the four electrical connectors 215 to complete the electrical connection.

[0036] The forearm end includes a main body 221, a visual marker 222, an end gear disc 223 and an electrical connector 224; the double-arm combination adapter is combined and docked with the forearm. First, the forearm uses its own visual camera to track and approach the visual marker 222 on the forearm end 22. Then, the outer arc part of the main body 221 on the forearm end 22 is captured and dragged by the forearm end mechanism, and the end gear disc 223 is engaged with the end gear disc at the end of the forearm, so that the double-arm combination adapter and the forearm are mechanically connected. Finally, the electrical connector at the end of the forearm is docked with the three electrical connectors 224 at the end of the main body 221 to complete the electrical connection.

[0037] The present invention realizes the double-arm cascade combination of the space boom and the forearm in the following manner: First, the boom 10 moves to a position where it can contact both the double-arm combination adapter 20 and the forearm 30 by crawling, that is, behind the base adapter near the forearm;

[0038] The upper arm 10 uses a wrist end effector 122 that is not connected to the upper arm base adapter 40 on the cabin to capture the upper arm end 21 of the double-arm combination adapter 20 to complete the connection and locking; the lower arm 30 uses an end effector 322 that is not connected to the lower arm base adapter 50 on the cabin to capture the lower arm end 22 of the double-arm combination adapter 20 to complete the connection and locking; then the electrical connector of the end effector 32 of the lower arm 30 is disconnected from the base 50, and the upper arm 10 powers on the lower arm 30 through the double-arm combination adapter 20 to achieve the electrical connection between the two parts; after the upper arm 10 and the lower arm are connected, the upper arm 10 and the lower arm 30 are connected. After the power supply and information status of 30 are checked and confirmed to be correct, the end effector 32 of the forearm 30 releases the connection with the forearm base adapter 50; the boom and the forearm are cascaded, and the boom is responsible for carrying the forearm to complete a large-scale spatial movement, and its path planning and movement are the responsibility of the boom central controller 14; the forearm is responsible for adjusting the movement space and position within a small range, and completing high-precision end fine operations, and its path planning and movement are the responsibility of the forearm central controller 34; the combined arm works in time, when the boom moves, the forearm is in a standby braking state, and when the forearm moves, the boom is in a standby braking state.

[0039] After completing the complex space task, the upper arm 10 returns the forearm 30 to its initial position on the forearm base adapter 50, and the end effector 321 of the forearm 30 is mechanically connected with the captured forearm base adapter 50; then the upper arm 10 cuts off the power to the electrical connector that supplies power to the forearm 30, and then the electrical connector of the forearm end effector 321 and the forearm base adapter 50 are powered on; after completing the correctness check and confirmation of the electrical connection status between the forearm 30 and the forearm base adapter 50, the wrist end effector 322 of the forearm 30 is released and separated from the forearm end 22 of the double-arm combination adapter 20; the upper arm 20 moves to the placement point of the double-arm combination adapter according to the path planning, and releases and separates the upper arm end 21 of the double-arm combination adapter; at this time, the upper arm 10 and the forearm 30 can work independently on track.

[0040] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A cascaded combined dual robotic arm for space use, characterized in that: Two independent multi-DOF mechanical arms and a dual-arm combination adapter; the two independent multi-DOF mechanical arms are of different volumes and are respectively recorded as a large arm and a small arm; the dual-arm combination adapter comprises a large arm end and a small arm end, which are used to provide mechanical, electrical and thermal interfaces for the large arm and small arm cascade; after the cascade, the large arm supplies power to the small arm; when the small arm moves, the large arm is in a standby braking state and serves as a floating base for the small arm, and when the large arm moves, the small arm is in a standby braking state; the large arm is used for spatial position transfer, and the small arm is used for end operation; The upper arm and the lower arm have 6 or 7 degrees of freedom; The two ends of the big arm are end effectors, and the end effectors are connected with joints, two arm rods and a central controller; a camera is installed on the end effector; the central controller is used to realize the path planning and motion control of the big arm; The two ends of the forearm are end effectors, and the end effectors are connected with joints, two arm rods and a central controller; a camera is installed on the end effector; the central controller is used to realize the movement space and position adjustment of the forearm and the end manipulation control; The arm end of the double-arm combination adapter includes a base, a cam, a visual target, a cover plate, an end gear plate, a capture rod, and an electrical connector; wherein the visual target at the arm end is used to perform initial image positioning with the arm, the capture rod realizes initial mechanical capture, the cam, the cover plate, and the end gear plate cooperate with the arm to realize precise mechanical positioning, and finally the electrical connector realizes electrical connection with the arm; The small arm end of the double-arm assembly adapter includes a body, a visual mark, an end gear plate and an electrical connector; The visual mark at the end of the forearm is used for initial positioning with the forearm image, the main body and the end gear disc cooperate with the forearm to achieve precise mechanical positioning, and finally the electrical connector realizes electrical connection with the forearm.

2. A space separation method using a cascaded combined dual robotic arm as claimed in claim 1, characterized in that include: An end effector of the forearm is connected to a base adapter on the cabin; The big arm moves to the base adapter near the small arm by crawling and connects, and the end effector at the other end of the big arm grabs the big arm end of the double-arm combination adapter and completes the mechanical connection, alignment and locking, and then the big arm carries the double-arm combination adapter and moves to the vicinity of the small arm; The forearm uses a free-end end effector to capture the forearm end of the double-arm combination adapter and realize the mechanical connection, alignment and locking of the two parts; The end effector electrical connector of the forearm and the base adapter are disconnected from the power supply; The big arm powers the small arm through the double-arm combination adapter, sends commands and receives telemetry signals; After the correctness check and confirmation of the electrical connection status between the boom and the forearm is completed, the forearm end effector releases the base adapter to become a free end, thereby completing the combined cascade of the boom and the forearm.

3. A method for assembling a space cascaded dual-manipulator assembly as claimed in claim 1, characterized in that include The big arm sends the small arm back to its initial position on the base adapter on the cabin, and the end effector of the small arm is mechanically connected with the captured base adapter; The electrical connector of the arm supplying power to the forearm is powered off, and then the electrical connector of the forearm end effector and the base adapter are powered on; After the correctness check and confirmation of the electrical connection status between the forearm and the base adapter is completed, the end effector of the forearm and the forearm end of the double-arm combination adapter are loosened and separated; The path planning of the big arm moves to the placement point of the double-arm combination adapter, releasing and separating the big arm end of the double-arm combination adapter; at this time, the big arm and the forearm are separated and can work independently on the track.

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