A mechanical arm end effector for spatial truss joint docking

Abstract

The present application relates to the field of engineering machinery, in particular to a kind of mechanical arm end effector for space truss joint butt joint, including nut locking mechanism, 2 bufferable push rod type mechanical clamping jaw, truss clamping mechanism, translation mechanism, the truss clamping mechanism includes clamping jaw frame and bufferable push rod type mechanical clamping jaw, install on the screw fixed seat of translation mechanism, the truss clamping mechanism can realize the clamping fixed of truss round bar, prepare for subsequent nut locking work, the nut locking mechanism is installed on bufferable push rod type mechanical clamping jaw, can drive truss joint nut rotation locking, the bufferable push rod type mechanical clamping jaw is installed on the translation slider of translation mechanism, and translation mechanism can drive push rod type mechanical clamping jaw in the axial translation movement of truss joint nut translation.The mechanical arm end effector can help mechanical arm to realize the locking of truss joint nut, complete the butt joint of truss joint, finally help mechanical arm to complete the task of truss assembly.

Description

Technical Field

[0001] This invention relates to the field of space trusses, and more specifically to a robotic arm end effector for docking space truss joints. Technical Background

[0002] With the rapid development of aerospace technology, humanity's demand for the exploration and development of space resources is increasing. Consequently, the scale of large-scale space structures, the volume of on-orbit operations, and the complexity of missions are also increasing dramatically. Examples include solar-powered space stations, space solar power stations, and space transfer stations, all of which rely on space truss structures. Given this immense workload, relying solely on astronauts to manually assemble the truss is impractical. Furthermore, the assembly environment in outer space poses safety hazards for astronauts performing extravehicular activities. Manual truss installation by astronauts is limited, significantly increasing manpower costs and posing a high risk. Therefore, to complete these missions, space control devices are needed to replace astronauts. While robotic arms can move trusses, the docking of truss joints during assembly is a challenge. A robotic arm end effector for docking space truss joints can automatically lock the truss joint nuts to achieve docking, assisting the robotic arm in completing the truss assembly. Summary of the Invention

[0003] This invention provides a robotic arm end effector for docking space truss joints. This robotic arm end effector can help the robotic arm to lock the truss joint nuts, complete the docking of the truss joints, and ultimately help the robotic arm complete the task of truss assembly.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This invention discloses a robotic arm end effector for docking space truss joints, comprising: a nut locking mechanism, two buffered push-rod type mechanical grippers, a truss clamping mechanism, and a translation mechanism. The nut locking mechanism includes: a motor A, a driving roller, a front driven roller, a rear driven roller, a driving roller bracket, a driven roller bracket, and a bearing A. The buffered push-rod type mechanical grippers include: an upper gripper arm, a lower gripper arm, an upper gripper connecting rod, a lower gripper connecting rod, a gripper hinge, a gripper support block, a gripper push rod, a locking nut, a pin, a lead screw nut B, a lead screw B, a motor B, a fixed buffer plate, a movable buffer plate, a spring, and a bearing A. The truss clamping mechanism includes: the buffered push-rod type mechanical grippers and a gripper frame. The translation mechanism includes: a motor C, a motor fixing plate, a lead screw fixing seat, a lead screw C, a lead screw nut C, a bearing C, a translation slider, and a lead screw support seat. Installed on the lead screw fixing seat of the translation mechanism, the truss round rod and the truss joint nut must not rotate together during the locking process of the truss joint nut. It is necessary to ensure the relative fixation of the truss round rod where the truss joint nut is located. The truss clamping mechanism can clamp and fix the truss round rod, preparing for the subsequent nut locking work. The nut locking mechanism is installed on the buffered push rod mechanical gripper, which is installed on the translation slider of the translation mechanism. The truss joint nut requires necessary axial displacement during the locking process. The translation mechanism can drive the push rod mechanical gripper to move axially in the truss joint nut. The push rod mechanical gripper can apply clamping force and transmit it to the nut locking mechanism. The driving wheel of the nut locking mechanism starts to rotate. The friction force generated by clamping can drive the truss joint nut to rotate, locking the joint nut and realizing the truss joint docking. The translation mechanism is a motor-driven lead screw and nut mechanism. The motor C is mounted on a motor mounting plate, which is fixedly connected to a lead screw mounting base. A bearing C is mounted on the lead screw mounting base, and a lead screw C is mounted on the bearing C. The lead screw C meshes with a lead screw nut C and is fixedly connected to a translation slider. The other end of the lead screw C is mounted on a lead screw support base. The motor C can drive the lead screw C to rotate, causing the lead screw nut C to move horizontally, which in turn drives the translation slider connected to it. A buffered push rod type mechanical gripper is fixedly mounted on the translation slider. Thus, the translation mechanism can drive the buffered push rod type mechanical gripper to achieve translational movement, providing axial displacement for the nut locking mechanism.

[0006] Furthermore, in the nut locking mechanism, motor A is mounted on the active roller bracket, which is fixedly connected to the upper gripper arm. The active roller bracket is connected to the active roller shaft via two bearings A, allowing the active roller to rotate. The driven roller bracket is fixedly connected to the lower gripper arm, and the driven roller bracket is connected to the front and rear driven roller shafts via four bearings A. The front and rear driven rollers can rotate freely. The active roller, front driven roller, and rear driven roller are of equal length and flush. The active roller and the two driven rollers can clamp the truss joint nut together. The surfaces of the active roller, front driven roller, and rear driven roller are all tangent to the surface of the truss joint nut. The buffer push-rod type mechanical gripper ensures that the nut locking mechanism and the truss joint nut are pressed tightly together. After being energized, motor A starts to rotate and drives the active roller to rotate. The friction generated by clamping causes the truss joint nut to rotate, completing the nut locking task.

[0007] Furthermore, in the bufferable push-rod type mechanical gripper, the upper gripper arm and the lower gripper arm are respectively connected to the upper and lower ends of the gripper support block by pins. A motor B is fixedly installed inside the gripper support block. A lead screw B is installed on the motor B, and a lead screw nut B is installed on the lead screw B. The lead screw nut B is fixedly connected to the gripper push rod. The other end of the gripper push rod is fixedly connected to the gripper hinge by a locking nut. Both ends of the gripper hinge are respectively connected to the upper gripper connecting rod and the lower gripper connecting rod by pins. The upper gripper connecting rod and the lower gripper connecting rod are respectively connected to the interior of the upper gripper arm and the lower gripper arm by pins. The other end of the gripper support block is fixedly connected to a movable buffer plate. Four bearings A are installed on the movable buffer plate. The four guide shafts of the fixed buffer plate are connected to the bearings A. The fixed buffer plate and the movable buffer plate are connected by… Four springs are connected and mounted on four guide shafts of the fixed buffer plate. When motor B is energized, it drives lead screw B to rotate, which in turn drives lead screw nut B to perform translational motion. Lead screw nut B pushes the gripper push rod, and the movement of the gripper push rod can drive the gripper hinge and gripper connecting rod to move, thereby causing the upper and lower gripper arms to open or close. The fixed buffer plate is fixedly connected to the translation mechanism. To improve docking accuracy and efficiency, the truss joint is a magnetic joint. When two truss joints approach each other, due to magnetic attraction, a momentary displacement will occur in the radial direction of the circular truss. The movable buffer plate, under the action of the springs, can compensate for the momentary displacement and impact through the guide shafts, thus providing a certain degree of protection for the push rod mechanical gripper and the entire end effector.

[0008] The present invention achieves the following technical effects compared to the prior art:

[0009] Using motor control, the end effector of the robotic arm can lock and connect the truss joint nuts in a weightless environment, and it features high precision and high efficiency.

[0010] The use of buffered push-rod mechanical grippers not only enables the clamping and fixing of truss round members, but also provides the necessary friction for locking the truss joint nuts. Furthermore, the buffered push-rod mechanical grippers have a built-in cushioning effect, effectively compensating for the impact and displacement generated during the mating of the truss magnetic joints.

[0011] The roller-type nut locking mechanism enables precise control over the locking of the truss joint nut, allowing control over the degree of locking. When the drive wheel reverses, the truss joint nut can be loosened.

[0012] The use of a screw-nut displacement mechanism allows for precise adjustment of the axial displacement of the nut locking mechanism in the truss joint nut, ensuring smooth locking of the truss joint nut. It also allows for small-range adjustment of the position of the buffered push rod mechanical gripper. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 Overall schematic diagram of the robotic arm's end effector;

[0015] Figure 2 Schematic diagram of nut locking mechanism;

[0016] Figure 3 Schematic diagram of a buffered mechanical gripper;

[0017] Figure 4 Schematic diagram of the internal motor of the gripper;

[0018] Figure 5 Side view of the truss clamping mechanism;

[0019] In the diagram: 1 is the truss round rod, 2 is the truss joint nut, 3 is the truss joint, 4 is the motor A, 5 is the driving roller, 6 is the front driven roller, 7 is the rear driven roller, 8 is the driving roller bracket, 9 is the driven roller bracket, 10 is the bearing A, 11 is the upper gripper arm, 12 is the lower gripper arm, 13 is the upper gripper connecting rod, 14 is the lower gripper connecting rod, 15 is the gripper hinge, 16 is the gripper support block, 17 is the gripper push rod, 18 is the locking nut, 19 is the pin, 20 is the lead screw nut B, 21 is the lead screw B, 22 is the motor B, 23 is the fixed buffer plate, 24 is the movable buffer plate, 25 is the spring, 26 is the gripper frame, 27 is the motor C, 28 is the motor fixing plate, 29 is the lead screw fixing seat, 30 is the lead screw C, 31 is the lead screw nut C, 32 is the bearing C, 33 is the translation slider, and 34 is the lead screw support seat. Detailed implementation method:

[0020] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The purpose of this invention is to provide a robotic arm end effector for docking space truss joints. This robotic arm end effector can help the robotic arm to lock the truss joint nuts in a weightless environment, complete the docking of the truss joints, and ultimately help the robotic arm complete the task of truss assembly and realize the construction of space trusses.

[0022] To make the above-mentioned objectives and features of the present invention clearer and easier to understand, a detailed description is provided below in conjunction with the accompanying drawings.

[0023] See Figure 1-5 This invention discloses a robotic arm end effector for docking space truss joints, which will be described in detail below with reference to the accompanying drawings.

[0024] The following components are included in the robotic arm end effector: 1. Truss rod; 2. Truss joint nut; 3. Truss joint; 4. Motor A; 5. Driven roller; 6. Front driven roller; 7. Rear driven roller; 8. Driven roller bracket; 9. Driven roller bracket; 10. Bearing A; 11. Upper gripper arm; 12. Lower gripper arm; 13. Upper gripper connecting rod; 14. Lower gripper connecting rod; 15. Gripper hinge; 16. Gripper support block; 17. Gripper push rod; 18. Locking nut; 19. Pin; 20. Lead screw nut B; 21. Lead screw B; 22. Motor B; 23. Fixed buffer plate; 24. Movable buffer plate; 25. Spring; 26. Gripper frame; 27. Motor fixing plate; 28. Lead screw fixing seat; 29. ​​Lead screw C; 30. Lead screw nut C31. Bearing C32. Translation slider; 33. Lead screw support seat. This robotic arm end effector can lock the truss joint nut, allowing the truss joint to connect smoothly and assisting the robotic arm in completing the spatial truss assembly task.

[0025] During truss joint docking, truss joint nut 2 is fitted onto truss rod 1. Both the joint end of truss rod 1 and truss joint 3 are threaded and are magnetic joints. When the robotic arm moves truss rod 1 to the vicinity of truss joint 3, the magnetic joints attract each other, causing the joint end of truss rod 1 and truss joint 3 to come into contact. The truss locking mechanism of the robotic arm end effector begins to clamp truss rod 1 and adjusts its position to a suitable position for truss docking. Then, the buffer push rod mechanical gripper closes until the nut locking mechanism clamps truss joint nut 2. The active roller drive motor A4 and the displacement mechanism drive motor C27 are powered simultaneously. The speed and direction of rotation of the motors can be adjusted by the control system, so that truss joint nut 2 has both locking rotational motion and translational motion from the joint end of truss rod 1 to truss joint 3. The combination of these two is the entire truss joint nut locking process, achieving smooth docking of the truss joint. Similarly, when it is necessary to disassemble the space truss, the control system can readjust the rotation direction and speed of the motor, and the end effector of the robotic arm can loosen the truss joint nut 2, separate the fixed truss, and help the robotic arm to disassemble the truss.

[0026] The truss clamping mechanism of the robotic arm end effector is fixed on the lead screw fixing seat 29. After the gripper clamps the truss rod 1, the robotic arm mechanically adjusts the position of the end effector so that the magnetic joints attract and contact each other. During this process, due to the magnetic attraction, radial impact and displacement of the truss rod 1 will be generated. The movable buffer plate 24 in the buffer push rod type mechanical gripper will be slightly displaced with the spring 25, which has a compensating effect on the generated impact and displacement, protects the entire mechanical gripper and end effector, and also reduces the impact on the joints of the robotic arm.

[0027] The translation mechanism of the end effector of the robotic arm adopts a screw and nut cooperation structure. The rotation of the screw C30 can drive the screw nut C31 to produce linear displacement. The direction of movement of the screw nut C31 is the axial direction of the truss joint nut 2, which is the axial displacement that the truss joint nut 2 must have during the locking process. Due to the use of this screw and nut cooperation structure, the movement speed and position of the screw nut C31 can be precisely controlled, and can also be flexibly adjusted by the motor C27.

[0028] In the nut locking mechanism, the driving roller 5 drives the truss joint nut 2 to rotate through friction, while the front driven roller 6 and the rear driven roller 7 idle and provide support. The driving roller 5, the front driven roller 6, and the rear driven roller 7 are all made of rubber material with high friction, which can provide sufficient friction to lock the truss joint nut 2 and also have a certain deformation to compensate for the small displacement generated during the clamping process of the mechanical gripper. The nut locking mechanism can both clamp the truss joint nut 2 and allow it to have a degree of freedom of rotation.

[0029] The buffered push rod mechanical gripper outputs power through motor B22. The lead screw nut B20 can drive the gripper push rod 17 to make linear motion, so that the gripper push rod 17 moves forward or backward, thereby driving the upper gripper arm 11 and the lower gripper arm 12 to open and close, so as to clamp the truss round rod 1 and the truss joint nut 2.

[0030] The specific working process of this invention is as follows:

[0031] The truss clamping mechanism is installed on the lead screw fixing seat 29 of the translation mechanism. The gripper frame 26 of the truss clamping mechanism can clamp and fix the truss round bar 1, preparing for the subsequent nut locking work. The bufferable push rod mechanical gripper in the truss clamping mechanism plays the role of clamping and buffering.

[0032] The translation mechanism is a motor-driven lead screw and nut mechanism. The motor C27 is mounted on the motor mounting plate 28, which is fixedly connected to the lead screw mounting base 29. The lead screw mounting base 29 is equipped with a bearing C32, and the lead screw C30 is mounted on the bearing C32. The lead screw C30 meshes with the lead screw nut C31, which is fixedly connected to the translation slider 33. The other end of the lead screw C30 is mounted on the lead screw support base 34. When the motor C27 is energized, it can drive the lead screw C30 to rotate, causing the lead screw nut C31 to move horizontally, which in turn drives the translation slider 33 connected to it. A buffered push rod type mechanical gripper is fixedly mounted on the translation slider 33. Thus, the translation mechanism can drive the buffered push rod type mechanical gripper to achieve translational movement, providing axial displacement for the nut locking mechanism. Both the lead screw mounting base 29 and the lead screw support base 34 are equipped with bearings C32, which can ensure that the lead screw nut C31 performs smooth translational movement.

[0033] In the nut locking mechanism, motor A4 is mounted on the drive roller bracket 8, which is fixedly connected to the upper gripper arm 11. The drive roller bracket 8 is connected to the drive roller 5 shaft via two bearings A10, allowing the drive roller 5 to rotate. The driven roller bracket 9 is fixedly connected to the lower gripper arm 12, and is connected to the front driven roller 6 shaft and the rear driven roller 7 shaft via four bearings A10, allowing the front driven roller 6 and the rear driven roller 7 to rotate freely. Wheel 5, front driven roller 6, and rear driven roller 7 are of equal length and are flush. The driving roller 5 and the two driven rollers can clamp the truss joint nut 2 together. The surfaces of the driving roller, the front driven roller, and the rear driven roller are all tangent to the surface of the truss joint nut. The buffer push rod type mechanical gripper makes the nut locking mechanism press tightly against the truss joint nut. After power is applied, the motor A4 starts to rotate and drives the driving roller 5 to rotate. The friction generated by clamping makes the truss joint nut 2 rotate to complete the nut locking task.

[0034] In a buffer-type push-rod mechanical gripper, the upper gripper arm 11 and the lower gripper arm 12 are respectively connected to the upper and lower ends of the gripper support block 16 by pins. A motor B22 is fixedly installed inside the gripper support block 16. A lead screw B21 is installed on the motor B22, and a lead screw nut B20 is installed on the lead screw B21. The lead screw nut B20 is fixedly connected to the gripper push rod 17. The other end of the gripper push rod 17 is fixedly connected to the gripper hinge 15 by a locking nut 18. Both ends of the gripper hinge 15 are connected to the upper gripper connecting rod 13 and the lower gripper connecting rod 14 by pins. The upper gripper connecting rod 13 and the lower gripper connecting rod 14 are respectively connected to the upper gripper arm 11 and the lower gripper arm 12 by pins. The other end of the gripper support block 16 is fixedly connected to a movable buffer plate 24. Four bearings A10 are installed on the movable buffer plate 24. Four guide shafts of the fixed buffer plate are connected to the bearings A10. The fixed buffer plate 23 and the movable buffer plate 24 are connected by four... Four springs 25 are connected and installed on the four guide shafts of the fixed buffer plate 23. When the motor B22 is powered on, it can drive the lead screw B21 to rotate. The lead screw B21 can drive the lead screw nut B20 to make translational movement. The lead screw nut B20 can push the gripper push rod 17. The movement of the gripper push rod 17 can drive the gripper hinge 15, the upper gripper connecting rod 13 and the lower gripper connecting rod 14 to move, which in turn drives the upper gripper arm 11 and the lower gripper arm 12 to open or close. The fixed buffer plate 23 is fixedly connected to the translation mechanism. In order to improve docking accuracy and efficiency, the truss joint is a magnetic joint. When the two truss joints are close to each other, due to the magnetic attraction, an instantaneous displacement will be generated in the radial direction of the circular truss 1. The movable buffer plate 24 can compensate for the instantaneous displacement and impact through the guide shaft under the action of the spring, which plays a certain role in protecting the mechanical gripper and the entire end effector.

[0035] The nut locking mechanism, buffered push rod mechanical gripper, truss clamping mechanism, and translation mechanism of the present invention work together to help the end effector of the robotic arm automatically lock the truss joint nut, thereby completing the truss joint docking and ultimately helping the robotic arm to achieve spatial truss assembly.

Claims

1. A robotic arm end effector for docking space truss joints, characterized in that, The system includes: a nut locking mechanism, two buffered push-rod mechanical grippers, a truss clamping mechanism, and a translation mechanism. The nut locking mechanism comprises: a motor A, a driving roller, a front driven roller, a rear driven roller, a driving roller bracket, a driven roller bracket, and bearings A. Motor A is mounted on the driving roller bracket, which is fixedly connected to the upper gripper arm. The driving roller bracket is connected to the driving roller's shaft via two bearings A. The driven roller bracket is fixedly connected to the lower gripper arm, and the driven roller bracket is connected to the shafts of the front and rear driven rollers via four bearings A. The front and rear driven rollers are freely rotatable. The driving roller, front driven roller, and rear driven roller... The wheels are of equal length and flush, jointly clamping the truss joint nut, with the surfaces of the driving roller, the front driven roller, and the rear driven roller all tangent to the truss joint nut surface; the buffered push-rod type mechanical gripper includes: an upper gripper arm, a lower gripper arm, an upper gripper connecting rod, a lower gripper connecting rod, a gripper hinge, a gripper support block, a gripper push rod, a locking nut, a pin, a lead screw nut B, a lead screw B, a motor B, a fixed buffer plate, a movable buffer plate, a spring, and a bearing A. The upper and lower gripper arms are respectively connected to the upper and lower ends of the gripper support block by pins. The motor B is fixedly installed inside the gripper support block. A lead screw B is installed on the motor B, and a lead screw nut B is installed on the lead screw B. The lead screw nut B is fixedly connected to the gripper push rod, and the other end of the gripper push rod... The end of the clamping block is fixedly connected to the gripper hinge via a locking nut. Both ends of the gripper hinge are connected to the upper gripper link and the lower gripper link via pins, respectively. The upper and lower gripper links are connected to the interior of the upper and lower gripper arms via pins, respectively. The other end of the gripper support block is fixedly connected to a movable buffer plate. Four bearings A are mounted on the movable buffer plate. Four guide shafts of the fixed buffer plate are connected to the bearings A. The fixed buffer plate and the movable buffer plate are connected by four springs, which are mounted on the four guide shafts of the fixed buffer plate. The fixed buffer plate is fixedly connected to the translation mechanism. The truss clamping mechanism includes: the bufferable push rod type mechanical gripper and the gripper frame. The translation mechanism includes: a motor C and a motor fixing plate. The system includes a lead screw fixing seat, a lead screw C, a lead screw nut C, a bearing C, a translation slider, and a lead screw support seat. The truss clamping mechanism is installed on the lead screw fixing seat of the translation mechanism. The truss clamping mechanism can clamp and fix the truss round rod, preparing for the subsequent nut locking work. The nut locking mechanism is installed on a buffered push rod mechanical gripper, which is installed on the translation slider of the translation mechanism. The translation mechanism can drive the push rod mechanical gripper to move axially in the truss joint nut. The push rod mechanical gripper can apply clamping force and transmit it to the nut locking mechanism. The driving wheel of the nut locking mechanism starts to rotate. The friction force generated by clamping can drive the truss joint nut to rotate, locking the joint nut and realizing the truss joint docking.The translation mechanism is a motor-driven lead screw and nut mechanism. The motor C is mounted on a motor mounting plate, which is fixedly connected to a lead screw mounting base. A bearing C is mounted on the lead screw mounting base, and a lead screw C is mounted on the bearing C. The lead screw C meshes with a lead screw nut C, which is fixedly connected to a translation slider. The other end of the lead screw C is mounted on a lead screw support. The motor C can drive the lead screw C to rotate, causing the lead screw nut C to move horizontally, thereby driving the translation slider connected to it. A buffered push rod type mechanical gripper is fixedly mounted on the translation slider. Thus, the translation mechanism can drive the buffered push rod type mechanical gripper to achieve translational movement, providing axial displacement for the nut locking mechanism.

2. The end effector of a robotic arm for docking space truss joints according to claim 1, characterized in that, The motor A in the nut locking mechanism is mounted on the active roller bracket, which is fixedly connected to the upper gripper arm. The active roller bracket is connected to the active roller shaft via two bearings A, and the active roller can be driven to rotate by the motor A. The driven roller bracket is fixedly connected to the lower gripper arm, and the driven roller bracket is connected to the front driven roller shaft and the rear driven roller shaft via four bearings A. The front and rear driven rollers can rotate freely. The active roller, the front driven roller, and the rear driven roller are of equal length and flush. The active roller and the two driven rollers can clamp the truss joint nut together. The surfaces of the active roller, the front driven roller, and the rear driven roller are all tangent to the surface of the truss joint nut. The buffer push rod type mechanical gripper makes the nut locking mechanism press tightly against the truss joint nut. After being powered on, the motor A starts to rotate and drives the active roller to rotate. The friction generated by clamping causes the truss joint nut to rotate, completing the nut locking task.

3. The end effector of a robotic arm for docking space truss joints according to claim 1, characterized in that, In the bufferable push-rod type mechanical gripper, the upper gripper arm and the lower gripper arm are respectively connected to the upper and lower ends of the gripper support block by pins. A motor B is fixedly installed inside the gripper support block. A lead screw B is installed on the motor B, and a lead screw nut B is installed on the lead screw B. The lead screw nut B is fixedly connected to the gripper push rod. The other end of the gripper push rod is fixedly connected to the gripper hinge by a locking nut. Both ends of the gripper hinge are respectively connected to the upper gripper connecting rod and the lower gripper connecting rod by pins. The upper gripper connecting rod and the lower gripper connecting rod are respectively connected to the interior of the upper gripper arm and the lower gripper arm by pins. The other end of the gripper support block is fixedly connected to a movable buffer plate. Four bearings A are installed on the movable buffer plate. Four guide shafts of the fixed buffer plate are connected to the bearings A. The fixed buffer plate and the movable buffer plate are connected by four springs. Next, the four springs are installed on the four guide shafts of the fixed buffer plate. When motor B is energized, it can drive lead screw B to rotate. Lead screw B can drive lead screw nut B to perform translational movement. Lead screw nut B can push the gripper push rod. The movement of the gripper push rod can drive the gripper hinge, upper gripper connecting rod and lower gripper connecting rod to move, thereby driving the upper gripper arm and lower gripper arm to perform opening or closing movement. The fixed buffer plate is fixedly connected to the translation mechanism. In order to improve docking accuracy and efficiency, the truss joint is a magnetic joint. When two truss joints are close to each other, due to the magnetic attraction, an instantaneous displacement will be generated in the radial direction of the circular truss. Under the action of the spring, the movable buffer plate can compensate for the instantaneous displacement and impact through the guide shaft, which plays a certain role in protecting the mechanical gripper and the entire end effector.

4. The end effector of a robotic arm for docking space truss joints according to claim 1, characterized in that... The nut locking mechanism, the buffered push rod mechanical gripper, the truss clamping mechanism, and the translation mechanism work together to enable the end effector of the robotic arm to automatically lock the truss joint nut, thereby completing the truss joint docking and ultimately helping the robotic arm to assemble the truss in space.

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