A three-branched crawling-manipulation integrated configuration variable space manipulator

Abstract

The present invention discloses a three-chain crawling-operating integrated configuration variable space manipulator, comprising a manipulator structure, a quick-locking structure, a three-chain manipulator arm structure, a base plate structure, and an external manipulator arm structure. The three-chain manipulator arm structure comprises three manipulator arms of identical models and a base connection device; the base plate structure comprises several identical connection devices and a manipulator arm storage device; the quick-locking structure comprises a quick locking device, a spring buffer device, and an information transmission module; the manipulator structure comprises a connection device and a grasping device; and the external manipulator arm structure comprises a trunk structure and a connection locking device. The present invention fixes the three-chain manipulator arm to several quick-locking devices on the base plate, enabling the manipulator arm to crawl on the base plate. Depending on the requirements of the task to be performed, the manipulator can select between two-arm fixed single-arm operation or single-arm fixed two-arm collaboration. Furthermore, the number of branch joints can be increased to increase the range of motion. The invention has the characteristics of high adaptability, high flexibility, and a large operating range.

Description

Technical Field

[0001] The present invention relates to a three-branched crawling-operating integrated configuration variable space robot arm. Specifically, it is a three-branched robot arm that can crawl on an outer wall with several connecting devices. It is a robot arm that can change its own administrative and operating forms to adapt to different work tasks and environments. Background Art

[0002] With the rapid development of space technology, space robotic arms have become the focus of research for more and more people. With their advantages of high flexibility, strong controllability and good stability, they have been used in space stations at home and abroad for monitoring, transportation, docking, assembly and maintenance on the outer wall of the space station, greatly improving the work efficiency and capabilities of the space station in the space environment. At the same time, they also provide assistance for astronauts' extravehicular activities and improve their safety.

[0003] However, most of the current space robotic arms are serial multi-degree-of-freedom robotic arms, which have disadvantages such as small range of activity, single application scenario, and small load capacity. When used, they cannot complete complex tasks independently and require the cooperation of astronauts to complete them, which limits the operating range and application capabilities of the space station.

[0004] In response to the problems existing in the above design, the present invention has designed a space robot arm with three branches that can be connected or moved with the outer wall respectively, and can change the configuration to increase the degree of freedom, thereby expanding the range of movement of the space robot arm, improving its working ability and adaptability to complex tasks and environments. Summary of the Invention

[0005] The purpose of the present invention is to provide a three-chain crawling-operating integrated configuration variable space manipulator, comprising a manipulator structure (1), wherein one side of the manipulator structure (1) is provided with a quick locking mechanism (2); the other side of the quick locking mechanism (2) is provided with a three-chain manipulator structure (3); the three-chain manipulator structure (3) is provided with a small manipulator arm (3-1), a large manipulator arm (3-2), a motor for a manipulator arm seat (3-3) and a base (3-4), wherein one of the small manipulator arms (3-1) is connected to the quick locking mechanism (2) connected; the quick locking mechanism (2) is connected to the substrate connecting device (4-3) in the substrate mechanism (4); the substrate mechanism (4) comprises a substrate outer wall (4-1), a substrate external locking head (4-2) and a substrate connecting device (4-3); the substrate external locking head (4-2) is equipped with an external mechanical arm structure (5); a quick locking mechanism (2) is installed on one side of the external mechanical arm structure (5); the quick locking mechanism (2) is connected to the substrate connecting device (4-3) in the substrate mechanism (4).

[0006] The manipulator structure (1) comprises a gear finger (1-1), a rack (1-2), a manipulator body (1-3), a manipulator motor (1-4), a manipulator lock seat (1-5), a buffer spring (1-6) and a positioning rod (1-7); the connection relationship of each component is as follows: the gear finger (1-1) is connected to the manipulator body (1-3) through a rotating pair, the rack (1-2) is connected to the manipulator body (1-3) through a sliding pair, the gear finger (1-1) and the rack (1-2) are engaged with each other, the main shaft of the manipulator motor (1-4) is fixedly connected to the manipulator body (1-3), the manipulator motor (1-4) is fixedly connected to the manipulator lock seat (1-5), the positioning rod (1-7) is fixedly connected to the manipulator lock seat (1-5), and the buffer spring (1-6) is sleeved on the positioning rod (1-7), one end of which is fixed to the manipulator body (1-3).

[0007] The quick locking mechanism (2) comprises a lock head (2-1), a lead screw (2-2), a push plate (2-3) and a connecting lock body (2-4); the connection relationship of each component is as follows: the middle part of the lock head (2-1) is connected to the connecting lock body (2-4) through a rotating pair, the lower end of the lock head (2-1) is connected to the push plate (2-3) through a cylindrical pair, the lower end of the lead screw (2-2) is fixedly connected to the motor shaft of the connecting lock body (2-4), the push plate (2-3) is meshed with the lead screw (2-2), and the push plate (2-3) is driven to move by utilizing the reverse self-locking characteristic of the lead screw (2-2).

[0008] The three-branch chain mechanical arm structure (3) includes a mechanical small arm (3-1), a mechanical large arm (3-2), a mechanical arm seat motor (3-3), a base (3-4), a mechanical small arm body (3-1-1), a mechanical small arm motor (3-1-2), a mechanical large arm body (3-2-1) and a mechanical large arm motor (3-2-2); the connection relationship of each component is as follows: in the connection relationship of a single branch chain, the main shaft of the mechanical small arm motor (3-1-2) is fixedly connected to the quick locking structure, and its shell is fixedly connected to the mechanical small arm body (3-1-1). The small robot arm (3-1) is fixedly connected to the main shaft of the mechanical arm motor (3-2-2), the housing of the mechanical arm motor (3-2-2) is fixedly connected to the main body of the mechanical arm (3-2-1), the mechanical arm (3-2) is fixedly connected to the main shaft of the mechanical arm base motor (3-3), and the housing of the mechanical arm base motor (3-3) is fixedly connected to the base (3-4); similarly, the base (3-4) is respectively connected to three identical branches (branch 1, branch 2 and branch 3), and the connection relationship of each branch is the same and each has three degrees of freedom.

[0009] The substrate mechanism (4) comprises a substrate outer wall (4-1), a substrate external lock head (4-2), a substrate connecting device (4-3), a substrate connecting device base (4-3-1), a substrate connecting device blocking rod (4-3-2) and a substrate connecting device motor (4-3-3); the connection relationship of each component is as follows: a plurality of substrate external lock heads (4-2) are fixedly connected to the substrate outer wall, and their internal structure and connection relationship are the same as the structure and connection relationship of the manipulator lock seat (1-5), the buffer spring (1-6) and the positioning rod (1-7); the substrate connecting device (4-3) is fixedly connected to the substrate outer wall (4-1); the housing of the substrate connecting device motor (4-3-3) is fixedly connected to the substrate connecting device base (4-3-1); and the main shaft of the substrate connecting device motor (4-3-3) is fixedly connected to the substrate connecting device blocking rod (4-3-2).

[0010] The external robotic arm structure (5) comprises an external robotic arm trunk (5-1) and an external robotic arm motor (5-2); the connection relationship between the components is as follows: one end of the external robotic arm trunk (5-1) is fixedly connected to the external locking head (4-2) of the base plate, the other end of the robotic arm trunk (5-1) is fixedly connected to the shell of the external robotic arm motor (5-2), the main shaft of the external robotic arm motor (5-2) is fixedly connected to the quick locking mechanism (2), and the quick locking mechanism (2) is fixedly connected to a base plate external locking head (4-2) on the outer wall (4-1) of the base plate.

[0011] The working principle of the present invention is as follows:

[0012] Reference Figure 1 A three-chain crawling-operating integrated variable space manipulator consists of a manipulator structure (1), a quick locking mechanism (2), a three-chain manipulator structure (3), a base plate mechanism (4), and an external manipulator structure (5);

[0013] Reference Figure 2 A manipulator structure (1) of a three-chain crawling-operating integrated variable space manipulator arm can drive a manipulator body (1-3) to rotate when a manipulator motor (1-4) is turned on, thereby achieving the effect of changing the direction of the manipulator; the manipulator body (1-3) is connected to a rack (1-2) and drives it to slide up and down, while the rack (1-2) is engaged with two gear fingertips (1-1) to achieve the grasping and releasing of the fingers.

[0014] Reference Figure 2 、 Figure 3 、 Figure 6 、 Figure 7The invention relates to a three-chain crawling-operating integrated variable space manipulator with a positioning rod (1-7) aligned with the positioning hole on the connecting lock body (2-4). During the insertion process, the buffer spring (1-6) performs a shock-absorbing effect. When the connection is at a certain position, the screw (2-2) rotates to drive the push plate (2-3) to rise. During this process, a lock head (2-1) slides in the push plate (2-3) at one end and is fastened and aligned with a groove inside the manipulator lock seat (1-5) at the other end. When the screw (2-2) rotates in the opposite direction, the push plate (2-3) descends to drive the lock head (2-1) to move in the opposite direction to unlock the lock, thereby realizing rapid disassembly and self-locking between the manipulator structure (1) and the quick locking mechanism (2).

[0015] Reference Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 A three-chain crawling-operating integrated configuration variable space manipulator with three chains (3) realizes multi-degree-of-freedom work through the same three-way manipulator, the manipulator base motor (3-3) drives the manipulator arm (3-2) to rotate, the manipulator arm motor (3-2-2) drives the manipulator arm (3-1) to rotate, the manipulator arm motor (3-1-2) drives the quick locking mechanism (2) to rotate, the quick locking mechanism (2) is connected to the manipulator structure (1), and one of the chains of the three-chain manipulator structure (3) is connected The connection principle between the quick locking mechanism (2) and the external base plate lock (4-2) is exactly the same as the connection principle between the manipulator structure (1) and the quick locking mechanism (2). By fixing a plurality of external base plate locks (4-2) on the base plate outer wall (4-1), the quick locking mechanism (2) on the branch chain can be quickly connected to the base plate mechanism (4), thereby realizing the rapid conversion between the two working states of one chain connecting two free branches and two branches connecting one free chain, thereby realizing the crawling function of the manipulator on the base plate outer wall (4-1).

[0016] Reference Figure 1 、 Figure 5 、 Figure 8 、 Figure 9 , Figure 10The invention discloses a three-chain crawling-operating integrated configuration variable space robot arm, wherein a quick locking mechanism (2) connected to one end of an external robot arm structure (5) is connected to a base plate external lock head (4-2) to fix it, and a base plate connecting device motor (4-3-3) rotates to control a switch of a base plate connecting device baffle (4-3-2) to further fix the external robot arm structure (5), and the base plate external lock head (4-2) at one end of the external robot arm structure (5) can be quickly installed with the quick locking mechanism (2) at the end of a branch in the three-chain robot arm structure (3), and then the base plate connecting device baffle (4-3-2) and the base plate external lock head (4-2) on the base plate outer wall (4-1) are opened to connect with the quick locking mechanism (2) at one end of the external robot arm structure (5), thereby realizing a change in the spatial configuration of the three-chain robot arm and thereby increasing the working space.

[0017] The advantages of the present invention are:

[0018] 1. The present invention is a three-chain crawling-operating integrated variable space robot arm, which adopts a quick locking device in the connection of the manipulator, and has a self-locking function and a spring buffering function, thereby reducing the collision effect caused by the rigid connection between the manipulators, reducing the connection complexity, and improving the connection efficiency and flexibility.

[0019] 2. The present invention is a variable-space robot arm with a three-chain crawling-operating integrated configuration. Three identical branched robot arms are divided at the robot arm base, and a quick locking device is used. Depending on the working conditions, two modes can be adopted: two branches fix one chain to work freely, or one chain fixes two chains to work together, thereby improving the flexibility of the robot arm and its adaptability to different working conditions.

[0020] 3. The present invention is a variable-space robot arm with a three-chain crawling-operating integrated configuration. By installing a modular quick locking mechanism with buffering and self-locking functions and a three-chain robot arm on the outer wall, the three-chain machine can crawl on the outer wall until it reaches the working purpose, thereby improving the working space and range of the robot arm.

[0021] 4. The present invention is a three-chain crawling-operating integrated variable space robot arm. When faced with work tasks that exceed the movement space, the robot arm can be connected to the external robot arm through a quick locking mechanism to change the original spatial configuration and degree of freedom of the robot arm, thereby improving the adaptability and flexibility of the robot arm and expanding the working range.

[0022] The present invention provides a three-chain crawling-operating integrated variable space robot arm, which has an ingenious mechanical structure, flexible movement, can adapt to various working scenarios in a space environment, has a large working range, high flexibility and strong stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Two-connection-one-free axonometric diagram of the three-branch space manipulator in the present invention

[0024] Figure 2 Axonometric drawing of the three-branched space manipulator in the present invention

[0025] Figure 3 Axonometric drawing of the three-branch space manipulator connection mechanism in the present invention

[0026] Figure 4 Axonometric drawing of the three-branched spatial manipulator and manipulator in the present invention

[0027] Figure 5 Axonometric drawing of the three-branch space robot base plate and the external robot arm in the present invention

[0028] Figure 6 Front view of the three-branch space manipulator and the connecting device in the present invention without fastening

[0029] Figure 7 Front view of the three-branch space manipulator and the connecting device in the present invention

[0030] Figure 8 Front view of the three-branch space robot arm in the present invention, one connected and two free

[0031] Figure 9 Axonometric drawing of the three-branch space manipulator in the present invention with one connection and two freedoms

[0032] Figure 10 The three-branch space manipulator of the present invention has two connections and one free axonometric Figure 2

[0033] Figure 11 The three-branch space manipulator of the present invention has one connection and two free axonometric Figure 2

[0034] Figure 12 Front view of the three-branch space robot arm connected to the external robot arm in the present invention

[0035] Figure 13 Front view of the three-branch space robot arm in the present invention, one connected to two free external robot arms

[0036] Figure 14 Axonometric drawing of the six-degree-of-freedom serial robotic arm in the present invention

[0037] In the picture:

[0038] 1: Robotic arm structure 2: Quick locking mechanism 3: Three-branched robot arm structure 4: Base plate mechanism 5: External robot arm structure

[0039] 1-1: Gear finger 1-2: Rack 1-3: Robot body 1-4: Robot motor 1-5: Robot lock seat 1-6: Buffer spring 1-7: Positioning rod

[0040] 2-1: Locking head 2-2: Screw 2-3: Push plate 2-4: Connecting locking body

[0041] 3-1: Robotic small arm 3-2: Robotic large arm 3-3: Robotic arm motor 3-4: Base

[0042] 3-1-1: Mechanical arm body 3-1-2: Mechanical arm motor 3-2-1 Mechanical arm body 3-2-2: Mechanical arm motor

[0043] 4-1: Baseboard outer wall 4-2: Baseboard external lock 4-3: Baseboard connection device

[0044] 4-3-1: Base of base connecting device 4-3-2: Base connecting device stop rod (4-3-2) 4-3-3: Base connecting device motor

[0045] 5-1: External robotic arm trunk 5-2: External robotic arm motor DETAILED DESCRIPTION

[0046] The present invention is described below with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0047] Reference Figure 1 A three-chain crawling-operating integrated variable space manipulator consists of a manipulator structure (1), a quick locking mechanism (2), a three-chain manipulator structure (3), a base plate mechanism (4) and an external manipulator structure (5). By fixing the three-chain manipulator on an outer wall, it can complete spatial tasks such as grasping, assembling and connecting.

[0048] Reference Figure 2 A manipulator structure (1) of a three-chain crawling-operating integrated variable space manipulator arm can drive a manipulator body (1-3) to rotate when a manipulator motor (1-4) is turned on, thereby achieving the effect of changing the direction of the manipulator; the manipulator body (1-3) is connected to a rack (1-2) and drives it to slide up and down, while the rack (1-2) is engaged with two gear fingertips (1-1) to realize the grasping and releasing of the fingers, so that the object is grasped.

[0049] Reference Figure 2 、 Figure 3 、 Figure 6 、 Figure 7The invention relates to a three-chain crawling-operating integrated variable space manipulator with a positioning rod (1-7) aligned with the positioning hole on the connecting lock body (2-4). During the insertion process, the buffer spring (1-6) performs a shock-absorbing effect. When connected to a certain position, the screw (2-2) rotates to drive the push plate (2-3) to rise. During this process, a portion of the lock head (2-1) slides in the push plate (2-3) and the other end is fastened and aligned with the groove inside the manipulator lock seat (1-5). When the screw (2-2) rotates in the opposite direction, the push plate (2-3) descends to drive the lock head (2-1) to move in the opposite direction to unlock. At the same time, the screw has a self-locking characteristic, thereby realizing rapid disassembly and self-locking between the manipulator structure (1) and the quick locking mechanism (2).

[0050] Reference Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 A three-chain crawling-operating integrated variable space manipulator structure (3) with three chains realizes various working scenarios through the same three-way manipulator, the manipulator base motor (3-3) drives the manipulator arm (3-2) to rotate, the manipulator arm motor (3-2-2) drives the manipulator arm (3-1) to rotate, the manipulator arm motor (3-1-2) drives the quick locking mechanism (2) to rotate, the quick locking mechanism (2) is connected to the manipulator structure (1), the connection principle between the quick locking mechanism (2) connected to one of the chains of the three-chain manipulator structure (3) and the external lock head (4-2) of the base plate is exactly the same as the connection principle between the manipulator structure (1) and the quick locking mechanism (2), by means of the outer wall of the base plate. Several external base plate locks (4-2) are fixedly connected on (4-1), and the quick locking mechanism (2) on the branch chain can be quickly connected to the base plate mechanism (4), realizing the rapid conversion of two working states of one chain connected to two branches freely and two branches connected to one chain freely. When facing a task with a large load and low operation complexity, two branches can be fixed on the outer wall of the base plate and one chain can work freely. At this time, the load capacity and strength of the robot arm can be improved by fixing the two branches at the same time; when facing a task with a small load and high complexity, one chain can be fixed on the outer wall of the base plate and two branches can work freely. At this time, the design of two branches working freely at the same time and multiple degrees of freedom can realize the coordinated work of the two branches to cope with tasks such as complex assembly.

[0051] Reference Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 9 、 Figure 10 、 Figure 11In a variable space robot arm with a crawling-operating integrated configuration having three branches, the effect of crawling on the outer wall is achieved by controlling the same three-way robot arm; a quick locking mechanism (2) on the branch chain is controlled to connect and disconnect with a plurality of substrate external lock heads (4-2) on a substrate mechanism (4), and the robot arm seat motor (3-3), the robot arm motor (3-2-2) and the robot arm motor (3-1-2) on the three-branch robot arm structure (3) are controlled to rotate to change the motion state of the three-branch robot arm structure (3), thereby achieving the crawling function of the robot arm on the outer wall (4-1) of the substrate.

[0052] Reference Figure 1 、 Figure 5 、 Figure 8 , Figure 12 , Figure 13 The invention discloses a three-chain crawling-operating integrated configuration variable space robot arm, wherein a quick locking mechanism (2) connected to one end of an external robot arm structure (5) is connected to a base plate external lock head (4-2) to fix it, and a base plate connecting device motor (4-3-3) rotates to control a switch of a base plate connecting device baffle (4-3-2) to further fix the external robot arm structure (5), and the base plate external lock head (4-2) at one end of the external robot arm structure (5) can be quickly installed with the quick locking mechanism (2) at the end of a branch in the three-chain robot arm structure (3), and then the base plate connecting device baffle (4-3-2) and the base plate external lock head (4-2) on the base plate outer wall (4-1) are opened to connect with the quick locking mechanism (2) at one end of the external robot arm structure (5), thereby realizing a change in the spatial configuration of the three-chain robot arm and thereby increasing the working space.

[0053] Reference Figure 1 、 Figure 5 、 Figure 8 、 Figure 9 , Figure 12 、 Figure 14 The invention discloses a three-chain crawling-operating integrated variable space robot arm, wherein the connection relationship and principle between the base (3-4) on the three-chain robot arm structure (3) and the robot arm seat motor (3-3) are the same as the connection mode between the robot arm structure (1) and the quick locking mechanism (2), and the robot arm structure (1) and the quick locking mechanism (2) are also characterized by quick assembly and disassembly. At the same time, the quick locking mechanism (2) on one of the three-chain robot arm structure (3) is connected to the external robot arm structure (5), and then fixed to the base plate mechanism (4), and the branch is disconnected from the base (3-4), so that the three-chain robot arm structure (3) forms a six-degree-of-freedom serial robot arm, thereby reducing the control difficulty and saving energy consumption.

Claims

1. A three-chain crawling and manipulating integrated variable space manipulator, characterized by: It comprises a manipulator structure (1), wherein a quick locking mechanism (2) is provided on one side of the manipulator structure (1); and a three-branched chain manipulator structure (3) is provided on the other side of the quick locking mechanism (2); The manipulator structure (1) comprises a gear fingertip (1-1), a rack (1-2), a manipulator body (1-3), a manipulator motor (1-4), a manipulator lock seat (1-5), a buffer spring (1-6) and a positioning rod (1-7); the gear fingertip (1-1) is connected to the manipulator body (1-3) through a rotating pair, the rack (1-2) is connected to the manipulator body (1-3) through a sliding pair, the gear fingertip (1-1) and the rack (1-2) are engaged with each other, the main shaft of the manipulator motor (1-4) is fixedly connected to the manipulator body (1-3), the manipulator motor (1-4) is fixedly connected to the manipulator lock seat (1-5), the positioning rod (1-7) is fixedly connected to the manipulator lock seat (1-5), and the buffer spring (1-6) is sleeved on the positioning rod (1-7), one end of which is fixed to the manipulator body (1-3); The quick locking mechanism (2) comprises a lock head (2-1), a lead screw (2-2), a push plate (2-3) and a connecting locking body (2-4); the connection relationship of each component is as follows: the middle part of the lock head (2-1) is connected to the connecting locking body (2-4) through a rotating pair, the lower end of the lock head (2-1) is connected to the push plate (2-3) through a cylindrical pair, the lower end of the lead screw (2-2) is fixedly connected to the motor shaft of the connecting locking body (2-4), the push plate (2-3) is meshed with the lead screw (2-2), and the push plate (2-3) is driven to move by utilizing the reverse self-locking characteristic of the lead screw (2-2); The three-chain mechanical arm structure (3) includes a mechanical arm (3-1), a mechanical arm (3-2), a mechanical arm seat motor (3-3), a base (3-4), a mechanical arm body (3-1-1), a mechanical arm motor (3-1-2), a mechanical arm body (3-2-1) and a mechanical arm motor (3-2-2); in the connection relationship of a single chain, the main shaft of the mechanical arm motor (3-1-2) is fixedly connected to the quick locking structure, and its shell is connected to the mechanical arm body (3-1-1 ) are fixedly connected, the small arm (3-1) is fixedly connected to the main shaft of the mechanical arm motor (3-2-2), the housing of the mechanical arm motor (3-2-2) is fixedly connected to the main body of the mechanical arm (3-2-1), the mechanical arm (3-2) is fixedly connected to the main shaft of the mechanical arm base motor (3-3), and the housing of the mechanical arm base motor (3-3) is fixedly connected to the base (3-4); the base (3-4) is respectively connected to three identical branch chains, and the connection relationship of each branch chain is the same and each has three degrees of freedom; The substrate mechanism (4) comprises a substrate outer wall (4-1), a substrate external lock (4-2), a substrate connection device (4-3), a substrate connection device base (4-3-1), a substrate connection device blocking rod (4-3-2) and a substrate connection device motor (4-3-3); a plurality of substrate external locks (4-2) are fixedly connected to the substrate outer wall, and their internal structures and connection relationships are the same as those of the manipulator lock seat (1-5), the buffer spring (1-6) and the positioning rod (1-7); the substrate connection device (4-3) is fixedly connected to the substrate outer wall (4-1); the housing of the substrate connection device motor (4-3-3) is fixedly connected to the substrate connection device base (4-3-1); and the main shaft of the substrate connection device motor (4-3-3) is fixedly connected to the substrate connection device blocking rod (4-3-2); The external robotic arm structure (5) comprises an external robotic arm trunk (5-1) and an external robotic arm motor (5-2); the connection relationship between the components is as follows: one end of the external robotic arm trunk (5-1) is fixedly connected to the external locking head (4-2) of the base plate, the other end of the robotic arm trunk (5-1) is fixedly connected to the shell of the external robotic arm motor (5-2), the main shaft of the external robotic arm motor (5-2) is fixedly connected to the quick locking mechanism (2), and the quick locking mechanism (2) is fixedly connected to a base plate external locking head (4-2) on the outer wall (4-1) of the base plate.

2. The three-branched crawling-operating integrated variable space manipulator according to claim 1, characterized in that: A small mechanical arm (3-1) is connected to a quick locking mechanism (2); the quick locking mechanism (2) is connected to a substrate connecting device (4-3) in a substrate mechanism (4); the substrate mechanism (4) comprises a substrate outer wall (4-1), a substrate external locking head (4-2) and a substrate connecting device (4-3); the substrate external locking head (4-2) is equipped with an external mechanical arm structure (5); a quick locking mechanism (2) is installed on one side of the external mechanical arm structure (5); the quick locking mechanism (2) is connected to the substrate connecting device (4-3) in the substrate mechanism (4).

3. The three-branched crawling-operating integrated variable space manipulator according to claim 1, characterized in that: The base of the robotic arm is divided into three identical branched robotic arms. Using a quick locking device, when facing work tasks with large loads and low operational complexity, two branches are fixed to the outer wall of the base plate and one branch works freely. By fixing the two branches at the same time, the load capacity and strength of the robotic arm are improved; when facing work tasks with small loads and high complexity, one chain is fixed to the outer wall of the base plate and the other branch works freely. Through the simultaneous free operation of the two chains and the design of multiple degrees of freedom, the coordinated work of the two branches is realized to cope with complex assembly tasks; by quickly switching the working mode of the three-branch robotic arm, the flexibility of the robot and its adaptability to different working conditions are improved.

4. The three-branched crawling-operating integrated variable space manipulator according to claim 1, characterized in that: The outer wall is equipped with a modular quick-locking mechanism with buffering and self-locking functions, which consists of the outer wall of the base plate and the external lock head of the base plate; several lock heads of the quick-locking mechanism are installed on the outer wall of the base plate at appropriate distances. When the working position facing the work target exceeds the working range of the robot, the quick-locking mechanism is used to control the motion of the three-branched robotic arm so that the connecting device on it is continuously connected and separated with different lock heads to enable the robotic arm to crawl on the outer wall.

5. The three-branched crawling-operating integrated variable space manipulator according to claim 1, characterized in that: An external robotic arm and a carrying device are hung on the outer wall. When faced with a work task that exceeds the movement space, an external robotic arm is connected through the quick locking mechanism of one of the chains on the three-chain robotic arm.

6. The three-branched crawling-operating integrated variable space manipulator according to claim 1, characterized in that: The three-chain robotic arm can be quickly disassembled into a six-degree-of-freedom serial robotic arm. After being connected to the external robotic arm and fixed on the base plate through one of the branches, the three-chain robotic arm base is disconnected from the branch to form a six-degree-of-freedom serial robotic arm.

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