Adaptive disassembly device for D-type bolts at the end of a space robot arm and its working method

Abstract

The present invention discloses an adaptive disassembly device for D-type bolts at the end of a space manipulator and a working method thereof, which belongs to the field of design of screwing and disassembly devices for on-orbit services of a space station, and includes: two translation mechanisms, a rotation mechanism and a screwing mechanism; the two translation mechanisms are a transverse translation mechanism and a longitudinal translation mechanism that are perpendicular to each other; the rotation mechanism and the screwing mechanism are sequentially connected to the bottom of the longitudinal translation mechanism. The transverse translation nut and the transverse translation lead screw are matched with the transverse translation slide and the transverse translation linear guide, and the rotation of the transverse translation nut is limited by the transverse translation linear guide, so that the transverse translation slide completes linear motion. The present invention fully considers the constraints of space conditions, is driven by the space station manipulator, and can be operated manually or autonomously by a program.

Description

Technical Field

[0001] The present invention belongs to the field of design of screwing and disassembling devices for on-orbit services of space stations, and in particular is a D-type bolt disassembling device at the end of a space robot arm and a working method thereof. Background Art

[0002] In the prior art, there is no dedicated or universal device for disassembling and installing D-type hole bolts of a specific model and specification for the space station, and thus it is impossible to complete the subsequent on-orbit maintenance and repair tasks of the space station. The present invention is aimed at such D-type hole bolts, fully considering the narrow space restriction requirements in which they are located, and ultimately can complete the on-orbit operation of the space station.

[0003] The present invention is to be combined with a robotic arm carried on a space station and placed at the end of the robotic arm for operation, and belongs to a tool at the end of the robotic arm. Summary of the invention

[0004] The present invention solves the problems existing in the prior art and discloses an adaptive disassembly device for D-type bolts at the end of a space robot arm and a working method thereof. The present invention arranges two translation mechanisms and one rotation mechanism, and requires a controllable motor to provide drive for the D-type screwing head, thereby solving the above-mentioned technical defects.

[0005] The present invention is achieved in that:

[0006] A self-adaptive disassembly device for a D-shaped bolt at the end of a space robot arm, characterized in that the device comprises: two translation mechanisms, a rotation mechanism and a screwing mechanism; the two translation mechanisms are a transverse translation mechanism and a longitudinal translation mechanism which are perpendicular to each other; the rotation mechanism and the screwing mechanism are sequentially connected to the bottom of the longitudinal translation mechanism.

[0007] Furthermore, the transverse translation mechanism includes: a transverse translation drive motor, a transverse translation nut, a transverse translation slide, a transverse translation screw, a transverse translation linear guide, and a robotic arm connecting flange; the mutually connected transverse translation nut and the transverse translation screw serve as the main transmission part of the transverse translation mechanism, the transverse translation screw is driven by the transverse translation drive motor, and the transverse translation nut and the transverse translation screw provide the device with the ability to convert rotation into translation; the transverse translation nut and the transverse translation screw are matched with the transverse translation slide and the transverse translation linear guide, and the rotation of the transverse translation nut is limited by the transverse translation linear guide, so that the transverse translation slide completes linear motion.

[0008] Further, the longitudinal translation mechanism comprises: a longitudinal translation drive motor, a longitudinal translation motor housing, a translation mechanism connecting flange, a coupling, a first longitudinal translation screw fixing block, a longitudinal translation screw, a longitudinal translation nut, a longitudinal translation linear guide rail, a longitudinal translation slide, and a second longitudinal translation screw fixing block;

[0009] The longitudinal translation mechanism is composed of an interconnected longitudinal translation screw and a longitudinal translation nut as the main transmission part, and a coupling is used to connect the longitudinal translation drive motor and the longitudinal translation screw. The longitudinal translation drive motor drives the longitudinal translation screw, and the longitudinal translation screw and the longitudinal translation nut provide the ability of converting rotation into translation to provide the longitudinal horizontal degree of freedom; the longitudinal translation screw and the longitudinal translation nut are matched with the longitudinal translation linear guide and the longitudinal translation slide, and the longitudinal translation linear guide is used to limit the rotation of the longitudinal translation nut, so that the longitudinal translation slide completes the linear motion; at the same time, considering that the longitudinal translation screw is relatively long, the longitudinal translation screw is fixed by the first longitudinal translation screw fixing block and the second longitudinal translation screw fixing block.

[0010] Furthermore, the two translation mechanisms of the transverse translation mechanism and the longitudinal translation mechanism are fixed vertically, and the translation mechanism connecting flange at the end of the longitudinal translation mechanism is fixed to the transverse translation slide by bolts; the end of the transverse translation mechanism is fixed to the end of the robotic arm through the robotic arm connecting flange, and the movement space of the longitudinal translation slide will become a plane.

[0011] Furthermore, the two translation mechanisms have the same main components. In the transverse translation mechanism, the external thread of the transverse translation screw cooperates with the internal thread of the transverse translation nut. One side of the transverse translation slide is fixed to the transverse translation nut by bolts, and the other side is fixed to the transverse translation linear guide. Through such a cooperation method, the function of the transverse translation slide to translate along the direction of the transverse translation linear guide is realized.

[0012] Furthermore, the rotating mechanism includes: a rotating motor, a rotating motor housing, and the rotating motor is connected to the screwing motor; the rotating mechanism is placed below the longitudinal translation slide of the longitudinal translation mechanism and is fixed to the longitudinal translation slide through the rotating motor housing; the output shaft of the rotating motor is connected and fixed to the rotating motor and the screwing motor through bolts, thereby realizing the rotation of the screwing mechanism driven by the rotating motor within the motion space plane of the translation mechanism.

[0013] Furthermore, the screwing mechanism includes: a screwing motor, a screwing motor coupling, a spring, and a D-type screwing head; the D-type screwing head is interference fit with the D-type hole bolt, and the contact surface between the D-type screwing head and the D-type hole bolt is chamfered, so that the D-type screwing head can still be easily inserted into the D-type hole bolt within a certain tolerance range; a cross groove is opened in the D-type screwing head so that the spring can be placed therein, and the connection between the screwing motor coupling and the D-type screwing head is also set to a cross shape; finally, the telescopic range of the D-type screwing head is limited by a bolt, so that it can perform translational movement within a certain range along the axis direction of the screwing motor; the cross groove in the D-type screwing head and the cross protrusion at the connection between the screwing motor coupling play a role in transmitting the torque of the screwing motor.

[0014] Furthermore, the screwing mechanism utilizes the retractable characteristics of the spring to transmit the translational motion in the direction of the rotation axis to the spring when the D-hole bolt is screwed in and out, without affecting the position of other overall D-bolt screwing devices; when screwing out, the D-type screwing head only needs to be gently inserted into the D-hole bolt to a certain depth, and the spring is required not to be compressed at this time; when screwing in, the D-type screwing head needs to be inserted into the deepest part of the D-hole bolt, and the spring is required to be compressed to a greater extent as much as possible; thereby, it can be ensured that the screwing mechanism adapts to the translational motion in the direction of the rotation axis of the D-hole bolt when it is screwed in and out, eliminating the influence of the translational motion on the D-bolt screwing device.

[0015] The present invention also discloses a working method of a space manipulator end D-bolt adaptive disassembly device, which is characterized in that the method is as follows:

[0016] Use a mechanical arm to send the D-type bolt screwing device to the specified position, adjust the positions of the horizontal translation mechanism, the longitudinal translation mechanism and the rotation mechanism, so that the D-type screwing head is aligned with the D-type hole bolt; according to the requirements, when screwing in, the D-type screwing head needs to be inserted into the deepest part of the D-type hole bolt and compress the spring to a greater extent; when screwing out, the D-type screwing head only needs to be gently inserted into the D-type hole bolt to a certain depth, and the spring is required not to be compressed at this time;

[0017] Then, the screwing motor is started, and the D-type bolt screwing device can complete the screwing-in or screwing-out operation. After the operation is completed, if it is a screwing-in operation, the D-type bolt screwing device can be reset; if it is a screwing-out operation, the D-type hole bolt will remain on the D-type screwing head and reset together with the D-type bolt screwing device.

[0018] Compared with the prior art, the present invention has the following beneficial effects: the prior art cannot meet the task requirements of removing D-hole bolts in the narrow space of the space station. The special D-hole and the extremely narrow working environment make it almost impossible for astronauts to perform manual maintenance in space. The present device fully considers the constraints of space conditions, is driven by the space station mechanical arm, and can be operated manually or autonomously by a program. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the D-type bolt adaptive disassembly device at the end of the space robot arm of the present invention;

[0020] Figure 2 It is a schematic diagram of the lateral translation mechanism in the adaptive disassembly device for D-shaped bolts at the end of the space robot arm of the present invention;

[0021] Figure 3 It is a schematic diagram of the longitudinal translation mechanism in the adaptive disassembly device for D-shaped bolts at the end of the space robot arm of the present invention;

[0022] Figure 4It is a schematic diagram of the rotating mechanism in the adaptive disassembly device of the D-type bolt at the end of the space robot arm of the present invention;

[0023] Figure 5 It is a schematic diagram of the screwing mechanism in the adaptive disassembly device for D-shaped bolts at the end of the space robot arm of the present invention;

[0024] Among them, 1- horizontal translation mechanism 2- longitudinal translation mechanism 3- rotation mechanism 4- screwing mechanism,

[0025] 1-1-transverse translation drive motor, 1-2-transverse translation nut, 1-3-transverse translation slide, 1-4-transverse translation screw, 1-5-transverse translation linear guide, 1-6-robotic arm connecting flange, 2-1-longitudinal translation drive motor, 2-2-longitudinal translation motor housing, 2-3-translation mechanism connecting flange, 2-4-coupling, 2-5-first longitudinal translation screw fixing block, 2-6-longitudinal translation screw, 2-7-longitudinal translation nut, 2-8-longitudinal translation linear guide, 2-9-longitudinal translation slide, 2-10-second longitudinal translation screw fixing block, 3-1-rotating motor, 3-2-rotating motor housing, 3-3-rotating motor and screwing motor connection, 4-1-screwing motor, 4-2-screwing motor coupling, 4-3-spring, 4-4-D-type screwing head. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail by enumerating examples below. It should be noted that the specific implementation described here is only used to explain the present invention and is not used to limit the present invention.

[0027] like Figures 1 to 5 As shown, the device of the present invention includes: two translation mechanisms, a rotation mechanism 3 and a screwing mechanism 4; the two translation mechanisms are a transverse translation mechanism 1 and a longitudinal translation mechanism 2 which are perpendicular to each other; the rotation mechanism 3 and the screwing mechanism 4 are sequentially connected to the bottom of the longitudinal translation mechanism 2. The transverse translation mechanism 1 includes: a transverse translation drive motor 1-1, a transverse translation nut 1-2, a transverse translation slide 1-3, a transverse translation screw 1-4, a transverse translation linear guide 1-5, and a robot arm connecting flange 1-6; the mutually connected transverse translation nut 1-2 and the transverse translation screw 1-4 serve as the main transmission part of the transverse translation mechanism 1, and the transverse translation screw 1-4 is driven by the transverse translation drive motor 1-1, and the transverse translation nut 1-2 and the transverse translation screw 1-4 provide the ability of converting rotation into translation to the transverse horizontal degree of freedom of the device; the transverse translation nut 1-2 and the transverse translation screw 1-4 are matched with the transverse translation slide 1-3 and the transverse translation linear guide 1-5, and the transverse translation linear guide 1-5 limits the rotation of the transverse translation nut 1-2, so that the transverse translation slide 1-3 completes linear motion.

[0028] The longitudinal translation mechanism 2 comprises: a longitudinal translation drive motor 2-1, a longitudinal translation motor housing 2-2, a translation mechanism connecting flange 2-3, a coupling 2-4, a first longitudinal translation screw fixing block 2-5, a longitudinal translation screw 2-6, a longitudinal translation nut 2-7, a longitudinal translation linear guide 2-8, a longitudinal translation slide 2-9, and a second longitudinal translation screw fixing block 2-10; the longitudinal translation screw 2-6 and the longitudinal translation nut 2-7 connected to each other serve as the main transmission part of the longitudinal translation mechanism 2, the longitudinal translation drive motor 2-1 and the longitudinal translation screw 2-6 are connected by the coupling 2-4, and the longitudinal translation drive motor 2- 1 drives the longitudinal translation screw 2-6, and the longitudinal translation screw 2-6 and the longitudinal translation nut 2-7 convert the rotation into translation to provide the longitudinal horizontal degree of freedom; the longitudinal translation screw 2-6 and the longitudinal translation nut 2-7 are matched with the longitudinal translation linear guide 2-8 and the longitudinal translation slide 2-9, and the longitudinal translation linear guide 2-8 limits the rotation of the longitudinal translation nut 2-7, so that the longitudinal translation slide 2-9 completes the linear motion; at the same time, considering that the longitudinal translation screw 2-6 is long, the longitudinal translation screw 2-6 is fixed by the first longitudinal translation screw fixing block 2-5 and the second longitudinal translation screw fixing block 2-10.

[0029] The two translation mechanisms of the transverse translation mechanism 1 and the longitudinal translation mechanism 2 are fixed vertically, and the translation mechanism connecting flange 2-3 at the end of the longitudinal translation mechanism 2 is fixed to the transverse translation slide 1-3 by bolts; the end of the transverse translation mechanism 1 is fixed to the end of the robot arm through the robot arm connecting flange 1-6, and the movement space of the longitudinal translation slide 2-9 will become a plane.

[0030] In the transverse translation mechanism 1, the external thread of the transverse translation screw 1-4 cooperates with the internal thread of the transverse translation nut 1-2, one side of the transverse translation slide 1-3 is fixed to the transverse translation nut 1-2 by bolts, and the other side is fixed to the transverse translation linear guide 1-5; through such a cooperation method, the function of the transverse translation slide 1-3 to translate along the direction of the transverse translation linear guide 1-5 is realized.

[0031] The rotating mechanism 3 includes: a rotating motor 3-1, a rotating motor housing 3-2, and a rotating motor and screwing motor connection 3-3; the rotating mechanism 3 is placed below the longitudinal translation slide 2-9 of the longitudinal translation mechanism 2, and is fixed to the longitudinal translation slide 2-9 by the rotating motor housing 3-2; the output shaft of the rotating motor 3-1 is fixed to the rotating motor and screwing motor connection 3-3 by bolts, thereby realizing the rotation of the screwing mechanism 4 driven by the rotating motor 3-1 in the motion space plane of the translation mechanism.

[0032] The screwing mechanism 4 comprises: a screwing motor 4-1, a screwing motor coupling 4-2, a spring 4-3, and a D-type screwing head 4-4; the D-type screwing head 4-4 is interference fit with the D-type hole bolt, and the contact surface between the D-type screwing head 4-4 and the D-type hole bolt is chamfered, so that the D-type screwing head 4-4 can still be easily inserted into the D-type hole bolt within a certain tolerance range; a cross groove is opened in the D-type screwing head 4-4, so that the spring 4-3 can be placed therein, and the connection between the screwing motor coupling 4-2 and the D-type screwing head 4-4 is also set to a cross shape; finally, the telescopic range of the D-type screwing head 4-4 is limited by bolts, so that it can perform translational movement within a certain range along the axis direction of the screwing motor 4-1; the cross groove in the D-type screwing head 4-4 and the cross protrusion at the connection between the screwing motor coupling 4-2 play a role in transmitting the torque of the screwing motor. The screwing mechanism 4 utilizes the retractable characteristics of the spring 4-3 to transmit the translational movement in the direction of the rotation axis to the spring when the D-hole bolt is screwed in and out, without affecting the position of other overall D-bolt screwing devices; when screwing out, the D-type screwing head 4-4 only needs to be gently inserted into the D-hole bolt to a certain depth, and the spring is required not to be compressed at this time; when screwing in, the D-type screwing head 4-4 needs to be inserted into the deepest part of the D-hole bolt, and the spring is required to be compressed to the greatest extent possible; thereby, it can be ensured that the screwing mechanism adapts to the translational movement in the direction of the rotation axis of the D-hole bolt when it is screwed in and out, eliminating the influence of the translational movement on the D-bolt screwing device.

[0033] The working method of the device of the present invention is:

[0034] Use a mechanical arm to send the D-type bolt screwing device to the specified position, adjust the positions of the horizontal translation mechanism 1, the longitudinal translation mechanism 2 and the rotation mechanism 3, so that the D-type screwing head 4-4 is aligned with the D-type hole bolt; according to the requirements, when screwing in, the D-type screwing head 4-4 needs to be inserted into the deepest part of the D-type hole bolt and compress the spring 4-3 to a large extent; when screwing out, the D-type screwing head 4-4 only needs to be gently inserted into the D-type hole bolt to a certain depth, and at this time, it is required not to compress the spring 4-3;

[0035] Then, the screwing motor 4-1 is started, and the D-type bolt screwing device can complete the screwing-in or screwing-out operation. After the operation is completed, if it is a screwing-in operation, the D-type bolt screwing device can be reset; if it is a screwing-out operation, the D-type hole bolt will remain on the D-type screwing head 4-4 and reset together with the D-type bolt screwing device.

[0036] The following are specific data examples:

[0037] An implementation example with specific data is provided for the structure: the D-type bolt screwing device works at the end of the robot arm, and it needs to complete the disassembly and assembly of the D-type bolt in the narrow space after passing through the working window. After actual detection and analysis, it is found that the window limit range that the device can enter is 80mm×40mm; the space required to complete the operation is a narrow "L"-shaped space. After passing through the window, the device needs to penetrate about 270~300mm, and then rotate the D-type screwing head for screwing the D-type bolt counterclockwise by 60~90° to align it with the D-type bolt hole. The distance between the plane of the D-type bolt hole and the path after the special device passes through the "window" is 60~80mm, that is, the D-type screwing head needs to extend a certain distance after reaching the specified position, so as to insert the D-type screwing head into the D-type bolt hole. Finally, the D-type screwing head must have a drive that can control the forward and reverse rotation and has a large enough torque to realize the disassembly and assembly of the D-type bolt.

[0038] The two translation mechanisms need to be independent of each other. The first one completes the requirement that the special device penetrates about 270~300mm after passing through the "window", which is called the longitudinal translation mechanism; the second one completes the extension of the D-type screw head by 30~60mm after reaching the specified position (considering the length of the driving motor of the D-type screw head itself, it does not need to extend 60~80mm), so as to insert the D-type screw head into the D-type bolt hole, which is called the transverse translation mechanism. A slider is fixed on the nut of the ball screw used in the longitudinal translation mechanism and the transverse translation mechanism respectively, which can move linearly with the nut; the two translation mechanisms are fixed vertically, and the end motor box of the longitudinal translation mechanism and the slider of the transverse translation mechanism are locked and fixed by M5 bolts. The transverse translation mechanism is fixed to the end of the robot arm, and the movement space of the slider of the longitudinal translation mechanism will become a plane of 300mm×60mm. At this point, the design of the two translation mechanisms is completed.

[0039] Rotation mechanism design: After the special device passes through and penetrates the "window", the D-type screw head needs to be rotated 60~90° counterclockwise, which is not a vertical relationship. However, the two translation mechanisms are perpendicular to each other, so the axis directions of the D-type screw head and the D-type bolt hole are not collinear, but there is an angle. It is necessary to adjust the axis directions of the D-type screw head and the D-type bolt hole to be collinear through one rotation, so as to insert the D-type screw head into the D-type bolt hole. At the same time, after the rotation is completed, the position of the D-type screw head needs to be locked.

[0040] In order to meet the working needs, this device uses worm gears as the main components of the rotating mechanism. The worm gears have a self-locking function, so as to achieve the purpose of stopping at any time. When the motor is driven, the D-type screwing head rotates to adjust the axis direction of the D-type screwing head; when the motor stops, the position of the D-type screwing head is locked, providing support for the D-type screwing head to insert and screw and disassemble the D-type bolt.

[0041] At the same time, in order for the rotating mechanism to achieve its design purpose, it is necessary to use this mechanism to connect the slider of the longitudinal translation mechanism and the motor driving the D-type screwing head. M4 bolts are used to ensure the connection strength, and deep groove ball bearings are used to ensure the smoothness of rotation.

[0042] Design of D-type screwing head: When the device screws the D-type bolt, the D-type bolt will perform spiral motion, that is, rotate in the circumferential direction and move in the axial direction. In order to avoid the impact of the translation of the D-type bolt in the axial direction on the device and the robot arm, the D-type screwing head needs to adapt to the translation of the D-type bolt in the axial direction. A slide track is designed in the D-type screwing head, and its sliding length is slightly longer than the thread length of the D-type bolt; a motor coupling is designed to match the slide track in the D-type screwing head. A spring is placed between the D-type screwing head and the coupling, and the original length of the spring is slightly longer than the sliding length of the slide track, so that the D-type screwing head can move in the axial direction of the motor relative to the motor. Keep the original length of the spring during disassembly and tighten the spring during installation to offset the translation of the D-type bolt in the axial direction during the screwing process. The contact surface of the D-type head is partially rounded, and the compressible characteristics of the spring are combined to ensure that the D-type screwing head can be inserted smoothly and adapt smoothly when inserted into the D-type hole within a certain tolerance range.

[0043] The device is mainly divided into three parts, corresponding to the longitudinal translation mechanism, the transverse translation mechanism and the rotation mechanism. The two mechanisms are perpendicular to each other, and the self-locking motor drives the ball screw to complete the movement. The movable range of the longitudinal translation mechanism is 120~300mm, and the movable range of the transverse translation mechanism is 0~60mm; the rotation mechanism is integrated on the slider of the longitudinal translation mechanism. This part can complete 360° steering in the plane. The motor connected by this part to drive the D-type screwing head to rotate has a fixed length of 60mm and can provide a maximum torque of 15N•m.

[0044] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. An adaptive disassembly device for D-type bolts at the end of a space robot arm, characterized in that: The device comprises: two translation mechanisms, a rotation mechanism (3) and a screwing mechanism (4); The two translation mechanisms are a transverse translation mechanism (1) and a longitudinal translation mechanism (2) which are perpendicular to each other; the rotation mechanism (3) and the screwing mechanism (4) are sequentially connected to the bottom of the longitudinal translation mechanism (2); the transverse translation mechanism (1) comprises: a transverse translation drive motor (1-1), a transverse translation nut (1-2), a transverse translation slide (1-3), a transverse translation lead screw (1-4), a transverse translation linear guide rail (1-5), and a mechanical arm connection flange (1-6); The transverse translation nut (1-2) and the transverse translation lead screw (1-4) connected to each other serve as the main transmission part of the transverse translation mechanism (1); the transverse translation lead screw (1-4) is driven by the transverse translation drive motor (1-1); the transverse translation nut (1-2) and the transverse translation lead screw (1-4) provide the device with the ability to convert rotation into translation; the transverse translation nut (1-2) and the transverse translation lead screw (1-4) are matched with the transverse translation slide (1-3) and the transverse translation linear guide (1-5); the transverse translation nut (1-2) is restricted from rotating by the transverse translation linear guide (1-5), so that the transverse translation slide (1-3) completes linear motion; The longitudinal translation mechanism (2) comprises: a longitudinal translation drive motor (2-1), a longitudinal translation motor housing (2-2), a translation mechanism connecting flange (2-3), a coupling (2-4), a first longitudinal translation screw fixing block (2-5), a longitudinal translation screw (2-6), a longitudinal translation nut (2-7), a longitudinal translation linear guide rail (2-8), a longitudinal translation slide (2-9), and a second longitudinal translation screw fixing block (2-10); The longitudinal translation screw (2-6) and the longitudinal translation nut (2-7) are connected to each other as the main transmission part of the longitudinal translation mechanism (2). The longitudinal translation drive motor (2-1) and the longitudinal translation screw (2-6) are connected by a coupling (2-4). The longitudinal translation drive motor (2-1) drives the longitudinal translation screw (2-6). The longitudinal translation screw (2-6) and the longitudinal translation nut (2-7) provide the ability to convert rotation into translation to provide the longitudinal horizontal degree of freedom. The longitudinal translation screw (2-6) is connected to the longitudinal translation nut (2-7). -6) and the longitudinal translation nut (2-7) cooperate with the longitudinal translation linear guide (2-8) and the longitudinal translation slide (2-9), and the longitudinal translation linear guide (2-8) limits the rotation of the longitudinal translation nut (2-7), so that the longitudinal translation slide (2-9) completes linear motion; considering that the longitudinal translation lead screw (2-6) is relatively long, the longitudinal translation lead screw (2-6) is fixed by a first longitudinal translation lead screw fixing block (2-5) and a second longitudinal translation lead screw fixing block (2-10); The rotating mechanism (3) comprises: a rotating motor (3-1), a rotating motor housing (3-2), and a rotating motor and a screwing motor connection (3-3); the rotating mechanism (3) is placed below the longitudinal translation slide (2-9) of the longitudinal translation mechanism (2), and is fixed to the longitudinal translation slide (2-9) via the rotating motor housing (3-2); the output shaft of the rotating motor (3-1) is fixed to the rotating motor and the screwing motor connection (3-3) via bolts, thereby realizing that the rotating motor (3-1) drives the screwing mechanism (4) to turn in the motion space plane of the translation mechanism; The screwing mechanism (4) comprises: a screwing motor (4-1), a screwing motor coupling (4-2), a spring (4-3), and a D-shaped screwing head (4-4); the D-shaped screwing head (4-4) is interference-fitted with the D-shaped hole bolt, and the contact surface between the D-shaped screwing head (4-4) and the D-shaped hole bolt is chamfered so that the D-shaped screwing head (4-4) can still be easily inserted into the D-shaped hole bolt within a certain tolerance range; a cross-shaped groove is formed inside the D-shaped screwing head (4-4) so ​​that The spring (4-3) can be placed therein, and the connection between the screwing motor coupling (4-2) and the D-shaped screwing head (4-4) is also arranged in a cross shape; finally, the telescopic range of the D-shaped screwing head (4-4) is limited by bolts so that the D-shaped screwing head (4-4) can perform translational movement within a certain range along the axis direction of the screwing motor (4-1); the cross-shaped groove in the D-shaped screwing head (4-4) and the cross-shaped protrusion at the connection between the screwing motor coupling (4-2) play a role in transmitting the torque of the screwing motor.

2. A space robot end D-bolt adaptive disassembly device as claimed in any one of claim 1, characterized in that: The two translation mechanisms of the transverse translation mechanism (1) and the longitudinal translation mechanism (2) are fixed vertically, and the translation mechanism connecting flange (2-3) at the end of the longitudinal translation mechanism (2) is fixed to the transverse translation slide (1-3) by bolts; the end of the transverse translation mechanism (1) is fixedly connected to the end of the robot arm by the robot arm connecting flange (1-6), so that the movement space of the longitudinal translation slide (2-9) becomes a plane.

3. The adaptive disassembly device for D-shaped bolts at the end of a space robot arm according to claim 1, characterized in that: The two translation mechanisms have the same main components. In the transverse translation mechanism (1), the external thread of the transverse translation screw (1-4) cooperates with the internal thread of the transverse translation nut (1-2). One side of the transverse translation slide (1-3) is fixed to the transverse translation nut (1-2) by bolts, and the other side is fixed to the transverse translation linear guide (1-5). Through such a cooperation method, the function of the transverse translation slide (1-3) to translate along the direction of the transverse translation linear guide (1-5) is realized.

4. The adaptive disassembly device for D-shaped bolts at the end of a space robot arm according to claim 1, characterized in that: The screwing mechanism (4) utilizes the retractable characteristics of the spring (4-3) to transmit the translational movement in the direction of the rotation axis to the spring when the D-type hole bolt is screwed in or out, without affecting the position of other integral D-type bolt screwing devices; when screwing out, the D-type screwing head (4-4) only needs to be gently inserted into the D-type hole bolt to a certain depth, and the spring is required not to be compressed at this time; when screwing in, the D-type screwing head (4-4) needs to be inserted into the deepest part of the D-type hole bolt, and the spring is required to be compressed to a greater extent as much as possible; thereby, it can be ensured that the screwing mechanism adapts to the translational movement in the direction of the rotation axis of the D-type hole bolt when the D-type hole bolt is screwed in or out, eliminating the influence of the translational movement on the D-type bolt screwing device.

5. A working method of a D-type bolt adaptive disassembly device at the end of a space robot arm as claimed in any one of claims 1 to 4, characterized in that: The method described is: The D-type bolt screwing device is sent to a designated position by using a mechanical arm, and the positions of the transverse translation mechanism (1), the longitudinal translation mechanism (2) and the rotation mechanism (3) are adjusted so that the D-type screwing head (4-4) is aligned with the D-type hole bolt; according to requirements, when screwing in, the D-type screwing head (4-4) needs to be inserted into the deepest part of the D-type hole bolt and the spring (4-3) is compressed to a large extent; when screwing out, the D-type screwing head (4-4) only needs to be lightly inserted into the D-type hole bolt to a certain depth, and at this time, the spring (4-3) is required not to be compressed; Subsequently, the screwing motor (4-1) is started, and the D-type bolt screwing device can complete the screwing-in or screwing-out operation; after the operation is completed, if it is a screwing-in operation, the D-type bolt screwing device can be reset; if it is a screwing-out operation, the D-type hole bolt will remain on the D-type screwing head (4-4) and reset together with the D-type bolt screwing device.

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