Space super long arm exhibition flexible robot

Abstract

The application discloses a space super-long arm span flexible mechanical arm, comprising: at least two flexible mechanical arms, each of the flexible mechanical arms is detachably connected in a head-to-tail series mode, and each of the flexible mechanical arms independently operates, so that each flexible mechanical arm is split into a single mechanical arm for use, or each flexible mechanical arm is separately launched into orbit for assembly; and the proximal end of each of the flexible mechanical arms after being connected in the head-to-tail series mode is adapted to be mounted on a spacecraft, and the distal end of each of the flexible mechanical arms after being connected in the head-to-tail series mode is adapted to be mounted with an end effector. The application modularly arranges each flexible mechanical arm, each flexible mechanical arm independently operates, and then each flexible mechanical arm can be separately launched into orbit for assembly, the space occupied by the flexible mechanical arm in the transportation process is reduced, a longer arm span is realized, a larger working space is achieved, the size of a single flexible mechanical arm is smaller, the shape is coherent and convenient to stack, the single flexible mechanical arm can be launched into orbit in a split state, and the single flexible mechanical arm can be assembled into a super-long arm span mechanical arm in a space microgravity environment.

Description

Technical Field

[0001] This invention relates to the field of space robotic arm technology, specifically to a flexible robotic arm with an ultra-long reach for space. Background Technology

[0002] Robotic arms play a crucial role in missions such as refueling spacecraft and satellite capture. The Space Shuttle used discrete joint rigid robotic arms for on-orbit missions, such as grasping and capturing target spacecraft and collaborating with astronauts on extravehicular activities. Although discrete joint rigid robotic arms have played an important role in space missions, their reach remains limited, and structural constraints make tasks such as refueling target spacecraft difficult. For on-orbit missions with extremely large workspaces, such as spacecraft refueling and target spacecraft capture, a robotic arm with an ultra-large reach is needed. Against this backdrop, the advantages of continuum robotic arms become apparent.

[0003] Due to their slender arms, continuous arm shape, and high flexibility, continuous robotic arms have been widely used in aerospace, special exploration, and medical fields. Rocket payload bays often have limited space, so robotic arms with ultra-long reach need to be able to fold for transport or be assembled in orbit. However, traditional continuous robotic arms are mostly cable-driven, and cable-driven robotic arms cannot fold for transport, making it difficult for them to perform tasks such as refueling target spacecraft. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of traditional continuous robotic arms that cannot be folded for transport and thus cannot perform tasks such as refueling target spacecraft, thereby providing a flexible robotic arm with an ultra-long reach in space.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The space-extended flexible robotic arm includes: At least two flexible robotic arms, each of which is detachably connected in a series connection and each of which operates independently, so that each of which is disassembled into a separate robotic arm for use, or that each of which is launched into orbit separately for assembly. The proximal end of each of the flexible robotic arms, when connected end-to-end, is suitable for installation on a spacecraft, and the distal end of each of the flexible robotic arms, when connected end-to-end, is suitable for installation of an end effector.

[0006] The flexible robotic arm further optimizes the technical solution and includes: The robotic arm body includes at least one arm segment, the arm segment includes several arm sections, and two adjacent arm sections are connected in series by two symmetrically arranged joints. The drive mechanism includes a drive assembly and at least one elastic rod group embedded inside the robotic arm body. The distal end of each elastic rod group is connected to one of the arm segments and adapted to drive the arm segment to bend. The proximal end of each elastic rod group is connected to the drive assembly and is independently driven by the drive assembly.

[0007] To further optimize the technical solution, the elastic rod group includes several elastic rods arranged at uniform intervals in the circumferential direction; the driving assembly includes a driving box and several electric cylinders disposed inside the driving box, the number of electric cylinders being the same as the total number of elastic rods in all elastic rod groups, and the distal end of the push rod of the electric cylinder being connected to the elastic rod.

[0008] To further optimize the technical solution, two adjacent flexible robotic arms are connected by an inter-arm connecting plate. The inter-arm connecting plate includes a first stepped cylinder and a second stepped cylinder. The outer diameter of the first stepped cylinder is larger than the outer diameter of the second stepped cylinder. The first stepped cylinder is inserted into the interior of the drive box and connected to the outer wall of the drive box. The second stepped cylinder is inserted into the distal segment of the next flexible robotic arm and connected to the side wall of the segment.

[0009] The technical solution is further optimized by having a rod-passing plate inside the arm segment, and a plurality of rod-passing holes on the rod-passing plate; the elastic rod in each elastic rod group slides through the rod-passing hole of the rod-passing plate and is fixedly connected to the distal end of the corresponding arm segment; and / or The distribution circle diameter of each elastic rod is the same as the distribution circle diameter of each electric cylinder.

[0010] To further optimize the technical solution, one or two pairs of symmetrically arranged hollow parts are provided on the outer side wall of the arm segment. Two symmetrically arranged positioning protrusions or positioning plates are provided on the two hollow parts extending along the outer side wall of the arm segment. The positioning plates are provided with positioning slots. The positioning protrusions of the arm segment are slidably engaged with the positioning slots on the positioning plates of the adjacent arm segments to realize the connection between two adjacent arm segments.

[0011] The technical solution is further optimized so that the rotation axes of two adjacent joints are perpendicular to each other; the positioning protrusion on the circular cross section of the arm segment is arranged at 90° to the joint on the circumferential surface.

[0012] To further optimize the technical solution, the robotic arm body is a continuous body formed by laser cutting of a pipe. The joints and the hollowed-out parts are cut out of the continuous body by laser as a whole, so that the continuous body is flexible and can be bent at the joints.

[0013] To further optimize the technical solution, the joint includes an arc-shaped positioning groove and an arc-shaped positioning plate respectively arranged sequentially on two adjacent arm segments. The arc-shaped positioning plate is fitted inside the arc-shaped positioning groove and can rotate along the arc-shaped positioning groove.

[0014] The technical solution is further optimized so that each arm segment is a hollow structure, thus making the robotic arm body a hollow structure to provide accommodating space for the delivery pipeline.

[0015] The technical solution of this invention has the following advantages: 1. The space-extended flexible robotic arm provided by this invention modularly arranges each flexible robotic arm, allowing each flexible robotic arm to operate independently. Furthermore, each flexible robotic arm can be disassembled for individual use or launched into orbit separately for assembly. This reduces the space occupied by the flexible robotic arms during transportation, achieving a longer reach and a larger workspace. The individual flexible robotic arms are small in size, have a continuous shape that facilitates stacking, and can be launched into orbit in a disassembled state and assembled into an ultra-long reach robotic arm in the microgravity environment of space.

[0016] 2. The flexible robotic arm with an ultra-long reach provided by this invention has a hollow structure for each arm segment, making the robotic arm body hollow and providing space for delivery pipelines, allowing fuel hoses, charging cables, etc., to pass through. Furthermore, each flexible robotic arm can bend independently and continuously, and the fuel pipeline bends along the continuous curve of the robotic arm. Compared to traditional discrete joint six-axis robotic arms, the continuous joint robotic arm does not cause severe bending of the fuel pipeline.

[0017] 3. The flexible robotic arm with ultra-long reach provided by this invention has a very compact electric cylinder structure, which greatly reduces the volume of the drive box. The diameter of the drive box is comparable to the diameter of the robotic arm, and the overall shape of the robotic arm is continuous. Thanks to the compact size and weight of the drive box, the robotic arm of this invention can be connected end to end with another identical robotic arm to achieve a longer reach and a larger workspace. The individual robotic arms are small in size and have a continuous shape, which makes them easy to stack.

[0018] 4. The space-extended flexible robotic arm provided by this invention, compared with traditional rope-driven flexible robotic arms, has a higher load capacity and rigidity due to its elastic rod drive. The elastic rod has a higher tensile strength than the rope and greater stiffness, which can withstand a certain amount of pressure. Therefore, the robotic arm driven by the elastic rod has a higher load capacity. Compared with the rope, the elastic rod is less likely to undergo plastic deformation and length change due to long-term stress, which would lead to a decrease in control accuracy. The continuous bending curve of the elastic rod results in less sliding friction when passing through the positioning hole in the robotic arm, which is beneficial to ensuring control accuracy.

[0019] 5. The space-extended flexible robotic arm provided by this invention is a continuous robotic arm with electromechanical separation characteristics. That is, the drive motor, driver, etc. of the robotic arm are separated from the working part of the robotic arm. The arm segment is entirely a mechanical structure. The drive motor, driver, etc. are concentrated in the drive box at the rear of the robotic arm, which reduces the load on the robotic arm and improves the load capacity and dexterity of the robotic arm. The driver, control system, etc. of the robotic arm are installed inside the spacecraft, away from the harsh environment of space with high temperature and strong radiation. The cables pass through the hollow structure of the robotic arm and are connected to the drive box and the end effector to supply power and transmit control signals. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram illustrating how the present invention captures a target spacecraft during a space mission.

[0022] Figure 2 A schematic diagram of the structure of the flexible robotic arm with an ultra-long reach for space provided by the present invention.

[0023] Figure 3 A schematic diagram of the structure of a single flexible robotic arm in the space-extended flexible robotic arm provided by the present invention. Figure 1 .

[0024] Figure 4 A schematic diagram of the structure of a single flexible robotic arm in the space-extended flexible robotic arm provided by the present invention. Figure 2 .

[0025] Figure 5 A schematic diagram of the joint structure of the arm segment in the flexible robotic arm with an ultra-long reach for space provided by the present invention.

[0026] Figure 6 This is a partial structural diagram of the flexible robotic arm with an ultra-long reach for space provided by the present invention when removing the drive box shell and the arm segment.

[0027] Figure 7 This is a schematic diagram of the structure of two adjacent single flexible robotic arms connected in the space-extended flexible robotic arm provided by the present invention.

[0028] Figure 8 A schematic diagram of the inter-arm connecting disk in the ultra-long reach flexible robotic arm for space provided by the present invention.

[0029] Figure 9 This is a schematic diagram of the structure when two arm segments of the flexible robotic arm with an ultra-long reach in space are connected, as provided by the present invention.

[0030] Figure 10 This is a schematic diagram of the structure of the flexible manipulator with an ultra-long reach for space provided by the present invention when the fuel refueling interface is installed at the far end of the manipulator.

[0031] Figure 11 This is a schematic diagram of the structure of the flexible manipulator with an ultra-long reach for space provided by the present invention, when the gripper is installed at the distal end of the manipulator.

[0032] Figure 12 A schematic diagram of the structure of a single flexible robotic arm of the space-extended flexible robotic arm provided by the present invention when it bends. Figure 1 ; Figure 13 A schematic diagram of the structure of a single flexible robotic arm of the space-extended flexible robotic arm provided by the present invention when it bends. Figure 2 .

[0033] Figure label: 10. Flexible robotic arm; 1. Arm segment; 11. Hollowed-out section; 12. Positioning protrusion; 13. Positioning plate; 14. Positioning slot; 2. Joint; 21. Arc-shaped positioning plate; 22. Arc-shaped positioning groove; 23. Joint node; 3. Rod-through plate; 31. Rod-through hole; 4. Elastic rod; 5. Ceramic guide ring; 6. Retaining ring; 7. Drive mechanism; 71. Drive box; 72. Electric cylinder; 20. Inter-arm connecting plate; 30. End effector; 301. Fuel filling interface; 302. Fuel line; 303. Gripper; 40. Base mounting flange; A. The axis of rotation of the first joint, B. The axis of rotation of the second joint. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0035] In the description of this invention, it should be noted that the terms "inner," "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] It should be noted that the term "near end" refers to the end closer to the spacecraft, while the term "far end" refers to the end farther away from the spacecraft.

[0038] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The specific embodiments of the present invention are described in detail below with reference to the space-extended flexible robotic arm of the present invention.

[0039] like Figures 1 to 13 As shown in the figure, this embodiment discloses a flexible robotic arm with an ultra-long reach in space. The robotic arm is an ultra-long reach flexible robotic arm with a reach of 4.4m. The robotic arm uses an elastic alloy rod (hereinafter referred to as "elastic rod") to drive the joint to bend the robotic arm.

[0040] Rocket payload bays often have limited space, so robotic arms with ultra-long reach need to be able to be folded for transport or assembled in orbit. Therefore, for long-distance spacecraft capture missions and long-distance refueling missions in orbit, it is necessary to design an ultra-long reach robotic arm that overcomes the shortcomings of tethered robotic arms and has modular assembly features.

[0041] A flexible robotic arm with an ultra-long reach for space includes at least two flexible robotic arms 10, each of which is detachably connected end-to-end to achieve space assembly.

[0042] In this embodiment, the flexible robotic arms are modularly arranged, each operating independently. They can be disassembled into individual robotic arms for use, or launched into orbit separately for assembly. This reduces the space occupied by the flexible robotic arms during transportation, achieving a longer reach and a larger workspace. The individual flexible robotic arms are small in size and have a continuous shape that facilitates stacking. They can be launched into orbit in a disassembled state and assembled into a robotic arm with an ultra-long reach in the microgravity environment of space.

[0043] The proximal ends of the series of flexible robotic arms, connected end-to-end, are mounted on the spacecraft via base mounting flanges 40. The distal ends of the series-connected flexible robotic arms are fitted with end effectors 30. The end effectors 30 include grippers, fuel refueling nozzles, etc., used to perform different task operations. This allows different end effectors to be mounted on the distal ends of the robotic arms to perform different on-orbit tasks. For example... Figure 10 As shown, the fuel loading interface 301 is installed to perform fuel loading tasks on the spacecraft. The fuel line 302 can pass through the hollow of the central axis of the robotic arm. The fuel line bends continuously along the robotic arm, and compared to traditional discrete-joint six-axis robotic arms, continuous-joint robotic arms do not cause severe bending of the fuel line; as shown... Figure 11 As shown, gripper 303 can also be installed. The hollow structure of the robotic arm allows power cables, signal cables, and other wires of gripper 303 to pass through.

[0044] Traditional continuous robotic arms are mostly driven by ropes. However, rope drives have some insurmountable drawbacks: ropes can only transmit tension but cannot withstand pressure, thus limiting the load-bearing and output capabilities of rope-driven robotic arms; the elastic modulus of ropes is relatively low, and if the robotic arm has a large reach, the length of the drive ropes will be too long, resulting in significant elastic deformation under tension and reduced working accuracy; ropes are made of several fibers twisted together, and under long-term tension, they will undergo irreversible lengthening, leading to a decrease in the working accuracy of the robotic arm; therefore, rope-driven robotic arms require periodic rope tensioning, which increases the difficulty of maintenance in space; the drive ropes of traditional rope-driven continuous robotic arms need to pass through rope holes in multiple joints, and the ropes will bend and generate significant friction when sliding at the edges of the rope holes, affecting the accuracy of rope length control. Long-arm cable-driven continuous robotic arms have a large number of joints. If all joints are driven, the size of the drive box will inevitably become very large. If the number of drive cables is less than the joint degrees of freedom, an additional linkage mechanism is needed to maintain the under-constrained joint angles in order to maintain the bending shape of the arm segment. This increases the mechanical complexity of the robotic arm, resulting in high processing costs and maintenance difficulties, as well as an increased mechanical failure rate.

[0045] To address the shortcomings of traditional continuous robotic arms, in some embodiments, a long-reach flexible robotic arm for space is configured as a space-endurance flexible robotic arm driven by embedded elastic lever groups. The flexible robotic arm includes a robotic arm body and a drive mechanism 7. The robotic arm body includes at least one arm segment (i.e., it may include one arm segment or multiple arm segments), and each arm segment includes several arm sections 1. Adjacent arm sections 1 are connected in series via two symmetrically arranged joints 2. The drive mechanism 7 includes a drive assembly and at least one elastic lever group embedded within the robotic arm body. The distal end of each elastic lever group is connected to an arm segment and adapted to drive the bending of that arm segment, while the proximal end of each elastic lever group is connected to the drive assembly and is independently driven by the drive assembly.

[0046] The aforementioned flexible robotic arm with an ultra-long reach driven by embedded elastic rods utilizes the elastic rods to drive the arm segments connected to them, enabling independent bending of each arm segment. The rotation axes of two adjacent joints 2 are perpendicular to each other, acting as a universal joint, allowing the joints 2 to bend in any direction. This allows each arm segment to achieve a wider range of bending angles and directions, thus broadening the applicability of the robotic arm.

[0047] Compared to traditional rope-driven flexible robotic arms, elastic rod-driven robotic arms offer higher load capacity and rigidity. Elastic rods have higher tensile strength than ropes and greater stiffness, allowing them to withstand certain pressures, thus enabling higher load capacity. Elastic rods are also less prone to plastic deformation and length changes due to long-term stress, which can reduce control accuracy. The continuous curvature of the elastic rod results in less sliding friction when passing through positioning holes in the robotic arm, further ensuring control accuracy. Traditional rope-driven continuous robotic arms with under-constrained joints require additional linkage mechanisms to maintain the joint angle and the bending shape of the arm segment. In contrast, the elastic rods in elastic rod-driven continuous robotic arms possess inherent rigidity, allowing them to constrain joint rotation and maintain the bending shape of the under-driven arm segment, ensuring a continuous bending shape. Because the continuous bending curve of the continuous robotic arm prevents large-angle bending of the tubing, it is ideally suited for on-orbit refueling missions.

[0048] In some embodiments, each arm segment 1 is a hollow structure, so that the robotic arm body is a hollow structure, providing a space for the delivery pipeline, through which oil hoses, charging cables, etc. can pass.

[0049] In some embodiments, such as Figure 9As shown, the outer side wall of the arm segment 1 has one or two pairs of symmetrically arranged hollow portions 11. Two symmetrically arranged positioning protrusions 12 or positioning retaining plates 13 extend along the outer side wall of the arm segment 1 from the hollow portions 11. The positioning retaining plates 13 are provided with positioning grooves 14. The positioning protrusions 12 are arc-shaped plates and smoothly transition into the arm segment 1. The positioning protrusions 12 of the arm segment 1 slide and engage with the positioning grooves 14 on the positioning retaining plates 13 of the adjacent arm segment to achieve connection between two adjacent arm segments.

[0050] When the arm segment 1 is not rotating, the axes of the positioning slot 14 and the positioning protrusion 12 are parallel to the central axis of the arm segment 1, and the axis of the positioning protrusion 12 intersects perpendicularly with the axis of rotation of the joint 2 on the adjacent arm segment 1. The axes of rotation of two adjacent joints 2 pass through the central axis of the arm segment 1 and are perpendicular to the central axis of the arm segment 1. For example, if the two adjacent joints are the first joint and the second joint, the axis of rotation A of the first joint is perpendicular to the axis of rotation B of the second joint. The positioning protrusion 12 on the circular cross-section of the arm segment 1 is arranged at a 90° angle to the joint 2 on the circumferential surface. Thus, when the arm segment 1 rotates around the joint, the positioning protrusion 12 can rotate around the joint, and the positioning slot 13 will not affect the rotation of the positioning protrusion.

[0051] The joint 2 includes an arc-shaped positioning groove 22 and an arc-shaped positioning plate 21 respectively arranged on two adjacent arm segments 1. The arc-shaped positioning plate 21 is fitted inside the arc-shaped positioning groove 22 and can rotate along the arc-shaped positioning groove 22. Thus, when one of the two adjacent arm segments 1 rotates, the arc-shaped positioning plate 21 in that arm segment can rotate along the arc-shaped positioning groove 22.

[0052] The arc-shaped positioning groove 22 is provided with two symmetrical arc-shaped grooves, and a joint node 23 is formed between the two arc-shaped grooves. The arc-shaped positioning plate 21 is slidably fitted in the arc-shaped positioning groove 22 and rotates around the joint node 23.

[0053] In some embodiments, the robotic arm body is a continuous body formed by laser cutting of a pipe. The continuous body is cut by laser to form joints 2 and hollow parts 11, so that the continuous body is flexible and can be bent at joints 2.

[0054] In some embodiments, the elastic rod assembly includes a plurality of elastic rods 4 arranged circumferentially at uniform intervals. The drive assembly includes a drive housing 71 and a plurality of electric cylinders 72 disposed inside the drive housing 71. The number of electric cylinders 72 is the same as the total number of elastic rods 4 in all the elastic rod assemblies, and the distal end of the push rod of the electric cylinder 72 is connected to the elastic rod 4. The electric cylinder push rod can extend and retract, providing push and pull force to the elastic rod, changing the extension and retraction length of the elastic rod, and causing the end of the drive arm segment to bend. Each elastic rod is independently driven to extend and retract by one electric cylinder in the drive housing. The extension and retraction degree of each elastic rod is controlled by controlling the extension and retraction degree of the electric cylinder, pulling / pushing the distal end of the arm segment to bend the arm segment. The extension and retraction length of the three elastic rods can uniquely determine the bending angle and direction of the joint of that arm segment; each arm segment can bend independently.

[0055] Because each of the multiple arm segments of the robotic arm is driven by a group of elastic rods and electric cylinders, the joints of each arm segment can bend independently, for example, into S-shapes or U-shapes (see...). Figure 12 and Figure 13 ).

[0056] In some embodiments, a rod-passing disc 3 is positioned inside the arm segment 1, and the rod-passing disc 3 has a plurality of rod-passing holes 31. The elastic rod 4 in each elastic rod group slides through the rod-passing holes 31 of the rod-passing disc 3 and is fixedly connected to the distal end of the corresponding arm segment. More specifically, as shown... Figure 5 As shown, the elastic rod assembly is fixedly connected to the rod plate at the distal end of the arm segment via a retaining ring 6.

[0057] like Figure 5 As shown, a ceramic guide ring 5 is embedded in the through hole 31 to reduce the friction between the elastic rod and the through hole 31, so that the elastic rod slides more smoothly along the through hole 31.

[0058] The continuous robotic arm in this embodiment features electromechanical separation, meaning that the drive motor, driver, etc., of the robotic arm are separated from the working part of the robotic arm. The arm segment is entirely a mechanical structure, while the drive motor, driver, etc., are concentrated in the drive box at the rear of the robotic arm. This reduces the load on the robotic arm and improves its load capacity and dexterity. The robotic arm's driver, control system, etc., are installed inside the spacecraft, away from the harsh environment of space with high temperature and strong radiation. Cables pass through the hollow structure of the robotic arm and connect to the drive box and end effector to supply power and transmit control signals.

[0059] Two adjacent flexible robotic arms are connected by an inter-arm connecting plate 20, such as Figure 2 and Figure 7As shown. The inter-arm connecting plate 20 includes a first stepped cylinder and a second stepped cylinder. The outer diameter of the first stepped cylinder is larger than the outer diameter of the second stepped cylinder. The first stepped cylinder is inserted into the interior of the drive box 71 and connected to the outer wall of the drive box 71. The second stepped cylinder is inserted into the distal arm segment of the next flexible robotic arm and connected to the side wall of the arm segment.

[0060] In some embodiments, the arm segment 1 is divided into a first arm segment, a second arm segment, and a third arm segment. The first arm segment is located at the distal end and has a first connecting hole. The proximal end of the drive housing 71 has an inter-arm connecting plate 20, the diameter of which matches the inner diameter of the first arm segment. The inter-arm connecting plate 20 has a second connecting hole that matches the first connecting hole. This allows the proximal end of the drive housing 71 of a flexible robotic arm to be positioned within the first arm segment of the next flexible robotic arm, and the two can be assembled and connected, giving the flexible robotic arm of the present invention a modular assembly feature. Several second arm segments are provided. The distal second arm segment is connected to the first arm segment via a joint, and adjacent second arm segments are connected via joints. The proximal second arm segment is connected to the third arm segment via a joint. The proximal end of the third arm segment is fitted onto the drive housing and connected to the drive housing.

[0061] Because the bending capacity of the elastic rod (drive rod) is limited, the distribution circle diameter of the elastic rod must be the same as that of the electric cylinder in the drive box.

[0062] Traditional continuous robotic arms often have bulky drive units, with diameters much larger than the robotic arm itself, resulting in significant volume and weight. To maintain a compact structure and keep the drive unit's outer diameter comparable to the robotic arm's segment diameter, the drive unit's size needs to be reduced. This invention designs a compact electric cylinder push rod with an outer diameter of 24mm, greatly reducing the drive unit's diameter and volume. The diameter of the drive unit 71 is comparable to the diameter of the robotic arm body, resulting in a coherent overall shape. Thanks to the compact size and weight of the drive unit, the robotic arm of this invention can be connected end-to-end with another identical robotic arm to achieve a longer reach and a larger workspace. Individual robotic arms are small in size, have a coherent shape that facilitates stacking, can be launched into orbit in a disassembled state, and can be assembled into an ultra-long reach robotic arm in the microgravity environment of space.

[0063] The following description uses an example of a continuous body with 12 joints, divided into 3 arm segments, with 4 arm segments connected in series by joints to form 1 arm segment, and an elastic rod group including three elastic rods 4, to illustrate the flexible robotic arm for space with an ultra-long reach of the present invention.

[0064] Each boom segment has 2 DOF of bending freedom. The end joint of each boom segment is driven by an elastic rod assembly connected to that boom segment. Figure 6As shown, the end joint of each arm segment is driven by three elastic rods, which are distributed at 120° intervals along the circumference and are fixed to the arm segment.

[0065] The drive unit contains nine electric cylinders. The distal end of the push rod of each electric cylinder is connected to an elastic rod. The push rod of the electric cylinder can extend and retract to provide push and pull force to the elastic rod, changing the extension and retraction length of the elastic rod, thus bending the end of the drive arm segment. The robotic arm has a total of nine elastic rods that can extend and retract to change length. The elastic rods are divided into three groups on average. The two ends of each group of elastic rods are connected to the distal end of the corresponding arm segment and the distal end of the electric cylinder push rod of the drive unit, respectively.

[0066] like Figure 2 As shown, the invention is illustrated using an example of a flexible robotic arm with an ultra-long reach in space, consisting of three identical individual flexible robotic arms connected end-to-end. The end of the second robotic arm is connected to the drive box of the third robotic arm via a disk-to-arm connecting plate, and the drive box of the second robotic arm is connected to the end of the first robotic arm via a disk-to-arm connecting plate.

[0067] To overcome the shortcomings of rope-driven flexible robotic arms, this invention uses elastic alloy rods to drive a continuous robotic arm. To reduce the length of the elastic rods and avoid excessive elastic deformation when the elastic rods are stretched, the ultra-long reach robotic arm of this invention consists of three identical robotic arms connected end to end. Each robotic arm is driven by an independent drive box through the elastic rods, which greatly reduces the length of a single elastic rod while the total length of the robotic arm reaches 4.4m.

[0068] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible robotic arm with an ultra-long reach for space, characterized in that: include: At least two flexible robotic arms, each of which is detachably connected in a series connection and each of which operates independently, so that each of which is disassembled into a separate robotic arm for use, or that each of which is launched into orbit separately for assembly. The proximal end of each of the flexible robotic arms, after being connected end to end, is suitable for installation on a spacecraft, and the distal end of each of the flexible robotic arms, after being connected end to end, is suitable for installation of an end effector (30). The flexible robotic arm includes: The robotic arm body includes at least one arm segment, the arm segment includes several arm sections (1), and two adjacent arm sections (1) are connected in series by two symmetrically arranged joints (2). The drive mechanism (7) includes a drive assembly and at least one elastic rod group embedded inside the robotic arm body. The distal end of each elastic rod group is connected to one of the arm segments and is adapted to drive the arm segment to bend. The proximal end of each elastic rod group is connected to the drive assembly and is driven independently by the drive assembly. The elastic rod group includes several elastic rods (4) arranged evenly in the circumferential direction; the drive assembly includes a drive box (71) and several electric cylinders (72) disposed inside the drive box (71). The number of electric cylinders (72) is the same as the total number of elastic rods (4) in all elastic rod groups, and the far end of the push rod of the electric cylinder (72) is connected to the elastic rod (4). The outer side wall of the arm segment (1) is provided with one or two pairs of symmetrically arranged hollow parts (11) in the circumferential direction. The two hollow parts (11) extend along the outer side wall of the arm segment (1) and are provided with two symmetrically arranged positioning protrusions (12) or positioning plates (13). The positioning plates (13) are provided with positioning slots (14). The positioning protrusions (12) of the arm segment (1) are slidably engaged with the positioning slots (14) on the positioning plates (13) of the adjacent arm segment to realize the connection between the two adjacent arm segments. The joint (2) includes an arc-shaped positioning groove (22) and an arc-shaped positioning plate (21) respectively arranged on two adjacent arm segments (1). The arc-shaped positioning plate (21) is fitted inside the arc-shaped positioning groove (22) and can rotate along the arc-shaped positioning groove (22).

2. The flexible robotic arm with an ultra-long reach for space as described in claim 1, characterized in that, Two adjacent flexible robotic arms are connected by an inter-arm connecting plate (20); the inter-arm connecting plate (20) includes a first stepped cylinder and a second stepped cylinder, the outer diameter of the first stepped cylinder is larger than the outer diameter of the second stepped cylinder, the first stepped cylinder is inserted into the inside of the drive box (71) and connected to the outer wall of the drive box (71), and the second stepped cylinder is inserted into the distal arm segment of the next flexible robotic arm and connected to the side wall of the arm segment.

3. The flexible robotic arm with an ultra-long reach for space as described in claim 1, characterized in that, The arm segment (1) has a rod-passing plate (3) inside, and the rod-passing plate (3) has several rod-passing holes (31); the elastic rod (4) in each elastic rod group slides through the rod-passing hole (31) of the rod-passing plate (3) and is fixedly connected to the distal end of the arm segment corresponding to the elastic rod group. and / or The distribution circle diameter of each elastic rod (4) is the same as the distribution circle diameter of each electric cylinder (72).

4. The flexible robotic arm with an ultra-long reach for space as described in claim 1, characterized in that, The axes of rotation of two adjacent joints (2) are perpendicular to each other; the positioning protrusion (12) on the circular cross section of the arm segment (1) is arranged at 90° to the joint (2) on the circumferential surface.

5. The flexible robotic arm with an ultra-long reach for space as described in claim 1, characterized in that, The robotic arm body is a continuous body formed by laser cutting of a pipe. The continuous body is cut by laser to form the joint (2) and the hollow part (11), so that the continuous body is flexible and can be bent at the joint (2).

6. The space-extended flexible robotic arm according to any one of claims 1-3, characterized in that, Each of the arm segments (1) is a hollow structure, so that the robotic arm body is a hollow structure, providing a space for the delivery pipeline.

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