Intelligent climbing robot for space construction

Abstract

An intelligent climbing robot for space construction belongs to the technical field of space robots and comprises a top moving platform, a robot body and a bottom moving platform. The top moving platform and the bottom moving platform are located on the upper and lower sides of the robot body correspondingly. Robot operation arms are symmetrically arranged on the left side and the right side of the robot body. According to the intelligent climbing robot for space construction, all-directional climbing movement can be achieved on a complex truss structure of a large spacecraft, two sections of truss rods connected through flexible points can be spanned on the same spacecraft module, adjacent truss rods on different side vertical faces can be spanned on the same spacecraft module, and the space construction efficiency is improved. According to the space robot, truss rods can be spanned among different spacecraft modules, stable grabbing of truss structure rod pieces with different shapes and different widths can be adapted, the space robot has the advantages of being simple in structure, easy and convenient to operate and good in stability, a control system of the space robot can be greatly simplified, and meanwhile the good climbing movement effect is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of space robots, and in particular relates to a climbing intelligent robot for space construction. Background Art

[0002] Large spacecraft play a key role in the development of space energy and space exploration, but due to the limited capacity of existing rocket fairings, it is impossible to build large spacecraft through a single launch and in-orbit deployment. Therefore, modular design and manufacturing, through multiple launches and assembly in orbit, has become an effective solution for building large spacecraft.

[0003] The on-orbit assembly of large spacecraft mainly relies on the extravehicular activities of astronauts, but due to the high vacuum, microgravity, strong radiation, huge temperature difference and other unfavorable factors in the space environment, it poses a serious threat to the safety of astronauts. Therefore, space robots are regarded as the best choice to replace astronauts in performing on-orbit assembly tasks.

[0004] The structure of large spacecraft is mainly composed of truss structures, and includes various truss combinations with different postures, positions, and structures. When large spacecraft are assembled on-orbit, space robots often need to climb on the truss structure of large spacecraft. Due to the high complexity of the truss structure, existing space robots are difficult to meet the requirements of full-scale movement on the truss structure.

[0005] Therefore, it is necessary to design a climbing robot that can perform omnidirectional movements on the truss structure of a large spacecraft. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a climbing intelligent robot for space construction, which can realize all-round climbing movements on the complex truss structure of large space spacecraft, can adapt to the stable grasping of truss structure rods of different shapes and widths, has the characteristics of simple structure, easy operation and good stability, can greatly simplify the control system of the space robot, and at the same time ensure good climbing movement effects, thereby effectively improving the on-orbit assembly efficiency and reliability of large space spacecraft.

[0007] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a climbing intelligent robot for space construction, comprising a top mobile platform, a robot body and a bottom mobile platform; the top mobile platform and the bottom mobile platform are respectively located on the upper and lower sides of the robot body; robot operating arms are symmetrically arranged on the left and right sides of the robot body.

[0008] The top moving platform includes a top truss rod grabbing intelligent terminal, a top rotating plate, a top flip plate, a top rotating plate rotating driving joint, a top flip plate flip driving joint, an elbow connecting rod and a top flip plate rotating driving joint; the number of the top truss rod grabbing intelligent terminals is four, and the four sets of top truss rod grabbing intelligent terminals are evenly distributed at the four corner points on the upper surface of the top rotating plate; the top rotating plate is located above the top flip plate, and the top rotating plate and the top flip plate are distributed in parallel; the top rotating plate rotating driving joint is located between the top rotating plate and the top flip plate, and the top rotating plate rotating driving joint is located between the top rotating plate and the top flip plate. The movable joint is vertically distributed with the top rotating plate and the top flip plate; the rotor end of the top rotating plate rotating driving joint is connected to the center of the top rotating plate, and the stator end of the top rotating plate rotating driving joint is connected to the top flip plate; the top flip plate flip driving joint is located at the edge of the top flip plate, the top flip plate flip driving joint is parallelly distributed with the top flip plate, and the rotor end of the top flip plate flip driving joint is connected to the top flip plate; one end of the elbow connecting rod is connected to the middle of the stator end of the top flip plate flip driving joint, and the other end of the elbow connecting rod is connected to the rotor end of the top flip plate rotating driving joint.

[0009] The robot body includes a robot body translation plate, a robot body telescopic column and a robot body flip table; the stator end of the top flip plate rotation drive joint is connected to the edge of the robot body translation plate; there are two robot body flip tables, which are arranged in parallel below the robot body translation plate, with a gap between the two robot body flip tables; there are two robot body telescopic columns, and a robot body telescopic column is arranged between each of the robot body flip tables and the lower surface of the robot body translation plate; the robot body telescopic column is vertically distributed to the robot body translation plate, the moving shaft end of the robot body telescopic column is connected to the robot body translation plate, and the fixed shaft end of the robot body telescopic column is connected to the robot body flip table.

[0010] The bottom moving platform includes a bottom truss rod grabbing intelligent terminal, a bottom rotating plate, a bottom rotating plate rotating driving joint and a robot body flipping table flipping driving joint; the number of the bottom truss rod grabbing intelligent terminals is four sets, and the four sets of bottom truss rod grabbing intelligent terminals are evenly distributed at the four corner points of the lower surface of the bottom rotating plate; the bottom rotating plate rotating driving joint is arranged above the bottom rotating plate and located in the gap between the two robot body flipping tables; the bottom rotating plate rotating driving joint is vertically distributed with the bottom rotating plate, and the rotor end of the bottom rotating plate rotating driving joint is connected to the center of the bottom rotating plate; the robot body flipping table flipping driving joint is located in the gap between the two robot body flipping tables, and the rotor end of the robot body flipping table flipping driving joint is simultaneously connected to the centers of the two robot body flipping tables; the stator end of the bottom rotating plate rotating driving joint is connected to the middle of the stator end of the robot body flipping table flipping driving joint, and the bottom rotating plate rotating driving joint and the robot body flipping table flipping driving joint form a T shape.

[0011] The top truss rod grabbing intelligent terminal has the same structure as the bottom truss rod grabbing intelligent terminal, both of which include a finger base rotary drive joint, a finger base swing drive joint, a finger middle swing drive joint, a finger tip rotary drive joint, a transfer connecting rod, a wheel frame, a grabbing moving active wheel, a grabbing moving driven wheel and an electric latch; the finger base rotary drive joint is vertically distributed with the top rotary plate or the bottom rotary plate, and the stator end of the finger base rotary drive joint is connected to the top rotary plate or the bottom rotary plate; the finger base swing drive joint is vertically distributed with the finger base rotary drive joint, and the rotor end of the finger base rotary drive joint is connected to the stator end of the finger base swing drive joint; the transfer connecting rod is vertically distributed with the finger base swing drive joint The rotor end of the finger base swing drive joint is connected to one end of the transfer connecting rod; the middle finger swing drive joint is parallel to the finger base swing drive joint, the other end of the transfer connecting rod is connected to the stator end of the middle finger swing drive joint, and the rotor end of the middle finger swing drive joint is connected to the wheel frame; the fingertip rotation drive joint is vertically distributed to the middle finger swing drive joint, the stator end of the fingertip rotation drive joint is connected to the wheel frame, and the grabbing movement driving wheel is coaxially connected to the rotor end of the fingertip rotation drive joint; the grabbing movement driven wheel is connected to the wheel frame and distributed in parallel with the grabbing movement driving wheel; the electric latch is arranged on the wheel frame between the grabbing movement driving wheel and the grabbing movement driven wheel.

[0012] Beneficial effects of the present invention:

[0013] The climbing intelligent robot for space construction of the present invention can realize all-round climbing movements on the complex truss structure of large space spacecraft, can adapt to the stable grasping of truss structure rods of different shapes and widths, has the characteristics of simple structure, easy operation and good stability, can greatly simplify the control system of the space robot, and at the same time ensure good climbing movement effects, thereby effectively improving the on-orbit assembly efficiency and reliability of large space spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of a climbing intelligent robot for space construction according to the present invention (viewing angle 1);

[0015] Figure 2 A schematic diagram of the structure of a climbing intelligent robot for space construction according to the present invention (viewing angle 1);

[0016] Figure 3 It is a structural schematic diagram of the top mobile platform of the present invention;

[0017] Figure 4 It is a schematic diagram of the structure of the robot body of the present invention;

[0018] Figure 5 It is a structural schematic diagram of the bottom mobile platform of the present invention;

[0019] Figure 6 A schematic diagram of the structure of the top / bottom truss rod grabbing intelligent end of the present invention;

[0020] In the figure, I—top moving platform, II—robot body, III—bottom moving platform, IV—robot operating arm, 1—top truss rod grabbing intelligent terminal, 2—top swivel plate, 3—top flip plate, 4—top swivel plate swivel drive joint, 5—top flip plate flip drive joint, 6—elbow connecting rod, 7—top flip plate swivel drive joint, 8—robot body translation plate, 9—robot body telescopic column, 10—robot body flip table, 11—bottom truss rod grabbing intelligent terminal, 12—bottom swivel plate, 13—bottom swivel plate swivel drive joint, 14—robot body flip table flip drive joint, 15—finger root swivel drive joint, 16—finger root swing drive joint, 17—finger middle swing drive joint, 18—fingertip swivel drive joint, 19—transfer connecting rod, 20—wheel frame, 21—grab moving active wheel, 22—grab moving driven wheel, 23—electric latch. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 6As shown, a climbing intelligent robot for space construction includes a top moving platform I, a robot body II and a bottom moving platform III; the top moving platform I and the bottom moving platform III are respectively located on the upper and lower sides of the robot body II; and robot operating arms IV are symmetrically arranged on the left and right sides of the robot body II.

[0023] The top mobile platform I includes a top truss rod grabbing intelligent terminal 1, a top rotating plate 2, a top flip plate 3, a top rotating plate rotating drive joint 4, a top flip plate flip drive joint 5, an elbow connecting rod 6 and a top flip plate rotating drive joint 7; the number of the top truss rod grabbing intelligent terminals 1 is four, and the four sets of top truss rod grabbing intelligent terminals 1 are evenly distributed at the four corner points on the upper surface of the top rotating plate 2; the top rotating plate 2 is located above the top flip plate 3, and the top rotating plate 2 and the top flip plate 3 are distributed parallel; the top rotating plate rotating drive joint 4 is located between the top rotating plate 2 and the top flip plate 3, and the top rotating plate rotating drive joint 4 is located between the top rotating plate 2 and the top flip plate 3. The movable joint 4 is distributed vertically with the top rotating plate 2 and the top flip plate 3; the rotor end of the top rotating plate rotating drive joint 4 is connected to the center of the top rotating plate 2, and the stator end of the top rotating plate rotating drive joint 4 is connected to the top flip plate 3; the top flip plate flip drive joint 5 is located at the edge of the top flip plate 3, the top flip plate flip drive joint 5 is distributed parallel to the top flip plate 3, and the rotor end of the top flip plate flip drive joint 5 is connected to the top flip plate 3; one end of the elbow connecting rod 6 is connected to the middle of the stator end of the top flip plate flip drive joint 5, and the other end of the elbow connecting rod 6 is connected to the rotor end of the top flip plate rotating drive joint 7.

[0024] Specifically, the working principle of the top mobile platform I is as follows: the rotor end of the top slewing plate slewing drive joint 4 can drive the top slewing plate 2 to do slewing motion, and the top truss rod grabbing intelligent terminal 1 moves synchronously with the top slewing plate 2; the rotor end of the top flip plate flipping drive joint 5 can drive the top flip plate 3 to do swinging motion, and the combination composed of the top truss rod grabbing intelligent terminal 1, the top slewing plate 2 and the top slewing plate slewing drive joint 4 moves synchronously with the top flip plate 3; the rotor end of the top flip plate slewing drive joint 7 can drive the elbow connecting rod 6 to do slewing motion, and the combination composed of the top truss rod grabbing intelligent terminal 1, the top slewing plate 2, the top slewing plate slewing drive joint 4, the top flip plate 3 and the top flip plate flipping drive joint 5 moves synchronously with the elbow connecting rod 6.

[0025] The robot body II includes a robot body translation plate 8, a robot body telescopic column 9 and a robot body flip table 10; the stator end of the top flip plate rotation drive joint 7 is connected to the edge of the robot body translation plate 8; there are two robot body flip tables 10, and the two robot body flip tables 10 are arranged in parallel below the robot body translation plate 8, and a gap is left between the two robot body flip tables 10; there are two robot body telescopic columns 9, and a robot body telescopic column 9 is arranged between each robot body flip table 10 and the lower surface of the robot body translation plate 8; the robot body telescopic column 9 is vertically distributed to the robot body translation plate 8, the moving shaft end of the robot body telescopic column 9 is connected to the robot body translation plate 8, and the fixed shaft end of the robot body telescopic column 9 is connected to the robot body flip table 10.

[0026] Specifically, the working principle of the robot body II is as follows: the moving shaft end of the robot body telescopic column 9 can drive the robot body translation plate 8 to perform translational movement, and the top mobile platform I moves synchronously with the robot body translation plate 8.

[0027] The bottom mobile platform III includes a bottom truss rod grasping intelligent terminal 11, a bottom rotating plate 12, a bottom rotating plate rotating driving joint 13 and a robot body flipping platform flip driving joint 14; the number of the bottom truss rod grasping intelligent terminals 11 is four sets, and the four sets of bottom truss rod grasping intelligent terminals 11 are evenly distributed at the four corner points of the lower surface of the bottom rotating plate 12; the bottom rotating plate rotating driving joint 13 is arranged above the bottom rotating plate 12 and is located in the gap between the two robot body flipping platforms 10; the bottom rotating plate rotating driving joint 13 and the bottom rotating plate 12 Vertically distributed, the rotor end of the bottom rotating plate rotating drive joint 13 is connected to the center of the bottom rotating plate 12; the robot body flip table flip drive joint 14 is located in the gap between the two robot body flip tables 10, and the rotor end of the robot body flip table flip drive joint 14 is simultaneously connected to the centers of the two robot body flip tables 10; the stator end of the bottom rotating plate rotating drive joint 13 is connected to the middle of the stator end of the robot body flip table flip drive joint 14, and the bottom rotating plate rotating drive joint 13 and the robot body flip table flip drive joint 14 form a T shape.

[0028] Specifically, the working principle of the bottom mobile platform III is: the rotor end of the robot body flip table flip drive joint 14 can drive the robot body flip table 10 to do flipping movement, and the combination composed of the robot body telescopic column 9, the robot body translation plate 8 and the top mobile platform I moves synchronously with the robot body flip table 10; the rotor end of the bottom rotary plate rotation drive joint 13 can drive the bottom rotary plate 12 to do rotational movement, and the bottom truss rod grasping intelligent terminal 11 moves synchronously with the bottom rotary plate 12.

[0029] The top truss rod grabbing intelligent terminal 1 has the same structure as the bottom truss rod grabbing intelligent terminal 11, and both include a finger base rotation drive joint 15, a finger base swing drive joint 16, a finger middle swing drive joint 17, a finger tip rotation drive joint 18, a transfer connecting rod 19, a wheel frame 20, a grabbing movement active wheel 21, a grabbing movement driven wheel 22 and an electric latch 23; the finger base rotation drive joint 15 is vertically distributed to the top rotating plate 2 or the bottom rotating plate 12, and the stator end of the finger base rotation drive joint 15 is connected to the top rotating plate 2 or the bottom rotating plate 12; the finger base swing drive joint 16 is vertically distributed to the finger base rotation drive joint 15, and the rotor end of the finger base rotation drive joint 15 is connected to the stator end of the finger base swing drive joint 16; the transfer connecting rod 19 is vertically distributed to the finger base swing drive joint 16 The finger base swing drive joint 16 is vertically distributed, and the rotor end of the finger base swing drive joint 16 is connected to one end of the transfer connecting rod 19; the middle finger swing drive joint 17 is parallelly distributed with the finger base swing drive joint 16, and the other end of the transfer connecting rod 19 is connected to the stator end of the middle finger swing drive joint 17, and the rotor end of the middle finger swing drive joint 17 is connected to the wheel frame 20; the fingertip rotation drive joint 18 is vertically distributed with the middle finger swing drive joint 17, and the stator end of the fingertip rotation drive joint 18 is connected to the wheel frame 20, and the grabbing movement driving wheel 21 is coaxially connected to the rotor end of the fingertip rotation drive joint 18; the grabbing movement driven wheel 22 is connected to the wheel frame 20 and is parallelly distributed with the grabbing movement driving wheel 21; the electric latch 23 is arranged on the wheel frame 20 between the grabbing movement driving wheel 21 and the grabbing movement driven wheel 22.

[0030] Specifically, the working principles of the top truss rod grabbing intelligent terminal 1 and the bottom truss rod grabbing intelligent terminal 11 are as follows: the rotor end of the finger base rotary drive joint 15 can drive the finger base swing drive joint 16 to perform rotary motion, and the combination consisting of the transfer connecting rod 19, the middle finger swing drive joint 17, the wheel frame 20, the fingertip rotary drive joint 18, the grabbing mobile active wheel 21, the grabbing mobile driven wheel 22 and the electric latch 23 moves synchronously with the finger base swing drive joint 16; the rotor end of the finger base swing drive joint 16 can drive the transfer connecting rod 19 to perform swing motion, and the combination consisting of the middle finger swing drive joint 17, the wheel frame 20, the fingertip rotary drive joint 18, the grabbing mobile active wheel 21, the grabbing mobile driven wheel 22 and the electric latch 23 moves synchronously with the transfer connecting rod 19; The rotor end can drive the wheel frame 20 to do swinging motion, and the combination composed of the fingertip rotary drive joint 18, the grabbing and moving active wheel 21, the grabbing and moving driven wheel 22 and the electric latch 23 moves synchronously with the wheel frame 20; the rotor end of the fingertip rotary drive joint 18 can drive the grabbing and moving active wheel 21 to do rotary motion, and the grabbing and moving active wheel 21 and the grabbing and moving driven wheel 22 are in rolling contact with the truss rod at the same time, and the grabbing and moving active wheel 21 can roll and move along the truss rod by friction, and then can drive the robot as a whole to move along the truss rod; the grabbing and moving active wheel 21 and the grabbing and moving driven wheel 22 are both provided with V-shaped grooves, and the truss rod is located in the V-shaped grooves, which can not only ensure the contact stability between the grabbing and moving active wheel 21 and the grabbing and moving driven wheel 22 and the truss rod, but also can adapt to truss rods with different cross-sectional shapes.

[0031] The following describes the use of the present invention in conjunction with the accompanying drawings:

[0032] Example 1: The robot needs to cross two truss rods connected by flexible points on the same spacecraft module.

[0033] When the robot moves along the initial segment truss rod to the flexible point connection position, it needs to cross the flexible point to move to the target segment truss rod. At this time, the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 is first started to lock the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 with the initial segment truss rod, thereby locking the entire robot with the initial segment truss rod.

[0034] When the robot as a whole is locked with the initial segment truss rod, the robot body flip table flip drive joint 14 is started to drive the combination of the robot body II and the top moving platform I to flip, and at the same time, the top flip plate flip drive joint 5 is started to drive the combination of the top flip plate 3, the top swivel plate swivel drive joint 4, the top swivel plate 2 and the top truss rod grasping intelligent terminal 1 to flip, so that the top swivel plate 2 crosses the flexible point and moves toward the target segment truss rod until the top swivel plate 2 and the target segment truss rod remain parallel and the distance between them is within the reach of the top truss rod grasping intelligent terminal 1.

[0035] When the top swivel plate 2 completes the spatial posture adjustment, the top truss rod grasping intelligent terminal 1 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation drive joint 15, the finger root swing drive joint 16 and the finger middle swing drive joint 17 of the top truss rod grasping intelligent terminal 1, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the top truss rod grasping intelligent terminal 1 are accurately overlapped on the target segment truss rod, and then the electric latch 23 of the top truss rod grasping intelligent terminal 1 is started to realize the locking between the top truss rod grasping intelligent terminal 1 and the target segment truss rod.

[0036] When the top truss rod grasping intelligent terminal 1 is locked with the target segment truss rod, the lock between the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 and the initial segment truss rod is released, and then the spatial posture of the wheel frame 20 of the bottom truss rod grasping intelligent terminal 11 is adjusted to make the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 disengage from the contact with the initial segment truss rod, thereby realizing the separation of the robot as a whole from the initial segment truss rod.

[0037] When the robot as a whole is separated from the initial segment truss rod, the top swivel plate swivel drive joint 4 is started to drive the top flip plate 3, the top flip plate flip drive joint 5, the elbow connecting rod 6, the top flip plate swivel drive joint 7, the robot body II and the bottom mobile platform III to perform swivel motion, so that the bottom swivel plate 12 moves toward the target segment truss rod until the bottom swivel plate 12 remains parallel to the target segment truss rod and the distance between them is within the reach of the bottom truss rod grabbing intelligent terminal 11.

[0038] After the bottom rotating plate 12 completes the spatial posture adjustment, the bottom truss rod grasping intelligent terminal 11 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation driving joint 15, the finger root swing driving joint 16 and the finger middle swing driving joint 17 of the bottom truss rod grasping intelligent terminal 11, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 are accurately overlapped on the target segment truss rod, and then the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 is started to realize the locking between the bottom truss rod grasping intelligent terminal 11 and the target segment truss rod.

[0039] When the bottom truss rod grabbing intelligent terminal 11 is locked with the target segment truss rod, the lock between the electric latch 23 of the top truss rod grabbing intelligent terminal 1 and the target segment truss rod is released, and then the spatial posture of the wheel frame 20 of the top truss rod grabbing intelligent terminal 1 is adjusted to make the grabbing moving active wheel 21 and the grabbing moving driven wheel 22 of the top truss rod grabbing intelligent terminal 1 break away from the contact with the target segment truss rod.

[0040] When the top truss rod grasping intelligent terminal 1 is completely separated from the target segment truss rod, the robot body flip table flip drive joint 14 is started to drive the combination of the robot body II and the top moving platform I to flip, and at the same time, the top flip plate flip drive joint 5 is started to drive the top flip plate 3, the top swivel plate swivel drive joint 4, the top swivel plate 2 and the top truss rod grasping intelligent terminal 1 to flip until the robot body II and the top moving platform I are all restored to their initial posture, after which the robot can continue to move along the target segment truss rod.

[0041] Embodiment 2: The robot needs to cross adjacent truss rods on different side elevations on the same spacecraft module.

[0042] After the robot completes the task on the initial side truss rod, it needs to transfer horizontally to the adjacent target side truss rod to continue the task. At this time, the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 is first started to lock the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 with the initial side truss rod, thereby locking the entire robot with the initial side truss rod.

[0043] When the robot as a whole is locked with the initial side truss rod, start the bottom swivel plate swivel drive joint 13 to drive the robot body flip table swivel drive joint 14, the combination of the robot body II and the top moving platform I to swivel, and the swivel angle is 90 degrees. Then start the body flip table swivel drive joint 14 to drive the combination of the robot body II and the top moving platform I to swivel. Then start the top flip plate swivel drive joint 5 to drive the combination of the top flip plate 3, the top swivel plate swivel drive joint 4, the top swivel plate 2 and the top truss rod grasping intelligent terminal 1 to swivel, so that the top swivel plate 2 moves toward the target side truss rod until the top swivel plate 2 is parallel to the target side truss rod and the distance between them is within the reach of the top truss rod grasping intelligent terminal 1.

[0044] When the top swivel plate 2 completes the spatial posture adjustment, the top truss rod grasping intelligent terminal 1 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation driving joint 15, the finger root swing driving joint 16 and the finger middle swing driving joint 17 of the top truss rod grasping intelligent terminal 1, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the top truss rod grasping intelligent terminal 1 are accurately overlapped on the target side truss rod, and then the electric latch 23 of the top truss rod grasping intelligent terminal 1 is started to realize the locking between the top truss rod grasping intelligent terminal 1 and the target side truss rod.

[0045] When the top truss rod grasping intelligent terminal 1 is locked with the target side truss rod, the lock between the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 and the initial side truss rod is released, and then the spatial posture of the wheel frame 20 of the bottom truss rod grasping intelligent terminal 11 is adjusted to make the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 disengage from the contact with the initial side truss rod, thereby realizing the separation of the robot as a whole from the initial side truss rod.

[0046] When the robot as a whole is separated from the initial side truss rod, the top flip plate flip driving joint 5 is started to drive the combination of the elbow connecting rod 6, the top flip plate rotation driving joint 7, the robot body II and the bottom moving platform III to perform a flipping movement; then the top swivel plate rotation driving joint 4 is started to drive the combination of the top flip plate 3, the top flip plate flip driving joint 5, the elbow connecting rod 6, the top flip plate rotation driving joint 7, the robot body II and the bottom moving platform III to perform a rotational movement, and the rotation angle is 90 degrees; then the top flip plate flip driving joint 5 is started again to drive the combination of the elbow connecting rod 6, the top flip plate rotation driving joint 7, the robot body II and the bottom moving platform III to perform a flipping movement, and the flip angle is 90 degrees, so that the bottom swivel plate 12 moves toward the target side truss rod until the bottom swivel plate 12 is parallel to the target side truss rod and the distance between them is within the reach of the bottom truss rod grasping intelligent terminal 11.

[0047] When the bottom rotating plate 12 completes the spatial posture adjustment, the bottom truss rod grasping intelligent terminal 11 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation driving joint 15, the finger root swing driving joint 16 and the finger middle swing driving joint 17 of the bottom truss rod grasping intelligent terminal 11, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 are accurately overlapped on the target side truss rod, and then the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 is started to realize the locking between the bottom truss rod grasping intelligent terminal 11 and the target side truss rod.

[0048] When the bottom truss rod grabbing intelligent terminal 11 is locked with the target side truss rod, the lock between the electric latch 23 of the top truss rod grabbing intelligent terminal 1 and the target side truss rod is released, and then the spatial posture of the wheel frame 20 of the top truss rod grabbing intelligent terminal 1 is adjusted to make the grabbing moving active wheel 21 and the grabbing moving driven wheel 22 of the top truss rod grabbing intelligent terminal 1 break away from the contact with the target side truss rod.

[0049] When the top truss rod grasping intelligent terminal 1 is completely separated from the target side truss rod, the robot body flip table flip drive joint 14 is started to drive the combination of the robot body II and the top moving platform I to flip, and at the same time, the top flip plate flip drive joint 5 is started to drive the top flip plate 3, the top swivel plate swivel drive joint 4, the top swivel plate 2 and the top truss rod grasping intelligent terminal 1 to flip until the robot body II and the top moving platform I are all restored to their initial posture. After that, the robot can move along the target side truss rod and continue to execute the task.

[0050] Example 3: The robot needs to span truss rods between different spacecraft modules.

[0051] After the robot completes the task on the truss rod of the initial side spacecraft module, it needs to transfer to the adjacent truss rod of the target side spacecraft module to continue the task. At this time, the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 is first started to lock the electric latch 23 of the bottom truss rod grabbing intelligent terminal 11 with the truss rod of the initial side spacecraft module, thereby locking the entire robot with the truss rod of the initial side spacecraft module.

[0052] After the robot as a whole is locked with the truss rod of the initial side spacecraft module, the robot body telescopic column 9 is started to drive the robot body translation plate 8 and the top moving platform I to move toward the truss rod of the target side spacecraft module, and then the spatial posture of the top swivel plate 2 is adjusted through the linkage of the top swivel plate swivel drive joint 4, the top flip plate flip drive joint 5, the top flip plate swivel drive joint 7, the bottom swivel plate swivel drive joint 13 and the robot body flip platform flip drive joint 14 until the top swivel plate 2 remains parallel to the truss rod of the target side spacecraft module and the distance between them is within the reach of the top truss rod grabbing intelligent terminal 1.

[0053] When the top rotating plate 2 completes the spatial posture adjustment, the top truss rod grasping intelligent terminal 1 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation driving joint 15, the finger root swing driving joint 16 and the finger middle swing driving joint 17 of the top truss rod grasping intelligent terminal 1, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the top truss rod grasping intelligent terminal 1 are accurately overlapped on the target side spacecraft module truss rod, and then the electric latch 23 of the top truss rod grasping intelligent terminal 1 is started to realize the locking between the top truss rod grasping intelligent terminal 1 and the target side spacecraft module truss rod.

[0054] When the top truss rod grasping intelligent terminal 1 is locked with the truss rod of the target side spacecraft module, the lock between the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 and the truss rod of the initial side spacecraft module is released, and then the spatial posture of the wheel frame 20 of the bottom truss rod grasping intelligent terminal 11 is adjusted to make the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 break away from the contact with the truss rod of the initial side spacecraft module.

[0055] When the bottom truss rod grasping intelligent terminal 11 is completely separated from the initial side spacecraft module truss rod, except for the top truss rod grasping intelligent terminal 1 and the bottom truss rod grasping intelligent terminal 11, all other parts of the robot are restored to the initial posture, and then the top flip plate flip driving joint 5 is started to drive the elbow connecting rod 6, the top flip plate rotation driving joint 7, the robot body II and the bottom moving platform III to perform a flip movement with a flip angle of 90 degrees; then the robot body flip platform flip driving joint 14 is started to drive the bottom swivel plate rotation driving joint 13, the bottom swivel plate 12 and the bottom truss rod grasping intelligent terminal 11 to perform a flip movement with a flip angle of 90 degrees, so that the bottom swivel plate 12 moves toward the target segment spacecraft module truss rod until the bottom swivel plate 12 and the target segment spacecraft module truss rod remain parallel and the distance between them is within the reach of the bottom truss rod grasping intelligent terminal 11.

[0056] When the bottom rotating plate 12 completes the spatial posture adjustment, the bottom truss rod grasping intelligent terminal 11 is started, and the spatial posture of the wheel frame 20 is adjusted through the finger root rotation driving joint 15, the finger root swing driving joint 16 and the finger middle swing driving joint 17 of the bottom truss rod grasping intelligent terminal 11, until the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the bottom truss rod grasping intelligent terminal 11 are accurately overlapped on the target side spacecraft module truss rod, and then the electric latch 23 of the bottom truss rod grasping intelligent terminal 11 is started to realize the locking between the bottom truss rod grasping intelligent terminal 11 and the target side spacecraft module truss rod.

[0057] When the bottom truss rod grasping intelligent terminal 11 is locked with the truss rod of the target side spacecraft module, the lock between the electric latch 23 of the top truss rod grasping intelligent terminal 1 and the truss rod of the target side is released, and then the spatial posture of the wheel frame 20 of the top truss rod grasping intelligent terminal 1 is adjusted to make the grasping moving active wheel 21 and the grasping moving driven wheel 22 of the top truss rod grasping intelligent terminal 1 break away from the contact with the truss rod of the target side spacecraft module.

[0058] When the top truss rod grasping intelligent terminal 1 is completely separated from the truss rod of the target side spacecraft module, the top flip plate flip driving joint 5 is started again to drive the elbow connecting rod 6, the top flip plate rotation driving joint 7, the robot body II and the bottom moving platform III to perform a flip movement. At the same time, the robot body flip platform flip driving joint 14 is started to drive the bottom swivel plate rotation driving joint 13, the bottom swivel plate 12 and the bottom truss rod grasping intelligent terminal 11 to perform a flip movement until the robot completely recovers to its initial posture. After that, the robot can move along the truss rod of the target side spacecraft module and continue to execute the task.

[0059] The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims

1. A climbing intelligent robot for space construction, characterized in that: It includes a top moving platform, a robot body and a bottom moving platform; the top moving platform and the bottom moving platform are respectively located on the upper and lower sides of the robot body; and robot operating arms are symmetrically arranged on the left and right sides of the robot body.

2. The climbing intelligent robot for space construction according to claim 1, characterized in that: The top moving platform includes a top truss rod grabbing intelligent terminal, a top rotating plate, a top flip plate, a top rotating plate rotating driving joint, a top flip plate flip driving joint, an elbow connecting rod and a top flip plate rotating driving joint; the number of the top truss rod grabbing intelligent terminals is four sets, and the four sets of top truss rod grabbing intelligent terminals are evenly distributed at the four corner points on the upper surface of the top rotating plate; the top rotating plate is located above the top flip plate, and the top rotating plate and the top flip plate are distributed in parallel; the top rotating plate rotating driving joint is located between the top rotating plate and the top flip plate, and the top rotating plate rotating driving joint is vertically distributed with the top rotating plate and the top flip plate; the rotor end of the top rotating plate rotating driving joint is connected to the center of the top rotating plate, and the stator end of the top rotating plate rotating driving joint is connected to the top flip plate; the top flip plate flip driving joint is located at the edge of the top flip plate, and the top flip plate flip driving joint is distributed in parallel with the top flip plate, and the rotor end of the top flip plate flip driving joint is connected to the top flip plate; One end of the elbow connecting rod is connected to the middle of the stator end of the top flip plate flip driving joint, and the other end of the elbow connecting rod is connected to the rotor end of the top flip plate rotation driving joint.

3. The climbing intelligent robot for space construction according to claim 2, characterized in that: The robot body includes a robot body translation plate, a robot body telescopic column and a robot body flip table; the stator end of the top flip plate rotation drive joint is connected to the edge of the robot body translation plate; there are two robot body flip tables, which are arranged in parallel below the robot body translation plate, with a gap between the two robot body flip tables; there are two robot body telescopic columns, and a robot body telescopic column is arranged between each of the robot body flip tables and the lower surface of the robot body translation plate; the robot body telescopic column is vertically distributed to the robot body translation plate, the moving shaft end of the robot body telescopic column is connected to the robot body translation plate, and the fixed shaft end of the robot body telescopic column is connected to the robot body flip table.

4. The climbing intelligent robot for space construction according to claim 3, characterized in that: The bottom moving platform includes a bottom truss rod grabbing intelligent terminal, a bottom rotating plate, a bottom rotating plate rotating driving joint and a robot body flipping table flipping driving joint; the number of the bottom truss rod grabbing intelligent terminals is four sets, and the four sets of bottom truss rod grabbing intelligent terminals are evenly distributed at the four corner points of the lower surface of the bottom rotating plate; the bottom rotating plate rotating driving joint is arranged above the bottom rotating plate and located in the gap between the two robot body flipping tables; the bottom rotating plate rotating driving joint is vertically distributed with the bottom rotating plate, and the rotor end of the bottom rotating plate rotating driving joint is connected to the center of the bottom rotating plate; the robot body flipping table flipping driving joint is located in the gap between the two robot body flipping tables, and the rotor end of the robot body flipping table flipping driving joint is simultaneously connected to the centers of the two robot body flipping tables; the stator end of the bottom rotating plate rotating driving joint is connected to the middle of the stator end of the robot body flipping table flipping driving joint, and the bottom rotating plate rotating driving joint and the robot body flipping table flipping driving joint form a T shape.

5. The climbing intelligent robot for space construction according to claim 4, characterized in that: The top truss rod grabbing intelligent terminal has the same structure as the bottom truss rod grabbing intelligent terminal, both of which include a finger base rotary drive joint, a finger base swing drive joint, a finger middle swing drive joint, a finger tip rotary drive joint, a transfer connecting rod, a wheel frame, a grabbing moving active wheel, a grabbing moving driven wheel and an electric latch; the finger base rotary drive joint is vertically distributed with the top rotary plate or the bottom rotary plate, and the stator end of the finger base rotary drive joint is connected to the top rotary plate or the bottom rotary plate; the finger base swing drive joint is vertically distributed with the finger base rotary drive joint, and the rotor end of the finger base rotary drive joint is connected to the stator end of the finger base swing drive joint; the transfer connecting rod is vertically distributed with the finger base swing drive joint The rotor end of the finger base swing drive joint is connected to one end of the transfer connecting rod; the middle finger swing drive joint is parallel to the finger base swing drive joint, the other end of the transfer connecting rod is connected to the stator end of the middle finger swing drive joint, and the rotor end of the middle finger swing drive joint is connected to the wheel frame; the fingertip rotation drive joint is vertically distributed to the middle finger swing drive joint, the stator end of the fingertip rotation drive joint is connected to the wheel frame, and the grabbing movement driving wheel is coaxially connected to the rotor end of the fingertip rotation drive joint; the grabbing movement driven wheel is connected to the wheel frame and distributed in parallel with the grabbing movement driving wheel; the electric latch is arranged on the wheel frame between the grabbing movement driving wheel and the grabbing movement driven wheel.

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