A climbing intelligent robot for space construction

Abstract

A climbing intelligent robot for space construction, belonging to the field of space robot technology, includes a top moving platform, a robot body, and a bottom moving platform; the top and bottom moving platforms are located on the upper and lower sides of the robot body, respectively; robot manipulators are symmetrically arranged on the left and right sides of the robot body. This invention's climbing intelligent robot for space construction can achieve omnidirectional climbing motion on the complex truss structure of large spacecraft. It can cross two truss sections connected by flexible points on the same spacecraft module, cross adjacent truss sections on different side facades on the same spacecraft module, and cross truss sections between different spacecraft modules. It can stably grasp truss structural members of different shapes and widths, and features a simple structure, easy operation, and good stability. It can significantly simplify the control system of space robots while ensuring excellent climbing performance.

Description

Technical Field

[0001] This invention belongs to the field of space robot technology, and in particular relates to a climbing intelligent robot for space construction. Background Technology

[0002] Large spacecraft play a crucial role in space energy development and space exploration. However, due to the limited capacity of existing rocket fairings, large spacecraft cannot be constructed through a single launch and on-orbit deployment. Therefore, modular design and manufacturing, with multiple launches and on-orbit assembly, has become an effective solution for building large spacecraft.

[0003] The on-orbit assembly of large spacecraft relies primarily on extravehicular activities by astronauts. However, the high vacuum, microgravity, intense radiation, and extreme temperature variations in the space environment pose a serious threat to the lives of astronauts. Therefore, space robots are considered the best alternative to astronauts for performing on-orbit assembly tasks.

[0004] The structure of large spacecraft is mainly composed of truss structures, which include various combinations of trusses with different attitudes, positions, and structures. During the on-orbit assembly of large spacecraft, space robots often need to climb on the truss structures of large spacecraft. Due to the high complexity of the truss structures, existing space robots are difficult to meet the requirements of omnidirectional movement on the truss structures.

[0005] Therefore, it is essential to design a climbing robot capable of omnidirectional movement on the truss structure of large spacecraft. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a climbing intelligent robot for space construction, which can achieve omnidirectional climbing movements on the complex truss structure of large spacecraft. It can stably grasp truss structural members of different shapes and widths, and features simple structure, easy operation, and good stability. It can greatly simplify the control system of space robots while ensuring good climbing performance, thereby effectively improving the on-orbit assembly efficiency and reliability of large spacecraft.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a climbing intelligent robot for space construction, comprising 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; robot manipulators are symmetrically arranged on the left and right sides of the robot body.

[0008] The top moving platform includes a top truss rod gripping intelligent end effector, a top rotating plate, a top tilting plate, a top rotating plate rotation drive joint, a top tilting plate tilting drive joint, an elbow connecting rod, and a top tilting plate rotation drive joint. The top truss rod gripping intelligent end effector consists of four sets, 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 tilting plate, and the top rotating plate and the top tilting plate are parallel to each other. The top rotating plate rotation drive joint is located between the top rotating plate and the top tilting plate, and the top rotating plate rotation drive joint... The moving joint is perpendicular to the top rotating plate and the top tilting plate; the rotor end of the top rotating plate rotation drive joint is connected to the center of the top rotating plate, and the stator end of the top rotating plate rotation drive joint is connected to the top tilting plate; the top tilting plate tilting drive joint is located at the edge of the top tilting plate, and is distributed parallel to the top tilting plate, with the rotor end of the top tilting plate tilting drive joint connected to the top tilting plate; one end of the elbow connecting rod is connected to the middle of the stator end of the top tilting plate tilting drive joint, and the other end of the elbow connecting rod is connected to the rotor end of the top tilting plate rotation drive joint.

[0009] The robot body includes a robot body translation plate, a robot body telescopic column, and a robot body flipping platform; the stator end of the top flipping plate's rotary drive joint is connected to the edge of the robot body translation plate; there are two robot body flipping platforms, which are arranged side by side below the robot body translation plate, with a gap between them; there are two robot body telescopic columns, one of which is located between each robot body flipping platform and the lower surface of the robot body translation plate; the robot body telescopic columns are perpendicular to the robot body translation plate, with the moving shaft end of the column connected to the robot body translation plate and the fixed shaft end connected to the robot body flipping platform.

[0010] The bottom moving platform includes a bottom truss gripping intelligent end effector, a bottom rotating plate, a bottom rotating plate rotation drive joint, and a robot body flipping table flipping drive joint. The bottom truss gripping intelligent end effector consists of four sets, evenly distributed at the four corners of the bottom rotating plate's lower surface. The bottom rotating plate rotation drive joint is positioned above the bottom rotating plate and within the gap between the two robot body flipping tables. The bottom rotating plate rotation drive joint is perpendicular to the bottom rotating plate, with its rotor end connected to the center of the bottom rotating plate. The robot body flipping table flipping drive joint is located within the gap between the two robot body flipping tables, with its rotor end simultaneously connected to the center of both robot body flipping tables. The stator end of the bottom rotating plate rotation drive joint is connected to the middle of the stator end of the robot body flipping table flipping drive joint, forming a T-shape with the robot body flipping table flipping drive joint.

[0011] The top truss gripping intelligent terminal and the bottom truss gripping intelligent terminal have the same structure, both including a finger root rotation drive joint, a finger root swing drive joint, a finger middle swing drive joint, a fingertip rotation drive joint, a connecting rod, a wheel frame, a gripping moving drive wheel, a gripping moving driven wheel, and an electric pin; the finger root rotation drive joint is perpendicular to the top or bottom rotating plate, and the stator end of the finger root rotation drive joint is connected to the top or bottom rotating plate; the finger root swing drive joint is perpendicular to the finger root rotation drive joint, and the rotor end of the finger root rotation drive joint is connected to the stator end of the finger root swing drive joint; the connecting rod is perpendicular to the finger root swing drive joint. The distribution is as follows: the rotor end of the finger root oscillating drive joint is connected to one end of the adapter link; the middle finger oscillating drive joint is distributed parallel to the finger root oscillating drive joint, the other end of the adapter link is connected to the stator end of the middle finger oscillating drive joint, and the rotor end of the middle finger oscillating drive joint is connected to the wheel frame; the fingertip rotation drive joint is distributed perpendicularly to the middle finger oscillating drive joint, the stator end of the fingertip rotation drive joint is connected to the wheel frame, and the grasping movement drive wheel is coaxially connected to the rotor end of the fingertip rotation drive joint; the grasping movement driven wheel is connected to the wheel frame and distributed parallel to the grasping movement drive wheel; the electric latch is set on the wheel frame between the grasping movement drive wheel and the grasping movement driven wheel.

[0012] The beneficial effects of this invention are:

[0013] The intelligent climbing robot for space construction of this invention can achieve all-round climbing movement on the complex truss structure of large spacecraft. It can stably grasp truss structural members of different shapes and widths. It has the characteristics of simple structure, easy operation and good stability. It can greatly simplify the control system of space robots, while ensuring good climbing movement effect, thereby effectively improving the on-orbit assembly efficiency and reliability of large spacecraft. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of a climbing intelligent robot for space construction according to the present invention (view 1);

[0015] Figure 2 This is a structural schematic diagram of a climbing intelligent robot for space construction according to the present invention (view 1);

[0016] Figure 3 This is a schematic diagram of the structure of the top moving platform of the present invention;

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

[0018] Figure 5 This is a schematic diagram of the structure of the bottom moving platform of the present invention;

[0019] Figure 6 This is a structural schematic diagram of the intelligent terminal for gripping the top / bottom truss rods of the present invention;

[0020] In the diagram, I—top moving platform, II—robot body, III—bottom moving platform, IV—robot manipulator, 1—top truss gripping intelligent end effector, 2—top rotating plate, 3—top flipping plate, 4—top rotating plate rotation drive joint, 5—top flipping plate flipping drive joint, 6—bend link, 7—top flipping plate rotation drive joint, 8—robot body translation plate, 9—robot body telescopic column, 10—robot body flipping table, 11—bottom truss gripping intelligent end effector, 12—bottom rotating plate, 13—bottom rotating plate rotation drive joint, 14—robot body flipping table flipping drive joint, 15—finger root rotation drive joint, 16—finger root swing drive joint, 17—finger middle swing drive joint, 18—finger tip rotation drive joint, 19—adapter link, 20—wheel frame, 21—gripping moving drive wheel, 22—gripping moving driven wheel, 23—electric pin. Detailed Implementation

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

[0022] like Figures 1-6As shown, a climbing intelligent robot for spatial 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 located on the upper and lower sides of the robot body II, respectively; robot manipulators IV are symmetrically arranged on the left and right sides of the robot body II.

[0023] The top moving platform I includes a top truss rod gripping intelligent end effector 1, a top rotating plate 2, a top flipping plate 3, a top rotating plate rotation drive joint 4, a top flipping plate flipping drive joint 5, an elbow connecting rod 6, and a top flipping plate rotation drive joint 7. There are four sets of the top truss rod gripping intelligent end effectors 1, 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 flipping plate 3, and the top rotating plate 2 and the top flipping plate 3 are parallel to each other. The top rotating plate rotation drive joint 4 is located between the top rotating plate 2 and the top flipping plate 3, and the top rotating plate rotation drive joint 7... The moving joint 4 is perpendicularly distributed to the top rotating plate 2 and the top tilting plate 3; the rotor end of the top rotating plate rotation drive joint 4 is connected to the center of the top rotating plate 2, and the stator end of the top rotating plate rotation drive joint 4 is connected to the top tilting plate 3; the top tilting plate tilting drive joint 5 is located on the side of the top tilting plate 3, and is distributed parallel to the top tilting plate 3, with the rotor end of the top tilting plate tilting drive joint 5 connected to the top tilting plate 3; one end of the elbow connecting rod 6 is connected to the middle of the stator end of the top tilting plate tilting drive joint 5, and the other end of the elbow connecting rod 6 is connected to the rotor end of the top tilting plate rotation drive joint 7.

[0024] Specifically, the working principle of the top moving platform I is as follows: the rotor end of the top rotating plate rotation drive joint 4 can drive the top rotating plate 2 to rotate, and the top truss rod gripping intelligent terminal 1 moves synchronously with the top rotating plate 2; the rotor end of the top flipping plate flipping drive joint 5 can drive the top flipping plate 3 to swing, and the combination of the top truss rod gripping intelligent terminal 1, the top rotating plate 2 and the top rotating plate rotation drive joint 4 moves synchronously with the top flipping plate 3; the rotor end of the top flipping plate rotation drive joint 7 can drive the elbow connecting rod 6 to rotate, and the combination of the top truss rod gripping intelligent terminal 1, the top rotating plate 2, the top rotating plate rotation drive joint 4, the top flipping plate 3 and the top flipping 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 flipping table 10; the stator end of the top flipping plate rotation drive joint 7 is connected to the edge of the robot body translation plate 8; there are two robot body flipping tables 10, which are arranged side by side below the robot body translation plate 8, with a gap between the two robot body flipping tables 10; there are two robot body telescopic columns 9, one of which is provided between each robot body flipping table 10 and the lower surface of the robot body translation plate 8; the robot body telescopic columns 9 are perpendicular 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 flipping 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 moving platform I moves synchronously with the robot body translation plate 8.

[0027] The bottom moving platform III includes a bottom truss gripping intelligent end effector 11, a bottom rotating plate 12, a bottom rotating plate rotation drive joint 13, and a robot body tilting platform tilting drive joint 14. The bottom truss gripping intelligent end effector 11 consists of four sets, evenly distributed at the four corner points of the lower surface of the bottom rotating plate 12. The bottom rotating plate rotation drive joint 13 is positioned above the bottom rotating plate 12 and within the gap between the two robot body tilting platforms 10. The bottom rotating plate rotation drive joint 13 and the bottom rotating plate 12... Vertically distributed, the rotor end of the bottom rotary plate rotary drive joint 13 is connected to the center of the bottom rotary plate 12; the robot body flipping table flipping drive joint 14 is located in the gap between the two robot body flipping tables 10, and the rotor end of the robot body flipping table flipping drive joint 14 is connected to the center of both robot body flipping tables 10; the stator end of the bottom rotary plate rotary drive joint 13 is connected to the middle of the stator end of the robot body flipping table flipping drive joint 14, and the bottom rotary plate rotary drive joint 13 and the robot body flipping table flipping drive joint 14 form a T-shape.

[0028] Specifically, the working principle of the bottom moving platform III is as follows: the rotor end of the robot body flipping table flipping drive joint 14 can drive the robot body flipping table 10 to flip, and the combination of the robot body telescopic column 9, the robot body translation plate 8 and the top moving platform I moves synchronously with the robot body flipping table 10; the rotor end of the bottom rotating plate rotation drive joint 13 can drive the bottom rotating plate 12 to rotate, and the bottom truss gripping intelligent end 11 moves synchronously with the bottom rotating plate 12.

[0029] The top truss gripping intelligent terminal 1 and the bottom truss gripping intelligent terminal 11 have the same structure, both including a finger root rotation drive joint 15, a finger root swing drive joint 16, a finger middle swing drive joint 17, a fingertip rotation drive joint 18, a connecting rod 19, a wheel frame 20, a gripping moving drive wheel 21, a gripping moving driven wheel 22, and an electric pin 23; the finger root rotation drive joint 15 is perpendicularly distributed to the top rotation plate 2 or the bottom rotation plate 12, and the stator end of the finger root rotation drive joint 15 is connected to the top rotation plate 2 or the bottom rotation plate 12; the finger root swing drive joint 16 is perpendicularly distributed to the finger root rotation drive joint 15, and the rotor end of the finger root rotation drive joint 15 is connected to the stator end of the finger root swing drive joint 16; the connecting rod 19 is perpendicular to the finger root swing drive joint 16. The finger root oscillating drive joint 16 is vertically distributed, with its rotor end connected to one end of the connecting rod 19; the finger middle oscillating drive joint 17 is parallel to the finger root oscillating drive joint 16, with the other end of the connecting rod 19 connected to the stator end of the finger middle oscillating drive joint 17, and its rotor end connected to the wheel frame 20; the fingertip rotation drive joint 18 is perpendicular to the finger middle oscillating drive joint 17, with its stator end connected to the wheel frame 20; the grasping movement drive wheel 21 is coaxially connected to the rotor end of the fingertip rotation drive joint 18; the grasping movement driven wheel 22 is connected to the wheel frame 20 and is distributed parallel to the grasping movement drive wheel 21; and the electric latch 23 is located on the wheel frame 20 between the grasping movement drive wheel 21 and the grasping movement driven wheel 22.

[0030] Specifically, the working principle of the top truss gripping intelligent terminal 1 and the bottom truss gripping intelligent terminal 11 is as follows: the rotor end of the finger root rotation drive joint 15 can drive the finger root swing drive joint 16 to rotate. The assembly consisting of the connecting rod 19, the finger middle swing drive joint 17, the wheel frame 20, the fingertip rotation drive joint 18, the gripping movement drive wheel 21, the gripping movement driven wheel 22, and the electric pin 23 moves synchronously with the finger root swing drive joint 16; the rotor end of the finger root swing drive joint 16 can drive the connecting rod 19 to swing. The assembly consisting of the finger middle swing drive joint 17, the wheel frame 20, the fingertip rotation drive joint 18, the gripping movement drive wheel 21, the gripping movement driven wheel 22, and the electric pin 23 moves synchronously with the connecting rod 19; the finger middle swing drive joint 17... The rotor end can drive the wheel frame 20 to swing. The assembly consisting of the fingertip rotary drive joint 18, the grasping and moving active wheel 21, the grasping and moving driven wheel 22, and the electric pin 23 moves synchronously with the wheel frame 20. The rotor end of the fingertip rotary drive joint 18 can drive the grasping and moving active wheel 21 to rotate. The grasping and moving active wheel 21 and the grasping and moving driven wheel 22 simultaneously roll in contact with the truss rod. The grasping and moving active wheel 21 can roll along the truss rod by friction, thereby driving the robot as a whole to move along the truss rod. Both the grasping and moving active wheel 21 and the grasping and moving driven wheel 22 are provided with V-shaped grooves. The truss rod is located in the V-shaped grooves, which can not only ensure the contact stability between the grasping and moving active wheel 21 and the grasping and moving driven wheel 22 and the truss rod, but also adapt to truss rods with different cross-sectional shapes.

[0031] The following description, in conjunction with the accompanying drawings, illustrates the usage of this invention:

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

[0033] When the robot moves along the initial truss segment to the flexible point connection position, it needs to cross the flexible point to move to the target truss segment. At this time, the electric pin 23 of the bottom truss segment gripping intelligent end 11 is activated first, so that the electric pin 23 of the bottom truss segment gripping intelligent end 11 locks with the initial truss segment, thereby achieving the locking of the entire robot with the initial truss segment.

[0034] Once the robot as a whole is locked to the initial truss segment, the robot body flipping platform flipping drive joint 14 is activated, causing the combination of robot body II and top moving platform I to flip. At the same time, the top flipping plate flipping drive joint 5 is activated, causing the combination of top flipping plate 3, top rotating plate rotating drive joint 4, top rotating plate 2 and top truss gripping intelligent end effector 1 to flip, so that the top rotating plate 2 moves across the flexible point toward the target truss segment until the top rotating plate 2 and the target truss segment are parallel and the distance is within the reach range of the top truss gripping intelligent end effector 1.

[0035] After the top rotating plate 2 completes its spatial orientation adjustment, the top truss gripping intelligent end effector 1 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the top truss gripping intelligent end effector 1 adjust the spatial orientation of the wheel frame 20 until the gripping moving active wheel 21 and gripping moving driven wheel 22 of the top truss gripping intelligent end effector 1 are accurately engaged on the target truss segment. Then, the electric latch 23 of the top truss gripping intelligent end effector 1 is activated to lock the top truss gripping intelligent end effector 1 with the target truss segment.

[0036] After the top truss gripping intelligent end effector 1 locks with the target truss segment, the electric pin 23 of the bottom truss gripping intelligent end effector 11 is released from the initial truss segment. Then, the spatial pose of the wheel frame 20 of the bottom truss gripping intelligent end effector 11 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the bottom truss gripping intelligent end effector 11 disengage from the initial truss segment, thereby realizing the separation of the robot as a whole from the initial truss segment.

[0037] After the robot as a whole detaches from the initial truss section, the top rotary plate rotation drive joint 4 is activated, which drives the combination of the top flip plate 3, the top flip plate flip drive joint 5, the elbow connecting rod 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to rotate, so that the bottom rotary plate 12 moves towards the target truss section until the bottom rotary plate 12 and the target truss section are parallel and the distance is within the reach range of the bottom truss gripping intelligent end effector 11.

[0038] After the bottom rotating plate 12 completes its spatial orientation adjustment, the bottom truss arm gripping intelligent end effector 11 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the bottom truss arm gripping intelligent end effector 11 are used to adjust the spatial orientation of the wheel frame 20 until the gripping movement active wheel 21 and gripping movement driven wheel 22 of the bottom truss arm gripping intelligent end effector 11 are accurately engaged on the target truss arm segment. Then, the electric latch 23 of the bottom truss arm gripping intelligent end effector 11 is activated to lock the bottom truss arm gripping intelligent end effector 11 with the target truss arm segment.

[0039] After the bottom truss gripping intelligent terminal 11 locks with the target truss segment, the electric pin 23 of the top truss gripping intelligent terminal 1 is released from the lock between it and the target truss segment. Then, the spatial position of the wheel frame 20 of the top truss gripping intelligent terminal 1 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the top truss gripping intelligent terminal 1 disengage from contact with the target truss segment.

[0040] Once the top truss gripping intelligent end effector 1 has detached from the target truss segment, the robot body flipping platform flipping drive joint 14 is activated, causing the robot body II and the top moving platform I to flip. At the same time, the top flipping plate flipping drive joint 5 is activated, causing the top flipping plate 3, the top rotating plate rotation drive joint 4, the top rotating plate 2, and the top truss gripping intelligent end effector 1 to flip until the robot body II and the top moving platform I are fully restored to their initial posture. After that, the robot can continue to move along the target truss segment.

[0041] Example 2: The robot needs to cross adjacent truss bars on different side facades on the same spacecraft module.

[0042] After the robot completes its task on the initial side truss, it needs to move laterally to the adjacent target side truss to continue its task. At this time, the electric pin 23 of the bottom truss gripping intelligent end 11 is activated first, so that the electric pin 23 of the bottom truss gripping intelligent end 11 locks with the initial side truss, thereby achieving the locking of the entire robot with the initial side truss.

[0043] Once the robot as a whole is locked to the initial side truss, the bottom rotary plate rotation drive joint 13 is activated, causing the combination of the robot body flipping table flipping drive joint 14, the robot body II, and the top moving platform I to rotate at a 90-degree angle. Then, the body flipping table flipping drive joint 14 is activated, causing the combination of the robot body II and the top moving platform I to flip. Next, the top flipping plate flipping drive joint 5 is activated, causing the combination of the top flipping plate 3, the top rotary plate rotation drive joint 4, the top rotary plate 2, and the top truss gripping intelligent end effector 1 to flip, so that the top rotary plate 2 moves toward the target side truss until the top rotary plate 2 and the target side truss are parallel and the distance is within the reach range of the top truss gripping intelligent end effector 1.

[0044] After the top rotating plate 2 completes its spatial orientation adjustment, the top truss arm gripping intelligent end effector 1 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the top truss arm gripping intelligent end effector 1 adjust the spatial orientation of the wheel frame 20 until the gripping movement active wheel 21 and gripping movement driven wheel 22 of the top truss arm gripping intelligent end effector 1 accurately engage with the target side truss arm. Then, the electric latch 23 of the top truss arm gripping intelligent end effector 1 is activated to lock the top truss arm gripping intelligent end effector 1 with the target side truss arm.

[0045] After the top truss gripping intelligent end effector 1 locks with the target side truss, the electric pin 23 of the bottom truss gripping intelligent end effector 11 is released from the initial side truss. Then, the spatial pose of the wheel frame 20 of the bottom truss gripping intelligent end effector 11 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the bottom truss gripping intelligent end effector 11 disengage from the initial side truss, thereby realizing the separation of the robot as a whole from the initial side truss.

[0046] After the robot as a whole detaches from the initial side truss, the top flip plate flip drive joint 5 is activated, driving the combination of the elbow link 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to flip. Then, the top slewing plate rotation drive joint 4 is activated, driving the combination of the top flip plate 3, the top flip plate flip drive joint 5, the elbow link 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to rotate, with a rotation angle of 90 degrees. After that, the top flip plate flip drive joint 5 is activated again, driving the combination of the elbow link 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to flip, with a rotation angle of 90 degrees, so that the bottom slewing plate 12 moves towards the target side truss until the bottom slewing plate 12 is parallel to the target side truss and the distance is within the reach range of the bottom truss gripping intelligent end effector 11.

[0047] After the bottom rotating plate 12 completes its spatial orientation adjustment, the bottom truss arm gripping intelligent end effector 11 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the bottom truss arm gripping intelligent end effector 11 are used to adjust the spatial orientation of the wheel frame 20 until the gripping movement active wheel 21 and gripping movement driven wheel 22 of the bottom truss arm gripping intelligent end effector 11 are accurately engaged on the target side truss arm. Then, the electric latch 23 of the bottom truss arm gripping intelligent end effector 11 is activated to lock the bottom truss arm gripping intelligent end effector 11 with the target side truss arm.

[0048] After the bottom truss gripping intelligent terminal 11 locks with the target side truss, the electric pin 23 of the top truss gripping intelligent terminal 1 is released from the lock between it and the target side truss. Then, the spatial position of the wheel frame 20 of the top truss gripping intelligent terminal 1 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the top truss gripping intelligent terminal 1 disengage from contact with the target side truss.

[0049] Once the top truss gripping intelligent end effector 1 has detached from the target side truss, the robot body flipping platform flipping drive joint 14 is activated, causing the robot body II and the top moving platform I to flip. At the same time, the top flipping plate flipping drive joint 5 is activated, causing the top flipping plate 3, the top rotating plate rotation drive joint 4, the top rotating plate 2, and the top truss gripping intelligent end effector 1 to flip until the robot body II and the top moving platform I are completely restored to their initial posture. After that, the robot can move along the target side truss and continue to perform the task.

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

[0051] After the robot completes its task on the initial side spacecraft module truss, it needs to move to the adjacent target side spacecraft module truss to continue its task. At this time, the electric pin 23 of the bottom truss gripping intelligent end 11 is activated first, so that the electric pin 23 of the bottom truss gripping intelligent end 11 locks with the initial side spacecraft module truss, thereby achieving the locking of the entire robot with the initial side spacecraft module truss.

[0052] Once the robot as a whole locks with the initial side spacecraft module truss, the robot body telescopic column 9 is activated, which moves the robot body translation plate 8 and the top moving platform I toward the target side spacecraft module truss. Then, through the linkage of the top rotating plate rotation drive joint 4, the top flip plate flip drive joint 5, the top flip plate rotation drive joint 7, the bottom rotating plate rotation drive joint 13, and the robot body flip table flip drive joint 14, the spatial pose of the top rotating plate 2 is adjusted until the top rotating plate 2 is parallel to the target side spacecraft module truss and the distance is within the reach range of the top truss gripping intelligent end effector 1.

[0053] After the top rotating plate 2 completes its spatial orientation adjustment, the top truss gripping intelligent end effector 1 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the top truss gripping intelligent end effector 1 adjust the spatial orientation of the wheel frame 20 until the gripping moving active wheel 21 and gripping moving driven wheel 22 of the top truss gripping intelligent end effector 1 accurately engage with the target side spacecraft module truss. Then, the electric latch 23 of the top truss gripping intelligent end effector 1 is activated to lock the top truss gripping intelligent end effector 1 with the target side spacecraft module truss.

[0054] After the top truss gripping smart terminal 1 locks with the target-side spacecraft module truss, the electric latch 23 of the bottom truss gripping smart terminal 11 is released from the initial-side spacecraft module truss. Then, the spatial orientation of the wheel frame 20 of the bottom truss gripping smart terminal 11 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the bottom truss gripping smart terminal 11 disengage from the initial-side spacecraft module truss.

[0055] After the bottom truss gripping intelligent end effector 11 disengages from the initial side spacecraft module truss, all other parts of the robot except for the top truss gripping intelligent end effector 1 and the bottom truss gripping intelligent end effector 11 return to their initial posture. Then, the top flip plate flipping drive joint 5 is activated, driving the combination of the elbow connecting rod 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to flip at a 90-degree angle. Then, the robot body flipping table flipping drive joint 14 is activated, driving the combination of the bottom rotating plate rotation drive joint 13, the bottom rotating plate 12, and the bottom truss gripping intelligent end effector 11 to flip at a 90-degree angle, causing the bottom rotating plate 12 to move towards the target segment spacecraft module truss until the bottom rotating plate 12 and the target segment spacecraft module truss are parallel and the distance is within the reach range of the bottom truss gripping intelligent end effector 11.

[0056] After the bottom rotating plate 12 completes its spatial orientation adjustment, the bottom truss gripping intelligent end effector 11 is activated. The finger root rotation drive joint 15, finger root swing drive joint 16, and finger middle swing drive joint 17 of the bottom truss gripping intelligent end effector 11 are used to adjust the spatial orientation of the wheel frame 20 until the gripping moving active wheel 21 and gripping moving driven wheel 22 of the bottom truss gripping intelligent end effector 11 are accurately engaged on the target side spacecraft module truss. Then, the electric latch 23 of the bottom truss gripping intelligent end effector 11 is activated to lock the bottom truss gripping intelligent end effector 11 to the target side spacecraft module truss.

[0057] After the bottom truss gripping intelligent terminal 11 locks with the target-side spacecraft module truss, the electric latch 23 of the top truss gripping intelligent terminal 1 is released from the target-side truss. Then, the spatial orientation of the wheel frame 20 of the top truss gripping intelligent terminal 1 is adjusted so that the gripping moving active wheel 21 and gripping moving driven wheel 22 of the top truss gripping intelligent terminal 1 disengage from the target-side spacecraft module truss.

[0058] After the top truss gripping intelligent terminal 1 disengages from the target spacecraft module truss, the top flip plate flipping drive joint 5 is activated again, driving the combination of the elbow connecting rod 6, the top flip plate rotation drive joint 7, the robot body II, and the bottom moving platform III to flip. At the same time, the robot body flipping table flipping drive joint 14 is activated, driving the combination of the bottom rotation plate rotation drive joint 13, the bottom rotation plate 12, and the bottom truss gripping intelligent terminal 11 to flip until the robot fully returns to its initial posture. After that, the robot can move along the target spacecraft module truss and continue to perform its mission.

[0059] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection 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 located on the top and bottom sides of the robot body, respectively; robot manipulators are symmetrically arranged on the left and right sides of the robot body; The top moving platform includes a top truss gripping intelligent end effector, a top rotating plate, a top flipping plate, a top rotating plate rotation drive joint, a top flipping plate flipping drive joint, an elbow connecting rod, and a top flipping plate rotation drive joint. The top truss gripping intelligent end effector consists of four sets, 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 flipping plate, and the top rotating plate and the top flipping plate are parallel to each other. The top rotating plate rotation drive joint is located between the top rotating plate and the top flipping plate, and is perpendicular to both the top rotating plate and the top flipping plate. The rotor end of the top rotating plate rotation drive joint is connected to the center of the top rotating plate, and the stator end of the top rotating plate rotation drive joint is connected to the top flipping plate. The top flipping plate flipping drive joint is located at the edge of the top flipping plate, and is parallel to the top flipping plate. The rotor end of the top flipping plate flipping drive joint is connected to the top flipping plate. One end of the elbow connecting rod is connected to the middle of the stator end of the top flip plate flipping drive joint, and the other end of the elbow connecting rod is connected to the rotor end of the top flip plate rotation drive joint. The top truss gripping intelligent end effector includes a finger root rotation drive joint, a finger root swing drive joint, a finger middle swing drive joint, a fingertip rotation drive joint, a connecting rod, a wheel frame, a gripping moving drive wheel, a gripping moving driven wheel, and an electric pin. The finger root rotation drive joint is perpendicular to the top rotating plate, and the stator end of the finger root rotation drive joint is connected to the top rotating plate. The finger root swing drive joint is perpendicular to the finger root rotation drive joint, and the rotor end of the finger root rotation drive joint is connected to the stator end of the finger root swing drive joint. The connecting rod is perpendicular to the finger root swing drive joint, and the rotor end of the finger root swing drive joint... One end of the connecting rod is connected to the middle finger swing drive joint; the middle finger swing drive joint and the root finger swing drive joint are distributed parallel to each other, the other end of the 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 distributed perpendicularly to the middle finger swing drive joint, the stator end of the fingertip rotation drive joint is connected to the wheel frame, the grasping movement drive wheel is coaxially connected to the rotor end of the fingertip rotation drive joint; the grasping movement driven wheel is connected to the wheel frame and is distributed parallel to the grasping movement drive wheel; the electric latch is set on the wheel frame between the grasping movement drive wheel and the grasping movement driven wheel.

2. The climbing intelligent robot for space construction according to claim 1, characterized in that: The robot body includes a robot body translation plate, a robot body telescopic column, and a robot body flipping platform; the stator end of the top flipping plate's rotary drive joint is connected to the edge of the robot body translation plate; there are two robot body flipping platforms, which are arranged side by side below the robot body translation plate, with a gap between them; there are two robot body telescopic columns, one of which is located between each robot body flipping platform and the lower surface of the robot body translation plate; the robot body telescopic columns are perpendicular to the robot body translation plate, with the moving shaft end of the column connected to the robot body translation plate and the fixed shaft end connected to the robot body flipping platform.

3. The climbing intelligent robot for space construction according to claim 2, characterized in that: The bottom moving platform includes a bottom truss gripping intelligent end effector, a bottom rotating plate, a bottom rotating plate rotation drive joint, and a robot body flipping table flipping drive joint. The bottom truss gripping intelligent end effector consists of four sets, evenly distributed at the four corners of the bottom rotating plate's lower surface. The bottom rotating plate rotation drive joint is positioned above the bottom rotating plate and within the gap between the two robot body flipping tables. The bottom rotating plate rotation drive joint is perpendicular to the bottom rotating plate, with its rotor end connected to the center of the bottom rotating plate. The robot body flipping table flipping drive joint is located within the gap between the two robot body flipping tables, with its rotor end simultaneously connected to the center of both robot body flipping tables. The stator end of the bottom rotating plate rotation drive joint is connected to the middle of the stator end of the robot body flipping table flipping drive joint, forming a T-shape with the robot body flipping table flipping drive joint.

4. The climbing intelligent robot for space construction according to claim 3, characterized in that: The bottom truss gripping intelligent end effector has the same structure as the top truss gripping intelligent end effector, also including a finger root rotation drive joint, a finger root swing drive joint, a finger middle swing drive joint, a fingertip rotation drive joint, a connecting rod, a wheel frame, a gripping moving drive wheel, a gripping moving driven wheel, and an electric pin; the finger root rotation drive joint is perpendicular to the bottom rotating plate, and the stator end of the finger root rotation drive joint is connected to the bottom rotating plate; the finger root swing drive joint is perpendicular to the finger root rotation drive joint, and the rotor end of the finger root rotation drive joint is connected to the stator end of the finger root swing drive joint; the connecting rod is perpendicular to the finger root swing drive joint, and the finger root swing... The rotor end of the rotary drive joint is connected to one end of the adapter link; the finger-in-the-middle rotary drive joint and the finger-root rotary drive joint are distributed parallel to each other, the other end of the adapter link is connected to the stator end of the finger-in-the-middle rotary drive joint, and the rotor end of the finger-in-the-middle rotary drive joint is connected to the wheel frame; the fingertip rotary drive joint is distributed perpendicularly to the finger-in-the-middle rotary drive joint, the stator end of the fingertip rotary drive joint is connected to the wheel frame, and the grasping movement drive wheel is coaxially connected to the rotor end of the fingertip rotary drive joint; the grasping movement driven wheel is connected to the wheel frame and is distributed parallel to the grasping movement drive wheel; the electric latch is set on the wheel frame between the grasping movement drive wheel and the grasping movement driven wheel.

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