Attached variable-structure robot for on-orbit assembly

Abstract

The invention discloses an attached type variable-structure robot for on-orbit assembly. The attached type variable-structure robot comprises a tool magazine, a robot body, an operation arm and an adsorption actuator. The tool magazine is located above the robot body. The four operation arms are located on the side of the robot body. And the four sets of adsorption actuators are uniformly distributed below the robot body. Configuration transformation of the operation arm can be achieved on orbit, the configuration requirements under different tasks are met, the flexibility of the operation arm is improved, through multi-arm collaborative operation of the operation arm, the on-orbit working efficiency and the operation precision can be remarkably improved, and meanwhile the working reliability and the fault-tolerant capability are further improved; rapid replacement of a tail end tool can be achieved on orbit, expansion of the on-orbit function of the robot is achieved, and the robot can better adapt to various on-orbit tasks; the robot and the spacecraft are attached and fixed in an electromagnetic adsorption mode, and the robot and the spacecraft can better adapt to on-orbit tasks in a vacuum environment; solar energy can be fully utilized to provide electric energy for on-orbit tasks of the robot, and the on-orbit operation time of the robot is effectively prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of space robots, and in particular relates to an attachment-type modifiable robot for on-orbit assembly. 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] As the complexity of on-orbit assembly tasks for large spacecraft continues to increase, the performance requirements for space robots are also increasing. Traditional space robots are mainly single-arm robots, and their mechanical arms have the problem of a single configuration. In terms of workspace, operational flexibility, task adaptability and many other aspects, they have been unable to meet the increasingly complex on-orbit assembly tasks for large spacecraft. In addition, traditional single-arm robots can usually only be equipped with one type of end tool each time they perform a task, and the end tool cannot be quickly replaced on-orbit, which seriously restricts the execution of the task.

[0005] Therefore, it is necessary to design a space robot that can meet the increasingly complex on-orbit assembly tasks of large spacecraft. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides an attachment-type conformal robot for on-orbit assembly, which can realize the configuration transformation of the operating arm on-orbit, meet the configuration requirements under different tasks, greatly improve the flexibility of the operating arm, and significantly improve the on-orbit work efficiency and operation accuracy through the multi-arm collaborative operation of the operating arm, while further increasing the work reliability and fault tolerance; it can realize the rapid replacement of end tools on-orbit, realize the expansion of the robot's on-orbit functions, and better adapt to various on-orbit tasks; it adopts electromagnetic adsorption to realize the attachment and fixation between robot spacecraft, and can better adapt to on-orbit tasks in a vacuum environment; it can make full use of solar energy to provide power for the robot's on-orbit tasks, effectively extending the robot's on-orbit operation time.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an attachment-type conformal robot for on-track assembly, comprising a tool library, a robot body, a manipulator and an adsorption actuator; the tool library is arranged above the robot body; the number of the manipulators is four, and the four manipulators are arranged on the side of the robot body; the number of the adsorption actuators is four sets, and the four sets of adsorption actuators are evenly distributed below the robot body.

[0008] The tool library adopts a hemispherical structure, and a plurality of tool storage slots are evenly opened on the spherical surface of the tool library. An end tool is inserted in each tool storage slot, and a tool end quick-change connector is provided at the root of each end tool; a structured light camera is installed on the spherical surface of the tool library.

[0009] The robot body adopts a square structure, including a neck and a waist; two body-end quick-change joints are arranged on each side elevation of the neck; a solar cell panel is arranged on each side elevation of the waist, and a body-end quick-change joint is arranged on the side elevation of the waist under each solar cell panel.

[0010] The operating arm includes a three-degree-of-freedom shoulder joint, an upper arm, an elbow joint, a forearm and a three-degree-of-freedom wrist joint; a quick-change joint at the tail end of the operating arm is provided at one end of the three-degree-of-freedom shoulder joint, the other end of the three-degree-of-freedom shoulder joint is connected to one end of the upper arm, the other end of the upper arm is connected to one end of the forearm through the elbow joint, the other end of the forearm is connected to one end of the three-degree-of-freedom wrist joint, and a quick-change joint at the head end of the operating arm is provided at the other end of the three-degree-of-freedom wrist joint.

[0011] The quick-change joint at the rear end of the operating arm and the quick-change joint at the front end of the operating arm are matching docking structures; the quick-change joint at the rear end of the operating arm and the quick-change joint at the main body end are matching docking structures, and the quick-change joint at the rear end of the operating arm and the quick-change joint at the tool end are matching docking structures; the quick-change joint at the front end of the operating arm and the quick-change joint at the main body end are matching docking structures, and the quick-change joint at the front end of the operating arm and the quick-change joint at the tool end are matching docking structures.

[0012] A 3D vision camera at the tail end of the operating arm is arranged on the side wall of the quick-change joint at the tail end of the operating arm, and a 3D vision camera at the head end of the operating arm is arranged on the side wall of the quick-change joint at the head end of the operating arm.

[0013] The three-degree-of-freedom shoulder joint includes a first shoulder joint driver, a second shoulder joint driver and a third shoulder joint driver; the quick-change joint at the rear end of the operating arm is coaxially distributed with the first shoulder joint driver, and the quick-change joint at the rear end of the operating arm is connected to the rotor end of the first shoulder joint driver; the second shoulder joint driver is vertically distributed with the first shoulder joint driver, and the rotor end of the second shoulder joint driver is connected to the stator end of the first shoulder joint driver; the third shoulder joint driver is vertically distributed with the second shoulder joint driver, and the rotor end of the third shoulder joint driver is connected to the stator end of the first shoulder joint driver; the upper arm is vertically distributed with the third shoulder joint driver, and the upper arm is connected to the stator end of the third shoulder joint driver.

[0014] The elbow joint comprises an elbow joint driver, which is vertically distributed with the upper arm, a rotor end of the elbow joint driver is connected with the upper arm, a stator end of the elbow joint driver is connected with the lower arm, and the lower arm is vertically distributed with the elbow joint driver.

[0015] The three-degree-of-freedom wrist joint includes a first wrist joint driver, a second wrist joint driver and a third wrist joint driver; the quick-change joint at the head end of the operating arm is coaxially distributed with the first wrist joint driver, and the quick-change joint at the head end of the operating arm is connected to the rotor end of the first wrist joint driver; the second wrist joint driver is vertically distributed with the first wrist joint driver, and the rotor end of the second wrist joint driver is connected to the stator end of the first wrist joint driver; the third wrist joint driver is vertically distributed with the second wrist joint driver, and the rotor end of the third wrist joint driver is connected to the stator end of the second wrist joint driver; the forearm is vertically distributed with the third wrist joint driver, and the forearm is connected to the stator end of the third wrist joint driver.

[0016] The adsorption actuator includes an electromagnetic suction cup, an electromagnetic suction cup controller, an electromagnetic suction cup swing and posture adjustment driver and a transfer connecting rod; the electromagnetic suction cup swing and posture adjustment driver and the transfer connecting rod are vertically distributed, the stator end of the electromagnetic suction cup swing and posture adjustment driver is connected to the waist of the robot body, the rotor end of the electromagnetic suction cup swing and posture adjustment driver is connected to one end of the transfer connecting rod, and the other end of the transfer connecting rod is connected to the electromagnetic suction cup controller; the electromagnetic suction cup controller is fixedly installed at the center of the back side of the electromagnetic suction cup.

[0017] Beneficial effects of the present invention:

[0018] The attachment-type conformational robot for on-orbit assembly of the present invention can realize the configuration transformation of the operating arm on-orbit, meet the configuration requirements under different tasks, greatly improve the flexibility of the operating arm, and through the multi-arm collaborative operation of the operating arm, can significantly improve the on-orbit work efficiency and operation accuracy, while further increasing the work reliability and fault tolerance; it can realize the rapid replacement of the end tool on-orbit, realize the expansion of the robot's on-orbit function, and can better adapt to various on-orbit tasks; it adopts electromagnetic adsorption to realize the attachment and fixation between robot spacecraft, and can better adapt to on-orbit tasks in a vacuum environment; it can make full use of solar energy to provide power for the robot's on-orbit tasks, effectively extending the robot's on-orbit operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an attachment-type modifiable robot for on-track assembly of the present invention (each side elevation of the robot body is provided with an unfolded operating arm) (viewing angle 1);

[0020] Figure 2 It is a structural schematic diagram of an attachment-type modifiable robot for on-track assembly of the present invention (each side elevation of the robot body is provided with an unfolded operating arm) (viewing angle 2);

[0021] Figure 3 It is a structural schematic diagram of an attachment-type modifiable robot for on-track assembly of the present invention (a retractable operating arm is distributed on each of the left and right side elevations of the robot body, and two operating arms connected in series are distributed on the front side elevation of the robot body);

[0022] Figure 4 It is a structural schematic diagram of an attachment-type modifiable robot for on-track assembly of the present invention (a retractable operating arm is distributed on each of the left and right side elevations of the robot body, and two parallel operating arms are distributed on the front side elevation of the robot body);

[0023] Figure 5 It is a schematic diagram of the structure of the tool library of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the robot body of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the operating arm of the present invention;

[0026] Figure 8 It is a structural schematic diagram of the adsorption actuator of the present invention;

[0027] In the figure, I—tool library, II—robot body, III—manipulator arm, IV—adsorption actuator, 1—tool storage slot, 2—end tool, 3—tool end quick-change connector, 4—structured light camera, 5—neck, 6—waist, 7—body end quick-change connector, 8—solar panel, 9—upper arm, 10—lower arm, 11—manipulator tail end quick-change connector, 12—manipulator head end quick-change connector, 13—manipulator tail end 3D vision camera, 14—manipulator head end 3D vision camera, 15—first shoulder joint driver, 16—second shoulder joint driver, 17—third shoulder joint driver, 18—elbow joint driver, 19—first wrist joint driver, 20—second wrist joint driver, 21—third wrist joint driver, 22—electromagnetic suction cup, 23—electromagnetic suction cup controller, 24—electromagnetic suction cup swing attitude adjustment driver, 25—transfer connecting rod. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figures 1 to 8 As shown, an attachment-type conformal robot for on-orbit assembly includes a tool library I, a robot body II, a manipulator arm III and an adsorption actuator IV; the tool library I is arranged above the robot body II; the number of the manipulator arms III is four, and the four manipulator arms III are arranged on the side of the robot body II; the number of the adsorption actuator IV is four sets, and the four sets of adsorption actuator IV are evenly distributed below the robot body II.

[0030] The tool library I adopts a hemispherical structure, and a number of tool storage slots 1 are evenly opened on the spherical surface of the tool library I. An end tool 2 is inserted in each tool storage slot 1, and a tool end quick-change connector 3 is provided at the root of each end tool 2; a structured light camera 4 is installed on the spherical surface of the tool library I.

[0031] The robot body II adopts a square structure, including a neck portion 5 and a waist portion 6; two body-end quick-change connectors 7 are arranged on each side elevation of the neck portion 5; a solar cell panel 8 is arranged on each side elevation of the waist portion 6, and a body-end quick-change connector 7 is arranged on the side elevation of the waist portion 6 below each solar cell panel 8.

[0032] The operating arm III includes a three-degree-of-freedom shoulder joint, an upper arm 9, an elbow joint, a forearm 10 and a three-degree-of-freedom wrist joint; a quick-change joint 11 at the tail end of the operating arm is provided at one end of the three-degree-of-freedom shoulder joint, the other end of the three-degree-of-freedom shoulder joint is connected to one end of the upper arm 9, the other end of the upper arm 9 is connected to one end of the forearm 10 through the elbow joint, the other end of the forearm 10 is connected to one end of the three-degree-of-freedom wrist joint, and a quick-change joint 12 at the head end of the operating arm is provided at the other end of the three-degree-of-freedom wrist joint.

[0033] The quick-change joint 11 at the rear end of the operating arm and the quick-change joint 12 at the front end of the operating arm are matching docking structures; the quick-change joint 11 at the rear end of the operating arm and the quick-change joint 7 at the main body end are matching docking structures, and the quick-change joint 11 at the rear end of the operating arm and the quick-change joint 3 at the tool end are matching docking structures; the quick-change joint 12 at the front end of the operating arm and the quick-change joint 7 at the main body end are matching docking structures, and the quick-change joint 12 at the front end of the operating arm and the quick-change joint 3 at the tool end are matching docking structures.

[0034] A 3D vision camera 13 at the rear end of the operating arm is arranged on the side wall of the quick-change joint 11 at the rear end of the operating arm, and a 3D vision camera 14 at the front end of the operating arm is arranged on the side wall of the quick-change joint 12 at the front end of the operating arm.

[0035] The three-degree-of-freedom shoulder joint includes a first shoulder joint driver 15, a second shoulder joint driver 16 and a third shoulder joint driver 17; the quick-change joint 11 at the rear end of the operating arm is coaxially distributed with the first shoulder joint driver 15, and the quick-change joint 11 at the rear end of the operating arm is connected to the rotor end of the first shoulder joint driver 15; the second shoulder joint driver 16 is vertically distributed with the first shoulder joint driver 15, and the rotor end of the second shoulder joint driver 16 is connected to the stator end of the first shoulder joint driver 15; the third shoulder joint driver 17 is vertically distributed with the second shoulder joint driver 16, and the rotor end of the third shoulder joint driver 17 is connected to the stator end of the first shoulder joint driver 15; the upper arm 9 is vertically distributed with the third shoulder joint driver 17, and the upper arm 9 is connected to the stator end of the third shoulder joint driver 17.

[0036] The elbow joint includes an elbow joint driver 18 , which is vertically distributed with the upper arm 9 , a rotor end of the elbow joint driver 18 connected with the upper arm 9 , a stator end of the elbow joint driver 18 connected with the lower arm 10 , and the lower arm 10 and the elbow joint driver 18 are vertically distributed.

[0037] The three-degree-of-freedom wrist joint includes a first wrist joint driver 19, a second wrist joint driver 20 and a third wrist joint driver 21; the quick-change joint 12 at the head end of the operating arm is coaxially distributed with the first wrist joint driver 19, and the quick-change joint 12 at the head end of the operating arm is connected to the rotor end of the first wrist joint driver 19; the second wrist joint driver 20 is vertically distributed with the first wrist joint driver 19, and the rotor end of the second wrist joint driver 20 is connected to the stator end of the first wrist joint driver 19; the third wrist joint driver 21 is vertically distributed with the second wrist joint driver 20, and the rotor end of the third wrist joint driver 21 is connected to the stator end of the second wrist joint driver 20; the forearm 10 is vertically distributed with the third wrist joint driver 21, and the forearm 10 is connected to the stator end of the third wrist joint driver 21.

[0038] The adsorption actuator IV includes an electromagnetic suction cup 22, an electromagnetic suction cup controller 23, an electromagnetic suction cup swinging and posture adjustment driver 24 and a transfer connecting rod 25; the electromagnetic suction cup swinging and posture adjustment driver 24 and the transfer connecting rod 25 are vertically distributed, the stator end of the electromagnetic suction cup swinging and posture adjustment driver 24 is connected to the waist 6 of the robot body II, the rotor end of the electromagnetic suction cup swinging and posture adjustment driver 24 is connected to one end of the transfer connecting rod 25, and the other end of the transfer connecting rod 25 is connected to the electromagnetic suction cup controller 23; the electromagnetic suction cup controller 23 is fixedly installed at the back center of the electromagnetic suction cup 22.

[0039] The following describes the use of the present invention in conjunction with the accompanying drawings:

[0040] During the robot's on-orbit mission, in order to achieve reliable attachment and fixation between the robot and the spacecraft, after the robot reaches the designated working position, the electromagnetic chuck swing attitude adjustment driver 24 is first started, which will drive the combination of the transfer link 25, the electromagnetic chuck controller 23 and the electromagnetic chuck 22 to swing until the electromagnetic chuck 22 moves from the side of the robot to the bottom of the robot, and then the electromagnetic chuck controller 23 is started to make the electromagnetic chuck 22 generate magnetic attraction, and the electromagnetic chuck 22 is adsorbed and fixed to the surface of the spacecraft through the magnetic attraction. The magnitude of the magnetic attraction can be adjusted on-orbit by the electromagnetic chuck controller 23. When the robot needs to detach from the surface of the spacecraft, the electromagnetic chuck controller 23 is turned off, and the magnetic attraction of the electromagnetic chuck 22 disappears. At this time, the robot can be moved to the next working position.

[0041] When the robot is in the designated working position, according to the working needs, the posture adjustment of the manipulator arm III is first realized by starting the three-degree-of-freedom shoulder joint, elbow joint and three-degree-of-freedom wrist joint, until the quick-change joint 12 at the head end of the manipulator arm is docked with the tool-end quick-change joint 3 of the selected end tool 2. The docking process is assisted by the 3D visual camera 14 at the head end of the manipulator arm. When the docking is completed, the posture of the manipulator arm III is adjusted again, and the manipulator arm III carries the selected end tool 2 to perform the on-track assembly task. When the end tool 2 needs to be replaced, the posture of the manipulator arm III is adjusted, the original end tool 2 is inserted back into the tool storage slot 1 where it is located, and then the quick-change joint 12 at the head end of the manipulator arm is separated from the tool-end quick-change joint 3 of the original end tool 2, and then the quick-change joint 12 at the head end of the manipulator arm is moved to the position of the target end tool 2, and the quick-change joint 12 at the head end of the manipulator arm is docked with the tool-end quick-change joint 3 of the target end tool 2. When the docking is completed, the posture of the manipulator arm III is adjusted again, and the manipulator arm III carries the target end tool 2 to continue to perform the on-track assembly task.

[0042] During the robot's on-orbit assembly mission, in order to complete specific mission requirements, the configuration of the manipulator III needs to be transformed to achieve the purpose of multi-arm collaborative operation.

[0043] When the location of the work point requires the cooperation of two end tools 2 to complete the task, first dock the quick-change joint 12 of the operating arm head end of the operating arm III at the rear of the robot with the quick-change joint 7 at the main body end on the side of the robot, then separate the quick-change joint 11 of the operating arm tail end of the operating arm III from the quick-change joint 7 at the main body end at the rear of the robot, and then move the quick-change joint 11 of the operating arm tail end of the operating arm III until it is docked with the quick-change joint 7 at the main body end in front of the robot, then separate the quick-change joint 12 of the operating arm head end of the operating arm III from the quick-change joint 7 at the main body end on the side of the robot, and move the quick-change joint 12 of the operating arm head end of the operating arm III to complete the picking of the end tool 2, and finally move the picked up end tool 2 to the front of the robot, so that it can cooperate with the original operating arm III in front of the robot to perform the task.

[0044] When the position of the working point exceeds the single-arm coverage range of the operating arm III, the operating arms III need to be combined in series. First, the quick-change joint 12 at the head end of the operating arm III at the rear of the robot is connected to the quick-change joint 7 at the main body end on the side of the robot, and then the quick-change joint 11 at the tail end of the operating arm of the operating arm III is separated from the quick-change joint 7 at the main body end at the rear of the robot. Then, the quick-change joint 11 at the tail end of the operating arm of the operating arm III is moved to the front of the robot, and the quick-change joint 11 at the tail end of the operating arm III is connected to the quick-change joint 12 at the head end of the operating arm of the original operating arm III in front of the robot. Then, the quick-change joint 12 at the head end of the operating arm III is separated from the quick-change joint 7 at the main body end on the side of the robot to realize the series combination of the two operating arms III. After that, the posture of the serial operating arm III is adjusted to complete the picking up of the end tool 2. Finally, the task of the working point can be completed by the serial operating arm III.

[0045] In addition, when the number of operating arms III connected in series is four, the coverage of the operating arm III can be adjusted to the maximum. In addition, when the number of operating arms III connected in series is two, and the number of serial operating arms III is also two, under the cooperative operation condition of the two serial operating arms III, the increase in the coverage of the operating arm III and the need for the two end tools 2 to cooperate to complete the task can be taken into account at the same time.

[0046] 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. An attachment-type modifiable robot for on-orbit assembly, characterized in that: It includes a tool library, a robot body, an operating arm and an adsorption actuator; the tool library is arranged above the robot body; there are four operating arms, which are arranged on the sides of the robot body; there are four sets of adsorption actuators, which are evenly distributed below the robot body.

2. The attachment-type modifiable robot for on-track assembly according to claim 1, characterized in that: The tool library adopts a hemispherical structure, and a plurality of tool storage slots are evenly opened on the spherical surface of the tool library. An end tool is inserted in each tool storage slot, and a tool end quick-change connector is provided at the root of each end tool; a structured light camera is installed on the spherical surface of the tool library.

3. The attachment-type modifiable robot for on-track assembly according to claim 2, characterized in that: The robot body adopts a square structure, including a neck and a waist; two body-end quick-change joints are arranged on each side elevation of the neck; a solar cell panel is arranged on each side elevation of the waist, and a body-end quick-change joint is arranged on the side elevation of the waist under each solar cell panel.

4. The attachment-type modifiable robot for on-track assembly according to claim 3, characterized in that: The operating arm includes a three-degree-of-freedom shoulder joint, an upper arm, an elbow joint, a forearm and a three-degree-of-freedom wrist joint; a quick-change joint at the tail end of the operating arm is provided at one end of the three-degree-of-freedom shoulder joint, the other end of the three-degree-of-freedom shoulder joint is connected to one end of the upper arm, the other end of the upper arm is connected to one end of the forearm through the elbow joint, the other end of the forearm is connected to one end of the three-degree-of-freedom wrist joint, and a quick-change joint at the head end of the operating arm is provided at the other end of the three-degree-of-freedom wrist joint.

5. The attachment-type modifiable robot for on-track assembly according to claim 4, characterized in that: The quick-change joint at the rear end of the operating arm and the quick-change joint at the front end of the operating arm are matching docking structures; the quick-change joint at the rear end of the operating arm and the quick-change joint at the main body end are matching docking structures, and the quick-change joint at the rear end of the operating arm and the quick-change joint at the tool end are matching docking structures; the quick-change joint at the front end of the operating arm and the quick-change joint at the main body end are matching docking structures, and the quick-change joint at the front end of the operating arm and the quick-change joint at the tool end are matching docking structures.

6. The attachment-type modifiable robot for on-track assembly according to claim 4, characterized in that: A 3D vision camera at the tail end of the operating arm is arranged on the side wall of the quick-change joint at the tail end of the operating arm, and a 3D vision camera at the head end of the operating arm is arranged on the side wall of the quick-change joint at the head end of the operating arm.

7. The attachment-type modifiable robot for on-track assembly according to claim 4, characterized in that: The three-degree-of-freedom shoulder joint includes a first shoulder joint driver, a second shoulder joint driver and a third shoulder joint driver; the quick-change joint at the rear end of the operating arm is coaxially distributed with the first shoulder joint driver, and the quick-change joint at the rear end of the operating arm is connected to the rotor end of the first shoulder joint driver; the second shoulder joint driver is vertically distributed with the first shoulder joint driver, and the rotor end of the second shoulder joint driver is connected to the stator end of the first shoulder joint driver; the third shoulder joint driver is vertically distributed with the second shoulder joint driver, and the rotor end of the third shoulder joint driver is connected to the stator end of the first shoulder joint driver; the upper arm is vertically distributed with the third shoulder joint driver, and the upper arm is connected to the stator end of the third shoulder joint driver.

8. The attachment-type modifiable robot for on-track assembly according to claim 4, characterized in that: The elbow joint comprises an elbow joint driver, which is vertically distributed with the upper arm, a rotor end of the elbow joint driver is connected with the upper arm, a stator end of the elbow joint driver is connected with the lower arm, and the lower arm is vertically distributed with the elbow joint driver.

9. The attachment-type modifiable robot for on-track assembly according to claim 4, characterized in that: The three-degree-of-freedom wrist joint includes a first wrist joint driver, a second wrist joint driver and a third wrist joint driver; the quick-change joint at the head end of the operating arm is coaxially distributed with the first wrist joint driver, and the quick-change joint at the head end of the operating arm is connected to the rotor end of the first wrist joint driver; the second wrist joint driver is vertically distributed with the first wrist joint driver, and the rotor end of the second wrist joint driver is connected to the stator end of the first wrist joint driver; The third wrist joint driver is vertically distributed with the second wrist joint driver, and the rotor end of the third wrist joint driver is connected with the stator end of the second wrist joint driver; the forearm is vertically distributed with the third wrist joint driver, and the forearm is connected with the stator end of the third wrist joint driver.

10. The attachment-type modifiable robot for on-track assembly according to claim 3, characterized in that: The adsorption actuator includes an electromagnetic suction cup, an electromagnetic suction cup controller, an electromagnetic suction cup swing and posture adjustment driver and a transfer connecting rod; the electromagnetic suction cup swing and posture adjustment driver and the transfer connecting rod are vertically distributed, the stator end of the electromagnetic suction cup swing and posture adjustment driver is connected to the waist of the robot body, the rotor end of the electromagnetic suction cup swing and posture adjustment driver is connected to one end of the transfer connecting rod, and the other end of the transfer connecting rod is connected to the electromagnetic suction cup controller; the electromagnetic suction cup controller is fixedly installed at the center of the back side of the electromagnetic suction cup.

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