Active telescopic space manipulator joint for on-orbit assembly task

Abstract

The invention discloses an active telescopic space manipulator joint for an on-orbit assembly task, and relates to the technical field of space robots. The arm lever unit comprises a small arm lever, a middle arm lever and a large arm lever which are nested step by step, and movement in the axis direction is limited through cooperation of a guide boss and a guide groove; the electromechanical interface unit comprises a small arm rod interface and a large arm rod interface; the wiring unit is arranged in the arm lever unit and is used for cable connection from the large arm lever interface to the small arm lever interface; the stopping unit is used for restraining the middle arm rod from stretching out too early; the non-return unit is used for preventing the fully-extended forearm rod from retracting; the transmission system is connected with a main transmission lead screw through a rotary joint to be matched with a small arm rod pin roller nut assembly and a middle arm rod pin roller nut assembly, and the telescopic action of the arm rod unit is controlled. The system has the active telescopic capacity, sequential stretching, locking and unlocking of all sections of arm rods are completed through the out-stopping unit and the non-return unit, a built-in cable laying mechanism is adopted, the complexity and quality of the system are reduced, and the overall stability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of space robots, in particular to an active telescopic space robot arm joint used for on-orbit assembly tasks. Background Art

[0004] Existing space manipulators still mainly adopt fixed length design, or in a few cases adopt passive telescopic mode, that is, relying on the movement of other joints to stretch the arm to the preset position. As far as the telescopic joint is concerned, it is impossible to independently adjust the length. The telescopic ratio of this type of passive telescopic design is usually small, and only single-stage telescopic can be achieved. It occupies a large space and is difficult to adapt to the limited space of the launch vehicle cargo compartment. Therefore, in practical applications, such manipulators often use external hanging mode to go up, such as the next generation Canadarm3, but the external hanging solution may have an adverse effect on the reliability and service life of the manipulator. In addition, in mission scenarios with large operating range requirements, the limitations of passive telescopic mode are particularly obvious. On the other hand, at this stage, the joints of reusable space manipulators usually need to be equipped with independent locking motors and corresponding locking mechanisms in each telescopic section to achieve locking and unlocking. This design results in a more complex joint structure, larger mass, and relatively low reliability, which is not conducive to reducing the overall mass of the spacecraft and increases the transportation cost of rocket launches. In addition, the telescopic joints of the space manipulator are usually connected end to end with other joints or working tools, and signal and power cables need to be laid. Existing solutions mainly use external cables to simplify the internal wiring design. However, external cables lack the protection and restraint of the rod segment shell and are easily hit or cut by space debris in the space environment. There are risks such as breakage and entanglement, which may affect the safety and reliability of the telescopic joint and even the entire space manipulator system.

[0005] In summary, when facing long-distance, complex structure, and limited carrying capacity on-orbit assembly tasks, existing space manipulators are often restricted by factors such as insufficient independence of the telescopic mechanism, complex locking mechanism, limited cable layout, and large overall mass, resulting in reduced system reliability and limited task execution efficiency. In particular, the existing passive telescopic design of the manipulator joints cannot adjust the length independently, relying on external joint movement for telescopic, and most of them need to be equipped with independent locking motors and locking mechanisms for each telescopic section, resulting in complex structure and increased mass. In addition, the existing cable layout methods mostly adopt external solutions, lack of effective constraints and protection, and are susceptible to breakage caused by impact of space debris in the space environment or entanglement with other cables outside the cabin, affecting the safety and stability of the telescopic joints and even the entire manipulator system. Therefore, how to reduce the system complexity and improve the overall reliability as much as possible while ensuring that the manipulator has the active telescopic function, and how to optimize the cable layout to achieve reliable internalization of the cables, has become an urgent problem to be solved for the space manipulator at this stage. Summary of the invention

[0006] In order to address the shortcomings of the background technology, the present invention provides an active telescopic space robot arm joint for on-orbit assembly tasks, which has active telescopic capabilities, and completes the sequential extension, locking and unlocking of each section of the arm through a stop unit and a non-return unit, and adopts a built-in cable laying mechanism to reduce the complexity and quality of the system and improve the overall stability.

[0007] To achieve the above-mentioned object, the present invention adopts the following technical scheme: an active telescopic space robot arm joint for on-track assembly tasks, comprising an arm unit, an electromechanical interface unit, a routing unit, a stop unit, a non-return unit and a transmission system;

[0008] The arm unit comprises a small arm, a middle arm and a large arm which are nested step by step from the inside to the outside. The outer walls of the small arm and the middle arm are respectively provided with guide bosses, and the inner walls of the middle arm and the large arm are correspondingly provided with guide grooves. The small arm and the middle arm can only move along the axial direction through the cooperation of the guide bosses and the guide grooves.

[0009] The electromechanical interface unit includes a small arm interface installed on the top of the small arm and a large arm interface installed on the bottom of the large arm;

[0010] The wiring unit is built into the arm unit and is used for connecting the cables from the large arm interface to the small arm interface;

[0011] The stop unit is composed of two sets of mechanisms arranged opposite to each other, each set of mechanisms includes a stop housing, a stop trigger element, a stop piece and a stop column, the stop housing is mounted on the top of the middle arm, the stop trigger element is mounted on the bottom side of the outer wall of the small arm, a tooth socket structure is arranged on the top of the outer side of the stop trigger element, a beak-shaped structure is arranged on the head of the stop piece to match the tooth socket structure of the stop trigger element, a hook structure is arranged below the tail of the stop piece, the stop column is mounted on the top side of the outer wall of the large arm and extends upward and bends inward to set a hook structure, the stop piece is hingedly mounted in the stop housing and provides torque to the stop column by setting a torsion spring, so that the hook structures of the two fit together to restrain the middle arm from extending prematurely;

[0012] The non-return unit is composed of two sets of mechanisms arranged relatively to each other, each set of mechanisms including a non-return housing, a non-return auxiliary element, a non-return piece, a non-return piece sliding pin and a non-return guide column, the non-return housing is installed on the top of the middle arm rod, the non-return auxiliary element is installed on the bottom side of the outer wall of the small arm rod, the bottom edge of the non-return auxiliary element is processed with an obtuse cutting groove structure, the non-return piece sliding pin is connected with the mounting hole at the tail of the non-return piece, the non-return guide column is installed on the top side of the outer wall of the large arm rod and extends upward to be provided with an oblique slot to be inserted and matched with the non-return piece sliding pin, the non-return piece is hingedly installed in the non-return housing and provides torque to the non-return auxiliary element by providing a torsion spring, and after the non-return piece sliding pin is separated from the oblique slot, the non-return piece supports the bottom edge of the non-return auxiliary element to prevent the fully extended small arm rod from retracting;

[0013] The transmission system includes a rotating joint, a main transmission screw, a small arm rod roller nut assembly and a middle arm rod roller nut assembly. The rotating joint is coaxially fixed at the inner bottom of the large arm rod and connected to the main transmission screw. The main transmission screw is divided into two parts from top to bottom, namely a threaded section and a cylindrical section. The small arm rod roller nut assembly and the middle arm rod roller nut assembly are coaxially fixed at the inner bottom of the small arm rod and the middle arm rod respectively. In the initial contracted state, the small arm rod roller nut assembly is engaged with the threaded section, and the middle arm rod roller nut assembly is located in the cylindrical section.

[0014] Furthermore, the routing unit is divided into two types: a fully extended mode routing unit and a segmented extended mode routing unit;

[0015] For the fully extended mode wiring unit, wiring grooves are processed on the inner sides of the guide bosses of the small arm, the middle arm and the large arm, and wiring holes are processed on the bottom of the side walls of the small arm and the middle arm, and electrical connector groups are respectively installed at the bottom of the outer wall of the small arm, the top of the inner wall of the large arm, and the top and bottom of the inner wall of the middle arm. When the arm unit is fully extended, the bottom of the outer wall of the small arm and the electrical connector group at the top of the inner wall of the middle arm are docked and matched, and the bottom of the outer wall of the middle arm and the electrical connector group at the top of the inner wall of the large arm are docked and matched. The electrical connector group at the bottom of the outer wall of the small arm and the interface of the small arm, the two electrical connector groups at the top and bottom of the inner wall of the middle arm, and the electrical connector group at the top of the inner wall of the large arm and the interface of the large arm are respectively connected by composite cable groups, and the composite cable groups are all arranged in the corresponding wiring grooves;

[0016] For the segmented extension mode wiring unit, limit bosses are respectively arranged at the bottom of the outer wall of the forearm, the top of the inner wall of the big arm, and the top of the inner wall and the bottom of the outer wall of the middle arm to prevent excessive extension, and inter-segment transfer modules are respectively installed on the edge plane areas of the forearm roller nut assembly and the middle arm roller nut assembly, a forearm wall-attached cable is arranged on the inner wall of the forearm to connect the forearm interface with the inter-segment transfer module on the forearm roller nut assembly, a middle arm spiral cable is arranged inside the middle arm to connect the two inter-segment transfer modules on the forearm roller nut assembly and the middle arm roller nut assembly, and a big arm spiral cable is arranged inside the big arm to connect the big arm interface with the inter-segment transfer module on the middle arm roller nut assembly.

[0017] Furthermore, the segmented extension mode routing unit is configured with a sensing system, which includes two permanent magnets and two Hall sensors. The two permanent magnets are respectively bonded to the top of the inner wall of the middle arm rod and the large arm rod, and the two Hall sensors are respectively installed on the edge plane area of ​​the small arm rod roller nut assembly and the middle arm rod roller nut assembly and are connected to the corresponding inter-segment transfer module through connecting lines.

[0018] Furthermore, the small arm lever interface and the large arm lever interface both have gender-neutral structural characteristics.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention has active telescopic capability, and can realize independent length adjustment of the joint through the cooperation of the arm unit and the transmission system, and does not rely on the locking motor. The sequential extension, locking and unlocking of each arm section can be completed only through the stop unit and the check unit in the form of a mechanical structure, which helps to reduce the system mass. In addition, two simple and reliable cable arrangements suitable for the full extension mode and the segmented extension mode are designed respectively according to different mission requirements. While reducing the complexity of the system, the reliable internal integration of the cables is ensured, the launch cost is reduced, the overall stability and mission execution efficiency are improved, and it can be widely used in long-distance on-orbit assembly tasks, and show higher adaptability and reliability in complex mission environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagrams of three typical states of the active telescopic space robot arm joint of the present invention;

[0021] Figure 2 is an exploded view of the stop-out unit of the present invention;

[0022] Figure 3 is an exploded view of the non-return unit of the present invention;

[0023] Figure 4 It is a schematic diagram of the assembly and routing of the small arm section of the present invention in the fully extended mode;

[0024] Figure 5 It is a schematic diagram of the assembly and routing of the middle arm section of the present invention in the fully extended mode;

[0025] Figure 6 It is a schematic diagram of the assembly and routing of the boom section of the present invention in the fully extended mode;

[0026] Figure 7 It is a schematic diagram of the assembly and routing of the small arm sections of the present invention in the segmented extension mode;

[0027] Figure 8 It is a schematic diagram of the assembly and routing of the middle arm section in the segmented extension mode of the present invention;

[0028] Fig. 9 It is a schematic diagram of the assembly and routing of the boom sections of the present invention in the segmented extension mode;

[0029] Fig.10 It is a schematic diagram of the overall routing of the present invention in the segmented extension mode;

[0030] Fig.11 It is a definition diagram of the stop plane AA and the non-return plane BB in a specific implementation manner;

[0031] Fig.12 yes Fig.11 Schematic diagram of the action state of terminating the plane AA;

[0032] Fig.13 yes Fig.11 Schematic diagram of the action state of the stop return plane BB.

[0033] In the figure: 1. arm unit; 2. electromechanical interface unit; 5. stop unit; 6. non-return unit; 7. transmission system; 101. small arm; 102. middle arm; 103. large arm; 101-1. whole small arm; 101-2. sub-small arm; 102-1. whole middle arm; 102-2. sub-middle arm; 103-1. whole large arm; 103-2. sub-large arm; 201. small arm interface; 202. large arm interface; 203. small arm interface adapter; 204. small arm interface adapter mounting screw; 205. small arm interface mounting screw; 206. large arm interface adapter; 207. large arm interface adapter mounting screw; 208. large arm interface mounting screw; 301-1. electrical connector Group 1; 301-2, electrical connector group 2; 301-3, electrical connector group 3; 301-4, electrical connector group 4; 302, electrical connector mounting screws; 303-1, composite cable group 1; 303-2, composite cable group 2; 303-3, composite cable group 3; 401, inter-segment transfer module; 402, inter-segment transfer module connecting screws; 403, small arm wall cable; 404, middle arm spiral cable; 405, large arm spiral cable; 501, stop housing mounting piece; 502, stop housing mounting piece mounting screws; 503, stop housing; 504, stop housing mounting screws; 505, stop trigger element; 506, stop trigger element mounting screws; 507, stop piece; 508, stop column; 5 09, stop column mounting screw; 510, stop torsion spring; 511, stop support shaft; 503-1, top surface of inner side of stop housing; 503-2, lip surface of stop housing; 505-1, upper teeth of stop trigger element; 505-2, lower teeth of stop trigger element; 507-1, upper plane of stop hook structure; 507-2, upper beak of stop; 507-3, lower beak of stop; 507-4, upper surface of stop; 508-1, lower plane of stop column hook structure; 601, stop housing mounting piece; 602, stop housing mounting piece mounting screw; 603, stop housing; 604, stop housing mounting screw; 605, stop auxiliary element; 606, stop auxiliary element mounting screw; 607, stop; 608, stop Return piece mounting shaft; 609, non-return piece sliding pin; 610, non-return guide column; 611, non-return guide column mounting screw; 612, non-return torsion spring; 613, non-return torsion spring mounting shaft; 605-1, support plane; 605-2, transition slope; 607-1, non-return piece head; 607-2, upper slope; 610-1, oblique notch; 701, rotary joint; 702, joint mounting screw; 703, joint mounting piece; 704, joint mounting piece connecting screw; 705, main transmission screw; 706, screw mounting screw; 707, joint screw adapter; 708, joint screw adapter mounting screw; 709, small arm rod roller nut assembly; 710, middle arm rod roller nut assembly; 711, nut assembly mounting screw;712, joint mounting part positioning pin; 801, permanent magnet; 802, Hall sensor; 803, Hall sensor mounting screw; 804, Hall sensor connecting wire. ; DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] like Figures 1 to 13 As shown, an active telescopic space robot arm joint for on-track assembly tasks includes an arm unit 1, an electromechanical interface unit 2, a routing unit, a stop unit 5, a non-return unit 6 and a transmission system 7.

[0036] The arm unit 1 includes three cylindrical rod segments, namely, a small arm 101, a middle arm 102 and a large arm 103, which serve as the base of the mechanical arm joint and are used to carry other components while performing telescopic actions. Here, small, medium and large refer to the inner diameter and length of the corresponding arm, so that the three rod segments are nested from the inside to the outside. Among them, the outer walls of the small arm 101 and the middle arm 102 are respectively processed with multiple guide bosses evenly distributed along the circumferential direction from the top to the bottom, and they are respectively matched with the guide grooves opened at the corresponding positions of the inner walls of the middle arm 102 and the large arm 103, so as to limit the rotation of the small arm 101 and the middle arm 102 around the axis, so that they can only move along the axis.

[0037] The electromechanical interface unit 2 includes a small arm interface 201, a large arm interface 202, a small arm interface adapter 203, a small arm interface adapter mounting screw 204, a small arm interface mounting screw 205, a large arm interface adapter 206, a large arm interface adapter mounting screw 207 and a large arm interface mounting screw 208. Among them, the small arm interface adapter 203 is mounted on the top of the small arm 101 through the small arm interface adapter mounting screw 204, and the small arm interface 201 is mounted on the top of the small arm interface adapter 203 through the small arm interface mounting screw 205; the large arm interface adapter 206 is mounted on the bottom of the large arm 103 through the large arm interface adapter mounting screw 207, and the large arm interface 202 is mounted on the bottom of the large arm interface adapter 206 through the large arm interface mounting screw 208. The small arm lever interface 201 and the large arm lever interface 202 have the characteristics of structural genderlessness and large docking tolerance, and can achieve locking and unlocking while taking into account power supply and data transmission.

[0038] The stop unit 5 includes a stop housing mounting piece 501, a stop housing mounting piece mounting screw 502, a stop housing 503, a stop housing mounting screw 504, a stop trigger element 505, a stop trigger element mounting screw 506, a stop piece 507, a stop column 508, a stop column mounting screw 509, a stop torsion spring 510 and a stop support shaft 511. Its function is to prevent the outer rod segment from extending prematurely, and it consists of two sets of identical mechanisms arranged relatively. Among them, the stop housing mounting piece 501 is installed on the top of the middle arm rod 102 through the stop housing mounting piece mounting screw 502, the stop housing 503 is installed on the stop housing mounting piece 501 through the stop housing mounting screw 504, the stop trigger element 505 is installed on the bottom side of the outer wall of the small arm rod 101 through the stop trigger element mounting screw 506, and a tooth socket structure is arranged on the outer top of the stop trigger element 505. The stop column 508 is installed on the top side of the outer wall of the large arm rod 103 through the stop column mounting screw 509. The stop column 508 extends upward and is bent inward to be provided with a hook-shaped structure. The stop support shaft 511 is horizontally installed between the shaft holes provided on both sides of the stop housing 503. The stop member 507 is installed on the stop support shaft 511 through the mounting hole above its tail. A hook-shaped structure is arranged below the tail of the stop member 507. The stop member 507 is integrally arranged on both sides of the middle position Two cylindrical protrusions, the head of the stop piece 507 is set to a beak-shaped structure to cooperate with the alveolar structure of the stop trigger element 505, the stop torsion spring 510 is divided into two and symmetrically arranged on the stop support shaft 511 on both sides of the stop piece 507, the stop torsion spring 510 is in a compressed state during the entire working process, and there is always a rotation tendency to restore the natural state, one end of it is against the inner top surface 503-1 of the stop shell, and the other end is against the cylindrical protrusion of the stop piece 507, under the pressure provided by the stop torsion spring 510, the stop piece 507 always has a torque turning around the axis of the stop support shaft 511 to the stop column 508, and in the stop state (that is, the state where the middle arm rod 102 is not extended), the upper plane 507-1 of the stop piece hook structure at the tail of the stop piece 507 is in contact with the lower plane 508-1 of the stop column hook structure at the top of the stop column 508.

[0039] In order to more clearly show the action state of the stop unit 5, Fig.11 As shown, the stop plane AA is defined as the plane in the middle of the two stop units 5. The stop units 5 are symmetrical about the stop plane AA. The left side section is taken as an example to illustrate the principle. Fig.12As shown, the locking torsion spring 510 provides a clockwise torque for the locking member 507 , and the projection of the axis of the locking support shaft 511 on the lower plane 508 - 1 of the locking column hook structure is located in the joint area between the locking member 507 and the locking column 508 . During the entire extension process of the arm unit 1, the large arm 103 is fixed. At the initial stage of the extension process of the small arm 101, due to the friction between the guide boss on the outer wall of the small arm 101 and the guide groove on the inner wall of the middle arm 102, the middle arm 102 is subjected to a force along the extension direction. The force is transmitted to the stop member 507 along the stop housing mounting member 501, the stop housing 503, and the stop support shaft 511 in sequence. The stop member 507 is subjected to a restraining reaction force from the stop column 508 in the opposite direction of the extension. Since the projection of the rotation axis of the stop member 507 is located in the joint area between the stop member 507 and the stop column 508, the stop member 507 does not rotate, that is, the middle arm 102 is indirectly restrained by the large arm 103 and cannot be extended prematurely. In the stop state, there is an overlapping area between the upper beak 507-2 of the stop member and the upper tooth 505-1 of the stop trigger element. As the small arm rod 101 extends, the stop trigger element 505 gradually approaches the stop member 507 until the upper tooth 505-1 of the stop trigger element contacts the upper beak 507-2 of the stop member, and the stop action begins to be released. As the small arm rod 101 continues to extend, the stop trigger element 505 rotates counterclockwise against the stop member 507, the upper plane 507-1 of the stop hook structure is disengaged from the lower plane 508-1 of the stop column hook structure, and the upper beak 507-2 of the stop member gradually moves away from the stop trigger element 505. When the upper beak 507-2 of the stopper is separated from the upper tooth 505-1 of the stopper trigger element, the stopper 507 rotates clockwise in a very short time under the action of the stopper torsion spring 510, so that the lower beak 507-3 of the stopper contacts the lower tooth 505-2 of the stopper trigger element, and the stopper trigger element 505 continues to rotate counterclockwise against the stopper 507 until the upper surface 507-4 of the stopper contacts the lip surface 503-2 of the stopper housing, and the stopper unit 5 is completely released from the stopper state. At this time, the upper plane 507-1 of the stopper hook structure and the lower plane 508-1 of the stopper hook structure have no overlapping area. Afterwards, the force in the extension direction received by the small arm lever 101 is transmitted to the middle arm lever 102 through the stopper 507, the stopper housing 503, and the stopper housing mounting member 501, and the small arm lever 101 extends a distance with the middle arm lever 102, and the non-return unit 6 starts to perform the non-return action.

[0040] The check unit 6 includes a check housing mounting piece 601, a check housing mounting piece mounting screw 602, a check housing 603, a check housing mounting screw 604, a check auxiliary element 605, a check auxiliary element mounting screw 606, a check member 607, a check member mounting shaft 608, a check member slide pin 609, a check guide column 610, a check guide column mounting screw 611, a check torsion spring 612 and a check torsion spring mounting shaft 613. Its function is to firmly clamp the small arm rod 101 when it is fully extended to prevent it from retracting. It is also composed of two sets of identical mechanisms arranged relatively to each other, and starts to perform the check action after the stopped state is completely released. Among them, the check housing mounting piece 601 is installed on the top of the middle arm rod 102 through the check housing mounting piece mounting screw 602, the check housing 603 is installed on the check housing mounting piece 601 through the check housing mounting screw 604, the check auxiliary element 605 is installed on the bottom side of the outer wall of the small arm rod 101 through the check auxiliary element mounting screw 606, and its position is slightly higher than the stop trigger element 505, and the bottom edge of the check auxiliary element 605 is processed with an obtuse cutting groove structure, the check member mounting shaft 608 is horizontally installed between the shaft holes set on the inner side of the check housing 603, the check member 607 is installed on the check member mounting shaft 608 through the middle mounting hole, the check member sliding pin 609 passes through the mounting hole at the tail of the check member 607 and is connected with the check member 607, the check guide column 610 is installed on the top side of the outer wall of the large arm rod 103 through the check guide column mounting screw 611, and the check guide column 610 It extends upward and has an inclined groove 610-1 in the middle of the top to cooperate with the anti-return member sliding pin 609. The anti-return torsion spring mounting shaft 613 is horizontally installed between the shaft holes set on the outside of the anti-return housing 603. The anti-return torsion spring 612 is divided into two and is symmetrically sleeved on the anti-return torsion spring mounting shaft 613 on both sides of the anti-return member 607. The anti-return torsion spring 612 is in a compressed state during the entire working process and always has a tendency to rotate back to a natural state. One end of it is against the inner top surface of the anti-return housing 603, and the other end is against the anti-return member sliding pin 609. Under the pressure provided by the anti-return torsion spring 612, the anti-return member 607 always has a torque around the axis of the anti-return member mounting shaft 608 to turn to the anti-return auxiliary element 605. In the waiting state (that is, the state in which the small arm rod 101 is not fully extended), the anti-return member sliding pin 609 is always tangent to the outer groove wall of the inclined groove 610-1 at the top of the anti-return guide column 610.

[0041] In order to more clearly show the action state of the non-return unit 6, Fig.11 As shown, the non-return plane BB is defined as the plane in the middle of the two non-return units 6. The non-return units 6 are symmetrical about the non-return plane BB. The non-return plane BB is perpendicular to the stop plane AA. The intersection line is the central axis of the entire robot joint. The non-return plane BB is cut open and the principle is explained by taking the right side section as an example. Fig.13As shown, the check torsion spring 612 provides a counterclockwise torque for the check member 607. In the waiting state, there is no overlapping area between the check member 607 and the check auxiliary element 605. After the stop state is completely released, there is no relative movement between the check auxiliary element 605 and the check housing 603, and the check auxiliary element 605 is located above the check member 607. As the small arm rod 101 drives the middle arm rod 102 to extend, relative movement occurs between the middle arm rod 102 and the large arm rod 103. The check piece 607 extends with the middle arm rod 102, and rotates counterclockwise under the action of the check torsion spring 612 until the check piece head 607-1 contacts the support plane 605-1 at the bottom of the check auxiliary element 605, and the check piece 607 stops rotating. The upper inclined surface 607-2 can be processed on the edge of the check piece head 607-1. At this time, the upper inclined surface 607-2 contacts the transition inclined surface 605-2 at the bottom of the check auxiliary element 605, thereby firmly clamping the fully extended small arm rod 101 to prevent it from retracting. At the same time, the check piece slide pin 609 changes from the oblique movement along the oblique notch 610-1 at the top of the check guide column 610 to the vertical movement along the arm axis, and the check piece slide pin 609 is separated from the return guide column 610, and the check action is completed.

[0042] The transmission system 7 adopts the form of roller screw transmission, including a rotary joint 701, a joint mounting screw 702, a joint mounting part 703, a joint mounting part connecting screw 704, a main transmission screw 705, a screw mounting screw 706, a joint screw adapter 707, a joint screw adapter mounting screw 708, a small arm roller nut assembly 709, a middle arm roller nut assembly 710, a nut assembly mounting screw 711 and a joint mounting part positioning pin 712, and its function is to control the entire mechanical arm joint to perform telescopic movements. The rotary joint 701 integrates an angle sensor and a torque sensor, which can accurately measure and feedback the joint output rotation angle and torque in real time. Among them, the joint mounting part 703 is circumferentially positioned by the joint mounting part positioning pin 712, and then fixed to the inner bottom end of the big arm rod interface adapter 206 by the joint mounting part connecting screw 704, the rotary joint 701 is installed on the joint mounting part 703 by the joint mounting screw 702, and the side of the joint mounting part 703 is processed with a wiring hole, the joint lead screw adapter 707 is installed on the output flange of the rotary joint 701 by the joint lead screw adapter mounting screw 708, and the main transmission lead screw 705 is installed on the joint lead screw by the lead screw mounting screw 706 On the adapter 707, the small arm rod roller nut assembly 709 and the middle arm rod roller nut assembly 710 are respectively installed on the inner bottom of the small arm rod 101 and the middle arm rod 102 through the nut assembly mounting screws 711. The main transmission screw 705 is divided into two parts from top to bottom: a threaded section and a cylindrical section. The threaded section parameters are unique and have self-locking characteristics. When the entire robotic arm joint is in the initial contracted state, the small arm rod roller nut assembly 709 is engaged with the threaded section of the main transmission screw 705, and the middle arm rod roller nut assembly 710 is located in the cylindrical section of the transmission screw 705.

[0043] Considering that the robot arm joint can be divided into a full extension mode with a fixed extension to the maximum length and a segmented extension mode that can be telescoped and adjusted as needed within the maximum length range according to the working requirements, the routing units configured for the robot arm joints for the two modes are also divided into two modes, namely the full extension mode routing unit and the segmented extension mode routing unit, and the corresponding arm unit 1 will be slightly different. In the following, the three rod segments corresponding to the full extension mode routing unit are recorded as the full small arm rod 101-1, the full middle arm rod 102-1 and the full large arm rod 103-1, and the three rod segments corresponding to the segmented extension mode routing unit are recorded as the sub-small arm rod 101-2, the sub-middle arm rod 102-2 and the sub-large arm rod 103-2. The difference is that: the inner sides of multiple guide bosses on the outer walls of the full small arm rod 101-1, the full middle arm rod 102-1 and the full large arm rod 103-1 are all processed with wiring grooves, and at the same time, the full small arm rod 101-1 and the full middle arm rod 102-1 are evenly processed with multiple wiring holes along the circumferential direction at the bottom of the side wall, a plurality of electrical connector mounting bosses are integrally arranged above the multiple wiring holes on the bottom of the outer wall of the full small arm rod 101-1, a plurality of electrical connector mounting bosses are integrally arranged on the top of the inner wall of the full middle arm rod 102-1, a plurality of electrical connector mounting bosses are integrally arranged above the multiple wiring holes on the bottom of the outer wall of the full middle arm rod 102-1, and a plurality of electrical connector mounting bosses are integrally arranged on the top of the inner wall of the full large arm rod 103-1. The multiple guide bosses on the outer walls of the small arm rod 101-2 and the middle arm rod 102-2 are solid structures and do not require wiring holes. The electrical connector mounting bosses corresponding to the small arm rod 101-2, the middle arm rod 102-2 and the large arm rod 103-2 serve as limit bosses to prevent the small arm rod 101-2 and the middle arm rod 102-2 from over-stretching and even falling out.

[0044] The fully extended mode routing unit includes four groups of electrical connectors and three groups of composite cables. The four groups of electrical connectors are recorded as electrical connector group one 301-1, electrical connector group two 301-2, electrical connector group three 301-3 and electrical connector group four 301-4. After the full small arm 101-1 is fully extended, the electrical connector group one 301-1 and the electrical connector group two 301-2 are docked and matched with each other. After the full middle arm 102-1 is fully extended, the electrical connector group three 301-3 and the electrical connector group four 301-4 are docked and matched with each other. The three groups of composite cables are recorded as composite cable group one 303-1, composite cable group two 303-2 and composite cable group three 303-3, which can transmit both power and control and image signals. Among them, the electrical connector group 1 301-1 is installed on the multiple electrical connector mounting bosses at the bottom of the outer wall of the full small arm rod 101-1 through the electrical connector mounting screws 302 and ensures that the contact head faces upward, the electrical connector group 2 301-2 is installed on the multiple electrical connector mounting bosses at the top of the inner wall of the full middle arm rod 102-1 through the electrical connector mounting screws 302 and ensures that the contact head faces downward, the electrical connector group 3 301-3 is installed on the multiple electrical connector mounting bosses at the bottom of the outer wall of the full middle arm rod 102-1 through the electrical connector mounting screws 302 and ensures that the contact head faces upward, and the electrical connector group 4 301-4 is installed on the multiple electrical connector mounting bosses at the top of the inner wall of the full large arm rod 103-1 through the electrical connector mounting screws 302 and ensures that the contact head faces downward. Composite cable group 1 303-1 is arranged in the wiring trough of the entire large arm 103-1 and connects the electric connector group 4 301-4 to the electric contact pin of the large arm interface 202, composite cable group 2 303-2 is arranged in the wiring trough of the entire small arm 101-1 and connects the electric connector group 1 301-1 to the electric contact pin of the small arm interface 201, composite cable group 3 303-3 is arranged in the wiring trough of the entire middle arm 102-1 and connects the electric connector group 2 301-2 to the electric connector group 3 301-3. By arranging the cables through the wiring trough, there is no need to contact the internal structure to avoid interference, and at the same time, there is no relative movement between the cables and the arm during the entire telescopic process, thereby achieving safe and reliable internalization of the cables and minimizing interference with the overall design of the system.

[0045] The segment extension mode routing unit includes an inter-segment transfer module 401, an inter-segment transfer module connecting screw 402, a small arm wall cable 403, a middle arm spiral cable 404 and a large arm spiral cable 405. Among them, the inter-segment transfer module 401 is provided with two and is respectively installed on the edge plane area of ​​the small arm roller nut assembly 709 and the middle arm roller nut assembly 710 through the inter-segment transfer module connecting screw 402. The inter-segment transfer module 401 has the functions of signal processing and amplification, which can effectively overcome the attenuation failure of some signal lines due to long transmission. The forearm rod wall-attached cable 403, the middle arm rod spiral cable 404 and the upper arm rod spiral cable 405 can transmit both power and control and image signals. The forearm rod wall-attached cable 403 is attached to the inner wall of the sub-forearm rod 101-2 by means of a clip and connects the electrical contact pin of the forearm rod interface 201 with the inter-segment transfer module 401 on the forearm rod roller nut assembly 709. The middle arm rod spiral cable 404 is built into the sub-middle arm rod 102-2 and connects the two inter-segment transfer modules 401 on the forearm rod roller nut assembly 709 and the middle arm rod roller nut assembly 710. The upper arm rod spiral cable 405 is built into the sub-high arm rod 103-2 and connects the electrical contact pin of the upper arm rod interface 202 with the inter-segment transfer module 401 on the middle arm rod roller nut assembly 710. The diameter design of the middle arm spiral cable 404 and the large arm spiral cable 405 is to maintain a sufficient safety distance from the main transmission screw 705 when the arm is fully retracted or fully extended to avoid cable wear. The use of the inter-segment transfer module 401 to connect the cable segments can effectively avoid the wear of the roller nut components caused by the single spiral cable running through the head and tail, thereby achieving safe and reliable internalization of the cables and minimizing interference with the overall system design.

[0046] In addition, the segmented extension mode should also be equipped with a sensor system to detect whether each arm section has been fully extended, while the full extension mode does not require any configuration because it is directly extended to a fixed maximum length for use.

[0047] The sensing system includes a permanent magnet 801, a Hall sensor 802, a Hall sensor mounting screw 803 and a Hall sensor connecting wire 804. Two permanent magnets 801 are provided and are respectively fixed to the top of the inner wall of the sub-middle arm 102-2 and the sub-large arm 103-2. Two Hall sensors 802 are also provided and are respectively installed on the edge plane area of ​​the small arm roller nut assembly 709 and the middle arm roller nut assembly 710 through the Hall sensor mounting screws 803. The Hall sensor 802 is connected to the corresponding inter-segment transfer module 401 through the Hall sensor connecting wire 804. When the sub-small arm 101-2 and the sub-middle arm 102-2 are fully extended, the Hall sensor 802 cooperates with the permanent magnet 801 to detect that the corresponding arm is in a fully extended state.

[0048] Before the active telescopic space robot arm joint of the present invention leaves the factory, the parameter calibration of each internal sensor and the joint adjustment and testing of each part will be completed to ensure the accurate output of force and position under actual working conditions. In particular, the joint calibration between the Hall sensor 802 and the angle sensor in the rotary joint 701 in the segmented extension mode, and the joint calibration between the maximum extension size and the angle sensor in the rotary joint 701 in the full extension mode.

[0049] After being launched into orbit, it is stored in the tool payload bag as a joint module. When the robot or robotic arm that performs the on-orbit assembly task needs to be equipped with the active telescopic space robotic arm joint of the present invention, the genderless electromechanical interface of the robot or robotic arm to be installed will be detached, and the original joint module or tool will be put back into the payload bag, and then connected to the large arm rod interface 202 on the active telescopic space robotic arm joint of the present invention to complete the installation of the active telescopic space robotic arm joint of the present invention. If other joints, tools, and loads still need to be installed later, the entire robot or robotic arm can be controlled to dock the remaining joints, tools, and loads to be installed on the small arm rod interface 201.

[0050] The specific implementation method is explained below through the process that the active telescopic space robot arm joint of the present invention is directly extended from the initial state to the longest state, and then retracted from the longest state to the initial state.

[0051] In the extension stage: the joint receives the extension command, and the rotary joint 701 outputs a positive rotation motion, which is transmitted to the main transmission screw 705, driving the small arm roller nut assembly 709 engaged therewith to produce a linear motion axially away from the rotary joint 701. In the early stage of the extension of the small arm 101, the middle arm 102 is kept in the original position by the stop unit 5 and cannot be extended prematurely.

[0052] As the small arm 101 is extended, the stop trigger element 505 gradually approaches the stop member 507, and the non-return auxiliary element 605 gradually approaches the stop member 607, until the upper tooth 505-1 of the stop trigger element contacts the upper beak 507-2 of the stop member, and the stop action begins to be released. Looking at the stop plane AA, the left set of stop units 5 is used as an example for explanation. As the small arm 101 is extended, the stop trigger element 505 rotates counterclockwise against the stop member 507, the upper plane 507-1 of the stop member hook structure is disengaged from the lower plane 508-1 of the stop column hook structure, and the upper beak 507-2 of the stop member gradually moves away from the stop trigger element 505. When the upper beak 507-2 of the stop member is separated from the upper tooth 505-1 of the stop trigger element, the stop member 507 rotates clockwise in a very short time under the action of the stop torsion spring 510, so that the lower beak 507-3 of the stop member contacts the lower tooth 505-2 of the stop trigger element, and the stop trigger element 505 continues to rotate counterclockwise against the stop member 507 until the upper surface 507-4 of the stop member contacts the lip surface 503-2 of the stop housing, and the stop unit 5 is completely released from the stop state. Looking down perpendicular to the stop plane AA, at this time, there is no overlapping area between the upper plane 507-1 of the stop member hook structure and the lower plane 508-1 of the stop column hook structure. At this time, for the full extension mode, the electrical connector group 1 301-1 and the electrical connector group 2 301-2 are connected to each other; for the segmented extension mode, the limit boss at the bottom of the outer wall of the sub-arm rod 101-2 is in full contact with the limit boss at the top of the inner wall of the sub-middle arm rod 102-2, and the Hall sensor 802 installed on the arm rod roller nut assembly 709 is facing the permanent magnet 801 fixed to the top of the inner wall of the sub-middle arm rod 102-2. The Hall sensor 802 sends a signal to the control system indicating that the sub-arm rod 101-2 has been fully extended.

[0053] Thereafter, the force in the extending direction exerted on the small arm rod 101 is transmitted to the middle arm rod 102 through the stop member 507, the stop housing 503 and the stop housing mounting member 501. The force in the extending direction of the small arm rod 101 causes the middle arm rod 102 to extend a certain distance. In the process of the middle arm rod 102 being extended by the small arm rod 101, the small arm rod roller nut assembly 709 gradually disengages, and the middle arm rod roller nut assembly 710 gradually engages.

[0054] After the stop unit 5 is completely released from the stop state, the non-return auxiliary element 605 and the non-return housing 603 have no relative movement, the non-return auxiliary element 605 is located above the non-return piece 607, and the non-return unit 6 starts to perform the non-return action. Looking at the non-return plane BB, the non-return unit 6 on the right is taken as an example for explanation. As the small arm rod 101 drives the middle arm rod 102 to extend, relative movement occurs between the middle arm rod 102 and the large arm rod 103. The non-return piece 607 moves linearly along the axial direction as the middle arm rod 102 extends, and rotates counterclockwise under the action of the non-return torsion spring 612 until the non-return piece head 607-1 contacts the support plane 605-1 of the non-return auxiliary element 605, and the non-return piece 607 stops rotating. At this time, the upper inclined surface 607-2 of the non-return piece 607 contacts the transition inclined surface 605-2 of the non-return auxiliary element 605, thereby firmly clamping the fully extended small arm rod 101 to prevent it from retracting. At the same time, the anti-return slide pin 609 changes from oblique movement along the oblique slot 610-1 of the anti-return guide column 610 to vertical movement along the arm axis, and the anti-return slide pin 609 is separated from the guide column 610, and the anti-return action is completed. The middle arm 102 changes from being extended by the small arm 101 to pushing the small arm 101 to extend together. At this time, the rotary joint 701 will rotate to a key number of circles recorded in the calibration stage. For the segmented extension mode, if only the small arm 101-2 needs to be extended, the control system will stop the rotary joint 701 at this time.

[0055] After that, the middle arm 102 is extended to the fully extended state under the drive of the main transmission screw 705. When the rotation number of the rotary joint 701 is close to the rotation number of the fully extended state calibrated before leaving the factory, the control system will make it run at a low speed. For the fully extended mode, when the control system detects that the small arm interface 201 is online, it means that the electrical connector group 3 301-3 and the electrical connector group 4 301-4 have also completed the docking, and the internal circuits of the entire small arm 101-1, the entire middle arm 102-1 and the entire large arm 103-1 are connected, that is, all arms have been fully extended. At this time, the control system sends a stop command to the rotary joint 701, and the rotary joint 701 stops rotating. For the segmented extension mode, the limiting boss at the bottom of the outer wall of the sub-middle arm 102-2 is in full contact with the limiting boss at the top of the inner wall of the sub-large arm 103-2, and the Hall sensor 802 installed on the middle arm roller nut assembly 710 is facing the permanent magnet 801 fixed on the top of the inner wall of the sub-large arm 103-2. The Hall sensor 802 sends a signal to the control system, indicating that the sub-middle arm 102-2 has been fully extended, that is, all arms have been fully extended. At this time, the control system sends a stop command to the rotary joint 701, and the rotary joint 701 stops rotating. At this point, the active telescopic space robot arm joint of the present invention is extended from a fully contracted state to a fully extended state.

[0056] It should be emphasized that the active telescopic space robot arm joint of the present invention can only conduct internal circuits to operate in the fully extended mode after all arms are fully extended, and can operate after some or all segments are fully extended in the segmented extension mode. The purpose of this setting is to ensure that the non-return action of the non-return element 6 is completed, so as to maintain the corresponding length state more safely and reliably. After the non-return slide pin 609 is separated from the non-return guide column 610, the relative position of the two in the top view direction no longer changes, that is, to ensure that the non-return slide pin 609 can return to the inclined slot 610-1 in the arm retraction stage.

[0057] In the retraction stage: the joint receives the shortening command, and the rotary joint 701 outputs a reverse rotation motion, which is transmitted to the main transmission screw 705, driving the middle arm rod roller nut assembly 710 engaged therewith to produce a linear motion axially close to the rotary joint 701. At this time, for the full extension mode, the electrical connector group 3 301-3 and the electrical connector group 4 301-4 are disengaged. In the early stage of the retraction of the middle arm rod 102, the small arm rod 101 maintains a constant relative position with the middle arm rod 102 under the action of the non-return unit 6, and cannot be retracted prematurely.

[0058] As the middle arm 102 retracts, the check piece 607 gradually approaches the check guide post 610, and the stop piece 507 gradually approaches the stop post 508. Until the check piece slide pin 609 contacts the oblique notch 610-1 of the check guide post 610, the check action begins to be released. As the middle arm 102 continues to retract, the oblique notch 610-1 of the check guide post 610 presses the check piece slide pin 609 to rotate clockwise, and the check piece head 607-1 turns away from the support plane 605-1 of the check auxiliary element 605. At this time, the upper inclined surface 607-2 of the check piece 607 gradually disengages from the transition inclined surface 605-2 of the check auxiliary element 605, until the check piece 607 returns to the position when the middle arm 102 is not extended, and the check unit 6 completely releases the check action. In this process, the middle arm roller nut assembly 710 gradually disengages, and the small arm roller nut assembly 709 gradually enters engagement. Thereafter, the relative position between the locking support shaft 511 and the locking column 508 remains unchanged, and then the locking unit 5 begins to restore the locking state. For the fully extended mode, the electrical connector set 1 301 - 1 is separated from the electrical connector set 2 301 - 2 .

[0059] As the main transmission screw 705 drives the small arm rod roller nut assembly 709 to approach the rotary joint 701 axially, the stop trigger element 505 gradually moves away from the stop member 507, and the stop member 507 rotates clockwise under the action of the stop torsion spring 510 until the upper plane 507-1 of the stop member hook structure and the lower plane 508-1 of the stop column hook structure are attached together, and the stop unit 5 completes the stop action and restores the stop state. Thereafter, the small arm rod 101 is driven by the main transmission screw 705 and retracts to a fully retracted state. When the number of rotations of the rotary joint 701 reaches the number of rotations of the fully retracted state calibrated before leaving the factory, the control system stops it. At this point, the active telescopic space robot arm joint of the present invention is restored from a fully extended state to a fully retracted state.

[0060] It is worth mentioning that the active telescopic space robot arm joint of the present invention only requires at least three rod segments. The above takes the three-stage type as an example to illustrate its principle, but it is not limited to the three-stage telescopic form. The number of rod segments and supporting mechanisms can be increased according to actual task requirements, which should also fall within the protection scope of the present invention.

[0061] The active telescopic space robot arm joint of the present invention can adjust its own length autonomously through the transmission system inside the joint without relying on other joints. In the segmented extension mode, the number of segments of telescopic can be adjusted according to the task requirements. Compared with active continuous telescopic, segmented telescopic can take into account both dimensional accuracy and system simplicity. The transmission system adopts roller screw transmission. Except for the outermost arm housing, each arm housing is equipped with a roller nut assembly to engage with the screw. The use of roller screw transmission can greatly improve the carrying capacity, transmission accuracy, transmission efficiency, and overall stiffness of the telescopic joint, reduce the friction loss in the transmission process, suppress vibration, and increase the reliability and service life of the joint. It can be extended in multiple sections. By carefully arranging the installation position of the roller nut assembly and the length of the screw, it can be ensured that the extension or retraction between the sections has a sequence, is independent of each other, and does not interfere with each other. Through the check-out and check-back design, the locking and unlocking method is simplified from the traditional locking motor and the corresponding diameter reducing device to relying only on the mechanical structure, which greatly reduces the complexity and quality of the system, significantly improves the reliability and stability of the system, and is more suitable for the on-orbit assembly task requirements in the space environment. It can rely on the standardized electromechanical interfaces at both ends as joint modules, and can be flexibly installed at the root, middle, or end of the manipulator or robot according to mission requirements. It can be used as part of the manipulator body and as an end effector, so that the manipulator or robot equipped with the joint can change its configuration according to specific mission requirements. According to the different requirements of full extension and segmented extension, the two forms of inter-segment routing of electrical connectors and inter-segment routing of spiral cables are adopted respectively, which can realize safe and reliable internalization of cables, while minimizing the impact on the overall design of the system, significantly simplifying the quality and complexity of the system, greatly improving the reliability and stability of the system, and making it more suitable for on-orbit assembly mission requirements in space environments.

[0062] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0063] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An active telescopic space robot arm joint for on-orbit assembly tasks, characterized by: It comprises an arm unit (1), an electromechanical interface unit (2), a wiring unit, a stop unit (5), a stop unit (6) and a transmission system (7); The arm unit (1) comprises a small arm (101), a middle arm (102) and a large arm (103) which are nested step by step from the inside to the outside, the outer walls of the small arm (101) and the middle arm (102) are respectively provided with guide bosses, and the inner walls of the middle arm (102) and the large arm (103) are correspondingly provided with guide grooves, and the small arm (101) and the middle arm (102) are restricted to move only along the axial direction by the cooperation of the guide bosses and the guide grooves; The electromechanical interface unit (2) comprises a small arm interface (201) installed at the top of the small arm (101) and a large arm interface (202) installed at the bottom of the large arm (103); The wiring unit is built into the arm unit (1) and is used for connecting the cable from the large arm interface (202) to the small arm interface (201); The stop unit (5) is composed of two sets of mechanisms arranged opposite to each other, each set of mechanisms comprising a stop housing (503), a stop trigger element (505), a stop piece (507) and a stop column (508), the stop housing (503) is mounted on the top of the middle arm rod (102), the stop trigger element (505) is mounted on the bottom side of the outer wall of the small arm rod (101), a tooth socket structure is arranged on the top of the outer side of the stop trigger element (505), and the head of the stop piece (507) is A beak-shaped structure is provided to cooperate with the tooth socket structure of the stop trigger element (505), a hook-shaped structure is provided below the tail of the stop member (507), the stop column (508) is installed on the top side of the outer wall of the large arm rod (103) and extends upward and bends inward to provide a hook-shaped structure, the stop member (507) is hingedly installed in the stop housing (503) and a torsion spring is provided to provide a torque to the stop column (508), so that the hook structures of the two are fitted together to restrict the middle arm rod (102) from extending prematurely; The non-return unit (6) is composed of two sets of mechanisms arranged opposite to each other, each set of mechanisms including a non-return housing (603), a non-return auxiliary element (605), a non-return member (607), a non-return member sliding pin (609) and a non-return guide column (610), the non-return housing (603) is installed on the top of the middle arm rod (102), the non-return auxiliary element (605) is installed on the bottom side of the outer wall of the small arm rod (101), the bottom edge of the non-return auxiliary element (605) is processed with an obtuse cutting groove structure, the non-return member sliding pin (609) and the installation at the tail of the non-return member (607) are connected. The non-return guide column (610) is installed on the top side of the outer wall of the large arm rod (103) and extends upward to set an inclined slot (610-1) to be inserted and matched with the non-return member slide pin (609). The non-return member (607) is hingedly installed in the non-return housing (603) and provides a torque to the non-return auxiliary element (605) by setting a torsion spring. After the non-return member slide pin (609) is separated from the inclined slot (610-1), the non-return member (607) supports the bottom edge of the non-return auxiliary element (605) to prevent the fully extended small arm rod (101) from retracting; The transmission system (7) comprises a rotary joint (701), a main transmission screw (705), a small arm roller nut assembly (709) and a middle arm roller nut assembly (710); the rotary joint (701) is coaxially fixed to the inner bottom of the large arm (103) and connected to the main transmission screw (705); the main transmission screw (705) is divided into two parts from top to bottom, namely a threaded section and a cylindrical section; the small arm roller nut assembly (709) and the middle arm roller nut assembly (710) are coaxially fixed to the inner bottom of the small arm (101) and the middle arm (102), respectively; in an initial contracted state, the small arm roller nut assembly (709) is meshed with the threaded section, and the middle arm roller nut assembly (710) is located in the cylindrical section.

2. The active telescopic space robot arm joint for on-orbit assembly tasks according to claim 1, characterized in that: The routing unit is divided into two types: a fully extended mode routing unit and a segmented extended mode routing unit; For the fully extended mode wiring unit, wiring grooves are machined on the inner sides of the guide bosses of the small arm (101), the middle arm (102) and the large arm (103), and wiring holes are machined on the bottom of the side walls of the small arm (101) and the middle arm (102). Electrical connector groups are installed on the bottom of the outer wall of the small arm (101), the top of the inner wall of the large arm (103), and the top and bottom of the inner wall of the middle arm (102). When the arm unit (1) is fully extended, the bottom of the outer wall of the small arm (101) and the middle arm (102) are connected to each other. ) the electrical connector group at the top of the inner wall of the middle arm (102) is butt-matched, the electrical connector group at the bottom of the outer wall of the middle arm (102) and the top of the inner wall of the large arm (103) is butt-matched, the electrical connector group at the bottom of the outer wall of the small arm (101) and the small arm interface (201), the two electrical connector groups at the top of the inner wall and the bottom of the outer wall of the middle arm (102), and the electrical connector group at the top of the inner wall of the large arm (103) and the large arm interface (202) are connected respectively by composite cable groups, and the composite cable groups are all arranged in corresponding wiring grooves; For the segmented extension mode wiring unit, limiting bosses are respectively arranged at the bottom of the outer wall of the small arm (101), the top of the inner wall of the large arm (103), and the top and bottom of the inner wall of the middle arm (102) to prevent excessive extension, and inter-segment transfer modules (401) are respectively installed on the edge plane areas of the small arm roller nut assembly (709) and the middle arm roller nut assembly (710), and a small arm wall cable (403) is arranged on the inner wall of the small arm (101) to connect the small arm interface (201) with the small arm The roller nut assembly (709) is connected to the inter-segment transfer module (401), a middle arm spiral cable (404) is set inside the middle arm rod (102) to connect the two inter-segment transfer modules (401) on the small arm roller nut assembly (709) and the middle arm roller nut assembly (710), and a large arm spiral cable (405) is set inside the large arm rod (103) to connect the large arm rod interface (202) and the inter-segment transfer module (401) on the middle arm roller nut assembly (710).

3. The active telescopic space robot arm joint for on-orbit assembly tasks according to claim 2, characterized in that: The segmented extension mode routing unit is configured with a sensing system, which includes two permanent magnets (801) and two Hall sensors (802). The two permanent magnets (801) are respectively bonded to the top of the inner wall of the middle arm rod (102) and the upper arm rod (103), and the two Hall sensors (802) are respectively installed on the edge plane area of ​​the small arm rod roller nut assembly (709) and the middle arm rod roller nut assembly (710) and connected to the corresponding inter-segment transfer module (401) through connecting lines.

4. The active telescopic space robot arm joint for on-orbit assembly tasks according to claim 1, characterized in that: The small arm lever interface (201) and the large arm lever interface (202) both have structural gender-neutral characteristics.

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