Multi-rope cooperative driving large-space foldable star catalogue robot and working method

Abstract

The invention discloses a multi-rope collaboratively driven large-space foldable star catalogue robot and a working method, which can use a multi-rope collaboratively driven hoisting task in a special environment and solve the problem that a hoisting robot occupies a large space in a conveying process. According to the technical scheme, the device comprises a first variable-amplitude rigid rod, a second variable-amplitude rigid rod, a first parallel rope, a second parallel rope, a rotating base, a first rope speed reduction device and a second rope speed reduction device, a telescopic sleeve and a telescopic rod are arranged above the rotating base, and a vertical first supporting rod and a horizontal second supporting rod are arranged at the top of the telescopic rod; the middle of the telescopic rod is hinged to one end of a first variable-amplitude rigid rod, the other end of the first variable-amplitude rigid rod is hinged to one end of a second variable-amplitude rigid rod, and the other end of the second variable-amplitude rigid rod is provided with an end effector and a visual sensor device. The first parallel rope and the second parallel rope are correspondingly connected with the first rope speed reducer, the second rope speed reducer and the variable-amplitude rigid rod respectively, and the rotating directions of the first variable-amplitude rigid rod and the second variable-amplitude rigid rod are controlled through the guide fixed pulley block.

Description

Technical Field

[0001] The invention belongs to the technical field of space robots, and in particular relates to a large-space foldable star chart robot driven by multi-rope coordination and a working method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the existing field of space robots, traditional lifting equipment and remote-controlled robot systems are unable to flexibly adapt to complex and changeable special environments and narrow transportation conditions due to their large size, limited folding space, and small working space. Equipment with poor foldability will occupy a large amount of space during transportation, increasing transportation costs and difficulty.

[0004] The existing driving and control methods of hoisting equipment can meet the requirements of high precision and high flexibility. Although the hoisting height, angle and position can be precisely controlled, it still cannot meet the transportation requirements in narrow spaces or special environments. For the hoisting methods in the existing technology, ordinary single drive or simple coordinated drive methods control each component. One drive structure can only drive one component. It cannot achieve folding and cannot achieve the requirements of single drive controlling the coordinated action of multiple components.

[0005] The existing technology lacks visual feedback. In special environments, traditional space robot equipment lacks effective visual sensor devices, and has problems such as being unable to accurately determine the work location and plan the work route, resulting in low work efficiency. Summary of the invention

[0006] In response to the above problems, the present invention provides a large-space foldable satellite table robot and a working method driven by multiple ropes in a coordinated manner, which can be used for lifting tasks driven by multiple ropes in a coordinated manner under special circumstances, solves the problem of large space occupied by the lifting robot during transportation, and realizes precise control of the movements of various components of the lifting robot.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] In the first aspect, the present invention provides a large-space foldable and deployable star chart robot driven by multiple ropes in a coordinated manner, comprising: a first variable-length rigid rod, a second variable-length rigid rod, a first parallel rope, a second parallel rope, a rotating base, and a first rope deceleration device and a second rope deceleration device installed on the rotating base; a telescopic sleeve is provided on the base, a telescopic rod is provided in the telescopic sleeve, a first support rod is vertically provided on the top of the telescopic rod, and a second support rod is horizontally provided; the middle part of the telescopic rod is hinged to one end of the first variable-length rigid rod, the other end of the first variable-length rigid rod is hinged to one end of the second variable-length rigid rod, and the other end of the second variable-length rigid rod is provided with an end effector and a visual sensor device;

[0009] One end of the first parallel rope is connected to the first rope deceleration device, and the other end of the first parallel rope is connected to the end of the first variable amplitude rigid rod close to the second variable amplitude rigid rod; one end of the second parallel rope is connected to the second rope deceleration device, and the other end of the second parallel rope is connected to the end of the second variable amplitude rigid rod close to the end effector;

[0010] The first parallel ropes and the second parallel ropes control the rotation direction of the first luffing rigid rod and the second luffing rigid rod through a guide fixed pulley set.

[0011] Furthermore, the first rope deceleration device and the second rope deceleration device have the same structure, and the first rope deceleration device includes a double-wheel rope reel, a deceleration device bracket, a first guide wheel and a second guide wheel; the first guide wheel and the second guide wheel are respectively arranged at the lower part of the deceleration device bracket through a first pin shaft and a second pin shaft, and the axis directions of the first pin shaft and the second pin shaft are variable, the double-groove rope reel is arranged at the upper part of the deceleration device bracket through a third pin shaft, and protective shells are also arranged on both sides of the double-groove rope reel. A deceleration device base is arranged below the deceleration device bracket, and the deceleration device base is installed on the rotating base.

[0012] Furthermore, the double-wheel rope winding wheels of the first rope deceleration device and the second rope deceleration device are independently driven by motors.

[0013] Furthermore, the rotating base is a 360° rotating base, including a base, a gear and a bearing. The base and the gear are an integrated structure and are fixed to the corresponding basic equipment through the bearing. The base drives the gear to rotate through a rotating motor.

[0014] Further, the guide fixed pulley group includes a first guide fixed pulley, a second guide fixed pulley, a third guide fixed pulley and a fourth guide fixed pulley; the first guide fixed pulley and the second guide fixed pulley are respectively arranged at the free ends of the first support rod and the second support rod;

[0015] A support device is also provided on the second variable-length rigid rod, and the support device includes a third support rod and a fourth support rod, one end of the third support rod is hinged to the second variable-length rigid rod, and the third guide fixed pulley is arranged at the other end of the third support rod, one end of the fourth support rod is hinged to the second variable-length rigid rod, and the fourth guide fixed pulley is arranged at the other end of the fourth support rod.

[0016] Furthermore, a first middle support rod is provided between the first support rod and the second support rod; a second middle support rod is provided between the third support rod and the fourth support rod;

[0017] Torsion springs are arranged in the first center support rod and the second center support rod.

[0018] Further, the guide fixed pulley group further includes a fifth guide fixed pulley, and the fifth guide fixed pulley is arranged at a position where the telescopic rod and the first variable amplitude rigid rod are hinged;

[0019] The first parallel ropes are respectively matched with the first guide fixed pulley and the second guide fixed pulley, and the second parallel ropes are respectively matched with the third guide fixed pulley and the fourth guide fixed pulley.

[0020] Furthermore, the first support rod and the second support rod are both hinged to the telescopic rod, and a first joint motor is provided at the hinge;

[0021] The third support rod and the fourth support rod are both hinged to the second amplitude-changing rigid rod, and a second joint motor is arranged at the hinge.

[0022] Furthermore, the first joint motor and the second joint motor have the same structure. The first joint motor includes a motor housing, a motor stator, bolts, a motor rotor, and a hexagon socket stud; the motor housing of the first joint motor is fixedly connected to the telescopic rod by bolts, and the motor rotor is fixedly connected to the first support rod by a hexagon socket stud;

[0023] The motor housing of the second joint motor is fixedly connected to the second amplitude-changing rigid rod via bolts, and the motor rotor is fixedly connected to the third support rod via a hexagonal screw.

[0024] In a second aspect, the present invention further provides a working method of a large-space foldable star chart robot driven by multiple ropes in a coordinated manner, comprising:

[0025] S1. Expand the telescopic rod to a set height;

[0026] S2. The first joint motor and the second joint motor drive the first support rod and the third support rod respectively. After the first support rod and the third support rod are unfolded, the positions of the second support rod and the fourth support rod are controlled and fixed by the first middle support rod and the second middle support rod;

[0027] S3. The first parallel rope is tensioned and relaxed by the first rope deceleration device, and guided by the first guide fixed pulley and the second guide fixed pulley, thereby controlling the rotation of the first variable-length rigid rod; the second parallel rope is tensioned and relaxed by the second rope deceleration device, and guided by the third guide fixed pulley and the fourth guide fixed pulley, thereby controlling the rotation of the second variable-length rigid rod;

[0028] S4. According to the position of the heavy object, the first rope deceleration device, the second rope deceleration device and the rotating base cooperate with each other to reach the predetermined position of the heavy object, control the telescopic rod, the first variable amplitude rigid rod and the second variable amplitude rigid rod to adjust the height, the end actuator is ready to clamp the heavy object, then the first variable amplitude rigid rod and the second variable amplitude rigid rod adjust the height to lift the heavy object, the rotating base rotates to transport the heavy object to the specified position, the first variable amplitude rigid rod and the second variable amplitude rigid rod lower the height, slowly release the heavy object, and complete the lifting work of the heavy object.

[0029] Compared with the prior art, the present invention has the following advantages and positive effects:

[0030] The present invention provides a large-space foldable star chart robot driven by multi-rope cooperative means, which can complete precise remote operation tasks in a low-gravity space environment using a rigid-flexible coupling driving joint driven by multi-rope cooperative means, and solves the problems of material handling, facility hoisting, repair and maintenance, and facility replacement in the construction process of the fourth phase of the lunar scientific research station of the lunar exploration project. Its foldable performance solves the problem of large space occupied during transportation, and precise dynamic control of the multi-rope driving joints is achieved to realize precise control of the movements of various components of the hoisting robot. Through the coordinated control of a first rope deceleration device, a second rope deceleration device, a first joint motor, a second joint motor, etc., automatic control of the robot is realized, and the movements of various components can be precisely adjusted to improve the accuracy and efficiency of the hoisting operation.

[0031] The present invention can ensure that the space occupied during transportation is small by arranging the first support rod, the second support rod, the third support rod and the fourth support rod, and can effectively control the movement of the first variable-length rigid rod and the second variable-length rigid rod, while achieving a large load, thereby improving the practicability and performance of the equipment; when the end actuator does not clamp the object, the first guide wheel and the second guide wheel rotation axes of the first rope deceleration device and the second rope deceleration device are made to be parallel, the crossed ropes are brought close, and the friction force is used to control the rope moving load, thereby further optimizing the performance of the equipment under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 The overall structure diagram of the multi-rope cooperatively driven large-space foldable star chart robot of the present invention;

[0034] Figure 2 This is a structural diagram of the first rope deceleration device of the present invention;

[0035] Figure 3 This is a structural diagram of the first joint motor of the present invention;

[0036] Figure 4 This is a parallel rope winding path diagram of the present invention.

[0037] In the figure: 1, rotating base; 2, first rope deceleration device; 2-1, double-wheel rope winding wheel; 2-2, protective shell; 2-3, pin shaft seat; 2-4, deceleration device bracket; 2-5, first pin shaft; 2-6, first guide wheel; 2-7, deceleration device base; 2-8, third pin shaft; 2-9, second pin shaft; 2-10, second guide wheel; 3, second rope deceleration device; 4, first parallel rope; 5, second parallel rope; 6, telescopic sleeve; 7, telescopic rod; 8, fifth guide fixed pulley; 9, first guide fixed pulley; 10, first support rod; 11, first middle support rod; 12. Second support rod; 13. Second guide fixed pulley; 14. First variable amplitude rigid rod; 15. First joint motor; 15-1. Motor housing; 15-2. Motor stator; 15-3. Bolt; 15-4. Motor rotor; 15-5. Hexagon socket stud; 16. Second joint motor; 17. Third support rod; 18. Third guide fixed pulley; 19. Second middle support rod; 20. Second variable amplitude rigid rod; 21. Fourth guide fixed pulley; 22. Fourth support rod; 23. Robot arm bracket; 24. End effector; 25. Sensor bracket; 26. Visual sensor device. DETAILED DESCRIPTION

[0038] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0040] This embodiment provides a multi-rope cooperatively driven large-space foldable star table robot, such as Figure 1-Figure 3 As shown, it includes: a first variable amplitude rigid rod 14, a second variable amplitude rigid rod 20, a first parallel rope 4, a second parallel rope 5, a rotating base 1, and a first rope deceleration device 2 and a second rope deceleration device 3 installed on the base; a telescopic sleeve 6 is provided on the base, a telescopic rod 7 is provided in the telescopic sleeve 6, a first support rod 10 is vertically provided on the top of the telescopic rod 7, and a second support rod 12 is horizontally provided; the middle part of the telescopic rod 7 is hinged to one end of the first variable amplitude rigid rod 14, the other end of the first variable amplitude rigid rod 14 is hinged to one end of the second variable amplitude rigid rod 20, and the other end of the second variable amplitude rigid rod 20 is provided with an end effector 24 and a visual sensor device 26.

[0041] A sensor bracket 25 is provided between the second variable amplitude rigid rod 20 and the end effector 24 ; a manipulator bracket 23 is provided between the second variable amplitude rigid rod and the visual sensor device 26 .

[0042] The visual sensor device 26 is an important component of controlling the end effector 24. When the device determines that the work object is fully unfolded and fixed, the visual sensor device 26 starts working, judges the work location, and feeds back to the robot's center, and then plans the most appropriate work route, and finally hands it over to the end effector 24 to perform the work. The end effector 24 is an existing manipulator structure and will not be repeated here.

[0043] One end of the first parallel rope 4 is connected to the first rope deceleration device 2, and the other end of the first parallel rope 4 is connected to the end of the first variable amplitude rigid rod 14 close to the second variable amplitude rigid rod 20; one end of the second parallel rope 5 is connected to the second rope deceleration device 3, and the other end of the second parallel rope 5 is connected to the end of the second variable amplitude rigid rod 20 close to the end effector 24; the first parallel rope 4 and the second parallel rope 5 control the rotation direction of the first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20 through the guide fixed pulley group.

[0044] Further, the first rope deceleration device 2 includes a double-wheel rope reel 2-1, a deceleration device bracket 2-4, a first guide wheel 2-6 and a second guide wheel 2-10; the first guide wheel 2-6 and the second guide wheel 2-10 are respectively arranged at the lower part of the deceleration device bracket 2-4 through a first pin shaft 2-5 and a second pin shaft 2-9, and the axial directions of the first pin shaft 2-5 and the second pin shaft 2-9 are variable, the double-groove rope reel is arranged on the pin shaft seat 2-3 at the upper part of the deceleration device bracket 2-4 through a third pin shaft 2-8, and protective shells 2-2 are also arranged on both sides of the double-groove rope reel. A deceleration device base 2-7 is arranged below the deceleration device bracket 2-4, and the deceleration device base 2-7 is installed on the rotating base 1.

[0045] Furthermore, the double-wheel rope reel 2-1 of the first rope deceleration device 2 and the second rope deceleration device 3 are independently driven by a motor, thereby adjusting and controlling the rotation height of the first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20, and the rope reel paths of the first rope deceleration device 2 and the second rope deceleration device 3 are as follows: Figure 4 shown.

[0046] Furthermore, the rotating base 1 is a 360° rotating base 1, including a base, a gear and a bearing. The base and the gear are an integrated structure and are fixed to the corresponding basic equipment through the bearing. The base drives the gear to rotate through a rotating motor.

[0047] Further, the guide fixed pulley group includes a first guide fixed pulley 9, a second guide fixed pulley 13, a third guide fixed pulley 18 and a fourth guide fixed pulley 21; the first guide fixed pulley 9 and the second guide fixed pulley 13 are respectively arranged at the free ends of the first support rod 10 and the second support rod 12; the second variable amplitude rigid rod 20 is also provided with a bracket device, the bracket device includes a third support rod 17 and a fourth support rod 22, one end of the third support rod 17 is hinged to the second variable amplitude rigid rod 20, the third guide fixed pulley 18 is arranged at the other end of the third support rod 17, one end of the fourth support rod 22 is hinged to the second variable amplitude rigid rod 20, and the fourth guide fixed pulley 21 is arranged at the other end of the fourth support rod 22. A first middle support rod 11 is also arranged between the first support rod 10 and the second support rod 12; a second middle support rod 19 is arranged between the third support rod 17 and the fourth support rod 22; torsion springs are arranged in the first middle support rod 11 and the second middle support rod 19. The foldable mechanism, which is composed of the first support rod 10, the second support rod 12, the third support rod 17 and the fourth support rod 22, ensures that the space occupied during transportation is small, and can control the movement of the first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20, so that the performance is greatly improved and a large load can be achieved.

[0048] Further, the guide fixed pulley group further includes a fifth guide fixed pulley 8, and the fifth guide fixed pulley 8 is arranged at a position where the telescopic rod 7 and the first variable amplitude rigid rod 14 are hinged;

[0049] The first parallel ropes 4 cooperate with the first guide fixed pulley 9 and the second guide fixed pulley 13 respectively, and the second parallel ropes 5 cooperate with the third guide fixed pulley 18 and the fourth guide fixed pulley 21 respectively.

[0050] Furthermore, the first support rod 10 and the second support rod 12 are both hinged to the telescopic rod 7, and a first joint motor 15 is provided at the hinge;

[0051] The third support rod 17 and the fourth support rod 22 are both hinged to the second variable amplitude rigid rod 20 , and a second joint motor 16 is provided at the hinged position.

[0052] Furthermore, the first joint motor 15 and the second joint motor 16 have the same structure. The first joint motor 15 includes a motor housing 15-1, a motor stator 15-2, a bolt 15-3, a motor rotor 15-4, and a hexagonal stud 15-5; the motor housing 15-1 of the first joint motor 15 is fixedly connected to the telescopic rod 7 by the bolt 15-3, and the motor rotor 15-4 is fixedly connected to the first support rod 10 by the hexagonal stud 15-5;

[0053] The motor housing 15 - 1 of the second joint motor 16 is fixedly connected to the second amplitude-changing rigid rod 20 via a bolt 15 - 3 , and the motor rotor 15 - 4 is fixedly connected to the third support rod 17 via a hexagonal screw 15 - 5 .

[0054] The first rope deceleration device 2, the second rope deceleration device 3, the first joint motor 15, the second joint motor 16, the end effector 24 and the visual sensor device 26 are all connected to the control center of the robot for realizing automatic control of the robot.

[0055] This embodiment also provides a working method of a large-space foldable and deployable star chart robot driven by multiple ropes in a coordinated manner, including:

[0056] S1. Expand the telescopic rod 7 to a set height;

[0057] S2. The first joint motor 15 and the second joint motor 16 drive the first support rod 10 and the third support rod 17 respectively. After the first support rod 10 and the third support rod 17 are unfolded, the positions of the second support rod 12 and the fourth support rod 22 are controlled and fixed by the first middle support rod 11 and the second middle support rod 19;

[0058] S3. The first parallel rope 4 is tensioned and relaxed by the first rope deceleration device 2, and the first guide fixed pulley 9 and the second guide fixed pulley 13 are used to guide, thereby controlling the rotation of the first variable-length rigid rod 14; the second parallel rope 5 is tensioned and relaxed by the second rope deceleration device 3, and the third guide fixed pulley 18 and the fourth guide fixed pulley 21 are used to guide, thereby controlling the rotation of the second variable-length rigid rod 20;

[0059] S4. According to the position of the heavy object, the first rope deceleration device 2, the second rope deceleration device 3 and the rotating base 1 cooperate with each other to reach the predetermined position of the heavy object, control the telescopic rod 7, the first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20 to adjust the height, and the end effector 24 is ready to clamp the heavy object. Then the first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20 adjust the height to lift the heavy object, and the rotating base 1 rotates to transport the heavy object to the specified position. The first variable amplitude rigid rod 14 and the second variable amplitude rigid rod 20 lower the height and slowly release the heavy object to complete the lifting work of the heavy object.

[0060] When no object is clamped on the end effector 24, the rotation axes of the first guide wheel 2-6 and the second guide wheel 2-10 of the first rope deceleration device 2 approach a parallel state, so that the crossed first parallel ropes 4 are close to each other, and the moving load of the ropes is controlled by friction;

[0061] The rotation axes of the first guide wheel 2-6 and the second guide wheel 2-10 of the second rope deceleration device 3 are close to a parallel state, so that the crossed second parallel ropes 5 are close to each other, and the moving load of the ropes is controlled by friction.

[0062] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A multi-rope cooperatively driven large-space foldable star chart robot, characterized in that: include: A first variable amplitude rigid rod, a second variable amplitude rigid rod, a first parallel rope, a second parallel rope, a rotating base, and a first rope deceleration device and a second rope deceleration device installed on the rotating base; a telescopic sleeve is provided on the base, a telescopic rod is provided in the telescopic sleeve, a first support rod is vertically provided on the top of the telescopic rod, and a second support rod is horizontally provided; the middle part of the telescopic rod is hinged to one end of the first variable amplitude rigid rod, the other end of the first variable amplitude rigid rod is hinged to one end of the second variable amplitude rigid rod, and the other end of the second variable amplitude rigid rod is provided with an end effector and a visual sensor device; One end of the first parallel rope is connected to the first rope deceleration device, and the other end of the first parallel rope is connected to the end of the first variable amplitude rigid rod close to the second variable amplitude rigid rod; one end of the second parallel rope is connected to the second rope deceleration device, and the other end of the second parallel rope is connected to the end of the second variable amplitude rigid rod close to the end effector; The first parallel ropes and the second parallel ropes control the rotation direction of the first luffing rigid rod and the second luffing rigid rod through a guide fixed pulley set.

2. A multi-rope cooperatively driven large-space foldable star chart robot as claimed in claim 1, characterized in that: The first rope deceleration device and the second rope deceleration device have the same structure, and the first rope deceleration device includes a double-wheel rope reel, a deceleration device bracket, a first guide wheel and a second guide wheel; the first guide wheel and the second guide wheel are respectively arranged at the lower part of the deceleration device bracket through a first pin shaft and a second pin shaft, and the axis directions of the first pin shaft and the second pin shaft are variable, the double-groove rope reel is arranged at the upper part of the deceleration device bracket through a third pin shaft, and protective shells are also arranged on both sides of the double-groove rope reel. A deceleration device base is arranged below the deceleration device bracket, and the deceleration device base is installed on the rotating base.

3. A multi-rope cooperatively driven large space foldable star chart robot as claimed in claim 1, characterized in that: The double-wheel rope reel of the first rope deceleration device and the second rope deceleration device are independently driven by motors.

4. A multi-rope cooperatively driven large-space foldable star chart robot as claimed in claim 1, characterized in that: The rotating base is a 360° rotating base, including a base, a gear and a bearing. The base and the gear are an integrated structure and are fixed to the corresponding basic equipment through the bearing. The base drives the gear to rotate through a rotating motor.

5. A multi-rope cooperatively driven large-space foldable star chart robot as claimed in claim 1, characterized in that: The guide fixed pulley group includes a first guide fixed pulley, a second guide fixed pulley, a third guide fixed pulley and a fourth guide fixed pulley; the first guide fixed pulley and the second guide fixed pulley are respectively arranged at the free ends of the first support rod and the second support rod; A support device is also provided on the second variable-length rigid rod, and the support device includes a third support rod and a fourth support rod, one end of the third support rod is hinged to the second variable-length rigid rod, and the third guide fixed pulley is arranged at the other end of the third support rod, one end of the fourth support rod is hinged to the second variable-length rigid rod, and the fourth guide fixed pulley is arranged at the other end of the fourth support rod.

6. A multi-rope cooperatively driven large-space foldable star chart robot as claimed in claim 5, characterized in that: A first middle support rod is further provided between the first support rod and the second support rod; a second middle support rod is provided between the third support rod and the fourth support rod; Torsion springs are arranged in the first center support rod and the second center support rod.

7. A multi-rope cooperatively driven large space foldable star chart robot as claimed in claim 5, characterized in that: The guide fixed pulley group further includes a fifth guide fixed pulley, and the fifth guide fixed pulley is arranged at a position where the telescopic rod and the first variable amplitude rigid rod are hinged; The first parallel ropes are respectively matched with the first guide fixed pulley and the second guide fixed pulley, and the second parallel ropes are respectively matched with the third guide fixed pulley and the fourth guide fixed pulley.

8. A multi-rope cooperatively driven large-space foldable star chart robot as claimed in claim 5, characterized in that: The first support rod and the second support rod are both hinged to the telescopic rod, and a first joint motor is provided at the hinge; The third support rod and the fourth support rod are both hinged to the second amplitude-changing rigid rod, and a second joint motor is arranged at the hinge.

9. A multi-rope cooperatively driven large space foldable star chart robot as claimed in claim 7, characterized in that: The first joint motor and the second joint motor have the same structure. The first joint motor includes a motor housing, a motor stator, bolts, a motor rotor, and a hexagonal screw. The motor housing of the first joint motor is fixedly connected to the telescopic rod by bolts, and the motor rotor is fixedly connected to the first support rod by a hexagonal screw. The motor housing of the second joint motor is fixedly connected to the second amplitude-changing rigid rod via bolts, and the motor rotor is fixedly connected to the third support rod via a hexagonal screw.

10. A working method of a large-space foldable and deployable star-table robot driven by multiple ropes in a coordinated manner as claimed in any one of claims 1 to 9, characterized in that: include: S1. Expand the telescopic rod to a set height; S2. The first joint motor and the second joint motor drive the first support rod and the third support rod respectively. After the first support rod and the third support rod are unfolded, the positions of the second support rod and the fourth support rod are controlled and fixed by the first middle support rod and the second middle support rod; S3. The first parallel rope is tensioned and relaxed by the first rope deceleration device, and guided by the first guide fixed pulley and the second guide fixed pulley, thereby controlling the rotation of the first variable-length rigid rod; the second parallel rope is tensioned and relaxed by the second rope deceleration device, and guided by the third guide fixed pulley and the fourth guide fixed pulley, thereby controlling the rotation of the second variable-length rigid rod; S4. According to the position of the heavy object, the first rope deceleration device, the second rope deceleration device and the rotating base cooperate with each other to reach the predetermined position of the heavy object, control the telescopic rod, the first variable amplitude rigid rod and the second variable amplitude rigid rod to adjust the height, the end actuator is ready to clamp the heavy object, then the first variable amplitude rigid rod and the second variable amplitude rigid rod adjust the height to lift the heavy object, the rotating base rotates to transport the heavy object to the specified position, the first variable amplitude rigid rod and the second variable amplitude rigid rod lower the height, slowly release the heavy object, and complete the lifting work of the heavy object.

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