Multi-limb space mechanical arm with multiple movement modes and operation capacity

Abstract

The invention discloses a multi-limb space mechanical arm with multiple movement modes and operation capacity. The multi-limb space mechanical arm is designed for solving the problems that in a space scene, operation tasks are diversified, the operation space is complex, and the requirements for movement flexibility and operation adaptability of the mechanical arm are high. The mechanical arm adopts a four-mechanical-arm structure, has the structural characteristics of multiple limbs, modularization, low inertia and foldability, and is flexible to control and high in adaptability; the robot has multiple movement modes including independent operation, two-limb matched movement, three-limb matched movement and the mode that the tail ends of four arms intersect at one point to form a sphere, and different space movement requirements are met. And meanwhile, the robot has rich operation capabilities, can realize the operation modes of cooperative operation of a single arm and a camera, cooperative operation of double arms and the camera and automatic replacement of an end effector, can accurately adapt to various operation tasks in a space scene, is wide in operation range and high in efficiency, and can stably complete diversified operation in a space environment.

Description

Technical Field

[0001] This invention belongs to the field of space robotic arm technology and is a multi-limb space robotic arm with multiple motion modes and operational capabilities. Background Technology

[0002] With the rapid development of space exploration technology, space robotic arms, as key equipment in space missions, have become a research hotspot in the scientific research field. With their advantages in automated operation, they are widely used in scenarios such as spacecraft maintenance and space payload handling, providing important support for the implementation of complex space missions.

[0003] However, existing space robotic arms generally suffer from insufficient mobility and limited adaptability. Most adopt a single-arm or dual-arm structure, with a single movement mode, making it difficult to adapt to complex and ever-changing space operation environments. At the same time, their operation capabilities are relatively limited, lacking multi-limb collaborative operation mechanisms, and the end effector is inconvenient to replace, making it impossible to efficiently complete diverse space operation tasks, which greatly restricts their promotion and application in space scenarios.

[0004] To address the aforementioned issues, this invention designs a multi-limb spatial robotic arm with multiple motion modes and operational capabilities. It adopts a four-arm modular structure, featuring foldable and low inertia characteristics. Through multiple motion modes and collaborative operation capabilities, it accurately adapts to spatial scenario requirements, effectively solving the application limitations of existing robotic arms. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-limb spatial robotic arm with multiple motion modes and operational capabilities, including a robotic arm structure A (1), a quick-change structure (2), a robotic arm main body structure (3), a detection device (4), and a gripper (5). Specifically, a multi-limb robotic arm adapted to complex spatial scenarios is designed to address the issues of diverse operational tasks and complex operational spaces in spatial scenarios, which place high demands on the flexibility of robotic arm movement and operational adaptability. It adopts a four-arm structure and has modular, low inertia, and foldable structural characteristics. It has multiple motion modes, such as individual operation, multi-limb coordinated movement, and the four arms converging at a point to form a sphere. It has operational capabilities such as single-arm operation in conjunction with the detection device, dual-arm operation in conjunction with the detection device, and self-replacement of the end effector, achieving precise adaptation to various operational tasks in spatial scenarios, with a wide operational range and high efficiency.

[0006] Specifically, the robotic arm structure A (1) includes: motor module a (1-1), base connecting cylinder (1-2), shoulder joint (1-3), link 1 (1-4), elbow joint (1-5), wrist joint (1-6), link 2 (1-7), end joint (1-8), motor a (1-9), end cap (1-10), bearing (1-11), drive shaft 1 (1-12), robotic arm B (1-13), robotic arm C (1-14), and robotic arm D (1-15).

[0007] The shoulder joint (1-3) specifically includes: shoulder joint base (1-3-1), motor module b (1-3-2), and connecting rod connecting cylinder a (1-3-3).

[0008] The connection relationships between the various components are as follows: Motor module a (1-1) is rigidly fixed to the shoulder joint base (1-3-1) through a bracket, providing driving force for the rotation of the entire robotic arm base; Motor module b (1-3-2) is fixed to the shoulder joint base (1-3-1) through bolts, forming the rotational movement of the shoulder joint; The shoulder joint base (1-3-1) is rigidly connected to the base connecting cylinder (1-2) by high-strength bolts; The connecting rod connecting cylinder a (1-3-3) is rigidly fixed to the motor module b (1-3-2) through a bracket, ensuring the rotation of the shoulder joint; The connecting rod 1 (1-4) is rigidly connected to the connecting rod connecting cylinder a (1-3-3) through four evenly distributed bolts;

[0009] The elbow joint (1-5) specifically includes: bevel gear a (1-5-1), bevel gear b (1-5-2), drive shaft 2 (1-5-3), connecting rod connecting cylinder b (1-5-4), and right-angle cylinder (1-5-5).

[0010] The connection relationships between the components are as follows: the connecting rod connecting cylinder b (1-5-4) is rigidly connected to the connecting rod 1 (1-4) by four evenly distributed bolts; the motor a (1-9) is fixed to the bracket of the connecting rod 1 (1-4) by bolts; the end cap (1-10) is fixed inside the connecting rod 1 (1-4) by bolts, and works with the bearing (1-11) to achieve axial positioning of the transmission shaft 1 (1-12); the transmission shaft 1 (1-12) is connected to the bevel gear a (1-5-1) by a key; the transmission shaft 2 (1-5-3) is also connected to the bevel gear b (1-5-2) by a key; the transmission shaft 2 (1-5-3) is rigidly fixed to the right-angle cylinder (1-5-5) to ensure that the bevel gear transmission can achieve the rotation of the elbow joint; the connecting rod connecting cylinder b (1-5-4) and the connecting rod 1 (1-4) are connected by a threaded self-locking fit, which can realize the modular assembly and disassembly of the elbow joint, wrist joint and end joint;

[0011] The wrist joint (1-6) specifically includes: motor b (1-6-1), motor c (1-6-2), motor d (1-6-3), small cylindrical gear a (1-6-4), small cylindrical gear b (1-6-5), small cylindrical gear c (1-6-6), large cylindrical gear a (1-6-7), large cylindrical gear b (1-6-8), large cylindrical gear c (1-6-9), drive shaft 3 (1-6-10), drive shaft 4 (1-6-11), and drive shaft 5 (1-6-12);

[0012] The connection relationships between the components are as follows: connecting rod 2 (1-7) is rigidly connected to the right-angle cylinder (1-5-5) by four evenly distributed bolts; motors b (1-6-1), c (1-6-2), and d (1-6-3) are fixed to the bracket inside connecting rod 2 (1-7) by bolts; small cylindrical gears a (1-6-4), b (1-6-5), and c (1-6-6) are connected to motors b (1-6-1), c (1-6-2), and d (1-6-3) by keys. The large cylindrical gear a (1-6-7) is connected to the drive shaft 3 (1-6-10) via a key, ensuring meshing between the cylindrical gears; the large cylindrical gear b (1-6-8) is connected to the drive shaft 4 (1-6-11) via a key, ensuring meshing between the cylindrical gears; the large cylindrical gear c (1-6-9) is connected to the drive shaft 5 (1-6-12) via a key, ensuring meshing between the cylindrical gears; the drive shafts 3 (1-6-10), 4 (1-6-11), and 5 (1-6-12) are concentric.

[0013] The end joint (1-8) specifically includes: connecting rod 3a (1-8-1), connecting rod 3b (1-8-2), connecting rod connecting sleeve c (1-8-3), connecting rod 3c (1-8-4), connecting rod 3d (1-8-5), connecting rod connecting sleeve d (1-8-6), bevel gear c (1-8-7), bevel gear d (1-8-8), bevel gear e (1-8-9), bevel gear f (1-8-10), drive shaft 6 (1-8-11), large cylindrical gear d (1-8-12), large cylindrical gear e (1-8-13), drive shaft 7 (1-8-14), large cylindrical gear f (1-8-15), drive shaft 8 (1-8-16), bevel gear g (1-8-17), bevel gear h (1-8-18), and drive shaft 9 (1-8-19).

[0014] The connection relationships between the components are as follows: Connecting rod 3a (1-8-1) and connecting rod 3b (1-8-2) are connected by a threaded drive shaft 7 (1-8-14), ensuring the shaft is fixed while achieving rigid fixation between the two connecting rods. When disassembling, the drive shaft 7 (1-8-14) will follow connecting rod 3b (1-8-2), enabling modular assembly and disassembly; Connecting rod connecting cylinder c (1-8-3) is rigidly fixed to drive shaft 3 (1-6-10), meaning that the rotation of drive shaft 3 (1-6-10) can drive the connecting cylinder c (1-8-3) to rotate, realizing the rotational movement of the joint; Connecting rod 3a (1-8-1) and connecting rod 3c (1-8-3) are connected by drive shaft 6 (1-8-11); The connection principle of connecting rod 3c (1-8-4) and connecting rod 3d (1-8-5) is as follows. Similar to connecting rods 3a (1-8-1) and 3b (1-8-2); connecting rods 3b (1-8-2) and 3d (1-8-5) are connected to connecting rod connecting cylinder d (1-8-6) via transmission shaft 9 (1-8-19); large cylindrical gear d (1-8-12) is connected to transmission shaft 6 (1-8-11) via a key; large cylindrical gear e (1-8-13) is axially fixed via transmission shaft 7 (1-8-14) to achieve meshing with the other two cylindrical gears; large cylindrical gear f (1-8-15) is connected to transmission shaft 8 (1-8-16) via a key; bevel gear g (1-8-17) is connected to transmission shaft 8 (1-8-16) via a key; bevel gear h (1-8-18) is connected to transmission shaft 9 (1-8-19) via a key to ensure meshing between bevel gears;

[0015] The quick-change structure (2) includes: quick-change structure A (2-1) and quick-change structure B (2-2).

[0016] The connection relationship between the components is as follows: quick-change structure A (2-1) and quick-change structure B (2-2) can be fitted together to achieve quick installation and quick disassembly;

[0017] The quick-change structure A (2-1) specifically includes: connecting flange A (2-1-1), top plate (2-1-2), electrical connector A (2-1-3), steel ball (2-1-4), end cover A shaft (2-1-5), and end cover A (2-1-6);

[0018] The connection relationships between the various components are as follows: connecting flange A (2-1-1) is connected to top plate (2-1-2) by screws; electrical connector A (2-1-3) is connected to connecting flange A (2-1-1) by screws; top plate is connected to end cover A shaft (2-1-5) by screws; end cover A (2-1-6) is connected to connecting flange A (2-1-1) by screws; steel ball (2-1-4) forms a clearance fit with end cover A (2-1-6);

[0019] The quick-change structure B (2-2) specifically includes: connecting flange B (2-2-1), end cap B (2-2-2), and electrical connector B (2-2-3);

[0020] The connection relationships between the components are as follows: end cap B (2-2-2) is connected to connecting flange B (2-2-1) by screws; electrical connector B (2-2-3) is connected to connecting flange B (2-2-1) by screws;

[0021] The main structure of the robotic arm (3) specifically includes: the main body (3-1) and the connecting cylinder (3-2);

[0022] The connection relationship between the components is as follows: the connecting cylinder (3-2) is connected to the main body (3-1) by bolts; thus, the connecting cylinder (3-2) connects the quick-change structure B (2-2) to the main body (3-1), realizing quick disassembly and quick assembly of the main body structure and the overall structure of the robotic arm.

[0023] The advantages of this invention are:

[0024] 1. This invention proposes a multi-limb spatial robotic arm with multiple motion modes and operational capabilities. The robotic arm adopts a multi-limb spatial robotic arm architecture, which combines modularity, low inertia design and folding and unfolding functions. It can flexibly adapt to complex application scenarios such as narrow areas inside the space cabin and open environments outside the cabin, and matches the diverse scenario requirements of space missions from a structural level.

[0025] 2. The multi-limb spatial robotic arm of the present invention has multiple motion modes and operational capabilities. Its modular architecture facilitates the rapid replacement of faulty parts and expansion of functional modules in the space environment. Its folding design can reduce the transportation volume to reduce launch costs, while simplifying the on-orbit assembly process and significantly improving operation and maintenance and deployment efficiency.

[0026] 3. The multi-limb spatial robotic arm of the present invention has multiple motion modes and operational capabilities. The motion modes are flexible and diverse: it supports independent operation of a single limb, coordinated movement of two limbs, and cooperative operation of three limbs. It can also be formed into a spherical configuration by converging the ends of four limbs to accurately match the motion requirements of different working conditions in spatial tasks.

[0027] 4. The multi-limb spatial robotic arm of the present invention has multiple motion modes and operational capabilities, with comprehensive and diverse operational capabilities: it has the ability to operate independently with a single arm and a detection device, and to operate collaboratively with a dual arm and a detection device. It also supports autonomous replacement of the end effector, effectively expanding the coverage of tasks such as space exploration and equipment maintenance. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the multi-limb spatial robotic arm in this invention;

[0029] Figure 2 This is a schematic diagram of one of the robotic arms in the multi-limb spatial robotic arm of the present invention;

[0030] Figure 3 This is a top view of one of the robotic arms in the multi-limb spatial robotic arm of the present invention;

[0031] Figure 4 This is a perspective view of the wrist joint of the multi-limb spatial robotic arm in this invention;

[0032] Figure 5 This is a schematic diagram of the wrist joint of the multi-limb spatial robotic arm in this invention;

[0033] Figure 6 This is a top view of the end joints and wrist joints of the multi-limb spatial robotic arm in this invention;

[0034] Figure 7 This is a perspective view of the end joint of the multi-limb spatial robotic arm in this invention;

[0035] Figure 8 This is a schematic diagram of the quick-change structure of the multi-limb spatial robotic arm in this invention;

[0036] Figure 9 , Figure 10 This is a schematic diagram of the quick-change structure A of the multi-limb spatial robotic arm in this invention;

[0037] Figure 11 This is a schematic diagram of the quick-change structure B of the multi-limb spatial robotic arm in this invention;

[0038] Figure 12 This is a schematic diagram of the main structure of the multi-limb spatial robotic arm in this invention;

[0039] Figure 13 This is a schematic diagram of the multi-limb spatial robotic arm performing single-arm and detection operations at a fixed position in this invention;

[0040] Figure 14 This is a schematic diagram of the multi-limb spatial robotic arm performing dual-arm and detection operations in a fixed position in this invention;

[0041] Figure 15 This is a schematic diagram of the multi-limb spatial robotic arm performing single-arm and detection operations during movement in this invention;

[0042] Figure 16 This is a schematic diagram of the multi-limb spatial robotic arm performing a detection operation during movement in this invention. Detailed Implementation

[0043] The present invention will now be described with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0044] Example 1

[0045] Reference Figure 1 The present invention provides a multi-limb spatial robotic arm with multiple motion modes and operational capabilities, comprising a robotic arm structure A (1), a quick-change structure (2), a robotic arm main body structure (3), a detection device (4), and a gripper (5).

[0046] This invention features four robotic arms that are foldable and have low inertia at their end joints, enabling them to operate in multiple modes: (See reference) Figure 13 The quick-change structure A (2-1) of the robotic arm structure D (1-15) cooperates with the quick-change structure B (2-2) fixed on the spatial ground to realize the fixation of the multi-limb spatial robotic arm in different positions; refer to Figure 15 Multiple quick-change structures B (2-2) are fixed at different positions on the spatial ground. Through the cooperation of robotic arm structure A (1) and robotic arm D (1-15), they are assembled and disassembled with the quick-change structures B (2-2) at different positions on the spatial ground, achieving coordinated movement of both arms; (Refer to...) Figure 16 Multiple quick-change structures B (2-2) are fixed at different positions on the space ground. The robotic arm structure A (1), robotic arm C (1-14) and robotic arm D (1-15) cooperate with each other to assemble and disassemble with the quick-change structures B (2-2) at different positions on the space ground. The end of the robotic arm B (1-13) is equipped with a detection device (4) to realize the coordinated movement of the three arms and to detect the space environment. The ends of the four robotic arms can converge at one point to improve the structural stability and motion adaptability.

[0047] Each robotic arm of this invention is equipped with a quick-change structure (2) at its end. The quick-change structure A (2-1) can be fitted with different end effectors, providing multiple operational capabilities: see reference. Figure 13 The robotic arm structure A (1) is equipped with a gripper (5), and the robotic arm B (1-13) is equipped with a detection device (4), which can realize detection and single-arm operation in a fixed position; refer to Figure 15 The robotic arm structure C (1-14) is equipped with a gripper (5), the robotic arm B (1-13) is equipped with a detection device, and the robotic arm structure A (1) and the robotic arm D (1-15) cooperate to move together, realizing detection and single-arm operation while moving; refer to Figure 14The robotic arm structure A (1) and robotic arm C (1-14) are simultaneously equipped with grippers (5), robotic arm B (1-13) is equipped with a detection device, and robotic arm D (1-15) is fixed to the quick-change structure B (2-2) on the ground, enabling detection and dual-arm operation at a fixed position; when operating at a fixed position, the robotic arm structure A (1) is equipped with grippers (5), which grip the quick-change structure B (2-2) of robotic arm C (1-14), and can... The robotic arm C (1-14) can be quickly assembled and disassembled; the gripper (5) of the robotic arm structure A (1) holds the quick-change structure B (2-2) at the end joint of the robotic arm C (1-14), which can realize the replacement of the end actuator of the robotic arm C (1-14); the gripper (5) of the robotic arm structure A (1) holds the quick-change structure B (2-2) at the shoulder joint of the robotic arm C (1-14), which can realize the assembly and disassembly of the robotic arm C (1-14);

[0048] Reference Figure 2 , Figure 3 , Figure 4 , Figure 6 A robotic arm structure A (1) with multiple motion modes and operational capabilities for a multi-limb spatial robotic arm includes: a motor module a (1-1), a base connecting cylinder (1-2), a shoulder joint (1-3), a connecting rod 1 (1-4), an elbow joint (1-5), a wrist joint (1-6), a connecting rod 2 (1-7), an end joint (1-8), a motor a (1-9), an end cap (1-10), a bearing (1-11), and a transmission shaft 1 (1-12). The robotic arm structure A (1) is a six-degree-of-freedom structure, which can flexibly realize arbitrary position and posture adjustment in three-dimensional space, ensuring that it can be folded and unfolded in space, and has both high-precision operation capability and strong environmental adaptability. It can efficiently complete complex spatial manipulation tasks, thereby ensuring that the multi-limb spatial robotic arm can cooperate with each other through different robotic arms. The drive motors of the shoulder joint (1-3) and the wrist joint (1-6) are arranged at the end of the connecting rod inside the robotic arm structure A (1), ensuring low inertia of each joint of the robotic arm, making the joint movement of the robotic arm more flexible.

[0049] Reference Figure 4 , Figure 5 , Figure 6 , Figure 7Small cylindrical gear c (1-6-6) meshes with large cylindrical gear c (1-6-9); small cylindrical gear b (1-6-5) meshes with large cylindrical gear b (1-6-8); small cylindrical gear a (1-6-4) meshes with large cylindrical gear a (1-6-7); bevel gear d (1-8-8) meshes with bevel gear f (1-8-10); bevel gear c (1-8-7) meshes with bevel gear e (1-8-9); large cylindrical gear d (1-8-12) meshes with large cylindrical gear e (1-8-13); large cylindrical gear e (1-8-13) meshes with large cylindrical gear f (1-8-13). 1-8-15) meshes with bevel gear g (1-8-17) and bevel gear h (1-8-18), so motor d (1-6-3) can drive large cylindrical gear c (1-6-9) to rotate, thereby driving transmission shaft 3 (1-6-10) and connecting rod connecting cylinder c (1-8-3) to rotate; similarly, motor b (1-6-1) can drive bevel gear c (1-8-7) to rotate, and motor c (1-6-2) can drive bevel gear e (1-8-9) to rotate. Through the meshing between different gears and the coordinated rotation between the three motors, the rotation of the end joint in three degrees of freedom can be realized.

Claims

1. A multi-limb spatial robotic arm with multiple motion modes and operational capabilities, characterized in that: It includes robotic arm structure A (1), quick-change structure (2), robotic arm main body structure (3), detection device (4) and gripper (5); The robotic arm structure A (1) includes: motor module a (1-1), base connecting cylinder (1-2), shoulder joint (1-3), link 1 (1-4), elbow joint (1-5), wrist joint (1-6), link 2 (1-7), end joint (1-8), motor a (1-9), end cap (1-10), bearing (1-11), drive shaft 1 (1-12), robotic arm B (1-13), robotic arm C (1-14), and robotic arm D (1-15); The shoulder joint (1-3) includes: shoulder joint base (1-3-1), motor module b (1-3-2), and connecting rod connecting cylinder a (1-3-3). Motor module a (1-1) is rigidly fixed to the shoulder joint base (1-3-1) via a bracket, providing driving force for the rotation of the entire robotic arm base; motor module b (1-3-2) is fixed to the shoulder joint base (1-3-1) via bolts, forming the rotational movement of the shoulder joint; the shoulder joint base (1-3-1) is rigidly connected to the base connecting cylinder (1-2) by high-strength bolts; the connecting rod connecting cylinder a (1-3-3) is rigidly fixed to motor module b (1-3-2) via a bracket, ensuring the rotation of the shoulder joint; connecting rod 1 (1-4) is rigidly connected to the connecting rod connecting cylinder a (1-3-3) via four evenly distributed bolts; The elbow joint (1-5) includes: bevel gear a (1-5-1), bevel gear b (1-5-2), drive shaft 2 (1-5-3), connecting rod connecting sleeve b (1-5-4), and right-angle sleeve (1-5-5); the connecting rod connecting sleeve b (1-5-4) is rigidly connected to the connecting rod 1 (1-4) by four evenly distributed bolts; the motor a (1-9) is fixed to the bracket of the connecting rod 1 (1-4) by bolts; the end cap (1-10) is fixed inside the connecting rod 1 (1-4) by bolts, and works in conjunction with the bearing (1-11). The axial positioning of drive shaft 1 (1-12) is achieved; drive shaft 1 (1-12) is connected to bevel gear a (1-5-1) via a key; drive shaft 2 (1-5-3) is connected to bevel gear b (1-5-2) via a key; drive shaft 2 (1-5-3) is rigidly fixed to right-angle cylinder (1-5-5) to ensure that the bevel gear transmission enables the rotation of the elbow joint; the connecting rod connecting cylinder b (1-5-4) and connecting rod 1 (1-4) are connected by a threaded self-locking fit to achieve modular assembly and disassembly of the elbow joint, wrist joint and end joint; The wrist joint (1-6) specifically includes: motor b (1-6-1), motor c (1-6-2), motor d (1-6-3), small cylindrical gear a (1-6-4), small cylindrical gear b (1-6-5), small cylindrical gear c (1-6-6), large cylindrical gear a (1-6-7), large cylindrical gear b (1-6-8), large cylindrical gear c (1-6-9), drive shaft 3 (1-6-10), drive shaft 4 (1-6-11), and drive shaft 5 (1-6-12); connecting rod 2 (1-7) is rigidly connected to the right-angle cylinder (1-5-5) by four evenly distributed bolts; motor b (1-6-1), motor c (1-6-2), and motor d (1-6-3) are fixed to the bracket inside the connecting rod 2 (1-7) by bolts; small cylindrical gear Gear a (1-6-4), small cylindrical gear b (1-6-5), and small cylindrical gear c (1-6-6) are connected to motor b (1-6-1), motor c (1-6-2), and motor d (1-6-3) via keys; large cylindrical gear a (1-6-7) is connected to drive shaft 3 (1-6-10) via a key to ensure meshing between the cylindrical gears; large cylindrical gear b (1-6-8) is connected to drive shaft 4 (1-6-11) via a key to ensure meshing between the cylindrical gears; large cylindrical gear c (1-6-9) is connected to drive shaft 5 (1-6-12) via a key to ensure meshing between the cylindrical gears; drive shafts 3 (1-6-10), 4 (1-6-11), and 5 (1-6-12) are concentric. The end joints (1-8) specifically include: connecting rod 3a (1-8-1), connecting rod 3b (1-8-2), connecting rod connecting sleeve c (1-8-3), connecting rod 3c (1-8-4), connecting rod 3d (1-8-5), connecting rod connecting sleeve d (1-8-6), bevel gear c (1-8-7), bevel gear d (1-8-8), bevel gear e (1-8-9), bevel gear f (1-8-10), drive shaft 6 (1-8-11), large cylindrical gear d (1-8-12), and large cylindrical gear e. (1-8-13), drive shaft 7 (1-8-14), large cylindrical gear f (1-8-15), drive shaft 8 (1-8-16), bevel gear g (1-8-17), bevel gear h (1-8-18), drive shaft 9 (1-8-19); connecting rod 3a (1-8-1) and connecting rod 3b (1-8-2) are connected by a threaded drive shaft 7 (1-8-14), ensuring that the shaft is fixed while achieving rigid fixation between the two connecting rods. When disassembling, drive shaft 7 (1-8-13), drive shaft 7 (1-8-14) is used to fix the shaft. -14) It will follow the connecting rod 3b (1-8-2) to achieve modular assembly and disassembly; the connecting rod connecting cylinder c (1-8-3) is rigidly fixed to the drive shaft 3 (1-6-10), that is, the drive shaft 3 (1-6-10) can drive the connecting rod connecting cylinder c (1-8-3) to rotate while rotating, so as to realize the rotational movement of the joint; the connecting rod 3a (1-8-1) and the connecting rod 3c (1-8-3) are connected by the drive shaft 6 (1-8-11); the connecting rod 3c (1-8-4) and the connecting rod 3d (1-8-5) are connected by the drive shaft 6 (1-8-11); The connection principle of the connecting rod is the same as that of the connecting rod 3a (1-8-1) and the connecting rod 3b (1-8-2); the connecting rod 3b (1-8-2), the connecting rod 3d (1-8-5) and the connecting rod connecting cylinder d (1-8-6) are connected through the transmission shaft 9 (1-8-19); the large cylindrical gear d (1-8-12) is connected to the transmission shaft 6 (1-8-11) through a key; the large cylindrical gear e (1-8-13) is axially fixed through the transmission shaft 7 (1-8-14) to achieve meshing with the other two cylindrical gears; The large cylindrical gear f (1-8-15) is connected to the drive shaft 8 (1-8-16) via a key; the bevel gear g (1-8-17) is connected to the drive shaft 8 (1-8-16) via a key; the bevel gear h (1-8-18) is connected to the drive shaft 9 (1-8-19) via a key, ensuring the meshing between the bevel gears; The quick-change structure (2) includes: quick-change structure A (2-1) and quick-change structure B (2-2), wherein quick-change structure A (2-1) and quick-change structure B (2-2) cooperate to achieve quick installation and quick disassembly; The quick-change structure A (2-1) specifically includes: connecting flange A (2-1-1), top plate (2-1-2), electrical connector A (2-1-3), steel ball (2-1-4), end cover A shaft (2-1-5), and end cover A (2-1-6); connecting flange A (2-1-1) is connected to top plate (2-1-2) by screws; electrical connector A (2-1-3) is connected to connecting flange A (2-1-1) by screws; top plate is connected to end cover A shaft (2-1-5) by screws; end cover A (2-1-6) is connected to connecting flange A (2-1-1) by screws; steel ball (2-1-4) and end cover A (2-1-6) form a clearance fit; The quick-change structure B (2-2) includes: a connecting flange B (2-2-1), an end cap B (2-2-2), and an electrical connector B (2-2-3); the end cap B (2-2-2) is connected to the connecting flange B (2-2-1) by screws; the electrical connector B (2-2-3) is connected to the connecting flange B (2-2-1) by screws. The main structure (3) of the robotic arm includes a main body (3-1) and a connecting cylinder (3-2); the connecting cylinder (3-2) is connected to the main body (3-1) by bolts; the connecting cylinder (3-2) connects the quick-change structure B (2-2) to the main body (3-1) to realize quick disassembly and quick assembly of the main structure and the overall structure of the robotic arm.

2. The multi-limb spatial robotic arm with multiple motion modes and operational capabilities according to claim 1, characterized in that, The robotic arm adopts a multi-limb spatial robotic arm architecture. The robotic arm structure A (1) is a six-degree-of-freedom structure. Inside the robotic arm structure A (1), the drive motors of the shoulder joint (1-3) and wrist joint (1-6) are arranged at the end of the link to ensure low inertia of each joint of the robotic arm and make the joint movement of the robotic arm flexible.

3. The multi-limb spatial robotic arm with multiple motion modes and operational capabilities according to claim 1, characterized in that, When working in a fixed position, the robotic arm structure A (1) is equipped with a gripper (5), which holds the quick-change structure B (2-2) of the robotic arm C (1-14) to realize the quick assembly and disassembly of the robotic arm C (1-14); the gripper (5) of the robotic arm structure A (1) holds the quick-change structure B (2-2) at the end joint of the robotic arm C (1-14) to realize the replacement of the end actuator of the robotic arm C (1-14); the gripper (5) of the robotic arm structure A (1) holds the quick-change structure B (2-2) at the shoulder joint of the robotic arm C (1-14) to realize the assembly and disassembly of the robotic arm C (1-14).

4. The multi-limb spatial robotic arm with multiple motion modes and operational capabilities according to claim 1, characterized in that, The quick-change structure A (2-1) of the robotic arm structure D (1-15) cooperates with the quick-change structure B (2-2) fixed on the spatial ground to realize the fixation of the multi-limb spatial robotic arm in different positions; multiple quick-change structures B (2-2) are fixed in different positions on the spatial ground, and the robotic arm structure A (1) and the robotic arm D (1-15) cooperate with each other to assemble and disassemble with the quick-change structures B (2-2) in different positions on the spatial ground to realize the coordinated movement of the two arms; multiple quick-change structures B (2-2) are fixed in different positions on the spatial ground, and the robotic arm structure A (1), the robotic arm C (1-14) and the robotic arm D (1-15) cooperate with each other to assemble and disassemble with the quick-change structures B (2-2) in different positions on the spatial ground; the end of the robotic arm B (1-13) is equipped with a detection device (4) to realize the coordinated movement of the three arms and to detect the spatial environment; the ends of the four robotic arms converge at one point.

5. A multi-limb spatial robotic arm with multiple motion modes and operational capabilities according to claim 1, characterized in that, Comprehensive and diverse operational capabilities: It has the ability to operate independently with a single arm and a detection device, and to operate collaboratively with a dual arm and a detection device, while also supporting autonomous replacement of the end effector; the robotic arm structure A (1) is equipped with a gripper (5), and the robotic arm B (1-13) is equipped with a detection device (4) to achieve detection and single-arm operation in a fixed position; the robotic arm structure C (1-14) is equipped with a gripper (5), and the robotic arm B (1-13) is equipped with a detection device, and the robotic arm structure A (1) and the robotic arm D (1-15) move in cooperation with each other, achieving detection and single-arm operation while moving; the robotic arm structure A (1) and the robotic arm C (1-14) are equipped with grippers (5) at the same time, the robotic arm B (1-13) is equipped with a detection device, and the robotic arm D (1-15) is fixed to the quick-change structure B (2-2) on the ground in space to achieve detection and dual-arm operation in a fixed position.

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