An adapter for a climbing work space robot arm autonomous movement function

Abstract

The application discloses a kind of adapters for climbing operation space mechanical arm autonomous movement, belong to space intelligent equipment field, solve the problems of complex structure, high cost of existing space mechanical arm adapter.Adapter contains shell, circumferential positioning block, visual mark base and other core components, and the switching station of optical platform contains three mirror image / independent parts;Shell is provided with slope and lock tongue channel, and docking radial, circumferential automatic alignment is realized in cooperation with circumferential positioning block, two-dimensional code improves positioning accuracy, and most parts are 3D printed, and switching station expands the use scene.The application has simple structure, light quality, low cost, positioning locking is reliable, adapts to the mechanical arm autonomous movement of space computing center and other space unmanned environment, and can be mass-produced and commercialized.

Description

Technical Field

[0001] This invention belongs to the field of space intelligent equipment, and in particular relates to an autonomous service robotic arm in unmanned space environments. It is an adapter design with autonomous identification, docking and locking functions, and the ability to support the complete robotic arm structure under gravity. Background Technology

[0002] With the rapid development of AI technology, humanity's demand for computing power is increasing. However, due to limitations in energy, heat dissipation, and space, ground-based computing centers cannot be expanded on a large scale at this stage. Meanwhile, the realization of reusable launch vehicles has significantly reduced the cost of launching satellites into space. The space environment offers abundant solar energy resources, more open space, and near-absolute zero temperatures, allowing for efficient energy acquisition and heat dissipation through radiation, making it suitable for the deployment of computing centers. Therefore, both domestically and internationally, there are ideas and plans to build "space computing centers," which are being implemented in the coming years.

[0003] However, the computing center requires regular inspection, maintenance, and emergency troubleshooting. Obviously, in the short term and for the foreseeable future, since the space computing center will not be equipped with environmental control and life support systems, it is impossible to send astronauts to undertake this work. Therefore, an autonomous robotic system that can operate in orbit is needed to undertake the inspection and maintenance of the computing center.

[0004] The target adapter of the robotic arm's end effector provides mechanical, communication, and power interfaces for connecting the robotic arm to other devices. It is typically mounted on the cabin surface and payload, and is a key component for the space robotic arm to achieve autonomous movement and operation. An adapter for the robotic arm's end effector designed for autonomous movement allows the robotic arm to move freely within its working range, making it an important part of the robotic arm's task completion.

[0005] Currently, robotic arms have been successfully applied in the on-orbit construction, maintenance, and daily operation of the International Space Station and the Chinese Space Station, validating the feasibility of this technological approach. However, in the current adapter design of robotic arms, the movement direction of the locking mechanism is not orthogonal to the locking force direction. This requires a large motor output and a brake mechanism for locking, resulting in a heavy overall weight and high structural strength requirements. This leads to structural complexity and high manufacturing costs, hindering large-scale application in the construction and maintenance of space computing centers. Therefore, it is necessary to design a robotic arm adapter that is simple in structure, feature-rich, low-cost, stable, and reliable, enabling its integration into spacecraft structures or large-scale production for commercial application. Summary of the Invention

[0006] The purpose of this invention is to overcome the problem of complex structure in existing adapter designs, and to further simplify the structure while ensuring complete functionality. It proposes a stable and reliable adapter design that is compatible with the AprilTag marking system and has adaptive and scalable features, enabling the space robotic arm to perform functions such as identification, positioning, docking, and locking in the space environment.

[0007] To achieve the above objectives, this invention provides an adapter for the autonomous movement function of a robotic arm in a climbing workspace, comprising: a housing, a circumferential positioning block, a visual marker base, a QR code, and connectors applied to the above components. Through the adapter, the target adapter can be mounted on the surface of various devices without the need for a dedicated interface. This invention also provides an adapter suitable for use in optical platform scenarios.

[0008] The housing and the circumferential positioning block are bolted together. The housing, visual marker base, and adapter platform are bolted together. The adapter platform consists of three independent parts: first adapter platform A, second adapter platform B, and third adapter platform C, which are used simultaneously during installation. The second adapter platform B and the third adapter platform C are mirror images of each other. The QR code and the visual marker base are bolted together.

[0009] The housing is provided with a ramp structure, a locking tongue channel, a first bolt connection hole and a second bolt connection hole. The ramp structure enables the end effector to automatically align radially, and the locking tongue channel allows the locking tongue of the end effector to extend into and lock.

[0010] The circumferential positioning block engages with the circumferential positioning hole at the front of the end effector housing to achieve automatic circumferential alignment of the end effector during docking, and docking cannot be completed if the block does not engage.

[0011] The QR code is made by direct spraying of acrylic sheet. The visual mark base is provided with a third bolt connection hole and a fourth bolt connection hole, which realize the bolt connection with the shell / transfer platform and the QR code respectively.

[0012] The first adapter is provided with a fifth bolt connection hole and a sixth bolt connection hole, and the second adapter is provided with a seventh bolt connection hole and an eighth bolt connection hole, which respectively realize the bolt connection with the shell / visual marker base and the optical platform; except for the shell, QR code and connectors, all other parts are 3D printed.

[0013] The adapted robotic arm obtains relative coordinates by recognizing a QR code through the end effector's camera, and completes docking, locking, and unlocking to achieve autonomous spatial movement during climbing operations.

[0014] The advantages and positive effects of this invention are as follows: 1. Except for the shell, QR code, and connectors, all other parts are manufactured using 3D printing, which greatly reduces the weight of the adapter, improves production efficiency, and reduces production costs.

[0015] 2. The circumferential positioning block can interact with the circumferential positioning hole at the front of the end effector housing, so that the end effector can be automatically aligned circumferentially during docking.

[0016] 3. The housing has a sloping structure design, which allows the end effector to automatically align radially during docking.

[0017] 4. The QR code uses acrylic sheet as a base and is made through a spraying process, which can improve the positioning accuracy.

[0018] 5. The adapter allows the adapter to be installed on a standard optical platform or in an environment with a similar structure, expanding the scope of use of the robotic arm. Attached Figure Description

[0019] Figure 1A This is a schematic front view of the adapter of the present invention and its AA cross-sectional view.

[0020] Figure 1B This is a rear view of the adapter of the present invention.

[0021] Figure 2A This is a front view schematic diagram of the housing in this invention. Figure 2B for Figure 2A The AA section view and BB section view are marked in the figure.

[0022] Figure 2C This is a rear view schematic diagram of the housing in this invention.

[0023] Figure 3 This is a front view schematic diagram of the visual marker base in this invention.

[0024] Figure 4 This is an isometric schematic diagram of the first adapter in this invention.

[0025] Figure 5 This is an isometric schematic diagram of the third adapter in this invention.

[0026] Figure 6 This is a schematic diagram showing the connection between this adapter and the end effector.

[0027] The labels in the diagram are explained as follows: 1-Shell 2-Circumferential positioning block 3-QR code 4-Visual marker base 5-Second Adapter Station 6-First Adapter Station 7-Third Adapter Station 101-Lock tongue channel; 102-First bolt connection hole 103 - Second bolt hole; 401 - Third bolt hole 402 - Fourth bolt hole; 601 - Fifth bolt hole 602 - Sixth bolt hole; 701 - Seventh bolt hole 702-Eighth Bolt Connection Hole Detailed Implementation

[0028] The present invention will now be described in further detail with reference to Figures 1-5.

[0029] This invention provides an adapter design for the autonomous movement function of a robotic arm in a climbing operation space. The climbing operation refers to the robotic arm not having a fixed base and being able to move autonomously within its range of motion by interacting with the adapter. The autonomous movement refers to the robotic arm using its end effector to alternately dock with different adapters to achieve climbing operations and complete position transfers in space. The adapter is as follows... Figure 1A and Figure 1B As shown, it mainly includes a housing 1, a circumferential positioning block 2, a QR code 3, a visual marker base 4, and several threaded connectors. If the robotic arm needs to work in an environment where no dedicated interface is designed, an adapter platform is required, namely, the first adapter platform 6, the second adapter platform 5, and the third adapter platform 7.

[0030] The housing 1 is generally cup-shaped, with three evenly distributed latch channels 101 on its side and three sets of first bolt connection holes 102 and three sets of second bolt connection holes 103 evenly distributed on its bottom surface. Each set of the first bolt connection holes 102 and the second connection holes 103 consists of two holes, both being smooth holes. A circular hole is located in the center of the bottom surface of the housing 1, serving as the mounting location for electrical and signal connectors. The circumferential positioning block 2 is generally frustum-shaped, with two symmetrically distributed threaded holes on its bottom surface.

[0031] like Figure 2A As shown, the locking tongue of the end adapter can enter the locking tongue channel 101 of the housing 1 from the inside to achieve locking. The housing 1 is connected to the visual marker base 4 and the adapter via the first bolt connection hole 102 by bolt and nut connection. The housing 1 is connected to the circumferential positioning block 2 via the second bolt connection hole 103 by bolt connection. The circumferential positioning block is distributed inside the cup-shaped structure of the housing. The cross-sectional structure of the locking tongue channel 101, the first bolt connection hole 102, and the second bolt hole 103 is shown in... Figure 2B It is displayed in the middle. Figure 2C The rear side of the outer casing 1 shows the distribution of the first bolt connection hole 102 and the second bolt connection hole 103.

[0032] The visual marker base 4 has a ring structure with three sets of third bolt connection holes 401 distributed on it, corresponding to the positions of the first bolt connection holes 102 on the housing 1. A T-shaped single arm extends from the ring structure, with two fourth bolt connection holes 402 symmetrically opened in its transverse portion. Both the third bolt hole 401 and the fourth bolt hole 402 are straight holes.

[0033] The QR code 3 is square in shape, with two straight holes symmetrically opened on one of the long sides, which correspond to the fourth bolt connection hole 402.

[0034] like Figure 3 As shown, the visual marker base 4 is connected to the outer shell 1 and the adapter via the third bolt connection hole 401 using a bolt and nut connection, and is installed on the lower side of the bottom surface of the outer shell 1. The visual marker base 4 and the QR code 3 are connected via the fourth bolt connection hole 402 using a bolt and nut connection. The QR code 3 and the outer shell 1 are on the same side of the visual marker base, with the QR code facing outwards.

[0035] The first adapter platform 6 is a thin-walled shell structure with an opening on one side. The lower part is rectangular and the upper part is frustum. The upper surface has two symmetrical fifth bolt connection holes, which correspond to the first bolt connection holes 102 in the shell 1. The lower surface has six sixth connection holes 602 evenly distributed in two rows, with a center distance of 25mm × 25mm between the holes, which are suitable for standard optical platforms.

[0036] like Figure 4 As shown, the first adapter 6 is connected to the housing 1 and the visual marker base 4 via the fifth bolt hole 601 using a bolt and nut connection. The first adapter 6 is connected to the optical platform via the sixth bolt hole 602 using a bolt connection.

[0037] The third adapter 7 is a thin-walled shell structure with an opening on one side. Its lower part is rectangular, and its top surface is rectangular, with its long side forming a 30-degree angle with the bottom edge of the opening side. The top surface has a seventh bolt connection hole 701, corresponding to the first bolt connection hole 102 on the shell 1. The transition wall between its top surface and the lower rectangular thin-walled part is a lofted curved surface, with the guide line being the line connecting the corresponding points at the four corners. Its bottom surface has four eighth bolt connection holes 702 evenly distributed in two rows, with a center-to-center distance of 25mm × 25mm, suitable for standard optical platforms.

[0038] like Figure 5As shown, the third adapter 7 is connected to the housing 1 and the visual marker base 4 via the seventh bolt connection hole 701 using a bolt and nut connection. The third adapter 7 is also connected to the optical platform via the eighth bolt connection hole 702 using a bolt connection. The second adapter 5 is a mirror image of the third adapter 7 in structure and is connected to the housing 1, the visual marker base 4, and the optical platform in a similar manner.

[0039] All functions of this adapter are performed by a mechanical structure; in a space environment, only radiation protection design is required for the electrical and signal interfaces. The outer shell material (1) can be aluminum alloy or a lower-density PEEK material, depending on the spacecraft design requirements, while ensuring structural strength. The QR code (3) requires a fixed-color pigment spray coating to prevent fading in the space environment.

[0040] After the end effector, paired with the adapter, reaches the preset position, it uses a camera to identify and capture the QR code installed on the adapter, obtaining its relative coordinates with the adapter. It then gradually approaches and attempts to complete docking. During docking, if the end effector exhibits a certain range of radial alignment control error (i.e., the distance between the adapter housing axis and the end effector column axis), it can automatically correct this error by interacting with the ramp on the outer shell 1. The shell 1 applies a force to the end effector pointing towards the adapter housing axis in the plane containing the axes of the adapter housing and the end effector column, thus achieving automatic correction. If the end effector exhibits a certain rotational control error in the circumferential direction (i.e., the rotation angle of the end effector along its column axis between itself and the adapter in the locked state), the circumferential positioning hole on the front section of its outer shell can interact with the circumferential positioning block 2. The circumferential positioning block applies a tangential return force to the end effector, achieving automatic correction.

[0041] After the end effector and adapter confirm successful docking, the locking bolt will extend and enter the locking bolt channel 101 of the housing 1 to achieve locking. To unlock, the end effector simply retracts the locking bolt. Due to the presence of the circumferential positioning block 2, the end effector cannot complete docking if the circumferential positioning block 2 is not inserted into the circumferential positioning hole on the front section of the end effector housing. Therefore, the end effector can directly determine the docking status through the positional relationship determined by the camera.

[0042] The locking state of the end effector and the adapter is as follows Figure 6 As shown.

[0043] The design of this invention provides a mechanical structure for connecting with other devices, namely a first bolt connection hole 102. The communication interface and electrical interface are designed separately according to actual needs and can be positioned and fixed through the through hole in the center of the bottom surface of the housing 1.

[0044] Depending on the operational requirements, this invention should be installed on the surface of the spacecraft cabin or integrated into the cabin wall design within the spacecraft.

[0045] The above description is merely a specific embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements can be made without departing from the method of the present invention, or some technical features can be replaced by equivalent substitutions, such as changing the number of various bolt connection holes. These improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An adapter for the autonomous movement function of a robotic arm in a climbing workspace, characterized in that: include: Housing, circumferential positioning block, visual marker base, QR code, and connectors used in the above parts; The target adapter can be mounted on the surface of various devices via the adapter platform without the need for a dedicated interface; the housing and the circumferential positioning block are connected by bolts. The housing, visual marker base, and adapter are connected by bolts; the adapter consists of three independent parts, namely the first adapter, the second adapter, and the third adapter, which are used simultaneously during installation; the second adapter and the third adapter are mirror images of each other. The QR code and visual marker base are connected using bolts.

2. The adapter for the autonomous movement function of a robotic arm in a climbing workspace according to claim 1, characterized in that: The housing is provided with a ramp structure, a locking tongue channel, a first bolt connection hole and a second bolt connection hole. The ramp structure enables the end effector to automatically align radially, and the locking tongue channel allows the locking tongue of the end effector to extend into and lock.

3. An adapter for the autonomous movement function of a robotic arm in a climbing workspace, as described in claim 1 or 2, characterized in that: The housing is cup-shaped with three locking tongue channels evenly distributed on the side and three sets of first bolt connection holes and three sets of second bolt connection holes evenly distributed on the bottom surface. There are two first bolt connection holes and two second connection holes in each set, and they are all light holes. A round hole is opened in the center of the bottom surface of the housing for the installation position of electrical and signal connectors.

4. An adapter for the autonomous movement function of a robotic arm in a climbing workspace according to claim 1, characterized in that: The circumferential positioning block is shaped like a frustum, with two symmetrically distributed threaded holes on its bottom surface. The circumferential positioning block mates with the circumferential positioning holes on the front section of the end effector housing to achieve automatic circumferential alignment of the end effector during docking, and docking cannot be completed if they are not mated.

5. An adapter for the autonomous movement function of a robotic arm in a climbing workspace according to claim 1, characterized in that: The first adapter is a thin-walled shell structure with an opening on one side. The lower part is rectangular and the upper part is a frustum. Two fifth bolt connection holes are symmetrically opened on the upper surface, and their positions correspond to the first bolt connection holes in a set of the shell. Its lower surface has six sixth bolt connection holes evenly distributed in two rows; the first adapter is connected to the outer shell and the visual marker base by bolt and nut through the fifth bolt connection hole; the first adapter is connected to the optical platform by bolt through the sixth bolt connection hole.

6. An adapter for the autonomous movement function of a robotic arm in a climbing workspace according to claim 1, characterized in that: The third adapter is a thin-walled shell structure with an opening on one side. The lower part is rectangular, and the top surface is rectangular. The long side forms a 30-degree angle with the bottom edge of the opening side. There is a seventh bolt connection hole on the top surface, which corresponds to the first bolt connection hole on the shell. The transition wall between the top surface and the lower square thin wall is a lofted curved surface, and the guide line is the line connecting the corresponding points at the four corners. There are four eighth bolt connection holes evenly distributed in two rows on the bottom surface.

7. An adapter for the autonomous movement function of a robotic arm in a climbing workspace according to claim 1, characterized in that: The visual marker base body has a ring structure with three sets of third bolt connection holes distributed on it, corresponding to the positions of the first bolt connection holes on the shell; a T-shaped single arm extends from the ring structure, with two fourth bolt connection holes symmetrically opened in the transverse part; both the third and fourth bolt connection holes are straight holes.

8. An adapter for the autonomous movement function of a robotic arm in a climbing workspace, as described in claim 1 or 7, characterized in that: The visual marker base is connected to the outer shell and the adapter via the third bolt connection hole using bolt and nut connection, and is installed on the lower side of the bottom surface of the outer shell; the visual marker base and the QR code are connected via the fourth bolt connection hole using bolt and nut connection, with the QR code and the outer shell on the same side of the visual marker base, and the QR code facing outward; the QR code is made by direct spraying of acrylic sheet.

9. A method for operating an adapter based on the autonomous movement function of a robotic arm for climbing workspaces as described in claim 1, characterized in that: Once the end effector, paired with the adapter, reaches the preset position, it uses a camera to identify and capture the QR code installed on the adapter, obtaining its relative coordinates with the adapter. It then gradually approaches and attempts to dock. During docking, if the end effector exhibits radial alignment control error (i.e., the distance between the adapter housing axis and the end effector column axis), it automatically corrects this error by interacting with the ramp on the housing. The housing exerts a force on the end effector in the plane containing both the adapter housing axis and the end effector column axis, pointing towards the adapter housing axis. If the end effector exhibits circumferential rotation control error (i.e., the rotation angle of the end effector along its column axis between itself and the adapter in the locked state), the circumferential positioning hole on the front of the housing interacts with the circumferential positioning block. The circumferential positioning block exerts a tangential return force on the end effector, achieving automatic correction.

10. The working method according to claim 9, characterized in that: After the end effector and the adapter confirm that they have completed docking, the locking tongue will pop out and enter the locking tongue channel of the housing to lock. When unlocking is required, the end effector will retract the locking tongue to complete the unlocking. Due to the presence of the circumferential positioning block, the end effector cannot complete docking when the circumferential positioning block is not inserted into the circumferential positioning hole on the front part of the end effector housing. Therefore, the end effector directly determines the docking status by the positional relationship determined by the camera.

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