An end effector of a climbing work space robot

Abstract

The application discloses a kind of end effector of climbing operation space mechanical arm, to solve the problems such as the structure of existing space mechanical arm end effector is complex, cost is high, function is single etc.The end effector is connected by connecting piece by shell front section, middle section, rear section, integrated motor, lock tongue, camera, mainboard and other components cooperation connection composition.It is driven lock tongue reciprocating motion by motor, realizes unidirectional motion and brake function with one-way bearing, utilizes camera and mainboard to complete environmental perception, data processing and wireless communication, with the help of adaptive structure realizes docking alignment, and lock tongue locking and driving stress direction is perpendicular, reduce the quality, energy consumption, space occupation of equipment.The mechanism structure is simple, manufacturing cost is low, reliability is high, can realize intelligent perception, identification positioning, docking locking and other functions, can be mass-produced and applied to space unmanned environment on-orbit autonomous service scene.

Description

Technical Field

[0001] This invention belongs to the field of space intelligent equipment, and in particular relates to the design of an end effector for an autonomous service robotic arm in unmanned space environments, which has autonomous identification, docking and locking, and wireless communication functions. 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, computing centers require regular inspection, maintenance, and emergency troubleshooting. Clearly, in the short term and foreseeable future, space-based computing centers cannot be equipped with environmental control and life support systems, making it impossible to deploy astronauts to perform this work. Therefore, an autonomous robotic system capable of operating in orbit is needed to handle the inspection and maintenance of computing centers, and the end effector of a robotic arm is key to accomplishing such tasks.

[0004] 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 design of the end effector of the currently used robotic arms, the movement direction of the locking mechanism is not orthogonal to the locking force direction. Therefore, a large motor output power and a brake mechanism are required for locking, resulting in a heavy overall weight and high structural strength requirements. Furthermore, a separate positioning structure needs to be designed, leading 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 end effector that is simple in structure, feature-rich, low-cost, stable, and reliable, enabling mass production and commercial application. Summary of the Invention

[0005] The purpose of this invention is to overcome the problem of complex structure in existing end effector designs. While ensuring complete functionality, the structure is further simplified, and a stable and reliable end effector design with visual perception capability is proposed, which is equipped with an Eye-In-Hand (EIH) hand-eye system. This enables the space robotic arm to achieve intelligent perception, identification and positioning, docking and locking functions in the space environment.

[0006] To achieve the above objectives, the present invention provides an end effector for a climbing workspace robotic arm, comprising: a front section of the outer shell, a middle section of the outer shell, a rear section of the outer shell, an integrated motor, a crankshaft, an upper connecting rod, a lower connecting rod, a locking tongue washer, a locking tongue, a pin, a central drive shaft, a drive gear, a driven gear, a gear baffle, a one-way bearing, a front motor frame, a rear motor frame, a main board, a camera, a camera base, a camera bracket, a camera bracket fixing plate, a middle section outer washer, a middle section inner washer, and connecting parts applied to the above components.

[0007] The front, middle, and rear sections of the housing are bolted together. The front and rear motor frames and the integrated motor are bolted together via flange structures designed into their respective structures. The front and rear motor frames and the middle section of the housing are bolted together with nuts. The latch and latch washer are bolted together. The latch washer and the upper connecting rod are connected by a pin. The upper and lower connecting rods are fitted onto the crankshaft and connected with bolts and nuts. The crankshaft has transition fits with one-way bearings at both ends, and the one-way bearings have transition fits with the front section of the housing and the front motor frame, respectively. The gear baffle is interference-fitted with the front motor frame; the driven gear is interference-fitted with the crankshaft; the driving gear is interference-fitted with the central drive shaft; the driving gear and the driven gear mesh with each other. The central drive shaft and the motor output shaft are bolted together via flange structures designed into their respective structures. The main board and the rear motor frame are screwed together. The camera base and the middle section of the housing are bolted together with nuts. The camera base, camera bracket, and camera bracket fixing plate are bolted together with nuts. The camera is fixed to the camera bracket using bolts and nuts.

[0008] An outer washer is provided between the bolts connecting the front frame of the motor and the middle section of the housing. An outer washer is provided between the bolts connecting the rear frame of the motor and the middle section of the housing. An inner washer is provided between the nut connecting the camera base and the middle section of the housing.

[0009] The rear side wall of the housing has a circular cable channel for introducing power cables, motor signal cables, and other cables, as well as fixing corrugated tubes for protecting various cables.

[0010] The rear side wall of the housing has a circular cable channel, the middle section of the housing has a camera cable channel, and the front section of the housing has a latch channel and a circumferential positioning hole.

[0011] The front, middle, and rear sections of the outer shell and the locking tongue are made of 6061 aluminum alloy. Except for the front, middle, and rear sections of the outer shell, the locking tongue, the integrated motor, the motherboard, the camera, and the connectors, all other parts are made by 3D printing.

[0012] Two one-way bearings are provided: one-way bearing A, which cooperates with the front section of the housing, and one-way bearing B, which cooperates with the front frame of the motor. The two one-way bearings realize the one-way movement of the locking tongue and the braking function of the end effector.

[0013] The driving gear is a central gear, and the ratio of the number of teeth of the central gear to the driven gear is 1:4, achieving a 4-fold speed reduction transmission.

[0014] The front section of the outer shell is equipped with an adaptive structure, which, together with the circumferential positioning holes, enables automatic alignment with the adapter and docking and locking under positioning error.

[0015] The locking force of the latch is axial, while the radial force is borne by the outer shell. The locking force of the latch is perpendicular to the direction of the driving force.

[0016] The integrated motor only needs to rotate in one direction. For every two revolutions of its output shaft, the crankshaft rotates half a revolution, and the locking tongue completes one reciprocating stroke, realizing the switching between locking and unlocking states of the end effector.

[0017] The rear section of the outer shell has bolt connection holes, which are used to connect to the adapter plate, thereby connecting the end effector to the end joint of the robotic arm.

[0018] The advantages and positive effects of this invention are as follows: 1. Except for the front, middle, and rear sections of the housing, the latch, the integrated motor, the main board, the camera, and the connectors, all other parts are manufactured using 3D printing, which significantly reduces the weight of the end effector, improves production efficiency, and lowers production costs.

[0019] 2. The front, middle, and rear sections of the housing and the locking tongue are made of 6061 aluminum alloy, which reduces the weight of the end effector while ensuring strength and rigidity.

[0020] 3. The design integrates a motherboard and a camera, enabling environmental perception and data processing. It also features wireless communication capabilities and boasts strong scene adaptability and functional expandability.

[0021] 4. The use of a one-way bearing separates the locking and braking functions, eliminating the need for a motor-mounted brake mechanism and reducing the weight of the end effector.

[0022] 5. The crankshaft structure enables unidirectional locking and unlocking movements, simplifying control complexity.

[0023] 6. The use of a locking tongue separates locking from load bearing, eliminating the need for high performance in the internal structure and motor. This simplifies the structural complexity of the end effector, reduces production costs, and lightens the weight.

[0024] 7. The front section of the housing is designed with adaptive structures such as circumferential positioning holes, which can ensure that the end effector can be aligned with the adapter and locked during docking under certain positioning errors. Attached Figure Description

[0025] Figure 1 This is a cross-sectional schematic diagram of the end effector of the present invention.

[0026] Figure 2 This is a front view of the end effector of the present invention with the outer casing removed.

[0027] Figure 3A This is a schematic diagram of the inner side of the front section of the outer shell in this invention and its AA cross-sectional view.

[0028] Figure 3B for Figure 3A BB section view in the middle.

[0029] Figure 3C This is a schematic diagram of the outer side of the front section of the outer shell in the invention.

[0030] Figure 4A This is a front view schematic diagram of the middle section of the outer shell in this invention.

[0031] Figure 4B This is a bottom view of the middle section of the outer shell in this invention.

[0032] Figure 4C This is a top view of the middle section of the outer shell in this invention.

[0033] Figure 5 This is a front view of the rear section of the outer shell in this invention, along with its AA sectional view and B-direction view.

[0034] The labels in the diagram are explained as follows: 1-Front section of housing; 2-Middle section of housing; 3-Rear section of housing; 4-Rear frame of motor; 5-Motor front frame; 6-Lock tongue; 7-Lock tongue washer; 8-Pin shaft; 9-Upper connecting rod; 10-First one-way bearing; 11-Crankshaft; 12-Second one-way bearing; 13-Lower connecting rod; 14-Gear baffle; 15-Driven gear; 16-Central drive shaft; 17-Central gear; 18-Camera base; 19-Camera bracket; 20 - Camera bracket fixing plate; 21 - Integrated motor; 101 - First bolt connection hole; 102 - Circumferential positioning hole; 103 - Locking tongue channel; 201 - M6 threaded hole; 202 - Third bolt hole; 203 - Fourth bolt hole; 204 - Camera cable channel; 301 - Second bolt connection hole; 302 - Fifth bolt connection hole; 303 - Cable channel. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-5 The present invention will be described in further detail below.

[0036] This invention provides an end effector for a climbing manipulator, wherein "on-orbit service" refers to the manipulator's designed operating environment being inside or outside spacecraft such as satellites or space stations operating outside the atmosphere; "climbing operation" refers to the manipulator not having a fixed base and being able to move autonomously or semi-autonomously in space within its range of motion through interaction with an adapter. The end effector is as follows: Figure 1 and Figure 2 As shown, it mainly includes the front section 1 of the outer shell, the middle section 2 of the outer shell, the rear section 3 of the outer shell, the rear motor frame 4, the front motor frame 5, the locking tongue 6, the locking tongue gasket 7, the pin 8, the upper connecting rod 9, the first one-way bearing 10, the crankshaft 11, the second one-way bearing 12, the lower connecting rod 13, the gear baffle 14, the driven gear 15, the central drive shaft 16, the central gear 17, the camera base 18, the camera bracket 19, the camera bracket fixing piece 20, the integrated motor 21, as well as the middle section outer gasket, the middle section inner gasket, the main board, the camera, and several threaded connectors not shown in the figure.

[0037] The front section 1 of the outer casing is characterized by having a single-sided sealed tube wall structure. Three conical circumferential positioning holes 102 are evenly distributed on the outer side of the seal, and three blind holes are evenly distributed on the inner side of the seal for engagement with the second one-way bearing 12. Three square latch channels 103 are evenly distributed on the side wall, with the circumferential positioning holes and latch channels staggered in the circumferential direction. The front section of the outer casing is further characterized by having a first bolt connection hole 101 adjacent to each latch channel on both sides along the axial direction; this hole is a smooth hole.

[0038] The locking tongue 6 is characterized in that its main body is a cuboid with a symmetrical wedge-shaped structure at the top and two symmetrically distributed threaded holes on the bottom surface.

[0039] like Figure 3A As shown, the front section 1 of the outer casing is connected to the middle section 2 of the outer casing by bolts through the first bolt connection hole 101, and the locking tongue 6 can reciprocate in the locking tongue channel 103. The cross-sectional structure of the first bolt connection hole 101 is shown below. Figure 3B As shown. The end effector can automatically align with the adapter through the circumferential positioning hole 102. Figure 3C The distribution of the first bolt connection hole 101 and the circumferential positioning hole 102 on the outer surface of the front section 1 of the housing is shown.

[0040] The middle section 2 of the outer casing is characterized in that its main body is a pipe wall structure, with M6 threaded holes 201 distributed axially along the inner side of the pipe wall, the positions of which correspond to the first bolt connection holes. Two sets of evenly distributed third connection holes 202 are located between adjacent M6 threaded holes 201 on the pipe wall. A square step is located between the two sets of M6 threaded holes on one circumferential side, serving as a camera cable channel 204, with fourth bolt connection holes 203 on both sides of it.

[0041] The motor front frame 5 is characterized by having a central annular flange structure, with three blind hole bearing brackets evenly distributed on the outer side of the flange ring, and three arms extending radially from the bearing brackets, each with a reinforcing rib design, and a shell-like structure parallel to the outer wall of the outer shell at the end, on which bolt connection holes are designed.

[0042] The motor rear frame 4 is characterized by having a central annular flange structure from which three arms extend radially, evenly distributed circumferentially. These arms feature reinforcing ribs and have shell-like structures parallel to the outer wall of the outer casing at their ends, with bolt connection holes. An L-shaped arm extends from the flange ring, with three hollow columnar structures extending axially from its ends or corners.

[0043] like Figure 4A As shown, the middle section 2 of the outer casing has six M6 threaded holes 201 for bolting connection with the front section 1 and the rear section 3 of the outer casing. Figure 4B and Figure 4C As shown, the surface of the middle section 2 of the outer casing has a third bolt connection hole 202 for connecting with the front frame 5 and the rear frame 4 of the motor using bolts and nuts. Figure 4B As shown, the middle section 2 of the housing has two fourth bolt connection holes 203 for connecting with the camera base 18 using bolts and nuts. The middle section 2 of the housing also has a camera cable channel 204, which allows the camera to be connected to the main board inside the end effector housing via a cable.

[0044] The rear section 3 of the outer casing is characterized by having a pipe wall structure with a single-sided seal. A second bolt connection hole 301, which is a smooth hole, is distributed axially along the inner side of the pipe wall, and its position corresponds to the first bolt connection hole 101. A circular through hole is located in the center of the sealed side, and six fifth bolt connection holes 302 are evenly distributed around this through hole. A cable channel 303, which is a circular through hole, is located between two sets of second bolt connection holes 302 on the side wall.

[0045] like Figure 5As shown, the rear section 3 of the outer shell has six second bolt connection holes 301, which are bolted to the middle section 2 of the outer shell. The rear section 3 also has six fifth bolt connection holes 302, which can be bolted to the adapter plate to connect the end effector to the end joint of the robotic arm. The cross-sectional structure of the second bolt connection holes 301 and the fifth bolt connection holes 302 is shown below. Figure 5 As shown in the AA sectional view, the middle section 3 of the housing has a cable channel 303, as shown in the B view, which can introduce power cables, motor signal cables, and other cables, as well as corrugated pipes for fixing and protecting various cables.

[0046] The upper connecting rod 9, lower connecting rod 13, and crankshaft 11 have a shape similar to the crankshaft and connecting rod mechanism of an internal combustion engine. The latch gasket corresponds to the bottom surface of the latch, and its height side has bell-shaped thin walls at both ends in the length direction, with corresponding connecting holes on them for engagement with the pin.

[0047] The upper connecting rod 9 is connected to the latch washer 7 via a pin 8, and the latch washer 7 can rotate freely around the pin 8. Then, the upper connecting rod 9 and the lower connecting rod 13 are fitted onto the crankshaft 11 and connected by two sets of bolts and nuts, allowing the connecting rod assembly to rotate freely around the crankshaft 11. After the first one-way bearing 10 is fitted onto the crankshaft 11, it transitions to the front section of the housing. Then, bolts are used to connect the latch 6 in the latch channel 103 to the corresponding latch washer 7, and then the driven gears 15 are respectively mounted on the crankshaft 11.

[0048] The central drive shaft 16 is characterized by having a circular plate-shaped base, a cylindrical structure extending from the center, and a smaller-radius cylinder extending from the upper surface of the cylindrical structure with a keyway structure for cooperating with the central gear 17.

[0049] The gear baffle 14 is characterized in that it has an overall clover-shaped structure, a protective thin-walled structure along the outer periphery along the axial direction, and a stepped variable radius through hole in the center of each of the three lobes for cooperating with the front frame of the motor.

[0050] The housing of the integrated motor 21 is bolted to the front frame 5 and the rear frame 4, and its output shaft is bolted to the central drive shaft 16. The central gear 17 is interference-fitted with the central drive shaft 16. The second one-way bearing 12 is transition-fitted with the front frame 5, and the rear gear baffle 14 is interference-fitted with the front frame 5.

[0051] The camera bracket 19 is characterized in that it is square in shape, with bolt connection holes at the four corners inside for fixing the camera, and a trapezoidal guide rail male head structure at the bottom.

[0052] The camera base 18 is characterized in that it is trapezoidal in shape, with bolt connection holes on both sides, an arc-shaped bottom that fits against the outer wall of the outer shell, a guide rail head structure on the upper half, and two threaded connection through holes in the center.

[0053] The camera bracket fixing piece 20 is characterized in that it is a long strip structure with semi-circular ends and two bolt connection holes, which are coaxial.

[0054] The camera bracket 19 is interference-fitted with the camera base 18 and is locked in place by the camera bracket fixing piece 20 and bolts and nuts. The camera base 18 is connected to the middle section 2 of the outer shell via the fourth bolt connection hole 203 using bolts and nuts, with an inner shim provided between the nut and the inner surface of the middle section of the outer shell. The front motor frame 5 and the rear motor frame 4 are connected to the middle section 2 of the outer shell via the third bolt connection hole 202 using bolts and nuts, with an outer shim provided between the bolt and the outer surface of the middle section of the outer shell.

[0055] The front section 1 of the housing and the crankshaft 11 and other parts connected thereto, and the middle section 2 of the housing and the front frame 5 of the housing and other parts connected thereto, are connected by bolts through the first bolt connection hole 101 and the M6 ​​threaded hole 201. The front section 1 of the housing is connected to the far end face of the camera base 18 mounted on the middle section 2 of the housing, and the central gear 17 and the driven gear 15 mesh with each other.

[0056] The motherboard is connected to the motor rear bracket 4 using screws, and the camera is connected to the camera bracket 19 using screws and nuts. The motherboard and the camera are connected by a ribbon cable.

[0057] The rear section 3 of the outer shell is connected to the adapter plate by bolts through the fifth bolt connection hole 302. Power cables and other cables are connected through the cable channel 303. After the cables are connected to the internal interface of the end effector and the bellows is fixed, the middle section 2 of the outer shell is connected by bolts through the second bolt connection hole 301 and the M6 ​​threaded hole 201.

[0058] The gear ratio between the driven gear 15 and the central gear 17 is 4:1, resulting in a 4x speed reduction during transmission. The reciprocating motion of the locking tongue 6 is driven by the motor output shaft, central gear 17, driven gear 15, crankshaft 11, and upper connecting rod 9. The motor output shaft and the central gear 17 are connected via a central transmission shaft 16. The central gear 17 and the driven gear 15 mesh with each other. The driven gear 15 is interference-fitted with the crankshaft 11 and is driven by a key. The upper connecting rod 9 is mounted on the crankshaft 11 and performs reciprocating motion.

[0059] During operation, the integrated motor 21 only needs to rotate in one direction. For every two revolutions of the motor output shaft, the crankshaft 11 rotates half a revolution, and the locking tongue 6 completes one stroke. To achieve the transition between the locking and unlocking states of the end effector, the locking tongue 6 only needs to complete one full stroke, that is, only two revolutions of the output shaft.

[0060] Since the first one-way bearing 10 and the second one-way bearing 12 have a one-way rotation function, the locking tongue 6 cannot move in reverse, thereby realizing the locking in the state of the end actuator, that is, the "brake" function, and the protection of the integrated motor 21.

[0061] Since the primary locking force of the end effector is axial, and the remaining radial force is borne by the housing, the locking tongue 6 experiences no resistance other than friction in its direction of movement. Because the locking force of the locking tongue 6 is perpendicular to the driving force, the end effector does not require a high-power motor, greatly reducing energy consumption and its own weight.

[0062] During operation, the camera senses the external environment and transmits the data to the motherboard. The motherboard processes the data to obtain the state of the surrounding environment and the robotic arm's own pose. This processed information is then wirelessly transmitted to the robotic arm's main control computer for further processing, supporting the robotic arm's autonomous decision-making and motion control.

[0063] 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 gear transmission ratio. These improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An end effector for a climbing workspace robotic arm, characterized in that: include: The outer casing front section, outer casing middle section, outer casing rear section, integrated motor, crankshaft, upper connecting rod, lower connecting rod, locking tongue gasket, locking tongue, pin shaft, central drive shaft, drive gear, driven gear, gear baffle, one-way bearing, motor front frame, motor rear frame, main board, camera, camera base, camera bracket, camera bracket fixing plate, middle section outer gasket, middle section inner gasket, and connecting parts used for the above parts; The front, middle, and rear sections of the housing are bolted together; the front and rear motor frames and the integrated motor are bolted together via flange structures designed into their respective structures; the front and rear motor frames and the middle section of the housing are bolted together with nuts; the latch and latch gasket are bolted together; the latch gasket and the upper connecting rod are connected by a pin; the upper and lower connecting rods are fitted onto the crankshaft and connected with bolts and nuts; both ends of the crankshaft are fitted with one-way bearings, which are fitted with the front section of the housing and the front motor frame respectively; the gear baffle is interference-fitted with the front motor frame; the driven gear is interference-fitted with the crankshaft; the driving gear is interference-fitted with the central drive shaft; the driving gear and the driven gear mesh with each other; the central drive shaft and the motor output shaft are bolted together via flange structures designed into their respective structures; the main board and the rear motor frame are screwed together; the camera base and the middle section of the housing are bolted together with nuts. The camera base, camera bracket, and camera bracket fixing plate are connected by bolts and nuts; the camera is fixed to the camera bracket by bolts and nuts.

2. The end effector of a climbing workspace robotic arm according to claim 1, characterized in that: The front section of the outer shell has a single-sided sealed tube wall structure. Three conical circumferential positioning holes are evenly distributed on the outer side of the seal, and three blind holes are evenly distributed on the inner side of the seal for cooperating with the second one-way bearing. Three square locking tongue channels are evenly distributed on the side wall, and the circumferential positioning holes and locking tongue channels are staggered in the circumferential direction. Each locking tongue channel in the front section of the outer shell has a first bolt connection hole adjacent to each other on both sides along the axial direction. The front section of the outer shell is connected to the middle section of the outer shell by bolts through the first bolt connection holes, and the locking tongue reciprocates in the locking tongue channel. The front section of the outer shell is connected to the far end face of the camera base mounted on the middle section of the outer shell, and the central gear and the driven gear mesh with each other. The front section of the outer shell is equipped with an adaptive structure, which, in conjunction with the circumferential positioning holes, realizes automatic alignment with the adapter and docking and locking under positioning error.

3. The end effector of a climbing workspace robotic arm according to claim 1, characterized in that: The main body of the middle section of the outer shell is a tube wall structure. M6 threaded holes are distributed axially on the inner side of the tube wall for connecting with the front and rear sections of the outer shell by bolts. The surface of the middle section of the outer shell has a third bolt connection hole for connecting with the front and rear motor frames using bolts and nuts. The middle section of the outer shell has two fourth bolt connection holes for connecting with the camera base using bolts and nuts. The middle section of the outer shell also has a camera cable channel, which allows the camera to connect to the main board inside the end effector housing via a cable.

4. The end effector of a climbing workspace robotic arm according to claim 1, characterized in that: The rear section of the outer shell has a single-sided sealed tube wall structure, and the inner side of the tube wall has second bolt connection holes distributed along the axial direction, which are connected to the middle section of the outer shell by bolts; the rear section of the outer shell has six fifth bolt connection holes, which are connected to the adapter plate by bolts, realizing the connection between the end effector and the end joint of the robotic arm; there is a circular cable channel on the side wall of the rear section of the outer shell, which is used to introduce power lines, motor signal lines and corrugated tubes for fixing and protecting various cables.

5. The end effector of a climbing workspace robotic arm according to claim 1 or 3, characterized in that: An outer washer is provided between the bolts connecting the front frame of the motor and the middle section of the housing and the middle section of the housing; an outer washer is provided between the bolts connecting the rear frame of the motor and the middle section of the housing and the middle section of the housing; and an inner washer is provided between the nut connecting the camera base and the middle section of the housing and the middle section of the housing.

6. The end effector of a climbing workspace robotic arm according to claim 1 or 3, characterized in that: The motor front frame has a central annular flange structure, with three blind-hole bearing supports evenly distributed on the outer side of the flange ring. Three arms extend radially from each bearing support, each with reinforcing ribs, and the ends have shell-like structures parallel to the outer wall of the outer casing, with bolt connection holes. The motor rear frame has a central annular flange structure, with three arms extending radially from the flange ring. The three arms are evenly distributed circumferentially, with reinforcing ribs, and the ends have shell-like structures parallel to the outer wall of the outer casing, with bolt connection holes. L-shaped arms extend from the flange ring, and three hollow columnar structures extend axially from the ends or corners.

7. The end effector of a climbing workspace robotic arm according to claim 1, 2, or 3, characterized in that: The camera bracket is generally square with bolt holes at the four corners for fixing the camera, and a trapezoidal guide rail male connector structure at the bottom; the camera base is generally trapezoidal with bolt holes on both sides, and the bottom is arc-shaped to fit the outer wall of the shell, with a guide rail female connector structure on the upper half and two threaded connection through holes in the center; the camera bracket fixing piece is generally a long strip structure with semi-circular ends and two bolt holes, both of which are coaxial.

8. The end effector of a climbing workspace robotic arm according to claim 1, characterized in that: The integrated motor only needs to rotate in one direction. For every two revolutions of the output shaft, the crankshaft rotates half a revolution, and the locking tongue completes one reciprocating stroke, realizing the switching between locking and unlocking states of the end effector. The housing of the integrated motor is connected to the front and rear frames of the motor by bolts, the output shaft is connected to the central drive shaft by bolts, and the central gear is interference-fitted with the central drive shaft.

9. The end effector of a climbing workspace robotic arm according to claim 1, 2, or 8, characterized in that: The locking force of the latch is axial, while the radial force is borne by the outer shell. The locking force of the latch is perpendicular to the driving force. The main body of the latch is a cuboid with a symmetrical wedge-shaped structure at the top and two symmetrically distributed threaded holes on the bottom. The latch gasket corresponds to the bottom surface of the latch. On one side of the height direction, there are bell-shaped thin walls at both ends of the length direction, with corresponding connecting holes that cooperate with the pin.

10. The end effector of a climbing workspace robotic arm according to claim 1, characterized in that: Two one-way bearings are provided: a first one-way bearing that mates with the front section of the housing and a second one-way bearing that mates with the front frame of the motor. The two one-way bearings enable the one-way movement of the locking tongue and the brake function of the end effector. The upper connecting rod is connected to the locking tongue washer via a pin, and the locking tongue washer rotates freely around the pin. The upper connecting rod and the lower connecting rod are fitted onto the crankshaft and connected by two sets of bolts and nuts, and the connecting rod assembly rotates freely around the crankshaft.

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