The invention discloses an attached type variable-structure robot for on-orbit assembly. The attached type variable-structure robot comprises a tool magazine, a robot body, an operation arm and an adsorption actuator. The tool magazine is located above the robot body. The four operation arms are located on the side of the robot body. And the four sets of adsorption actuators are uniformly distributed below the robot body. Configuration transformation of the operation arm can be achieved on orbit, the configuration requirements under different tasks are met, the flexibility of the operation arm is improved, through multi-arm collaborative operation of the operation arm, the on-orbit working efficiency and the operation precision can be remarkably improved, and meanwhile the working reliability and the fault-tolerant capability are further improved; rapid replacement of a tail end tool can be achieved on orbit, expansion of the on-orbit function of the robot is achieved, and the robot can better adapt to various on-orbit tasks; the robot and the spacecraft are attached and fixed in an electromagnetic adsorption mode, and the robot and the spacecraft can better adapt to on-orbit tasks in a vacuum environment; solar energy can be fully utilized to provide electric energy for on-orbit tasks of the robot, and the on-orbit operation time of the robot is effectively prolonged.
一种用于在轨组装的附着型变构机器人,包括工具库、机器人本体、操作臂及吸附执行器;工具库位于机器人本体上方;四条操作臂位于机器人本体侧方;四套吸附执行器均匀分布在机器人本体下方。本发明可在轨实现操作臂的构型变换,满足不同任务下的构型需求,提高操作臂灵活性,通过操作臂的多臂协同作业,可显著提高在轨工作效率和操作精度,同时进一步增加了工作可靠性和容错能力;能够在轨实现末端工具的快速更换,实现了机器人在轨功能的扩展,能够更好的适应各种在轨任务;采用电磁吸附方式实现机器人航天器之间的附着固定,能够更好的适应真空环境下的在轨任务;能够充分利用太阳能为机器人在轨任务提供电能,有效延长了机器人的在轨作业时间。
Attached variable-structure robot for on-orbit assembly
一种用于在轨组装的附着型变构机器人
2025-04-08
Patent
Electronic Resource
Chinese
European Patent Office | 2022
|European Patent Office | 2020
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