The invention provides a space tree-net-type robot, and belongs to the field of space on-orbit service robots. The problems that on-orbit service mechanisms are small in size, poor in flexibility and poor in rigidity are solved. The space tree-net-type robot comprises multiple space multi-arm robots, wherein the multiple space multi-arm robots are connected in cooperation, each space multi-arm robot comprises a corresponding base and multiple corresponding mechanical arms, the multiple corresponding mechanical arms are arranged in the circumferential direction of each base, each mechanical arm comprises three universal joints, two arm rods and two translation joints, one ends of each two arm rods are connected through one corresponding universal joint, the other two corresponding universal joints are installed at the other ends of each two arm rods respectively, each arm rod is provided with a corresponding translation joint, connector ends of the mechanical arms are connected with the bases through quick-change connectors, and connecting ends of the mechanical arms are connected with multi-head quick-change tools. The space tree-net-type robot is mainly used for space on-orbit service robots.
本发明提出了一种空间树网型机器人,属于空间在轨服务机器人领域。解决了在轨服务机构尺寸小、灵活度差、刚度差的问题。它包括多个空间多臂机器人,多个空间多臂机器人配合相连,每个空间多臂机器人均包括基座和多个机械臂,多个机械臂沿基座圆周方向布置,所述机械臂包括三个万向关节、两个臂杆和两个平动关节,所述两个臂杆的一端通过一个万向关节相连,其余两个万向关节分别安装在两个臂杆的另一端,每个臂杆上均设置有一个平动关节,所述机械臂的接口端通过快换接口与基座相连,所述机械臂的连接端与多头快换工具相连。它主要用于空间在轨服务机器人。
Space tree-net-type robot
一种空间树网型机器人
2021-07-02
Patent
Electronic Resource
Chinese