The invention discloses a space intelligent flexible maintenance robot which comprises an operation integrated rocking handle, a tail end execution tool and a rigid-flexible coupling structure. The end, connected with the operation integrated rocking handle, of the rigid-flexible coupling structure is provided with a pitching steering engine, and the end, matched with the tail end executing tool, of the rigid-flexible coupling structure is connected through a tail end driving assembly. The tail end driving assembly comprises a tail end pitching steering engine, a tail end swinging steering engine and a tail end rotation motor. The flexible maintenance robot has rigidity and flexibility, can extend into a narrow space, is flexible and convenient, has a visual servo autonomous guiding function, enables movement positioning to be accurate, and plays roles in reducing operation difficulty and improving working efficiency.
本发明公开了一种空间智能柔性检修机器人,包括操作集成摇柄、末端执行工具、以及刚柔耦合结构;刚柔耦合结构与操作集成摇柄连接一端具有俯仰舵机,刚柔耦合结构与末端执行工具配合一端通过末端驱动组件连接;末端驱动组件包括末端俯仰舵机、末端摇摆舵机和末端自转电机。本发明的柔性检修机器人兼具刚性和柔性,可探入狭小空间,灵巧方便,视觉伺服自主引导功能使得运动定位准确,起到降低操作难度和提高工作效率的作用。
Space intelligent flexible maintenance robot
一种空间智能柔性检修机器人
2024-06-28
Patent
Electronic Resource
Chinese
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