An on-track assembly system for a swing arm pulley

Abstract

A swing arm and pulley on-orbit assembly system belongs to the technical field of large-scale space structure mechanisms. The present invention includes a satellite platform, an assembly base, a swing arm, a pulley, a module stack and a climbing robot; the satellite platform is located in the center, and the assembly base is fixedly connected to the periphery of the satellite platform; the swing arm is connected to the assembly base through an orthogonal two-dimensional drive mechanism; a stack for placing module units is provided at the root of the swing arm; a guide rail is provided along the length direction of the swing arm, and one or more pulleys are installed on the guide rail; a mechanical arm for picking up the module stack is installed on the pulley; the climbing robot is on the assembly base or the installed module unit. The present invention meets the goal of constructing super-large space structures, specifically reflective antennas, planar array antennas, thin film optical arrays, solar cell arrays, space solar sails, space sunshades, etc., reduces the size of a one-time deployment mechanism and the difficulty of engineering implementation, and simplifies the on-orbit assembly operation.

Description

Technical Field

[0001] The invention relates to an on-track assembly system for a swing arm pulley, belonging to the technical field of large-scale spatial structural mechanisms. Background Art

[0002] In the field of space science and military applications, extremely challenging space missions are constantly being proposed, such as extraterrestrial life detection, electronic reconnaissance and remote sensing detection, etc., which urgently need to develop 100-meter-scale reflector antennas, planar array antennas, and solar arrays. Traditional deployment technology is limited by the kinematic pairs of the folding and unfolding mechanism, the thrust of the launch vehicle and the fairing envelope. There are problems such as complex folding and unfolding mechanisms, low reliability of on-orbit deployment, large antenna size, and difficulty in low-gravity simulation experiments on the ground. It cannot fully meet the construction requirements of the above-mentioned super-large space structures. On-orbit assembly technology decouples the mechanical connection between the modules of the rocket launch segment, which can break through the limitations of rocket thrust and fairing envelope. It has the characteristics of high structural efficiency, strong scalability, and gradual upgradeability. It is particularly suitable for constructing large-scale, high-precision, and high-specific stiffness space structures. However, due to the large size and low stiffness of the 100-meter-scale structure, it is difficult to carry out large-scale transportation tasks of large-mass module stacks based on the 100-meter-scale large flexible structure. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide an on-track assembly system for a swing arm pulley, to solve the problem of large-scale transportation of large-mass module stacks, and to alleviate the dynamics and control problems of space robots in large flexible structure assembly operations.

[0004] The technical solution of the present invention is: an on-orbit assembly system of a swing arm and pulley, comprising a satellite platform, an assembly base, a swing arm, a pulley, a module stack and a climbing robot;

[0005] The satellite platform is located at the center, and the assembly base is fixedly connected to the periphery of the satellite platform;

[0006] The swing arm is connected to the assembly base through an orthogonal two-dimensional drive mechanism, a module stack for placing module units is provided at the root of the swing arm, a guide rail is provided along the length direction of the swing arm, and one or more pulleys are installed on the guide rail;

[0007] The trolley is provided with a mechanical arm for picking up the module stack;

[0008] The climbing robot is located on an assembly base or an assembled module unit.

[0009] Furthermore, the assembly base is a triangular, quadrilateral, hexagonal or octagonal frame, and each vertex or edge midpoint is provided with an upper and lower assembly interface for assembling with surrounding modules.

[0010] Further, the swing arm includes a stacking frame and an extension arm;

[0011] The stack frame is located at the root, and the module units to be assembled are stored therein;

[0012] The extension arm is located at the end of the stacking frame and is a linear extension mechanism; the extension arm in the unfolded state is flush with one side of the stacking frame, and a guide rail passing through the stacking frame and the extension arm is provided on the side; an antenna feed or other equipment is provided at the end of the extension arm.

[0013] Furthermore, the pulley is placed on a guide rail that passes through the swing arm and the stacking frame, and the pulley and the guide rail are meshed with gears and racks or frictionally matched with wheels and rails, and the pulley obtains electrical energy from the swing arm.

[0014] Furthermore, the module stack is formed by folding, pressing and locking the module units to be assembled.

[0015] Furthermore, the climbing robot is connected to the corresponding interface of the assembly base or the assembled module through an end gripper, and the span of the climbing robot is greater than the distance between adjacent climbing interfaces on the module unit.

[0016] Furthermore, high-rigidity brake locking devices are provided on both rotating shafts of the orthogonal two-dimensional drive mechanism.

[0017] Furthermore, the module stack is divided into a plurality of groups of sub-stacks, and each group of sub-stacks is fixed in the stack frame by a locking and unlocking device.

[0018] Furthermore, the climbing robot is charged through a plurality of charging interfaces provided on the swing arm, or is powered by connecting to the assembly base through a towed cable.

[0019] Furthermore, the mechanical arm on the pulley grasps the assembled module through the interface below the module unit.

[0020] The present invention meets the goal of constructing ultra-large space structures, specifically reflective antennas, planar array antennas, thin-film optical arrays, solar cell arrays, space solar sails, space sunshades, etc., reduces the size of a one-time deployment mechanism and the difficulty of engineering implementation, and simplifies on-orbit assembly operations. Therefore, the implementation of the present invention has practical application significance. Compared with the prior art, it has the following beneficial effects:

[0021] (1) The on-orbit assembly technology reduces the size of the one-time deployable antenna and reduces the difficulty of implementing the deployment mechanism;

[0022] (2) Through the peripheral rotation and radial translation of the swing arm pulley of 50 meters and above, high-efficiency arrival within a range of 100 meters can be achieved;

[0023] (3) By moving while assembling, the climbing robot body is always at the edge of the large assembly structure, making the geometric path of robot base-mechanical arm-module unit-robot base the shortest, forming a stable assembly station, which is convenient for the docking and assembly of module units. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic side view of an on-orbit assembly system of a climbing robot based on a swing arm pulley within the envelope of a rocket fairing provided by a preferred embodiment of the present invention;

[0025] Figure 2 A schematic side view of the assembly state of an on-track assembly system of a climbing robot based on a swing arm pulley provided in a preferred embodiment of the present invention.

[0026] Figure 3 A schematic top view of the assembly state of an on-rail assembly system of a climbing robot based on a swing arm pulley provided in a preferred embodiment of the present invention.

[0027] Figure 4 A schematic side view of the assembly completion state of an on-rail assembly system of a climbing robot based on a swing arm pulley provided in a preferred embodiment of the present invention.

[0028] Figure 5 A schematic diagram of a variation of an on-track assembly system for a climbing robot based on a swing arm pulley provided in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to better understand the above technical scheme, the technical scheme of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0030] The following is a further detailed description of an on-track assembly system for a swing arm pulley provided in an embodiment of the present application in conjunction with the accompanying drawings. The specific implementation method may include (eg Figures 1 to 5 As shown): a satellite platform, an assembly base, a swing arm, a pulley, a module stack and a climbing robot; the satellite platform is located at the center, and the assembly base is fixedly connected to the periphery of the satellite platform; the swing arm is connected to the assembly base through an orthogonal two-dimensional drive mechanism, a module stack for placing module units is provided at the root of the swing arm, a guide rail is provided along the length direction of the swing arm, and one or more pulleys are installed on the guide rail; a mechanical arm for picking up the module stack is installed on the pulley; the climbing robot is on the assembly base or the installed module unit.

[0031] Optionally, the assembly base is a triangular, quadrilateral, hexagonal or octagonal frame, and each vertex or edge midpoint is provided with an upper and lower assembly interface for assembling with surrounding modules.

[0032] Furthermore, the swing arm includes a stacking frame and an extension arm; the stacking frame is located at the root, in which the module units to be assembled are stored; the extension arm is located at the end of the stacking frame, and the extension arm is a linear extension mechanism; the extension arm in the expanded state is flush with one side of the stacking frame, and a guide rail passing through the stacking frame and the extension arm is provided on the side; an antenna feed or other equipment is provided at the end of the extension arm.

[0033] In a possible implementation, the pulley is placed on a guide rail that passes through the swing arm and the stack frame, and the pulley and the guide rail are engaged with a gear rack or a wheel-rail friction fit, and the pulley obtains electrical energy from the swing arm.

[0034] Furthermore, in a possible implementation, the module stack is formed by folding, pressing and locking the module units to be assembled.

[0035] In one possible implementation, the climbing robot is connected to a corresponding interface of an assembly base or an assembled module via an end gripper, and the span of the climbing robot is greater than the distance between adjacent climbing interfaces on the module unit.

[0036] Optionally, in a possible implementation, high-rigidity brake locking devices are provided on both rotation axes of the orthogonal two-dimensional drive mechanism.

[0037] Furthermore, in a possible implementation, the module stack is divided into a plurality of groups of sub-stacks, and each group of sub-stacks is fixed in the stack frame by a locking and unlocking device.

[0038] In one possible implementation, the climbing robot is charged through a plurality of charging ports provided on the swing arm, or is powered by being connected to an assembly base through a towing cable.

[0039] Furthermore, the mechanical arm on the pulley grasps the assembled module through the interface below the module unit.

[0040] In the solution provided in the embodiment of the present application, this embodiment provides an on-orbit assembly system of a climbing robot based on a swing arm pulley, which is applied to the on-orbit construction of a super-large satellite-borne antenna system, and meets the design constraints such as the rocket fairing envelope, reducing the size of a single deployed antenna, and large-scale handling operations of module stacks.

[0041] like Figure 1The figure shows an on-orbit assembly system of a climbing robot based on a swing arm pulley within the envelope of a rocket fairing, which includes a satellite platform 1, a module stack 3, an extendable feed 4, a climbing robot 5, and an assembly base 2 connecting the satellite platform 1 and the module stack 3. The satellite platform 1 is located at the bottom of the system and is fixedly connected to the rocket docking ring. The upper part of the satellite platform 1 is fixedly connected to the assembly base 2, and the assembly base 2 is connected to the module stack 3 through a two-dimensional orthogonal rotation drive mechanism, and the top of the module stack 3 is fixedly connected to the extendable feed 4.

[0042] like Figure 2 The figure shows a side view of the assembly state of the on-orbit assembly system of the climbing robot based on the swing arm pulley. The solar wings on both sides of the satellite 1 have been unfolded and provide power for the satellite; some module units have been installed on the assembly base 2, and the climbing robot 5 is attached to the assembly station at the edge of the assembled module; the module stack 3 is deflected by a certain angle through the two-dimensional driving mechanism 31 at its root, so as to facilitate the transportation of the module sub-stack 33 to the vicinity of the robot 5; the one-dimensional extension arm 41 at the root of the feed source 4 is a traditional articulated, coiled or sleeve extension mechanism, on which a guide rail for transporting the module sub-stack 33 and a matching pulley 32 are provided; wherein the module stack 3, the one-dimensional extension arm 41, etc. together constitute a swing arm; the climbing robot 5 has the ability to climb along the corresponding interface on the satellite platform and the installed structure 6, one end of the climbing robot 5 stands on the edge of the installed structure, and the other end picks up the module 34 to be installed from the module sub-stack 33 on the pulley 32, and assembles it on the edge of the installed structure 6.

[0043] like Figure 3 The figure shows a top view of the assembly state of the climbing robot on-orbit assembly system based on the swing arm pulley. The module stack 3 rotates 360° around the satellite center through its root two-dimensional drive mechanism 31, and the pulley 32 carrying the module sub-stack 33 moves radially along the guide rails on the module stack 3 and the extension arm 41, so as to transport the modules to be installed to all assembly stations and deliver them to the climbing robot 5 for assembly operation.

[0044] like Figure 4 The figure is a schematic side view of the on-track assembly system of the climbing robot based on the swing arm pulley in the assembled state. After the structure 6 is assembled, the module stack 3 is deflected and erected around the two-dimensional drive mechanism at its root, so that the feed source 4 reaches the normal working position.

[0045] like Figure 5 Schematic diagram of the variation scheme of the on-track assembly system of the climbing robot based on the swing arm pulley. Figure 4Compared with the above scheme, the two-dimensional driving mechanism 31 is moved from between the assembly platform 2 and the module stack 3 to between the module stack 3 and the extension arm 41. The advantage of this scheme is that the structural rigidity of the frame where the module stack 3 is located is improved by moving the two-dimensional driving mechanism 31 outward; the disadvantage is that the distance between the pulley 32 and the edge of the installed structure 6 is increased, and in order to deliver the module sub-stack 33 to the assembly station, the pulley 32 is required to add a telescopic function, which increases the complexity of the system.

[0046] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0047] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An on-track assembly system for a swing arm pulley, characterized in that: Includes satellite platform, assembly base, swing arm, pulley, module stack and climbing robot; The satellite platform is located at the center, and the assembly base is fixedly connected to the periphery of the satellite platform; The swing arm is connected to the assembly base through an orthogonal two-dimensional drive mechanism, a module stack for placing module units is provided at the root of the swing arm, a guide rail is provided along the length direction of the swing arm, and one or more pulleys are installed on the guide rail; The trolley is provided with a mechanical arm for picking up the module stack; The climbing robot is located on an assembly base or an assembled module unit.

2. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The assembly base is a triangular, quadrilateral, hexagonal or octagonal frame, and an upper and lower assembly interface is provided at each vertex or edge midpoint for easy assembly with surrounding modules.

3. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The swing arm includes a stack frame and a spreading arm; The stack frame is located at the root, and the module units to be assembled are stored therein; The extension arm is located at the end of the stacking frame and is a linear extension mechanism; the extension arm in the unfolded state is flush with one side of the stacking frame, and a guide rail passing through the stacking frame and the extension arm is provided on the side; an antenna feed or other equipment is provided at the end of the extension arm.

4. The on-track assembly system of a swing arm pulley according to claim 3, characterized in that: The pulley is placed on a guide rail that passes through the extension arm and the stacking frame. The pulley and the guide rail are engaged with a gear rack or a wheel-rail friction fit. The pulley obtains electrical energy from the swing arm.

5. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The module stack is formed by folding, pressing and locking the module units to be assembled.

6. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The climbing robot is connected to the corresponding interface of the assembly base or the assembled module through the end gripper, and the span of the climbing robot is greater than the distance between adjacent climbing interfaces on the module unit.

7. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: High-rigidity brake locking devices are arranged on the two rotating shafts of the orthogonal two-dimensional drive mechanism.

8. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The module stack is divided into a plurality of groups of sub-stacks, and each group of sub-stacks is fixed in the stack frame by a locking and unlocking device.

9. The on-track assembly system of a swing arm pulley according to claim 1, characterized in that: The climbing robot is charged through a plurality of charging interfaces arranged on the swing arm, or is connected to the assembly base for power supply through a towed cable.

10. The on-track assembly system of a swing arm block according to claim 1, characterized in that: The mechanical arm on the pulley grasps the assembled module through the interface below the module unit.

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