Space station truss construction apparatus based on in-orbit assembly and method thereof

Abstract

The application provides a space station truss construction device and method based on on-orbit construction, which comprises a plug rod assembly, a cross section assembly component, a mechanical arm assembly, a truss assembly component, a side frame and a bottom frame. The first Y-axis moving platform of the plug rod assembly and the mechanical arm assembly are connected with the first mounting end and the second mounting end of the bottom frame respectively, and the cross section assembly component and the truss assembly component are connected with the first mounting end and the second mounting end of the side frame respectively. Through the arrangement of the node unit on the cross section assembly component, the transformation of the triangular cross section and the square cross section is realized, and through the intermediate support circular track component in the truss assembly component, the connection of the connecting rod between the cross section rods is realized, so that the limitation of the truss growth direction is eliminated, the truss structure with variable cross section and multi-size length can be manufactured on orbit, and diversified and complex tasks such as on-orbit manufacturing and assembly are met.

Description

Technical Field

[0001] This invention relates to the field of on-orbit manufacturing of ultra-large spacecraft platforms, and in particular to a space station truss construction device and method based on on-orbit assembly. Background Technology

[0002] Large space truss structures are fundamental components and extension platforms of large spacecraft such as space stations. Due to the sheer size of some truss structures, exceeding the capabilities of launch vehicles and thus failing to meet loading and transport requirements, large-scale truss structures are currently typically deployed in orbit. This means that the truss is folded and stowed during spacecraft launch to ensure its envelope size meets launch requirements. After the spacecraft enters orbit, the truss unfolds under the action of a drive mechanism. Such large truss deployment mechanisms have complex spatial and geometric configurations, and for ultra-large space truss structures exceeding several thousand square meters, deployment mechanisms are no longer sufficient. Therefore, in-orbit construction technology has become the preferred choice for large truss construction.

[0003] Chinese Patent Publication No. CN112298622A discloses an on-orbit manufacturing device for trusses based on one-dimensional continuous rods, including a shell structure, a material storage unit, a material transfer unit, a material connection mechanism, a rod push-pull unit, and several materials. The existing materials are connected into a one-dimensional continuous structure with an equilateral triangle cross-section through the rod push-pull unit and the material connection mechanism. Chinese Patent Publication No. CN115157675A discloses a space assembly system based on the fusion of on-orbit additive manufacturing and ground-based launch, including a physical subsystem, a digital twin subsystem, and a communication subsystem. Ground control commands are transmitted to the physical subsystem to achieve on-orbit manufacturing of spacecraft structural components.

[0004] However, the existing system still has the following shortcomings:

[0005] (1) The existing on-orbit construction method mainly adopts a single spacecraft working mode. If a component of the spacecraft fails, it does not have the ability to self-repair in orbit.

[0006] (2) Construction task control mainly relies on ground personnel management, and the degree of automation is low and the work is difficult when constructing large-scale facilities;

[0007] (3) The truss structure and size are simple and cannot independently meet the diverse and complex task requirements of future on-orbit manufacturing and assembly. Summary of the Invention

[0008] To address the problems of existing technologies, this invention provides a space station truss construction device based on in-orbit assembly. A robotic arm assembly installs node units onto a section assembly assembly. A rod transport component in the insert rod assembly delivers connecting rod units into a node fixing lock assembly. An extension platform assembly assembles the node units and connecting rod units to obtain section members. A flipping platform component in the section assembly assembly installs the section members onto the front-end mounting track assembly and the intermediate support circular rail assembly in the truss assembly assembly. A rod transport component in the insert rod assembly connects the section members on the front-end mounting track assembly and the intermediate support circular rail assembly using connecting rod units. The connection is then secured by a guide rail support frame component in the rear-end fixed truss assembly, thus integrating in-orbit manufacturing and in-orbit assembly. Through progressive construction and continuous truss growth, a platform meeting various functional requirements can be obtained. The entire in-orbit construction device is fixed to the outer wall of the experimental module, eliminating the need for a single spacecraft and facilitating maintenance.

[0009] This invention provides a space station truss construction device based on on-orbit assembly, comprising a pole insertion assembly, a section assembly assembly, a robotic arm assembly, a truss assembly assembly, a side frame, and a bottom frame. The first Y-axis moving platform of the pole insertion assembly and the robotic arm assembly are respectively connected to the first and second mounting ends of the bottom frame. The section assembly assembly and the truss assembly assembly are respectively connected to the first and second mounting ends of the side frame. The pole insertion assembly includes a 3D printer, a pole clamping assembly, a pole conveying assembly, a first Y-axis moving platform, and an upper support frame. The 3D printer is located on one side of the pole clamping assembly. The housing of the geared motor in the pole clamping assembly is connected to the upper support frame. The lower end of the base plate in the pole clamping assembly is connected to the first mounting end of the upper end of the clamping tube base plate in the pole conveying assembly. The lower end of the clamping tube base plate in the pole conveying assembly is connected to the upper end of the intermediate connecting plate of the first Y-axis moving platform. The cross-section assembly includes a rotating platform assembly, a tilting platform assembly, an extending platform assembly, and a node fixing lock assembly. The output end of the turbine in the rotating platform assembly is connected to the lower end of the second base in the tilting platform assembly. The lead screw of the fourth ball screw nut pair in the tilting platform assembly is connected to the lead screw nut seat in the extending platform assembly. The central locking pin in the node fixing lock assembly is connected to the fixed end of the extending platform in the extending platform assembly. The robotic arm assembly includes an X-axis moving platform, a second Y-axis moving platform, a first robotic arm assembly, and a second robotic arm assembly. The first end of the second Y-axis moving platform is connected to the X-axis moving platform, and the second end of the second Y-axis moving platform is connected to the first end of the second lower base plate in the first robotic arm assembly. The second end of the second lower base plate in the first robotic arm assembly is connected to the second robotic arm assembly. The truss assembly includes a front-end mounting track assembly, a rear-end fixed truss assembly, and an intermediate support circular rail assembly. The support frame in the front-end mounting track assembly is connected to the first fixed end of the cylindrical gear in the intermediate support circular rail assembly, and the guide rail support frame in the rear-end fixed truss assembly is connected to the second fixed end of the cylindrical gear in the intermediate support circular rail assembly.

[0010] Preferably, the clamping rod assembly includes a lower clamping rod wheel assembly, a cam plate, an upper clamping rod wheel assembly, and a cam plate drive assembly. The lower ends of the clamping tube wheel frames in the lower and upper clamping rod wheel assemblies are respectively connected to the first and second mounting ends of the cam plate. The third and fourth mounting ends of the cam plate are respectively connected to the slider of the first linear guide motion pair and the nut of the first ball screw nut pair in the cam plate drive assembly. The lower and upper clamping rod wheel assemblies have the same structure. The lower clamping rod wheel assembly includes a drive gear, a first reduction motor, a first roller assembly, a second roller assembly, a cam plate drive, and a clamping tube wheel frame. The output shaft of the first geared motor is connected to the input shaft of the drive gear. The output end of the drive gear is connected to the input end of the second roller assembly through a meshing gear. The mounting ends of the first roller assembly and the second roller assembly are respectively connected to the first mounting end and the second mounting end of the clamping wheel frame. The upper end of the clamping wheel frame is drivenly connected to the cam plate. The cam plate drive assembly includes a base plate, a first linear guide kinematic pair, a first bearing seat, and a first ball screw nut pair. The first linear guide kinematic pair is connected to the first mounting end of the base plate, and the first ball screw nut pair is connected to the second mounting end of the base plate through the first bearing seat.

[0011] Preferably, the rod conveying assembly includes a cage, a first clamping rod wheel assembly, a second clamping rod wheel assembly, a clamping tube base plate, a second linear guide kinematic pair, and a second ball screw nut pair. The mounting ends of the first clamping rod wheel assembly and the second clamping rod wheel assembly are respectively connected to the first mounting end and the second mounting end of the cage. The third mounting end and the fourth mounting end of the cage are respectively connected to the slider of the second linear guide kinematic pair and the nut of the second ball screw nut pair. The guide rail of the second linear guide kinematic pair and the screw of the second ball screw nut pair are respectively connected to the first mounting end and the second mounting end of the upper end of the clamping tube base plate.

[0012] Preferably, the tilting platform assembly includes a second base, a fourth linear guide kinematic pair, a push rod, a push rod connecting rod, a fourth ball screw nut pair, a second bearing housing, a first coupling, a first motor, a belt drive, a tilting upper platform, a fifth linear guide kinematic pair, a fifth ball screw nut pair, and a second motor. The guide rails of the fourth linear guide kinematic pair are symmetrically mounted on the first and second sides of the upper end of the second base. The screw of the fourth ball screw nut pair is connected to the mounting end of the upper end of the second base through the second bearing housing. The first motor is connected to the input end of the screw of the fourth ball screw nut pair through the first coupling. The nut of the fourth ball screw nut pair is connected to the first end of the push rod connecting rod. The second end of the push rod connecting rod is connected to the first end of the push rod. The second end of the push rod is connected to the side mounting end of the tilting upper platform. The fifth linear guide motion pair and the fifth ball screw nut pair are connected to the first and second mounting ends of the upper end of the flipping platform, respectively. The output end of the second motor is connected to the input end of the fifth ball screw nut pair via belt drive. The node fixing lock assembly includes a third base, a top rod, a guide column, a guide motion component, a lock head, a mounting interface, a central lock column, a first slider, and a spring. The mounting ends of the top rod, the guide column, and the guide motion component are connected to the first, second, and third mounting ends of the third base, respectively. The fixed end of the top rod is connected to the first slider. The first end of the lock head is connected to the mounting interface. The second end of the lock head is connected to the upper end of the central lock column. The lower end of the central lock column is connected to the moving end of the guide motion component via a spring.

[0013] Preferably, the first robotic arm assembly includes a drive assembly, a first connecting rod, a node locking head drive assembly, a rod support clamp, an upper mounting base plate, a second connecting rod, a drive push rod, a second lower base plate, a fourth motor, a worm gear transmission, and a turntable. The first ends of the first connecting rod and the second connecting rod are respectively connected to pin holes in the first lower base plate of the drive assembly, and the second ends of the first connecting rod and the second connecting rod are respectively connected to pin holes in the upper mounting base plate. The first end of the drive push rod is connected to the third end of the second connecting rod, and the second end of the drive push rod is connected to a screw with a pin shaft in the drive assembly. The fixed end of the mother is connected, the fixed end of the rod support clamp is connected to the first mounting end of the upper mounting base plate, the housing of the fourth motor is connected to the second mounting end of the upper mounting base plate, the output end of the fourth motor is connected to the first end of the turntable via a worm gear drive, and the second end of the turntable is connected to the first end of the fixed seat in the node locking head drive assembly; the second robotic arm assembly includes a fifth motor, a third link and a node fixing lock assembly, the output shaft of the fifth motor is connected to the first end of the third link, and the second end of the third link is connected to the node fixing lock assembly.

[0014] Preferably, the drive assembly includes a second geared motor, a second coupling, a nut with a pin, a lead screw, a second bearing, a slider, and a first lower base plate. The output end of the second geared motor is connected to the input end of the lead screw via the second coupling. The fixed end of the lead screw is connected to the first mounting end of the first lower base plate via the second bearing. The second mounting end of the first lower base plate is connected to the slider. The nut with a pin is connected to the sliding end of the lead screw. The node locking head drive assembly includes a drive wheel, a reducer, a third motor, a driven wheel, a transmission rod, a ratchet, and a fixed seat. The output shaft of the third motor is connected to the input shaft of the drive wheel via the reducer. The drive wheel and the driven wheel mesh. The mounting end of the driven wheel is connected to the first end of the transmission rod. The second end of the transmission rod is connected to the mounting end of the ratchet. The fixed end of the ratchet is connected to the second end of the fixed seat.

[0015] Preferably, the front-end mounting track assembly includes a gripper moving guide rail, a front support circular rail, a docking gripper assembly, a sixth motor, a support frame, and a pusher plate. The first and second fixed ends of the gripper moving guide rail are respectively connected to the mounting ends of the front support circular rail and the support frame. The moving end of the gripper moving guide rail is connected to the mounting end of the positioning block in the docking gripper assembly. The fixed end of the mounting base in the docking gripper assembly is connected to the pusher plate contact point of the pusher plate. The fixed end of the sixth motor is connected to the motor mounting hole of the pusher plate. The docking gripper assembly includes a gripper assembly, a push rod, a positioning block, a sixth ball screw nut pair, and a mounting base. The four corners of the base are symmetrically provided with top rods. The gripper assembly is located between two adjacent sets of top rods. The middle of the mounting base is provided with a sixth ball screw nut pair. The positioning blocks are symmetrically installed on opposite sides of the mounting base. The gripper assembly includes an opening and closing claw, a mounting base, a guide slide rod, a long pin, a push rod, a push rod connecting platform, and a fan connector. The first mounting end of the opening and closing claw is connected to the first end of the fan connector through the long pin. The second end of the fan connector is connected to the first end of the push rod connecting platform. The second and third ends of the push rod connecting platform are respectively connected to the guide slide rod and the push rod. The first end of the mounting base is connected to the second mounting end of the opening and closing claw.

[0016] Preferably, the rear fixed truss assembly includes a rear support circular rail, a guide rail support frame assembly, and a truss fixing lock assembly. The guide rail support frames at both ends of the guide rail support frame assembly are respectively connected to the second fixed end of the cylindrical gear in the intermediate support circular rail assembly and the fixed end of the rear support circular rail. The truss fixing lock assembly is connected to the guide rail of the guide rail support frame assembly. The guide rail support frame assembly includes a guide rail and a guide rail support frame. The guide rails are symmetrically distributed on both sides of the guide rail support frame assembly. The first and second sides of the guide rails are respectively provided with node pressing holes and guide rail support frames. The middle part of the guide rail support frame assembly is provided with a first mounting boss and a second mounting boss. The second mounting boss and the third mounting boss; the truss fixing lock assembly includes a sixth linear guide kinematic pair, a seventh ball screw nut pair, a belt drive, an eighth motor, a slide bar frame, a seventh linear guide kinematic pair, a node pressure rod, and a node brake pin. The output shaft of the eighth motor is connected to the nut in the seventh ball screw nut pair via a belt drive. The fixed ends of the sixth linear guide kinematic pair and the seventh ball screw nut pair are respectively connected to the first mounting end and the second mounting end of the slide bar frame. The third mounting end of the slide bar frame is connected to the first end of the node pressure rod via the seventh linear guide kinematic pair. The second end of the node pressure rod is provided with a node brake pin.

[0017] Preferably, the intermediate support circular rail assembly includes a seventh motor, a reducer, a drive gear, a turntable bearing, a bearing housing, and a cylindrical gear. The outer ring of the bearing housing is connected to the mounting end of the side frame, the inner ring of the bearing housing is connected to the outer ring of the turntable bearing, the inner ring of the turntable bearing is connected to the mounting end of the cylindrical gear, and the output shaft of the seventh motor is connected to the input end of the drive gear through the reducer. The drive gear and the cylindrical gear mesh.

[0018] Another aspect of the present invention provides a construction method for a space station truss construction device based on in-orbit construction, comprising the following steps:

[0019] S1. Use the robotic arm assembly to install the nodal units of the space station truss onto the section assembly assembly;

[0020] S2. The connecting rod unit is fed into the node fixing lock assembly using the rod conveying assembly in the rod assembly, and the node unit and the connecting rod unit are assembled by the extension platform assembly to obtain the cross-section rod.

[0021] S3. Using the flipping platform component in the cross-section assembly assembly, install the cross-section members obtained in S2 onto the front-end mounting track assembly and the intermediate support circular track assembly in the truss assembly assembly, respectively.

[0022] S4. By using the rod conveying assembly in the rod assembly, the cross-sectional rods on the front-end mounting rail assembly and the intermediate support circular rail assembly are connected by the connecting rod unit to obtain the preliminary truss unit.

[0023] S5. Fix the preliminary truss unit obtained in S4 through the guide rail support frame assembly in the rear fixed truss assembly to obtain the final truss unit.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. This invention achieves the connection between cross-section members by arranging node units on the cross-section assembly assembly and by using the intermediate support circular rail assembly in the truss assembly assembly, thereby eliminating the restriction on the growth direction of the truss. It enables the on-rail manufacturing of truss structures with variable cross-sections and multiple lengths, meeting diverse and complex tasks such as on-rail manufacturing and assembly.

[0026] 2. This invention assembles truss units by having an actuator move according to a certain pattern. The transmission scheme is simple, efficient, highly automated, and easy to implement. Multiple sub-tasks, including node installation on the installation plane and link installation between the previous section, can be performed simultaneously.

[0027] 3. The present invention fixes the entire on-orbit structural system to the outer wall of the experimental module via a frame, which facilitates on-orbit maintenance and has a compact structure. Attached Figure Description

[0028] Figure 1 This is an overall structural diagram of the space station truss construction device based on on-orbit construction according to the present invention;

[0029] Figure 2 This is a structural diagram of the insert rod assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0030] Figure 3 This is a structural diagram of the clamping rod assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0031] Figure 4 This is a structural diagram of the lower clamping rod wheel assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0032] Figure 5 This is a structural diagram of the first roller assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0033] Figure 6 This is a structural diagram of the cam plate drive assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0034] Figure 7 This is a structural diagram of the first Y-axis moving platform in the space station truss construction device based on on-orbit construction of the present invention;

[0035] Figure 8 This is a structural diagram of the rod conveying assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0036] Figure 9 This is a structural diagram of the cross-sectional assembly component in the space station truss construction device based on on-orbit construction of the present invention;

[0037] Figure 10 This is a structural diagram of the extended platform component in the space station truss construction device based on on-orbit construction of the present invention;

[0038] Figure 11 This is a structural diagram of the flipping platform component in the space station truss construction device based on on-orbit assembly, as described in this invention.

[0039] Figure 12 This is a structural diagram of the rotating platform component in the space station truss construction device based on on-orbit construction of the present invention;

[0040] Figure 13 This is a structural diagram of the node fixing lock assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0041] Figure 14 This is a structural diagram of the robotic arm component in the space station truss construction device based on on-orbit construction of the present invention;

[0042] Figure 15 This is a structural diagram of the node locking head drive assembly in the space station truss construction device based on on-orbit construction according to the present invention;

[0043] Figure 16 This is a structural diagram of the first robotic arm assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0044] Figure 17 This is a structural diagram of the drive component in the space station truss construction device based on on-orbit assembly, as per the present invention.

[0045] Figure 18 This is a structural diagram of the second robotic arm component in the space station truss construction device based on on-orbit construction of the present invention;

[0046] Figure 19 This is a structural diagram of the truss assembly component in the space station truss construction device based on on-orbit construction of the present invention;

[0047] Figure 20 This is a structural diagram of the front-end installation of the track assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0048] Figure 21 This is a structural diagram of the pusher plate in the space station truss construction device based on the present invention;

[0049] Figure 22 This is a structural diagram of the docking grabbing assembly in the space station truss construction device based on the present invention;

[0050] Figure 23 This is a structural diagram of the gripper assembly in the space station truss construction device based on on-orbit assembly of the present invention;

[0051] Figure 24 This is a structural diagram of the intermediate support circular rail assembly in the space station truss construction device based on on-orbit assembly, according to the present invention.

[0052] Figure 25 This is a structural diagram of the rear fixed truss assembly in the space station truss construction device based on on-orbit construction of the present invention;

[0053] Figure 26 This is a structural diagram of the guide rail support frame assembly in the space station truss construction device based on on-orbit construction according to the present invention;

[0054] Figure 27 This is a structural diagram of the truss fixing and locking assembly in the space station truss construction device based on the present invention.

[0055] Key reference numerals:

[0056] Insert rod assembly 1, 3D printer 101, clamping rod assembly 102, lower clamping rod wheel assembly 1021, drive gear 10211, first geared motor 10212, first roller assembly 10213, clamping tube wheel 102131, synchronous belt pulley 102132, second roller assembly 10214, cam plate drive 10215, clamping tube wheel frame 10216, cam plate 1022, upper clamping rod wheel assembly 1023, cam plate drive assembly 1024, base plate 10241, first linear guide kinematic pair 10242, first bearing seat 10243, first ball screw nut pair 10244, rod conveying assembly 103, retainer 1031, first clamping rod wheel assembly 1032, second clamping rod wheel assembly 1033, clamping tube base plate 1034, Second linear guide kinematic pair; 1035, Second ball screw nut pair; 1036, First Y-axis moving platform; 104, Intermediate connecting plate; 1041, Third linear guide kinematic pair; 1042, Third ball screw nut pair; 1043, First bearing; 1044, Upper support frame; 105, Section assembly assembly 2; Rotating platform assembly 201, Worm gear; 2011, Worm; 2022, Tilting platform assembly 202, Second base; 2021, Fourth linear guide kinematic pair; 2022, Push rod; 2023, Push rod connecting rod; 2024, Fourth ball screw nut pair; 2025, Second bearing seat; 2026, First coupling; 2027, First motor; 2028, Belt drive; 2029, Tilting upper platform; 20210, Fifth linear guide... Track motion pair 20211, fifth ball screw nut pair 20212, second motor 20213, extension platform assembly 203, extension platform 2031, screw nut seat 2032, node fixing lock assembly 204, top rod 2041, guide column 2042, guide motion component 2043, lock head 2044, mounting interface 2045, center lock column 2046, first slider 2047, spring 2048, robotic arm assembly 3, X-axis moving platform 301, second Y-axis moving platform 302, first robotic arm assembly 303, drive assembly 3031, second geared motor 30311, second coupling 30312, nut with pin 30313, screw 30314, second bearing 30315, second slider 3 0316, First lower base plate 30317, First connecting rod 3032, Node locking head drive assembly 3033, Drive wheel 30331, Reducer 30332, Third motor 30333, Driven wheel 30334, Transmission rod 30335, Ratchet 30336, Fixed seat 30337, Rod support clamp 3034, Upper mounting base plate 3035, Second connecting rod 3036, Drive push rod 3037, Second lower base plate 3038, Fourth motor 3039, Worm gear drive 30310, Turntable 303101, Second robotic arm assembly 304, Fifth motor 3041, Third connecting rod 3042, Truss assembly assembly 4, Front mounting track assembly 401, Grab plate moving guide rail 4012, Front support circular rail 4013.The components include: gripper assembly 4014, gripper assembly 40141, opening / closing claw 401411, mounting base 401412, guide slide rod 401413, long pin 401414, push rod 401415, push rod connecting platform 401416, fan connector 401417, push rod 40142, positioning block 40143, sixth ball screw nut pair 40144, mounting base 40145, sixth motor 4015, support frame 4016, push plate 4017, push plate contact 40171, guide pin hole 40172, motor mounting hole 40173, motor shaft hole 40174, rear end fixed truss assembly 402, rear support circular rail 4021, guide rail support frame assembly 4022, and guide rail 402. 21. Guide rail support frame 40223, node pressing hole 40222, first mounting boss 40224, second mounting boss 40225, third mounting boss 40226, truss fixing lock assembly 4023, sixth linear guide kinematic pair 40231, seventh ball screw nut pair 40232, belt drive 40233, eighth motor 40234, slide bar frame 40235, seventh linear guide kinematic pair 40236, node pressing rod 40237, node brake pin 40238, intermediate support circular rail assembly 403, seventh motor 4031, reducer 4032, drive gear 4033, turntable bearing 4034, bearing seat 4035, cylindrical gear 4036, side frame 5, bottom frame 6. Detailed Implementation

[0057] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0058] The space station truss construction device proposed in this invention is both a space station truss manufacturing device based on in-orbit construction and a space assembly system, specifically as follows: Figure 1 As shown, it includes a pole assembly 1, a cross-section assembly 2, a robotic arm assembly 3, a truss assembly 4, a side frame 5, and a bottom frame 6. The first Y-axis moving platform 104 of the pole assembly 1 and the robotic arm assembly 3 are respectively connected to the first mounting end and the second mounting end of the bottom frame 6. The cross-section assembly 2 and the truss assembly 4 are respectively connected to the first mounting end and the second mounting end of the side frame 5.

[0059] Insertion rod assembly 1, such as Figure 2As shown, the assembly includes a 3D printer 101, a clamping rod assembly 102, a rod conveying assembly 103, a first Y-axis moving platform 104, and an upper support frame 105. The 3D printer 101 is located on one side of the clamping rod assembly 102. The housing of the geared motor 10212 in the clamping rod assembly 102 is connected to the upper support frame 105. The lower end of the base plate 10241 in the clamping rod assembly 102 is connected to the first mounting end of the upper end of the clamping tube base plate 1034 in the rod conveying assembly 103. The lower end of the clamping tube base plate 1034 in the rod conveying assembly 103 is connected to the upper end of the intermediate connecting plate 1041 of the first Y-axis moving platform 104.

[0060] Clamping rod assembly 102, such as Figure 3 As shown, the assembly includes a lower clamping rod wheel assembly 1021, a cam plate 1022, an upper clamping rod wheel assembly 1023, and a cam plate drive assembly 1024. The lower ends of the clamping tube wheel frame 10216 in the lower clamping rod wheel assembly 1021 and the upper clamping rod wheel assembly 1023 are respectively connected to the first mounting end and the second mounting end of the cam plate 1022. The third mounting end and the fourth mounting end of the cam plate 1022 are respectively connected to the slider of the first linear guide motion pair 10242 and the nut of the first ball screw nut pair 10244 in the cam plate drive assembly 1024.

[0061] Lower clamping rod wheel assembly 1021, such as Figure 4 As shown, the assembly includes a drive gear 10211, a first reduction motor 10212, a first roller assembly 10213, a second roller assembly 10214, a cam plate drive 10215, and a tube clamping wheel frame 10216. The output shaft of the first reduction motor 10212 is connected to the input shaft of the drive gear 10211. The output end of the drive gear 10211 is connected to the input end of the second roller assembly 10214 via a meshing gear. The mounting ends of the first roller assembly 10213 and the second roller assembly 10214 are respectively connected to the first mounting end and the second mounting end of the tube clamping wheel frame 10216. The upper end of the tube clamping wheel frame 10216 is connected to the cam plate drive 10215. The first roller assembly 10213, as shown... Figure 5 As shown, it includes a tube clamping wheel 102131 and a timing belt pulley 102132, with the output shaft of the timing belt pulley 102132 connected to the input end of the tube clamping wheel 102131.

[0062] Cam plate drive assembly 1024, such as Figure 6 As shown, it includes a base plate 10241, a first linear guide kinematic pair 10242, a first bearing housing 10243, and a first ball screw nut pair 10244. The first linear guide kinematic pair 10242 is connected to the first mounting end of the base plate 10241, and the first ball screw nut pair 10244 is connected to the second mounting end of the base plate 10241 through the first bearing housing 10243.

[0063] Rod conveyor assembly 103, such as Figure 7 As shown, the device includes a retainer 1031, a first clamping wheel assembly 1032, a second clamping wheel assembly 1033, a clamping tube base plate 1034, a second linear guide kinematic pair 1035, and a second ball screw nut pair 1036. The mounting ends of the first clamping wheel assembly 1032 and the second clamping wheel assembly 1033 are respectively connected to the first mounting end and the second mounting end of the retainer 1031. The third mounting end and the fourth mounting end of the retainer 1031 are respectively connected to the slider of the second linear guide kinematic pair 1035 and the nut of the second ball screw nut pair 1036. The guide rail of the second linear guide kinematic pair 1035 and the screw of the second ball screw nut pair 1036 are respectively connected to the first mounting end and the second mounting end of the upper end of the clamping tube base plate 1034.

[0064] The first Y-axis moving platform 104, such as Figure 8 As shown, the assembly includes an intermediate connecting plate 1041, a third linear guide motion pair 1042, a third ball screw nut pair 1043, a first bearing 1044, and a first base. The first and second mounting ends of the lower end of the intermediate connecting plate 1041 are respectively connected to the slider of the third linear guide motion pair 1042 and the nut of the third ball screw nut pair 1043. The guide rail of the third linear guide motion pair 1042 is connected to the first mounting end of the first base. The screw of the third ball screw nut pair 1043 is connected to the second mounting end of the first base through the first bearing 1044.

[0065] Section assembly component 2, such as Figure 9 As shown, the assembly includes a rotating platform assembly 201, a tilting platform assembly 202, an extending platform assembly 203, and a node fixing lock assembly 204. The output end of the turbine 2011 in the rotating platform assembly 201 is connected to the lower end of the second base 2021 in the tilting platform assembly 202. The screw of the fourth ball screw nut pair 2025 in the tilting platform assembly 202 is connected to the screw nut seat 2032 in the extending platform assembly 203. The central locking pin 2046 in the node fixing lock assembly 204 is connected to the fixed end of the extending platform 2031 in the extending platform assembly 203.

[0066] Rotary platform assembly 201, such as Figure 12 As shown, it includes a worm gear 2011 and a worm 2012, with the worm gear 2011 and worm 2012 meshing together; a tilting platform assembly 202, as shown... Figure 10As shown, the system includes a second base 2021, a fourth linear guide kinematic pair 2022, a push rod 2023, a push rod connecting rod 2024, a fourth ball screw nut pair 2025, a second bearing seat 2026, a first coupling 2027, a first motor 2028, a belt drive 2029, a tilting upper platform 20210, a fifth linear guide kinematic pair 20211, a fifth ball screw nut pair 20212, and a second motor 20213. The guide rails of the fourth linear guide kinematic pair 2022 are symmetrically mounted on the first and second sides of the upper end of the second base 2021. The screw of the fourth ball screw nut pair 2025 is connected to the second bearing seat 2026 and the mounting end of the upper end of the second base 2021. The first motor 2021... 028 is connected to the input end of the screw of the fourth ball screw nut pair 2025 via the first coupling 2027. The nut of the fourth ball screw nut pair 2025 is connected to the first end of the push rod connecting rod 2024. The second end of the push rod connecting rod 2024 is connected to the first end of the push rod 2023. The second end of the push rod 2023 is connected to the side mounting end of the tilting upper platform 20210. The guide rail of the fifth linear guide motion pair 20211 and the screw of the fifth ball screw nut pair 20212 are respectively connected to the first mounting end and the second mounting end of the upper end of the tilting upper platform 20210. The output end of the second motor 20213 is connected to the input end of the screw of the fifth ball screw nut pair 20212 via the belt drive 2029.

[0067] Extend platform component 203, such as Figure 11 As shown, it includes an extended platform 2031 and a lead screw nut seat 2032, with the lead screw nut seat 2032 located in the middle of the extended platform 2031; a node fixing lock assembly 204, as shown... Figure 13 As shown, the device includes a third base, a top rod 2041, a guide post 2042, a guide motion component 2043, a lock head 2044, a mounting interface 2045, a central lock post 2046, a first slider 2047, and a spring 2048. The mounting ends of the top rod 2041, guide post 2042, and guide motion component 2043 are respectively connected to the first mounting end, second mounting end, and third mounting end of the third base. The fixed end of the top rod 2041 is connected to the first slider 2047. The first end of the lock head 2044 is connected to the mounting interface 2045. The second end of the lock head 2044 is connected to the upper end of the central lock post 2046. The lower end of the central lock post 2046 is connected to the moving end of the guide motion component 2043 through the spring 2048.

[0068] Robotic arm component 3, such as Figure 14As shown, the system includes an X-axis moving platform 301, a second Y-axis moving platform 302, a first robotic arm assembly 303, and a second robotic arm assembly 304. The first end of the second Y-axis moving platform 302 is connected to the X-axis moving platform 301, and the second end of the second Y-axis moving platform 302 is connected to the first end of the second lower base plate 3038 in the first robotic arm assembly 303. The second end of the second lower base plate 3038 in the first robotic arm assembly 303 is connected to the second robotic arm assembly 304.

[0069] First robotic arm assembly 303, such as Figure 16 As shown, the assembly includes a drive assembly 3031, a first connecting rod 3032, a node locking head drive assembly 3033, a rod support clamp 3034, an upper mounting base plate 3035, a second connecting rod 3036, a drive push rod 3037, a second lower base plate 3038, a fourth motor 3039, a worm gear drive 30310, and a turntable 303101. The first ends of the first connecting rod 3032 and the second connecting rod 3036 are respectively connected to the pin holes of the first lower base plate 30317 in the drive assembly 3031, and the second ends of the first connecting rod 3032 and the second connecting rod 3036 are respectively connected to the pin holes of the upper mounting base plate 3035. The drive push rod 3037... The first end of 037 is connected to the third end of the second connecting rod 3036. The second end of the drive push rod 3037 is connected to the fixed end of the nut 30313 with pin in the drive assembly 3031. The fixed end of the rod support clamp 3034 is connected to the first mounting end of the upper mounting base plate 3035. The housing of the fourth motor 3039 is connected to the second mounting end of the upper mounting base plate 3035. The output end of the fourth motor 3039 is connected to the first end of the turntable 303101 through the worm gear drive 30310. The second end of the turntable 303101 is connected to the first end of the fixed seat 30337 in the node locking head drive assembly 3033.

[0070] Driver component 3031, such as Figure 17 As shown, the system includes a second geared motor 30311, a second coupling 30312, a nut with a pin 30313, a lead screw 30314, a second bearing 30315, a slider 30316, and a first lower base plate 30317. The output end of the second geared motor 30311 is connected to the input end of the lead screw 30314 through the second coupling 30312. The fixed end of the lead screw 30314 is connected to the first mounting end of the first lower base plate 30317 through the second bearing 30315. The second mounting end of the first lower base plate 30317 is connected to the slider 30316. The nut with a pin 30313 is connected to the sliding end of the lead screw 30314.

[0071] Node locking head driver component 3033, such as Figure 15As shown, it includes a drive wheel 30331, a reducer 30332, a third motor 30333, a driven wheel 30334, a transmission rod 30335, a ratchet 30336, and a fixed base 30337. The output shaft of the third motor 30333 is connected to the input shaft of the drive wheel 30331 through the reducer 30332. The drive wheel 30331 and the driven wheel 30334 mesh. The mounting end of the driven wheel 30334 is connected to the first end of the transmission rod 30335. The second end of the transmission rod 30335 is connected to the mounting end of the ratchet 30336. The fixed end of the ratchet 30336 is connected to the second end of the fixed base 30337.

[0072] Second robotic arm assembly 304, such as Figure 18 As shown, it includes a fifth motor 3041, a third link 3042, and a node fixing lock assembly 204. The output shaft of the fifth motor 3041 is connected to the first end of the third link 3042, and the second end of the third link 3042 is connected to the node fixing lock assembly 204.

[0073] Truss assembly component 4, such as Figure 19 As shown, it includes a front-end mounting track assembly 401, a rear-end fixed truss assembly 402, and an intermediate support circular rail assembly 403. The support frame 4016 in the front-end mounting track assembly 401 and the first fixed end of the cylindrical gear 4036 in the intermediate support circular rail assembly 403 are connected. The guide rail support frame 40223 in the rear-end fixed truss assembly 402 and the second fixed end of the cylindrical gear 4036 in the intermediate support circular rail assembly 403 are connected.

[0074] Front-end mounting track assembly 401, such as Figure 20 As shown, the assembly includes a gripper moving guide rail 4012, a front support circular rail 4013, a docking gripper assembly 4014, a sixth motor 4015, a support frame 4016, and a pusher plate 4017. The first and second fixed ends of the gripper moving guide rail 4012 are respectively connected to the mounting ends of the front support circular rail 4013 and the support frame 4016. The moving end of the gripper moving guide rail 4012 is connected to the mounting end of the positioning block 40143 in the docking gripper assembly 4014 via bolts. The rotation of the motor in the gripper moving guide rail 4012 drives the docking gripper assembly 4014 to move along the rail through a ball screw nut pair. The fixed end of the mounting base 40145 in the docking gripper assembly 4014 is connected to the pusher plate contact 40171 of the pusher plate 4017. The fixed end of the sixth motor 4015 is connected to the motor mounting hole 40173 of the pusher plate 4017.

[0075] Interconnecting to the 4014 disk capture component, such as Figure 22As shown, the assembly includes a gripper assembly 40141, a push rod 40142, a positioning block 40143, a sixth ball screw nut pair 40144, and a mounting base 40145. The push rods 40142 are symmetrically arranged on the four corners of the mounting base 40145. The gripper assembly 40141 is located between two adjacent sets of push rods 40142. The second end of the mounting seat 401412 in the gripper assembly 40141 is threaded to the mounting base 40145. The sixth ball screw nut pair 40144 is provided in the middle of the mounting base 40145. The positioning blocks 40143 are symmetrically installed on opposite sides of the mounting base 40145.

[0076] gripper component 40141, such as Figure 23 As shown, the device includes an opening / closing claw 401411, a mounting base 401412, a guide slide rod 401413, a long pin 401414, a push rod 401415, a push rod connecting platform 401416, and a fan connector 401417. The first mounting end of the opening / closing claw 401411 is connected to the first end of the fan connector 401417 via the long pin 401414. The second end of the fan connector 401417 is connected to the first end of the push rod connecting platform 401416. The second and third ends of the push rod connecting platform 401416 are connected to the guide slide rod 401413 and the push rod 401415, respectively. The first end of the mounting base 401412 is connected to the second mounting end of the opening / closing claw 401411.

[0077] Specifically, when the sixth motor 4015 rotates in reverse, the nut in the sixth ball screw nut pair 40144 drives the mounting base 40145 to move in the direction of the sixth motor 4015. At this time, the push rod 401415 contacts the push plate contact point 40171, causing the push rod connecting platform 401416 to move in the direction of the sixth motor 4015 under the guidance of the guide slide rod 401413. At this time, the included angle of the two symmetrically distributed fan connectors 401417 becomes smaller, and the opening and closing claw 401411 closes tightly. When the sixth motor 4015 rotates in the forward direction, the opening and closing claw 401411 opens.

[0078] like Figure 21 As shown, push plate 4017 has push plate contact points 40171 and guide pin holes 40172 symmetrically arranged on the four top corners, and motor mounting holes 40173 and motor shaft holes 40174 are provided in the middle of push plate 4017.

[0079] Rear-end fixed truss assembly 402, such as Figure 25As shown, it includes a rear support circular rail 4021, a guide rail support frame assembly 4022, and a truss fixing lock assembly 4023. The guide rail support frames 40223 at both ends of the guide rail support frame assembly 4022 are respectively connected to the second fixed end of the cylindrical gear 4036 in the intermediate support circular rail assembly 403 and the fixed end of the rear support circular rail 4021. The truss fixing lock assembly 4023 is connected to the guide rail 40221 of the guide rail support frame assembly 4022.

[0080] Guide rail support frame assembly 4022, such as Figure 26 As shown, the assembly includes a guide rail 40221 and a guide rail support frame 40223. The guide rail 40221 is symmetrically distributed on both sides of the guide rail support frame assembly 4022. The first and second sides of the guide rail 40221 are respectively provided with node pressing holes 40222 and guide rail support frame 40223. The middle part of the guide rail support frame assembly 4022 is provided with a first mounting boss 40224, a second mounting boss 40225 and a third mounting boss 40226.

[0081] Truss fixing lock assembly 4023, such as Figure 27 As shown, it includes a sixth linear guide kinematic pair 40231, a seventh ball screw nut pair 40232, a belt drive 40233, an eighth motor 40234, a slide bar frame 40235, a seventh linear guide kinematic pair 40236, a node pressure rod 40237, and a node brake pin 40238. The output shaft of the eighth motor 40234 is connected to the nut in the belt drive 40233 and the seventh ball screw nut pair 40232. The fixed ends of the sixth linear guide kinematic pair 40231 and the seventh ball screw nut pair 40232 are respectively connected to the first mounting end and the second mounting end of the slide bar frame 40235. The third mounting end of the slide bar frame 40235 is connected to the first end of the seventh linear guide kinematic pair 40236 and the node pressure rod 40237. The second end of the node pressure rod 40237 is provided with a node brake pin 40238.

[0082] Specifically, in the initial state, the mounting end of the seventh linear guide kinematic pair 40236 is threadedly connected to the first mounting boss 40224 and the third mounting boss 40226. The linear guide of the sixth linear guide kinematic pair 40231 is mounted on the first end of the second mounting boss 40225, and the housing of the eighth motor 40234 is mounted on the second end of the second mounting boss 40225. The nut in the seventh ball screw nut pair 40232 is fixed to the slider of the sixth linear guide kinematic pair 40231. The x-positive limit block is at the x-positive limit position of the linear guide of the sixth linear guide kinematic pair 40231. The node pressure rod 40237 is in contact with the outer surface of the guide 40221, and the node brake pin 40238 partially enters the node pressure hole 40222.

[0083] The eighth motor 40234 rotates forward, causing the slide rod 40235, which is fixedly connected to the seventh ball screw nut pair 40232, to move along the linear guide of the sixth linear guide motion pair 40231 to the x-direction limit block. At the same time, the slide rod 40235 slides along the seventh linear guide motion pair 40236, and the node brake pin 40238 moves along the x-direction and fully enters the node pressure hole 40222, completing the node braking and reaching the locking state. The eighth motor 40234 reverses and, through belt drive 40233, causes the slide rod 40235, which is fixedly connected to the seventh ball screw nut pair 40232, to move along the linear guide of the sixth linear guide kinematic pair 40231 to the x-negative limit block. At the same time, the slide rod 40235 slides along the seventh linear guide kinematic pair 40236, and the node brake pin 40238 moves along the x-negative direction, moves out of the node pressure hole 40222, releases the node brake, and reaches the unlocked state.

[0084] Intermediate support circular rail assembly 403, such as Figure 24 As shown, the assembly includes a seventh motor 4031, a reducer 4032, a drive gear 4033, a turntable bearing 4034, a bearing housing 4035, and a cylindrical gear 4036. The outer ring of the bearing housing 4035 is connected to the mounting end of the side frame 5, the inner ring of the bearing housing 4035 is connected to the outer ring of the turntable bearing 4034, the inner ring of the turntable bearing 4034 is connected to the mounting end of the cylindrical gear 4036, the output shaft of the seventh motor 4031 is connected to the input end of the drive gear 4033 through the reducer 4032, the housing of the seventh motor 4031 is connected to the fixed end of the bearing housing 4035, and the drive gear 4033 and the cylindrical gear 4036 mesh.

[0085] The following describes in further detail the space station truss construction device and method based on on-orbit construction according to the present invention, with reference to the embodiments:

[0086] The present invention is based on the following method for constructing a space station truss in orbit:

[0087] S1. Use robotic arm assembly 3 to install the node units of the space station truss onto section assembly assembly 2.

[0088] The specific implementation process is as follows: The robotic arm assembly 3 is moved to the X-axis positive limit block and the Y-axis negative limit block via the X-axis moving platform 301 and the second Y-axis moving platform 302. The fifth motor 3041 drives the third link 3042 to rotate upward, causing the top rod 2041 of the node fixing lock assembly 204 to move downward. The ball on the lock head 2044 enters the arc-shaped rolling center of the fixing interface, and the node unit is transferred to the third link 3042. The second Y-axis moving platform 302 moves to the Y-axis positive limit block, and the fifth motor 3041 drives the third link 3042 to rotate upward. The upward rotation of the three-link 3042 causes the top rod 2041 of the node fixing lock assembly 204 to be parallel to the Y-axis. The second Y-axis moving platform 302 moves in the Y-axis direction, causing the top rod 2041 of the cross-section assembly assembly 2 to enter the guide post on the second robotic arm assembly 304. When the first slider 2047 contacts the guide moving part 2043, the spring 2048 stretches, causing the lock head 2044 to move in the opposite direction. The node unit disengages from the node fixing lock assembly 204 on the second robotic arm 304, and the corresponding interface is fixed to the lock head 2044 of the cross-section assembly assembly 2. After the first node unit is installed, the worm gear 2022 drives the worm wheel 2011 to rotate 90 degrees, causing the extension platform assembly 203 to rotate 90 degrees accordingly. The robotic arm assembly 3 repeats the above actions to complete the installation of the second node unit. The extension platform assembly 203 rotates again, and the robotic arm assembly 3 repeats the above actions until all four node units are installed on the node fixing lock assembly 204 of the cross-section assembly assembly 2.

[0089] S2. The connecting rod unit is fed into the node fixing lock assembly 204 using the rod conveying assembly 103 in the rod assembly 1, and the node unit and the connecting rod unit are assembled by the extension platform assembly 203 to obtain the cross-sectional rod.

[0090] The specific implementation process is as follows: After the rod printed by the 3D printer 101 enters the clamping rod assembly 102, the reduction motor 10212 drives the drive gear 10211 to rotate, which in turn drives the second roller assembly 10214 to rotate. The rod then moves in the X direction and enters the rod conveying assembly 103. The second ball screw nut pair 1036 rotates, which drives the retainer 1031 to move forward. When the slider in the second linear guide motion pair 1035 moves to the rightmost end, the rod is inserted between two nodes of the same height as the cross-section assembly assembly 2. The second reduction motor 30311 rotates and drives the drive push rod 3037 to move in the X direction through the nut 30313 with the pin shaft, so that the first connecting rod 3032 and the second connecting rod 3036 are perpendicular to the XY plane. At the same time, the transmission rod 30335 reaches the corresponding height, and the third motor 3... The 0333 motor starts, driving the drive wheel 30331 to rotate, which in turn causes the driven wheel 30334 to rotate clockwise. The transmission rod 30335 rotates accordingly, and the ratchet mechanism, in conjunction with the third motor 30333, rotates the transmission rod 30335 in one direction, tightening the bolts on the node unit. When the fourth motor 3039 rotates, it drives the turntable 303101 to rotate 180 degrees via the worm gear drive 30310. This causes the node locking head drive assembly 3033 to rotate 180 degrees, moving it to the rightmost position via the X-axis moving platform 301. The transmission rod 30335 repeats the previous action, tightening the nut on another node unit. The reduction motor 30311 rotates, driving the drive push rod 3037 to move in the negative X direction via the nut 30313 with a pin. The first robotic arm assembly 303 retracts into the XY plane. Similarly, the extension platform assembly 203 rotates to complete the assembly of the other three rods, thus completing the cross-section assembly.

[0091] S3. Using the flipping platform component 202 in the cross-section assembly component 2, the cross-section members obtained in S2 are respectively installed on the front end mounting track component 401 and the intermediate support circular track component 403 in the truss assembly component 4.

[0092] The specific implementation process is as follows: The first motor 2028 rotates, and the nut in the fourth ball screw nut pair 2025 drives the push rod connecting rod 2024 and push rod 2023 to move towards the X-direction limit block. The flipped upper platform 20210 unfolds along the Y-direction to be parallel to the Y-direction. The rotation of the first motor 2028 drives the fourth ball screw nut kinematic pair 2025 to move through the belt drive 2029. The screw nut seat 2032 is connected to the nut in the fourth ball screw nut kinematic pair 2025 by bolts, which drives the extended platform assembly 203 to move along the Y-direction. As the device moves to its positive limit, the push rod connecting rod 2024 continues to move in the negative X direction until the assembly section on the extended platform assembly 203 collides and connects with the docking gripper assembly 4014. The motors in the paired gripper moving guide rails 4012 rotate, causing the docking gripper assembly 4014 to move to its furthest point in the positive X direction. The assembly section enters the slot in the guide rail support frame assembly 4022. The motors in the paired gripper moving guide rails 4012 then rotate in the opposite direction, causing the docking gripper assembly 4014 to return to its starting position, awaiting the entry of the second assembly section. When assembly sections exist on both the front mounting track assembly 401 and the intermediate support circular rail assembly 403, inter-section connecting rod installation can be performed.

[0093] S4. Using the rod conveying assembly 103 in the rod assembly 1, the cross-sectional rods on the front-end mounting track assembly 401 and the intermediate support circular track assembly 403 are connected by the connecting rod unit to obtain the preliminary truss unit.

[0094] The specific implementation process is as follows: The rod conveying assembly 103 moves to the negative Y limit value through the first Y-axis moving platform 104 and repeats the action of S2 to realize the assembly of one rod. The intermediate support circular rail assembly 403 rotates 90 degrees and repeats the action in S2 to complete the assembly of four rods and complete the assembly of the preliminary truss unit.

[0095] S5. The preliminary truss unit obtained in S4 is fixed by the guide rail support frame assembly 4022 in the rear fixed truss assembly 402 to obtain the final truss unit.

[0096] The specific implementation process is as follows: Under the forward rotation of the sixth motor 4015, the pair of gripper moving guide rails 4012 move along the linear guide rail in the gripper moving guide rail 4012 on the guide rail support frame 4022. Under the forward rotation of the eighth motor 40234, the slide rod frame 40235, which is fixedly connected to the seventh ball screw nut pair 40232, moves along the linear guide rail of the sixth linear guide moving pair 40231 to the x-direction limit block of the linear guide rail through the belt drive 40233. At the same time, the slide rod frame 40235 slides along the seventh linear guide moving pair 40236, and the node braking pin 40238 moves forward and fully enters the node pressing hole 40222, completing the node braking and fixing the truss unit. Driven by the reverse rotation of the sixth motor 4015, the gripper plate moving guide rail 4012 moves the docking gripper plate assembly 4014 along the linear guide rail in the gripper plate moving guide rail 4012 to the starting position, thus obtaining the final truss unit.

[0097] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A space station truss construction device based on on-orbit construction, comprising a pole assembly, a section assembly assembly, a robotic arm assembly, a truss assembly assembly, a side frame, and a bottom frame, wherein a first Y-axis moving platform of the pole assembly and the robotic arm assembly are respectively connected to a first mounting end and a second mounting end of the bottom frame, and the section assembly assembly and the truss assembly assembly are respectively connected to a first mounting end and a second mounting end of the side frame, characterized in that... The insertion rod assembly includes a 3D printer, a clamping rod assembly, a rod conveying assembly, a first Y-axis moving platform, and an upper support frame. The 3D printer is located on one side of the clamping rod assembly. The housing of the geared motor in the clamping rod assembly is connected to the upper support frame. The lower end of the base plate in the clamping rod assembly is connected to the first mounting end of the upper end of the clamping tube base plate in the rod conveying assembly. The lower end of the clamping tube base plate in the rod conveying assembly is connected to the upper end of the intermediate connecting plate of the first Y-axis moving platform. The cross-section assembly includes a rotating platform assembly, a tilting platform assembly, an extending platform assembly, and a node fixing lock assembly. The output end of the turbine in the rotating platform assembly is connected to the lower end of the second base in the tilting platform assembly. The lead screw of the fourth ball screw nut pair in the tilting platform assembly is connected to the lead screw nut seat in the extending platform assembly. The central locking pin in the node fixing lock assembly is connected to the fixed end of the extending platform in the extending platform assembly. The robotic arm assembly includes an X-axis moving platform, a second Y-axis moving platform, a first robotic arm assembly, and a second robotic arm assembly. The first end of the second Y-axis moving platform is connected to the X-axis moving platform, and the second end of the second Y-axis moving platform is connected to the first end of the second lower base plate of the first robotic arm assembly. The second end of the second lower base plate of the first robotic arm assembly is connected to the second robotic arm assembly. The truss assembly includes a front-end mounting track assembly, a rear-end fixed truss assembly, and an intermediate support circular rail assembly. The support frame in the front-end mounting track assembly is connected to the first fixed end of the cylindrical gear in the intermediate support circular rail assembly, and the guide rail support frame in the rear-end fixed truss assembly is connected to the second fixed end of the cylindrical gear in the intermediate support circular rail assembly.

2. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The clamping rod assembly includes a lower clamping rod wheel assembly, a cam plate, an upper clamping rod wheel assembly, and a cam plate drive assembly. The lower ends of the clamping tube wheel frames in the lower and upper clamping rod wheels are respectively connected to the first and second mounting ends of the cam plate. The third and fourth mounting ends of the cam plate are respectively connected to the slider of the first linear guide motion pair and the nut of the first ball screw nut pair in the cam plate drive assembly. The lower and upper clamping rod wheels have the same structure. The lower clamping rod wheel assembly includes a drive gear, a first reduction motor, a first roller assembly, a second roller assembly, a cam plate drive, and a clamping tube wheel frame. The output shaft of the geared motor is connected to the input shaft of the drive gear. The output end of the drive gear is connected to the input end of the second roller assembly through a meshing gear. The mounting ends of the first roller assembly and the second roller assembly are respectively connected to the first mounting end and the second mounting end of the clamping wheel frame. The upper end of the clamping wheel frame is drivenly connected to the cam plate. The cam plate drive assembly includes a base plate, a first linear guide motion pair, a first bearing seat, and a first ball screw nut pair. The first linear guide motion pair is connected to the first mounting end of the base plate, and the first ball screw nut pair is connected to the second mounting end of the base plate through the first bearing seat.

3. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The rod conveying assembly includes a cage, a first clamping rod wheel assembly, a second clamping rod wheel assembly, a clamping tube base plate, a second linear guide kinematic pair, and a second ball screw nut pair. The mounting ends of the first clamping rod wheel assembly and the second clamping rod wheel assembly are respectively connected to the first mounting end and the second mounting end of the cage. The third mounting end and the fourth mounting end of the cage are respectively connected to the slider of the second linear guide kinematic pair and the nut of the second ball screw nut pair. The guide rail of the second linear guide kinematic pair and the screw of the second ball screw nut pair are respectively connected to the first mounting end and the second mounting end of the upper end of the clamping tube base plate.

4. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The tilting platform assembly includes a second base, a fourth linear guide kinematic pair, a push rod, a push rod connecting rod, a fourth ball screw nut pair, a second bearing housing, a first coupling, a first motor, a belt drive, a tilting upper platform, a fifth linear guide kinematic pair, a fifth ball screw nut pair, and a second motor. The guide rails of the fourth linear guide kinematic pair are symmetrically mounted on a first side and a second side of the upper end of the second base. The screw of the fourth ball screw nut pair is connected to the mounting end of the upper end of the second base through the second bearing housing. The first motor is connected to the input end of the screw of the fourth ball screw nut pair through the first coupling. The nut of the fourth ball screw nut pair is connected to the first end of the push rod connecting rod. The second end of the push rod connecting rod is connected to the first end of the push rod. The second end of the push rod is connected to the side mounting end of the tilting upper platform. The guide rail of the fifth linear guide motion pair and the screw of the fifth ball screw nut pair are respectively connected to the first mounting end and the second mounting end of the upper end of the flipping platform. The output end of the second motor is connected to the input end of the screw of the fifth ball screw nut pair through belt drive. The node fixing lock assembly includes a third base, a top rod, a guide column, a guide motion component, a lock head, a mounting interface, a central lock column, a first slider, and a spring. The mounting ends of the top rod, the guide column, and the guide motion component are respectively connected to the first mounting end, the second mounting end, and the third mounting end of the third base. The fixed end of the top rod is connected to the first slider. The first end of the lock head is connected to the mounting interface. The second end of the lock head is connected to the upper end of the central lock column. The lower end of the central lock column is connected to the moving end of the guide motion component through the spring.

5. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The first robotic arm assembly includes a drive assembly, a first connecting rod, a node locking head drive assembly, a rod support clamp, an upper mounting base plate, a second connecting rod, a drive push rod, a second lower base plate, a fourth motor, a worm gear transmission, and a turntable. The first ends of the first connecting rod and the second connecting rod are respectively connected to pin holes in the first lower base plate of the drive assembly, and the second ends of the first connecting rod and the second connecting rod are respectively connected to pin holes in the upper mounting base plate. The first end of the drive push rod is connected to the third end of the second connecting rod, and the second end of the drive push rod is connected to a nut with a pin shaft in the drive assembly. The fixed end of the rod support clamp is connected to the first mounting end of the upper mounting base plate, the housing of the fourth motor is connected to the second mounting end of the upper mounting base plate, the output end of the fourth motor is connected to the first end of the turntable via a worm gear drive, and the second end of the turntable is connected to the first end of the fixed seat in the node locking head drive assembly; the second robotic arm assembly includes a fifth motor, a third link, and a node fixing lock assembly, the output shaft of the fifth motor is connected to the first end of the third link, and the second end of the third link is connected to the node fixing lock assembly.

6. The space station truss construction device based on on-orbit construction according to claim 5, characterized in that, The drive assembly includes a second geared motor, a second coupling, a nut with a pin, a lead screw, a second bearing, a slider, and a first lower base plate. The output end of the second geared motor is connected to the input end of the lead screw via the second coupling. The fixed end of the lead screw is connected to the first mounting end of the first lower base plate via the second bearing. The second mounting end of the first lower base plate is connected to the slider. The nut with a pin is connected to the sliding end of the lead screw. The node locking head drive assembly includes a drive wheel, a reducer, a third motor, a driven wheel, a transmission rod, a ratchet, and a fixed base. The output shaft of the third motor is connected to the input shaft of the drive wheel through the reducer. The drive wheel and the driven wheel mesh. The mounting end of the driven wheel is connected to the first end of the transmission rod. The second end of the transmission rod is connected to the mounting end of the ratchet. The fixed end of the ratchet is connected to the second end of the fixed base.

7. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The front-end mounting track assembly includes a gripper moving guide rail, a front support circular rail, a docking gripper assembly, a sixth motor, a support frame, and a push plate. The first and second fixed ends of the gripper moving guide rail are respectively connected to the mounting ends of the front support circular rail and the support frame. The moving end of the gripper moving guide rail is connected to the mounting end of the positioning block in the docking gripper assembly. The fixed end of the mounting base in the docking gripper assembly is connected to the push plate contact of the push plate. The fixed end of the sixth motor is connected to the motor mounting hole of the push plate. The docking gripper assembly includes a gripper assembly, a push rod, a positioning block, a sixth ball screw nut pair, and a mounting base. The four... A top rod is symmetrically arranged at each apex. The gripper assembly is located between two adjacent sets of top rods. A sixth ball screw nut pair is provided in the middle of the mounting base. The positioning blocks are symmetrically installed on opposite sides of the mounting base. The gripper assembly includes an opening and closing claw, a mounting base, a guide slide rod, a long pin, a push rod, a push rod connecting platform, and a fan connector. The first mounting end of the opening and closing claw is connected to the first end of the fan connector through the long pin. The second end of the fan connector is connected to the first end of the push rod connecting platform. The second and third ends of the push rod connecting platform are respectively connected to the guide slide rod and the push rod. The first end of the mounting base is connected to the second mounting end of the opening and closing claw.

8. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The rear fixed truss assembly includes a rear support circular rail, a guide rail support frame assembly, and a truss fixing lock assembly. The guide rail support frames at both ends of the guide rail support frame assembly are respectively connected to the second fixed end of the cylindrical gear in the intermediate support circular rail assembly and the fixed end of the rear support circular rail. The truss fixing lock assembly is connected to the guide rail of the guide rail support frame assembly. The guide rail support frame assembly includes guide rails and guide rail support frames. The guide rails are symmetrically distributed on both sides of the guide rail support frame assembly. The first and second sides of the guide rails are respectively provided with node pressing holes and guide rail support frames. The middle part of the guide rail support frame assembly is provided with a first mounting boss and a second mounting... The truss fixing and locking assembly includes a sixth linear guide kinematic pair, a seventh ball screw nut pair, a belt drive, an eighth motor, a slide bar frame, a seventh linear guide kinematic pair, a node pressure rod, and a node brake pin. The output shaft of the eighth motor is connected to the nut in the seventh ball screw nut pair via a belt drive. The fixed ends of the sixth linear guide kinematic pair and the seventh ball screw nut pair are respectively connected to the first and second mounting ends of the slide bar frame. The third mounting end of the slide bar frame is connected to the first end of the node pressure rod via the seventh linear guide kinematic pair. The second end of the node pressure rod is provided with a node brake pin.

9. The space station truss construction device based on on-orbit construction according to claim 1, characterized in that, The intermediate support circular rail assembly includes a seventh motor, a reducer, a drive gear, a turntable bearing, a bearing housing, and a cylindrical gear. The outer ring of the bearing housing is connected to the mounting end of the side frame, the inner ring of the bearing housing is connected to the outer ring of the turntable bearing, the inner ring of the turntable bearing is connected to the mounting end of the cylindrical gear, and the output shaft of the seventh motor is connected to the input end of the drive gear through the reducer. The drive gear and the cylindrical gear mesh.

10. A construction method for a space station truss construction device based on on-orbit construction according to any one of claims 1-9, characterized in that, It includes the following steps: S1. Use the robotic arm assembly to install the nodal units of the space station truss onto the section assembly assembly; S2. The connecting rod unit is fed into the node fixing lock assembly using the rod conveying assembly in the rod assembly, and the node unit and the connecting rod unit are assembled by the extension platform assembly to obtain the cross-section rod. S3. Using the flipping platform component in the cross-section assembly assembly, install the cross-section members obtained in S2 onto the front-end mounting track assembly and the intermediate support circular track assembly in the truss assembly assembly, respectively. S4. By using the rod conveying assembly in the rod assembly, the cross-sectional rods on the front-end mounting rail assembly and the intermediate support circular rail assembly are connected by the connecting rod unit to obtain the preliminary truss unit. S5. Fix the preliminary truss unit obtained in S4 through the guide rail support frame assembly in the rear fixed truss assembly to obtain the final truss unit.

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